JP2002129600A - Crushed stone processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crushed stone processing system which allows an automatic- operating shovel to arbitrarily switch an excavation location depending on the state of loading of raw stones and the condition of a stockyard during automatic operation of the shovel. SOLUTION: The crushed stone processing system is comprised of a raw stone conveying dump truck 6 for charging raw stones into the stockyard 2, a stone crusher 3 for crushing the loaded raw stones to generate required crushed stones, the automatic- operating shovel 1 having an automatic-operating controller 7 mounted thereon, for repeatedly regenerating a series of operations instructed by the automatic-operating controller 7, to thereby excavate raw stones charged in the stockyard and load therein the excavated raw stones, and a remote control device 5 for remote-controlling the automatic-operating shovel 1 via the automatic-operating controller 7. The automatic- operating controller 7 is instructed on a plurality of excavation ranges 2a and 2b of the automatic-operating shovel. By operating excavation range selecting buttons 551 and 552 provided for the remote-control device 5, the excavation range of the automatic-operating shovel is manually switched to the range 2a or the range 2b. In addition, the excavation range can be automatically switched depending on the conditions of the stockyard 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crushed stone processing system and, more particularly, to a crushed stone crusher which excavates a raw stone put into a stock yard by a loading machine, loads the raw stone into a crusher for crushed stone, and loads the crushed stone into the crusher. The present invention relates to a crushed stone processing system for producing crushed stone.

[0002]

2. Description of the Related Art Conventionally, as this kind of crushed stone processing system, for example, one disclosed in Japanese Patent Application Laid-Open No. 9-195321 is known.

[0003] The system described in this known document includes a bulldozer having a remote control function and an automatic driving operation function of an automatic driving shovel, and an automatic operation for automatically excavating and loading a rough stone put into a stock yard by the bulldozer. A shovel, a crusher for crushing stones that crushes debris loaded by the automatic driving shovel to generate required crushed stone, and a system control room having a remote control function and an automatic driving operation function of the automatic driving shovel like the bulldozer It is possible to perform remote control of the automatic driving shovel while the worker is in the bulldozer and / or in the system control room, and to perform teaching operation and reproduction operation of the automatic driving shovel, The advantage is that a small number of people can manage the entire system with multiple self-driving shovels. Having.

However, in the crushing stone processing system described in the above-mentioned known document, the excavation position by the automatically operated shovel is determined in accordance with a procedure stored in advance in each operation cycle in which excavation → going-turn → discharge → returning is completed. In addition, since it is configured to shift in a constant turning angle direction or depth direction, even if debris at the previous excavation position has not been removed, the excavation position automatically shifts to the next excavation position. As a result, there is a disadvantage that the excavation depth varies depending on the excavation position, and efficient excavation and loading work cannot be performed.

[0005] In order to solve this problem, the present inventors first provided an excavation depth setting means and an excavation depth determination means in an automatic operation shovel, and set the digging depth of the automatic operation shovel to the set depth. A method of shifting the excavation position by a predetermined angle in the turning direction for the first time at the time when it reaches this point has been proposed (Japanese Patent Application No. 11-307226). According to this method, since the excavation depth in the stock yard becomes uniform, efficient excavation work and loading work can be performed.

[0006]

However, even with the crushed stone processing system proposed by the inventors of the present invention, the excavation position of the self-driving shovel cannot be changed arbitrarily. In some cases, excavation work by an automatically driven shovel cannot be performed efficiently.

That is, in this type of crushed stone processing system, in order to prevent damage to the automatic driving shovel, when the raw stone is input into the stock yard using the inputting machine, the worker inputs the raw stone to the automatic driving shovel. However, care should be taken not to touch the front of the yard, but for example, the stock yard or the ore loading position where the loading machine can only enter a specific position due to obstacles such as other heavy equipment at the ore loading position Depending on the situation, it may not always be possible to put the gemstone in a safe place, and it may be necessary to put the gemstone in the place where the automatic driving shovel is currently excavating. In such a case, in the conventional crushed stone processing system,
The automatic driving shovel must be stopped in a safe state during the introduction of the ore, or the operation of charging the ore must be interrupted until the automatic driving shovel shifts to another operation other than the excavation operation, which significantly impairs the work efficiency.

In addition, depending on the conventional crushed stone processing system, for example, in order to make the state of the stock yard uniform, even when it is desired to excavate raw stones that have been excessively input, the automatic operation shovels are arranged in the order of the predetermined excavation positions. Because it can only excavate, it cannot respond to this.

An object of the present invention is to solve such a deficiency of the prior art, and to provide a crushed stone processing system capable of arbitrarily switching the excavating position of an automatically driven shovel in accordance with the state of a raw stone or stockyard during automatic operation. To provide.

[0010]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention firstly provides a loading machine for loading a rough stone into a stock yard, and crushes the loaded rough stone to produce a required crushed rock. Crusher for crushing, and an automatic operation controller is mounted, and a series of operations taught by the automatic operation controller is repeatedly reproduced to excavate the raw stone input to the stock yard and to the crushed stone crusher for the excavated raw stone. And a remote control device for remotely controlling the automatic driving shovel via the automatic driving controller, wherein the automatic driving controller sets the excavation range of the automatic driving shovel. While teaching a plurality of ranges, switching the excavation range to the automatic operation controller via the remote control device. And the configuration of including the Ryosuru drilling range switching means.

Thus, the excavation range switching means for instructing the automatic operation controller in advance a plurality of excavation ranges of the automatic operation shovel and instructing the automatic operation controller to switch the excavation range is provided in the crushed stone processing system. Since the excavation range of the automatic driving shovel can be appropriately switched as required, it is possible to retreat the front of the automatic driving shovel from the position of the rough stone input by the inputting machine and to continue operations such as digging and loading. Thus, it is possible to prevent the contact of the ore with the automatic driving shovel without sacrificing the work efficiency. In addition, the front of the self-driving shovel can be quickly moved to the position where excavation work is to be performed according to the state of the stockyard, so that the state of the stockyard can be kept uniform and efficient crushed stone generation. It can be carried out.

In order to solve the above-mentioned problems, the present invention secondly switches a digging range of the automatic driving shovel manually by using a switch provided in the remote control device as the digging range switching means. It was configured.

As described above, when the excavation range switching means is provided in the remote control device of the automatic driving shovel, and the digging range of the automatic driving shovel is manually switched, the state of introduction of the rough stone into the stock yard and the state of the stock yard are obtained. The operator can switch the excavation position appropriately according to the
It is possible to finely change the excavation position, and it is possible to efficiently excavate and load a rough stone.

In order to solve the above-mentioned problems, the present invention is, thirdly, installed as a digging range switching means at a rough stone input position provided in a peripheral portion of the stockyard and enters the rough stone input position. A sensor that detects the presence of the loading machine is used. When the sensor detects the entry of the loading machine into the ore loading position, the sensor automatically moves to an excavation position remote from the ore loading position. The excavation range of the driving shovel is switched.

As described above, the excavation range switching means uses a sensor for detecting the presence or absence of a loading machine that has entered the ore loading position, and the sensor detects that the loading machine has entered the ore loading position. When the excavation range of the automatic driving shovel is automatically switched to a digging position distant from the ore charging position, it is possible to surely prevent the contact of the raw stone with the automatic driving shovel without increasing the burden on the operator. And the operating efficiency of the entire system can be improved.

In order to solve the above-mentioned problems, the present invention fourthly provides, as the excavation range changing means, an image pickup device for picking up an ore loading state of the stock yard, and an image picked up by the image pickup device. An image processing apparatus for automatically determining an excavation position where a large amount of ore is input by performing image processing. When an excavation position where a large amount of ore is input is detected by the image processing apparatus, The excavation range of the automatic operation shovel is automatically switched to the excavation position where the amount of the supplied is large.

As described above, as the excavation range changing means,
An imaging device for imaging a rough state of the stockyard;
An image processing apparatus that automatically processes a digging position where a large amount of rough stone is input by performing image processing on an image captured by the imaging apparatus, and uses the image processing apparatus to excavate a large amount of rough stone. When the position is detected, the excavation range of the self-driving shovel is automatically switched to the excavation position where the amount of the rough stone is large, so that the state of the stock yard is always uniform without increasing the burden on the operator. It can be maintained, and the operating efficiency of the entire system can be increased.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, a configuration of a crushed stone processing system according to the present embodiment and an example of a working form thereof will be described with reference to FIG.

As shown in FIG. 2, the crushed stone processing system according to the present embodiment includes an automatic operation shovel body 1 for excavating rough stones stored in a stock yard 2 and a crushed stone loaded by the automatic operation shovel body 1. A crusher 3 for generating the required crushed stones 33, a wheel loader 4 for loading the generated crushed stones 33 into a dump truck for transporting crushed stones (not shown), and an optional device suitable for performing an operation of regenerating the self-driving shovel body 1. And a dump truck 6 for transporting rough stones from the face and putting them into the stock yard 2.

The self-driving shovel body 1 includes a traveling body 100.
And a revolving body 101 provided so as to be revolvable on the traveling body 100
And a boom 102 rotatably provided on the revolving body 101
An arm 103 rotatably provided at the tip of the boom 102; a bucket 104 rotatably provided at the tip of the arm 103;
Motor 108 for rotating the boom 102 and the boom cylinder 1 for rotating the boom 102 with respect to the swing body 101
05, an arm cylinder 106 for rotating the arm 103 with respect to the boom 102, and a bucket cylinder 10 for rotating the bucket 104 with respect to the arm 103.
7, an automatic operation controller 7 for controlling an automatic operation function, and each of the actuators 1 controlled by the automatic operation controller 7.
Proportional solenoid valve 11 for controlling the amount of oil fed to
6 and a wireless device 701 for wirelessly transmitting and receiving signals to and from a remote control device 5 described in detail later, and a teaching operation unit 9 provided in the driver's cab and performing a required teaching operation. ing.

The self-driving shovel body 1 includes:
An angle sensor 108 for detecting a turning angle of the swing body 101 with respect to the traveling body 100;
An angle sensor 109 for detecting the rotation angle of the boom 10;
An angle sensor 110 that detects the rotation angle of the arm 103 with respect to the arm 2 and an angle sensor 111 that detects the rotation angle of the bucket 104 with respect to the arm 103 are provided.

The crusher 3 includes a traveling body 30 and a hopper 3
1 and a conveyor 32, and are installed at the unloading position of the self-driving shovel main body 1 to generate required crushed stones 33.

The remote controller 5 has an emergency stop button 52,
An operation start button 531 for starting a regenerating operation, an operation stop button 532 for stopping a regenerating operation, an engine start button 541 for starting an engine mounted on the automatic driving shovel body 1, an automatic driving shovel, Engine stop button 542 for stopping the engine mounted on main body 1
An engine speed UP button 543 for increasing the speed of the engine mounted on the automatic driving shovel body 1; and an engine speed DOWN button 544 for lowering the speed of the engine mounted on the automatic driving shovel body 1. Digging range selection buttons 551 and 552 as digging range changing means for selecting a digging range;
And a wireless device 51 for wirelessly transmitting and receiving signals to and from a wireless device 701 provided in the wireless communication device.

Next, the configuration and function of the automatic operation controller 7 provided in the automatic operation shovel body 1 will be described.
This will be described with reference to FIG. FIG. 1 is a block diagram showing the configuration of the in-vehicle device and the remote control device 5 of the self-driving shovel body 1, and the same reference numerals are given to the portions corresponding to FIG. 2.

As shown in FIG. 1, the remote control device 5 includes:
Each button 52, 531, 532, 541-5 displayed in FIG.
A command generation unit 56 is provided in addition to the commands 44, 551, and 552 and the wireless device 51. This command generator 5
Reference numeral 6 denotes the buttons 52, 531, 532, 541 to 54
A command corresponding to the content of the operation of 4, 551, 552 is generated and output to the wireless device 51.

As shown in FIG. 1, the automatic operation controller 7 operates a teaching operation section 9 to store a current position of the automatic operation shovel body 1 as a teaching position in a teaching position storage section 707, which will be described later. A teaching position storage unit 707 for storing teaching data at the time of playback according to an instruction from the teaching processing unit 706; and a playback command storage unit 704 for storing a playback command for sequentially executing the procedure of the playback operation.
A variable storage unit 713 for storing variables referred to in the playback command; a command interpreter unit 705 for interpreting the playback command and instructing the teaching position storage unit 707 to output predetermined teaching position data; And a target position data interpolated by calculation from the teaching position data output by the teaching position output processing unit 708 so that the operation of the automatic driving shovel body 1 operates smoothly. The servo preprocessing unit 709 to be output compares target position data after interpolation output from the servo preprocessing unit 709 with current position data output from a current position calculation unit 711 described later, and is described in a reproduction command. The self-driving shovel body compares the target pressure with the current pressure data output from a current pressure calculation unit 712 described below. And it outputs a driving signal for controlling the movement to a predetermined position to the proportional solenoid valve 116 servo controller 7
10, a wireless device 701 that receives a command transmitted from the remote control device 5, and a command received by the wireless device 701, which is output to a reproduction start / stop processing unit 703, which will be described later. A command receiving unit 702 that outputs a command to the teaching processing unit 706, and a reproduction start / input unit that inputs a command transmitted from the command receiving unit 702 and outputs the command to the command interpreter unit 705.
A stop processing unit 703, a current position calculating unit 711 that detects the attitude of the automatic driving shovel body 1 from the angle sensors 108 to 111, and a current pressure that detects the hydraulic pressure applied to each actuator that operates the shovel from the pressure sensors 112 to 115. And an operation unit 712.

When the reception signal from the radio 51 is interrupted or the radio 701 fails and cannot be received, the radio 701 detects the state and reproduces the detected signal to start reproduction (to be described later).・ Send to the stop processing unit 703,
The stop signal is transmitted from the reproduction start / stop processing unit 703 to the command interpreter unit 705, and the automatic driving excavator body 1 is transmitted.
Stop the operation of.

Here, the interpolation processing of the teaching position data performed by the servo preprocessing unit 709 will be described.

The servo preprocessing unit 709 first obtains and holds the current position data A from the angle sensors 108 to 111 via the current position calculation unit 711 and the servo control unit 710. In parallel with this, the teaching position output processing unit 708
Is read from the target teaching position data B. Then
With the difference between the two as C, for example, 1/10 of the difference C is calculated, and the position data of the current position data A + the difference C / 10 is output to the servo control unit 710. Then, it waits for servo control for a certain time. After a certain period of time, the servo pre-processing unit 709
Outputs the current position data A + the difference 2C / 10 to the servo control unit 710 and waits for servo control for a certain time. By repeating the same processing, the current position data A + the difference C (= teaching position data B) is output to the servo control unit 710, and the interpolation processing for the teaching position data B is completed. In the same manner, an interpolation process is performed every time each teaching position data is output.

Next, an excavation range teaching process will be described with reference to FIGS.
This will be described with reference to FIGS. 3, 9, and 11. 3 is an explanatory diagram of a digging range to be taught, FIG. 9 is a diagram showing an example of teaching position data stored in a teaching position storage unit 707, and FIG. 11 is a flowchart showing a procedure of a teaching process.

As shown in FIG. 3, in the present embodiment, the number of excavation areas is assumed to be two places indicated by reference numerals 2a and 2b. The digging range 2a is a range sandwiched between the digging start position P0 and the digging end position P1, and the digging range 2b is
It is a range sandwiched between the excavation start position P2 and the excavation end position P3. In the example of FIG. 3, the excavation range 2a and the excavation range 2
Although b is set so that it does not overlap, it is also possible to set in a state where it partially overlaps.

At the time of teaching the excavation range, the operator first gets into the cab of the automatic driving shovel main body 1 and causes the automatic driving shovel main body 1 to take a posture to be taught by lever operation. Subsequently, the teaching operation is performed by operating the teaching operation unit 9 installed in the cab. The content of the teaching is the command receiving unit 70
2 and transmitted to the teaching processing unit 706. The teaching processing unit 706 reads the values of the angle sensors 108 to 111 at that time from the current position calculation unit 711 and stores the values in the teaching position storage unit 707. As shown in FIG. 9, the teaching position data stored in the teaching position storage unit 707 includes labels P0 to MOVE commands, which are one of the playback commands described later.
It is configured with values of a boom angle, an arm angle, a bucket angle, and a turning angle to be taken by each part of the automatic driving shovel body 1 for each of the positions P0 to Pn corresponding to Pn.

The procedure for teaching the excavation area will be described below with reference to the flowchart of FIG. In step 1, the excavation range start position in the excavation range 2a is taught. That is, the excavating posture is set in the position of P0 shown in FIG. 3 by the automatic driving shovel body 1 and the teaching operation is performed from the teaching operation unit 9, and the posture at that time is stored in the teaching position storage unit 707 in the above-described procedure. You. In step 2, the turning angle of the digging range start position P0 in the digging range 2a is substituted into SW_S1. In step 3, the excavation range end position in the excavation range 2a is taught. From the excavation range start position, the self-driving shovel body 1 is turned in the direction in which excavation is desired, in this example, in the left turning direction, to take an excavation posture at the excavation range end position P1 shown in FIG. By doing so, the posture at that time is stored in the teaching position storage unit 707. In step 4, the turning angle of the digging range end position P1 in the digging range 2a is substituted into SW_E1. In step 5, when moving from the excavation range start position to the excavation range end position, it is determined whether the vehicle has moved leftward or rightward. If the vehicle has moved in the left turning direction, the left turning shift flag is turned on in step 6 and the
Then, the turning angle of the excavation area 2a is calculated by SW_E1-SW_S1, and is substituted into SW_AREA1. On the other hand, if the vehicle has moved in the right turning direction, the left turning shift flag is turned off in step 8, and in step 9,-(SW_E1-S
W_S1), the turning angle of the excavation area 2a is calculated, and SW_
Substitute in AREA1. In step 10, SW_AR
By EA1 / SW_ANG, how many times to shift in the turning direction when excavating the excavation area 2a is obtained, and SW_CN is determined.
Substitute for T1. Here, SW_ANG is an angle by which the excavation position is moved in the turning direction by one shift. In step 11, teaching of the excavation range start position in the excavation range 2b is performed. The excavation posture is set at the position P2 shown in FIG. 3 by the automatic driving excavator body 1 and the teaching operation is performed from the teaching operation unit 9 so that the posture at that time is stored in the teaching position storage unit 707.
Is stored. In step 12, the turning angle of the digging range start position P2 in the digging range 2b is substituted into SW_S2. In step 13, teaching of the excavation range end position in the excavation range 2b is performed. From the excavation range start position, the self-driving shovel body 1 is turned in the direction to be excavated, in this example, in the left turning direction, to take the excavation posture at the excavation range end position P3 shown in FIG. By doing so, the posture at that time is stored in the teaching position storage unit 707. In step 14, the turning angle of the digging range end position P3 in the digging range 2b is substituted into SW_E2. In step 15, when moving from the excavation range start position to the excavation range end position, it is determined whether the vehicle has moved leftward or rightward. If the vehicle has moved in the left turning direction, the left turning shift flag is turned on in step 16, and in step 17, the turning angle of the excavation area 2b is calculated by SW_E2-SW_S2 and substituted into SW_AREA2. on the other hand,
If the vehicle has moved in the right turning direction, the left turning shift flag is turned off in step 18 and-(SW
_E2-SW_S2) to calculate the turning angle of the excavation area 2b and substitute it into SW_AREA2. In step 20,
Excavation area 2b by SW_AREA2 / SW_ANG
How many times to shift in the turning direction when excavating
Substitute SW_CNT2. Here, SW_ANG is 1
This is the angle at which the excavation position is moved in the turning direction by a degree shift. The teaching of the excavation range is completed by the above procedure.

Next, the excavation area selection processing will be described with reference to FIGS. FIG. 4 is a flowchart showing a processing procedure at the time of excavation position switching.

As is clear from FIG. 1, in the crushed stone processing system of this embodiment, the remote control device 5 is provided with an excavation range selection unit, and the excavation range selection button 551 or the excavation range selection button 551 provided in the excavation range selection unit is provided. By operating 552,
The excavation range is switched to 2a or 2b displayed in FIG. When the excavation position selection unit is operated, a command corresponding to the operation content is generated by the command generation unit 56 and transmitted to the command reception unit 702 through the wireless device 51 and the wireless device 701.

Hereinafter, the command receiving unit 7 when the excavation range is selected according to the flowchart of FIG.
02 will be described. In step 1, it is determined whether or not an operation of selecting excavation area 1 has been performed. If the operation of selecting the excavation area 1 has been performed, the process proceeds to step 6. In step 6, it is determined whether or not the current excavation range is 1, and if the excavation range is set to 1, the process directly exits. If the excavation range is set to 2 in step 6, 1 is substituted for the variable C0 indicating that the excavation range is switched in step 7, and 0 is substituted for the variable C1 representing the excavation range set in step 8. I do. In step 1, if the selection operation of excavation area 1 has not been performed,
Proceed to step 2. In step 2, it is determined whether or not an excavation area 2 selecting operation has been performed. If the operation of selecting the excavation area 2 has been performed, the process proceeds to step 3. In step 3, it is determined whether or not the current excavation range is 2, and if the excavation range is set to 2, the process exits as it is. If the excavation range is set to 1 in step 3, 1 is substituted for the variable C0 indicating that the excavation range is switched in step 4, and 1 is substituted for the variable C1 representing the excavation range set in step 5. I do. In step 2, if the operation of selecting the excavation area 2 has not been performed, the process directly exits. The above processing is executed at regular intervals in the automatic operation controller 7 during automatic operation.

In the above embodiment, the excavation range is selected by the operation on the remote control device 5, but instead of such a configuration, the excavation range can be automatically selected by an external signal. Hereinafter, an example of an embodiment in which the selection of the excavation area is automatically performed by an external signal will be described with reference to FIGS.
This will be described with reference to FIG. FIG. 5 is a block diagram showing a configuration of an in-vehicle device and a remote control device applied to the crushed stone processing system according to the present embodiment, FIG. 6 is a configuration diagram of the crushed stone processing system according to the present embodiment viewed from a side, and FIG. FIG. 8 is a configuration diagram of the crushed stone processing system according to the present embodiment as viewed from the plane, and FIG. 8 is a flowchart illustrating a processing procedure of an excavation position switching process of the crushed stone processing system according to the present embodiment. In FIGS. 5 to 7, the same reference numerals are given to portions corresponding to FIGS. 1 to 3 described above.

In this embodiment, as shown in FIGS. 6 and 7, a rough stone input detecting device 10 as an excavation range changing means is used.
A and 10b are characterized in that the ore transport dump truck 6 is arranged at a position where the ore is thrown into the stockyards 2a and 2b. Each of the rough stone loading detection devices 10a and 10b can be configured by a contact type or non-contact type dump truck detection sensor provided with a wireless communication unit, and the rough stone loading position provided with the rough stone loading detection devices 10a and 10b. When the ore transporting dump truck 6 enters the ore, the ore is detected and the ore loading signal is wirelessly transmitted to the wireless device 57 of the remote control device 5 as shown in FIG. The rough stone input signal received by the wireless device 57 is transmitted to the command generation unit 56 and the wireless device 5.
1, transmitted to the command receiving unit 702 of the automatic operation controller 7 via the wireless device 701. In addition, as a non-contact type dump truck detecting means, a means utilizing ultrasonic waves, laser light, infrared rays, or the like can be used.

Hereinafter, the processing procedure of the excavation position switching processing according to the present embodiment will be described with reference to the flowchart of FIG.
It is determined from the signals from a and 10b whether or not the ore loading operation is currently being performed. If the gemstone input operation has not been performed, the process directly exits. If the ore charging operation has been performed, the process proceeds to step 2. In step 2, it is determined whether or not the ore input operation is performed in the excavation area 2 a, and if it is, the process proceeds to step 6. In step 6, it is determined whether or not the previous ore input was performed in the excavation range 2a, and if it has been performed, the process exits as it is. If the previous ore input was performed in the excavation range 2b, 1 is substituted for the variable C0 indicating that the excavation range is to be switched in step 7, and 0 is set in the variable C1 indicating the excavation range set in step 8. Assign and exit. On the other hand, if it is determined in step 2 that the raw stone input work has not been performed in the excavation area 2a, the process proceeds to step 3. In step 3,
It is determined whether or not the previous ore injection was performed in the excavation range 2b, and if it has been performed, the process exits as it is. If the previous ore input was performed in the excavation area 2a, a variable C indicating that the excavation area is switched in step 4
Substitute 1 for 0, substitute 1 for the variable C1 representing the excavation range set in step 5, and exit the process. The above processing is executed at regular intervals in the automatic operation controller 7 during automatic operation.

Next, processing performed in the automatic operation controller 7 during automatic operation will be described with reference to FIG. 1 and FIGS. FIG. 10 is an explanatory diagram illustrating an example of a playback command (layout program) stored in the playback command storage unit 704. FIGS. 12 and 13 are flowcharts illustrating processing performed by the automatic operation controller 7 during automatic operation.

At the time of automatic operation, as shown in FIG. 1, an instruction from an operation start button 531 provided in the remote control device 5 is transmitted to the command generation unit 56, the radios 51 and 701, the command reception unit 702, the reproduction start / The command is output to the command interpreter 705 via the stop processor 703. Upon receiving the instruction, the command interpreter unit 705 sequentially reads and interprets the playback commands stored in the playback command storage unit 704.
In the case of the VE command, each label P0 to P of the playback command
The teaching position data as a parameter corresponding to n is output from the teaching position storage unit 707 to the teaching position output processing unit 708. The teaching position data output as the playback command is input to the servo pre-processing unit 709, where the teaching position data calculated so that the automatic operation shovel body 1 operates at a smooth speed and interpolated as described above is obtained. Created. These interpolated teaching position data are stored in the servo controller 7.
10, the current position calculation unit 711 calculates the sensor signals detected by the angle sensors 108 to 111 to obtain current position data, and inputs the data to the servo control unit 710. The servo control unit 710 performs a predetermined servo control based on the interpolated teaching position data as a target and the detected current position data, and outputs a drive signal to the proportional solenoid valve 116.

In FIG. 10, Ln indicates a label and GO
By executing the TO command, the execution position of the program can be moved to the position indicated by the label. MOVE
The command is a command for instructing movement to a designated position, and the argument Pn indicates the number of the teaching position to be moved. The V command is a command for instructing the speed of moving between the teaching positions, and its argument is represented by% when the maximum speed is set to 100. The PAC command is a command for instructing positioning accuracy, and its argument indicates the degree of positioning. When this value is increased, the positioning accuracy is increased, and the shovel operates to decelerate or stop at each teaching position. The lower this value is, the less the positioning is, and the smoother the shovel moves each teaching position. The IF command indicates a decision branching process. When the value of the variable Cn as an argument is 1, the next program execution position is moved to the label Ln. If the variable Cn is 0, the command of the next line is executed as it is. Using these commands, the V, PAC, and MOVE commands are used to sequentially control the excavator to move to the position of Pn including the excavation position and the unloading position, and these processes are repeatedly executed by the GOTO command, By branching with a command, it is possible to automatically perform the excavation and excavation repetition operations and the switching of the excavation range.

The processing performed by the automatic operation controller 7 during automatic operation will be described below with reference to the flowcharts of FIGS. When the automatic operation is started in step 1, in step 2, which of the excavation areas 1 and 2 is currently selected is determined by C1. When the excavation range 1 is selected, the maximum value S_CNTL1 of the turning direction shift during excavation is substituted for S_CNTL in step 3, and the turning angle SW_S1 of the excavation start position of the excavation range 1 is set in step 4 to turn the excavation position. Angle S_POIN
Substitute for T. On the other hand, when it is determined in step 2 that the excavation range 2 has been selected, in step 5 the maximum value S_CNTL2 of the turning direction shift during excavation is set to S.
_CNTL, and in step 5, the turning angle SW_S2 of the digging start position in the digging range 2 is substituted for the turning angle S_POINT of the digging position. In step 7, an operation start operation is performed. This is the self-driving shovel body 1
FIG. 7B shows an operation of raising the boom 102 from the attitude at the time of the start of automatic operation to take a pivotable attitude, and thereafter taking the digging start attitude at the digging start position in the selected digging range. In steps 8 and 9, the boom cylinder 105
The bucket 104 is brought into contact with the stock yard by lowering the boom 102 until the pressure reaches the set value.
After the bucket touches the ground, in step 10 it is determined whether or not the depth BK_Y of the bucket tip has reached the set depth D_LIMIT. If the depth BK_Y has reached the set depth, the shift flag is turned on in step 11 to reach the set depth. If not, at step 12, the shift flag is turned off. After that, excavation at steps 13, 14 and 15 respectively,
The go-turning and earth discharging operations are performed, and the process proceeds to the processing in FIG.

In step 21, it is determined at C1 whether or not the excavation range has been switched. If the switching has not been performed, the state of the shift flag is determined in step 22. If the shift flag is OFF, the excavation depth does not reach the set value and there is no need to shift the excavation position.
To perform the return turning operation, and return to the processing of FIG. 12 again. If the shift flag is ON in step 22, the shift counter S_CN in the turning direction of the excavation position is determined in step 24.
Add 1 to T. In step 25, it is determined whether or not the shift counter S_CNT has exceeded the maximum value S_CNTL. If not, the turning shift direction at the time of excavation is determined in step 26, and if the turning direction is set to the left turning direction, the turning angle S_POI of the next excavation position is determined in step 29.
The movement angle per shift S_ANG is added to NT. If it is set to the right turning direction, in step 28, the moving angle S_ANG per one shift is subtracted from the turning angle S_POINT of the next excavation position. And step 35
To perform the return turning operation, and shift to step 8 in FIG.

If it is determined in step 25 that S_CNT has exceeded the maximum value, the flow advances to step 27 to perform processing for returning the excavation position to the start position of the excavation range. In step 27, it is determined which excavation area is currently selected. If the excavation range 1 is selected, the maximum value S_CNT1 of the turning direction shift counter of the excavation range 1 is input to S_CNT in step 30 and step 31
Then, the turning angle SW_S1 of the digging start position in the digging range 1 is input to the turning angle S_POINT of the digging position. If the excavation range 2 is selected in step 27, the maximum value S_CNT2 of the turning direction shift counter of the excavation range 2 is input to S_CNT in step 32, and step 33
Then, the turning angle SW_S2 of the digging start position in the digging range 2 is input to the turning angle S_POINT of the digging position. Thereafter, the shift counter is cleared in step 34, the return turning operation is performed in step 35, and the process proceeds to step 8 in FIG.

If it is determined in step 21 that C0 is not 0, that is, it is determined that the excavation area has been switched, C0 is cleared in step 23, and since the excavation area has been entirely excavated in step 27 and thereafter, the next excavation position is set. The same processing as returning to the excavation range start position is performed.

In the above embodiment, as the excavation range changing means, the remote control device 5 is provided with excavation range selection buttons 551 and 552 as shown in FIG. The ore loading detection device 10a, which determines whether the ore transport dump truck 6 has entered the ore loading position provided in the periphery of the yards 2a and 2b,
Although 10b is installed, instead of such a configuration, as shown in FIG. 14, an imaging device 20a for imaging the ore loading state of the stock yards 2a and 2b and an image captured by the imaging device 20a are processed. When an excavation position with a large amount of raw stone is detected by the image processing device 20b, the excavation range changing unit including the image processing device 20b that automatically determines the excavation position with a large amount of raw stone is used. The automatically driven excavator 1 is automatically placed at the excavation position where
It is also possible to switch the excavation range.

With this arrangement, the excavation position where the amount of the raw stone is large can be automatically determined, and the excavation range of the automatically driven shovel can be automatically switched to the excavation position, thereby increasing the burden on the operator. Without this, the state of the stock yards 2a and 2b can always be maintained uniformly, and the operating efficiency of the entire system can be increased.

[0049]

According to the first aspect of the present invention, a plurality of excavation ranges of the automatic operation shovel are previously taught to the automatic operation controller, and the automatic operation controller is instructed to switch the excavation range. Since the range switching means is provided in the crushed stone processing system, the excavation range of the automatic operation shovel can be appropriately switched as required. For example, the front of the automatic operation shovel is retracted from the position where the ore is input by the inputting machine, and excavation and loading are performed. And the like can be continued, so that the contact of the ore with the automatic driving shovel can be prevented without sacrificing the working efficiency. In addition, the front of the self-driving shovel can be quickly moved to the position where excavation work is to be performed according to the state of the stockyard, so that the state of the stockyard can be kept uniform and efficient crushed stone generation. It can be carried out.

According to the second aspect of the present invention, the excavation range switching means is provided in the remote control device of the automatically driven shovel, and the digging range of the automatically driven shovel is manually switched. The operator can appropriately switch the excavation position in accordance with the state of loading and the state of the stock yard, and can finely change the excavation position, thereby efficiently excavating and loading rough stones.

According to the third aspect of the present invention, as the excavation range switching means, a sensor for detecting the presence or absence of a loading machine that has entered the ore loading position is used. When the approach is detected, the excavation range of the automatic driving shovel is automatically switched to a digging position farther from the raw stone input position, so that the rough of the raw stone to the automatic driving shovel is increased without increasing the burden on the operator. Contact can be reliably prevented, and the operating efficiency of the entire system can be increased.

According to the fourth aspect of the present invention, as the excavation range changing means, an image pickup device for picking up an ore loading state in a stock yard, and an image picked up by the image pickup device are processed by image processing to insert the ore. An image processing device that automatically determines a large excavation position is used, and when the image processing device detects an excavation position with a large amount of rough stone, the excavation position with a large amount of the rough stone is detected. Since the excavation range of the self-driving shovel is automatically switched, the state of the stock yard can be constantly maintained without increasing the burden on the operator, and the operating efficiency of the entire system can be increased. .

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first example of an in-vehicle device and a remote control device of an automatic driving shovel body according to the present invention.

FIG. 2 is a diagram showing a first example of a configuration and a working mode of a crushed stone processing system according to the present invention.

FIG. 3 is an explanatory diagram of a digging range taught by the automatic driving shovel body according to the present invention.

FIG. 4 is a flowchart illustrating a first example of a processing procedure at the time of excavation position switching.

FIG. 5 is a block diagram showing a second example of the vehicle-mounted device and the remote control device of the automatic driving shovel body according to the present invention.

FIG. 6 is a diagram showing a second example of the configuration and working mode of the crushed stone processing system according to the present invention.

FIG. 7 is an overhead view showing a configuration around a stock yard.

FIG. 8 is a flowchart illustrating a first example of a processing procedure at the time of excavation position switching.

FIG. 9 is a diagram illustrating an example of teaching position data stored in a teaching position storage unit.

FIG. 10 is a diagram showing an example of a program for defining the operation of the shovel during automatic operation, which is stored in a reproduction command storage unit.

FIG. 11 is a flowchart illustrating a processing procedure of a teaching process.

FIG. 12 is a flowchart illustrating a procedure of an automatic driving process performed in the automatic driving controller.

FIG. 13 is a flowchart illustrating a procedure of an excavation position switching process performed in the automatic operation controller during automatic operation.

FIG. 14 is a diagram showing a third example of the configuration and working mode of the crushed stone processing system according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-driving shovel main body 2 Stockyard 3 Crusher for crushed stone 5 Remote control device 6 Dump truck for transporting rough stone (loading machine) 10a, 10b Detecting device during loading (digging range switching means) 551,552 Excavation range selection button (digging range) Switching means)

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Hideto Ishibashi 650 Kandamachi, Tsuchiura-shi, Ibaraki F-term in the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (Reference) 2D003 AA01 AC10 BA03 BA04 CA02 DA04 FA02

Claims (4)

[Claims] 1. An automatic operation controller, which is equipped with an input machine for inputting an ore into a stock yard, a crusher for crushing a loaded ore to generate a required crushed stone, and being taught by the automatic operation controller. An automatic operation shovel that repeatedly reproduces a series of operations to excavate a rough stone put into the stockyard and load the excavated rough stone into the crusher for crushed stone, and the automatic operation via the automatic operation controller. And a remote control device for remotely controlling the shovel, wherein the automatic operation controller teaches a plurality of excavation ranges of the automatic operation shovel to the automatic operation controller, and the excavation is performed to the automatic operation controller via the remote operation device. A crushing stone processing system comprising excavation area switching means for instructing an area switching. Tem. 2. The crushed stone processing system according to claim 1, wherein a switch provided on the remote control device is used as the excavation range switching means, and the excavation range of the automatic operation shovel is manually switched. Crushed stone processing system. 3. The crushed stone processing system according to claim 1, wherein the excavation range switching means includes a sensor for detecting the presence or absence of the loading machine that has entered a rough ore loading position provided around the stockyard. When the sensor detects the entry of the loading machine into the ore loading position, the sensor automatically switches the excavation range of the automatic operation shovel to a digging position remote from the ore loading position. Crushed stone processing system. 4. The crushed stone processing system according to claim 1, wherein, as the excavation range changing means, an image pickup device for picking up an ore loading state of the stock yard, and an image picked up by the image pickup device is image-processed. And an image processing device that automatically determines a digging position where a large amount of raw stone is input. When the image processing device detects a digging position where a large amount of raw stone is input, the injection of the raw stone is performed. A crushed stone processing system, wherein the excavation range of the automatically driven shovel is automatically switched to a large excavation position.