JP3047195B2 - Excavator excavation control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an excavation control method for an excavator such as a power shovel.

[0002]

2. Description of the Related Art An upper vehicle body is mounted on a lower vehicle body having a traveling body.
The excavator, which is mounted so as to be pivotable 60 degrees, and has an arm type excavator consisting of a boom, an arm, and a bucket mounted on the upper body so as to be vertically rotatable, supplies pressurized oil to a rotating motor, a boom cylinder, an arm cylinder, and a bucket cylinder. A directional control valve is provided, and the operator operates these directional control valves to perform a turning operation, a boom elevating operation, an arm elevating operation, and a bucket up / down operation to excavate the ground or the like.

[0003]

In such an excavator, moving the tip of the bucket linearly requires simultaneous operation of a plurality of directional control valves, which is very troublesome. Not only is it extremely difficult to excavate a shaped hole, it is also necessary to carefully excavate while visually observing the excavated surface, and excavation may not be possible if the tip of the bucket is not visible, such as at night. Conventionally, various excavation control methods for linearly moving the tip of the bucket have been proposed. For example, an excavation control method has been proposed in which the position of the tip of the bucket is detected based on the angle of the boom, the angle of the arm, and the angle of the bucket, and the direction control valves are automatically switched so as to move along a preset straight line. I have. However, the above-mentioned excavation control method is a method of controlling the operation of the boom, the arm, and the bucket mainly for the purpose of slope finish excavation and horizontal finish excavation. The operation is controlled at a slow speed, and the amount of excavation per hour is small and the work speed drops, so the excavation efficiency is significantly reduced as compared with the excavation work by a normal operator. Not only can not be excavated, but even if the conventional excavation control method is applied to the excavation of the above-described rectangular hole, the excavation efficiency is significantly reduced.

Accordingly, an object of the present invention is to provide an excavator control method for an excavator which can solve the above-mentioned problems.

[0005]

According to the present invention, a boom 5, an arm 6, and a bucket 7 are sequentially mounted on a revolving upper body 3 so as to be able to swing up and down. An excavator that performs an operation, a bucket dump, and an excavation operation, the excavator controlling the excavator to excavate a hole having a predetermined shape, wherein a limiter A ₁ for a front vertical excavation surface facing in the left-right direction, a limiter A _{2 for} a bottom excavation surface, The limiter A ₃ of the rear vertical excavation surface facing in the left-right direction, the limiter A ₄ of the right vertical excavation surface facing in the front-rear direction, and the limiter A ₅ of the left vertical excavation surface facing in the front-rear direction are set. Boom up / down operation, arm up / down operation Bucket dumping, excavation operation and excavation, and the position of the bucket tip 7a is detected. When a hole having a predetermined shape is excavated so as to restrict the operation in the direction exceeding the set limiter, and thereafter, the bucket tip portion 7a is moved by the manual operation of the operator along each of the excavated surfaces to perform the finishing operation. The operation in which the detected position of the bucket tip 7a exceeds the set limiter is restricted, the bucket tip 7a is separated from the limiter, and the operation of approaching the limiter is repeated to finish each excavated surface. This is an excavation control method for an excavator.

[0006]

[Operation] When excavating a hole of a predetermined shape by performing a turning operation, a boom up / down operation, an arm up / down operation, a bucket dumping operation, and an excavating operation by an operator's operation, the limiter of each excavation surface set at the bucket tip position is set. Each movement is regulated so that it does not exceed it, and during the finishing operation, the bucket tip moves along each excavation surface while approaching and leaving the limiter, so it is easy to see holes in a predetermined shape without looking at the bucket tip The excavation can be performed in the same way as the usual operation, and the excavation speed can be increased to improve the excavation efficiency.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, an upper vehicle body 3 is attached to a lower vehicle body 2 provided with a traveling body 1 by a revolving mechanism provided with a revolving motor 4 so as to be freely pivotable. The bucket 7 is mounted on a boom cylinder 8, an arm cylinder 9, and a bucket cylinder 10 so as to be vertically rotatable to form an excavator. As shown in FIG. 2, pressure oil of a pump 15 is supplied to each of the cylinders and the swing motor by a swing direction control valve 11, a boom direction control valve 12, an arm direction control valve 13, and a bucket direction control valve 14. These directional control valves are switched by a command from a controller 16. The controller 16 receives a left turn signal, a right turn signal, a boom raising / lowering signal, an arm raising / lowering signal, an arm raising / lowering signal, and a bucket raising / lowering from an operation lever 17. A signal is input, and each directional control valve is switched and operated based on the input signal. It is also possible to switch the pilot pressure switching valve by the controller 16 and supply the pilot pressure to each direction control valve to perform the switching operation.

An example of a normal excavation operation by an operator will be described with reference to FIG. Operation to Excavation Start Position As shown in FIG. 3A, the boom 5 is lowered, the arm 6 is lowered, the bucket 7 is raised (hereinafter, referred to as dumping operation), and the bucket tip 7a contacts the ground GL. This is detected visually or by an increase in the load on the boom 5, and it is determined that the bucket tip 7a has reached the excavation start position. The arm 6 may be lowered in advance by the above operation, and the bucket 7 may be dumped in advance to lower the boom 5. As shown in FIG. 3B, the boom 5 and the bucket 7 are stopped, the arm 6 is lowered, and the ground 7 is excavated by the bucket 7. During the first excavation As shown in FIG. 3C, the boom 5 is raised, the arm 6 is lowered, and the bucket 7 is stopped. At this time, when the digging load is large, the digging operation is performed by lowering the bucket 7 (hereinafter referred to as digging operation) to improve digging power. During the second excavation As shown in FIG. 3D, excavation is performed by stopping the boom 5, lowering the arm 6, and excavating the bucket 7. Actually, the operation is performed discontinuously. Scooping and discharging operation As shown in FIG. 3 (e), the bucket 7 is excavated, the boom 5 and the arm 6 are raised, and the bucket 7 is moved above the ground GL so that the bucket is substantially horizontal so that earth and sand do not fall. After turning the upper body 3 to the turning posture, the bucket 7
Is dumped to discharge the earth and sand in the bucket 7.

An example of a normal excavation surface finishing operation by an operator will be described with reference to FIG. Finishing operation of the front vertical excavation surface. As shown in FIG. 4 (a), with the bucket 7 stopped, the arm 6 is raised while the boom 5 is lowered and the bucket 6 is vertically moved along the straight front vertical excavation surface on which the bucket tip 7a is desired to be finished. Descends. Finishing operation of bottom excavation surface As shown in FIG. 4B, when the inclination θ of the arm 6 is ahead of the vertical, the bucket 7 is stopped, the boom 5 is raised, and the arm 6 is lowered. The bucket tip 7a is moved horizontally along a straight bottom excavation surface to be finished. As shown in FIG. 4C, when the inclination θ of the arm 6 is behind the vertical, the arm 6 is lowered while the boom 5 is lowered, and the bucket tip 7a is moved horizontally along the bottom excavation surface. Let it. Finishing operation of the rear vertical excavation surface As shown in FIG. 4D, the arm 6 is raised while the boom 5 is being raised, and the bucket tip portion 7a is vertically finished along the rear vertical excavation surface to be straightened. Move to Finishing operation of left and right vertical excavation surfaces As shown in FIG. 4 (e), the boom 5 and the arm 6 are operated in the same manner as the finishing operation of the bottom excavation surface, and the length from the turning center to the bucket tip 7a (working machine) The upper body 3 is turned while shortening the reach. As described above, the finishing work by the operator on each excavation surface requires a cumbersome operation performed by simultaneously operating a plurality of directional control valves, and requires skill of the operator.

Next, an example of a control method for excavating a rectangular hole will be described.・ Position detection of bucket tip 7a As shown in FIG. 5, a boom angle sensor 20 for detecting the angle α of the boom 5, an arm angle sensor 21 for detecting the angle β of the arm 6, and a bucket for detecting the angle γ of the bucket 7 An angle sensor 22 is provided and their values are
Then, a distance L from the turning center 3a of the upper body 3 to the bucket tip 7a and a distance H from the ground surface GL to the bucket tip 7a are calculated by the following equation (1) and the following equation (2). _{L = L 0 + L 1 ×} cosα + L 2 × cosβ + L 3 × cosγ ... (1) H = (H 0 + L 1 + sinα) -L 2 × sinβ-L 3 × sinγ ... (2) where, L ₁ is the boom length, L ₂ is the arm length, L ₃ is a bucket length, H ₀ is the distance of the distance from the surface GL to the boom pivot point, L ₀ from the boom pivot point to pivot 3a. The above L and H may be calculated not by the above-described formulas (1) and (2) but by other conventionally known formulas.
For example, if the relative angle is detected by each sensor using α, β, and γ shown in FIG. 6, α, β, and γ are respectively θ ₁ to θ.
_{From 3,} it is expressed by the following equation. α = θ ₁ β = π− (θ + θ ₂ ) γ = π− (θ ₃ −β) = 2π− (θ ₁ + θ ₂ + θ ₃ ) As shown in FIG. From the turning angle θ _4, a forward-backward distance L ₄ from the turning center 3 a to the bucket tip 7 a when the upper body 3 turns according to the formula (3) is calculated, and the bucket center tip from the turning center 3 a is calculated by the formula (4). It calculates a distance L ₅ in the lateral direction up to 7a. L ₄ = L × cos θ ₄ (3) L ₅ = L ₄ × tan θ ₄ = (L × cos θ ₄ ) × tan θ ₄ (4) These distances and heights are shown in FIGS. ), The center of rotation 3a is set as a reference position (0, 0, 0) and x,
Stored as y, z coordinates.

Setting of Excavation Range As shown in FIG. 9, the bucket tip 7a is placed at the vertices P ₁ , P ₂ , and P ₃ of the rectangular hole A to be excavated, and a setting device such as a switch is operated to set each of the vertices. Coordinates P ₁ (x) of P ₁ , P ₂ , P _{3
1, y 1, z 1)} , P 2 (x 2, y 2, z 2), P
₃ (x ₃ , y ₃ , z ₃ ) is calculated by the controller 16 and stored. At the same time, the depth Y is input to the controller 16. Thus, the excavation range is corrected to x, y, and z coordinates as described below and stored. _{X 1 = x 3, Z 1} = z 1, X 2 = (x 1 + x 2) / 2 = | x 1 + x 2 | Z 2 = z 2 Y = Y Incidentally, X ₁ as shown in FIG. 10, X _{2, Z 1, Z 2,} Y
May be input to the controller 16 using a setting machine such as a numeric keypad to store the excavation range.

Setting of Excavation Operation Range and Restriction of Operation Excavation operation range limiters A ₁ , A ₂ , A ₃ , A ₄ , as shown in FIGS.
Set A ₅ , A ₆ and A ₇ . A ₁ is set as the x coordinate | x ₁ + x ₂ | on the front vertical excavation surface facing in the left-right direction, and A
₂ is set as the y coordinate (y ₂ ) on the bottom excavation plane, A ₃ is set as the x coordinate (x ₃ ) on the rear vertical excavation plane, and A ₄ is the z coordinate (z) on the right vertical excavation plane facing in the front-rear direction. ₄₎ is set as, a ₅ is set as the z coordinate (z ₅₎ in the left vertical excavating surface toward the longitudinal direction, a ₆ is just high surface ground limiter y _H from the ground surface GL, as the y-coordinate (y ₆₎ is set, a ₇ is pivot angle θ and x limiter during cornering, y, is set at z coordinates. Then, the limiter A ₁ when the bucket tip 7a is lower than the limiter _{A 6, A 2, A 3} , A
_4, drilled operating range limiter A ₅ functions to limit the operation as a bucket tip 7a does not operate in a direction beyond the respective limiter, the limiter A ₆ when the bucket tip 7a is above the limiter A _6, A ₇ functions to prevent the bucket tip 7a from interfering with the upper vehicle body, the lower vehicle body, and the lower traveling body.

Next, the case where each limiter functions will be described. FIG. 12 (a), the (b), the position P of the bucket tip 7a (x, y, z) because from an y <y _H Limiter A ₁ to A ₅ is subject, bucket tip 7a x coordinate of x ≦ x _{| 1 + 2 |} limiter a ₁ functions when the limiter a ₂ functions when y coordinates are y ≦ y _2, the limiter a ₃ when x coordinate of x ≧ x ₃ Works, z
The limit A ₄ functions when the coordinate is z ≦ z ₄ , and the function A ₅ functions when the z coordinate is z ≧ z ₅ . Specifically, vectors (position differences) between the plurality of set excavation range limiters and the position of the work implement tip 7a are obtained. At this time, the directionality is determined for each limiter, and if the vehicle enters the outside of the excavation range, the value becomes-.

[0014] For example, was set to A ₁ and A ₃ as a limiter of the x-coordinate component as shown in FIG. 13, the limiter A ₁
, The vector dx = x _{| 1 + 2 |} -x, the limiter A
_In the case of ₃ , it is calculated as a vector dx = xx- ₁ .
Thus, the vector dx when the _{P 1, P 2, P 3} , P 4 position of the bucket tip portion 7a is in Figure 13, the vector dx ₁ = x when the position of the _{P 1 | 1 + 2 | -x} = −
Vector at the position of dx ₁₁ P ₂ dx ₁ = x _{| 1 + 2 |} −x = d
The vector at the position of x ₁₂ P ₃ is calculated as dx ₂ = x−x ₃ = dx ₂₁ The vector at the position of P ₄ dx ₂ = x−x ₃ = −dx ₂₂ . Similarly, the vectors dx ₁ , dx ₂ , dy, dz ₁ , and dz ₂ are calculated for each of the limiters, and the vector having the minimum value is selected, and the operation is restricted when the vector exceeds the limiter. .

However, when the vector is equal to or smaller than the set value F, the operation is not restricted by the limiter so that the operation can be freely performed outside the excavation range. For example, as shown in FIG. 14A, the bucket tip 7a and the limiter A ₁
To prevent the operation limit when the vector dx ₁ the following settings F for. Similarly, as shown in FIGS. 14B and 14C, when the bucket tip 7a is at the position of Pa, y <y
Because it is _H to inhibit the operation to dig deeper than the limiter A _2,
At the position Pb, the operation is not restricted because it is more than the set value F from all the limiters.

Operation restriction of boom, arm, and bucket As shown in FIG.
The operation of the boom 5 is restricted by the relationship between ₀ (x ₀ , y ₀ ) and the bucket tip position P (x, y) and the set value L ₁ (L ₁ = x ₂ ). Since the state shown in FIG. 15 and the bucket tip 7a reaches the set value L ₁ exerts restrictions on the operation of the boom 5 as follows. The y-coordinates of the fulcrum P ₀ and the bucket tip position P are compared, and when y <y ₀ , the raising direction B operation T signal is canceled and the raising signal of the boom 5 is restricted while the operation signal in the lowering direction C remains unchanged.
When> y ₀ , the operation signal in the raising direction B is left as it is, and the operation signal in the lowering direction c is canceled to restrict the lowering operation of the boom 5. The operation of the boom 6 and the bucket 7 is similarly limited.

Details of Work Machine Operation Limitation The position P (x, y, z) of the bucket tip 7a and the position Pi (xi, yi, zi) of the work machine fulcrum are assumed. However, the pivot center is i = 0, the boom fulcrum is i = 1, and the arm fulcrum is i =
2. Let the bucket fulcrum be i = 3. (1) turning operation limitation by the limiter A _1. As shown in FIG. 16A, when i = 0 and z ≧ zi, the turning operation in the D direction is restricted, and when z <zi, the turning operation in the E direction is restricted. (2) vertical operation limited by the limiter A _1. As shown in FIG. 16B, when i = 1, 2 or 3, y ≧
When yi, the operation in the downward direction c is restricted, and when y <yi, the operation in the upward direction B is restricted. (3) As shown in limit diagram 16a of the turning operation by the limiter A ₃ (c), when the Z ≧ zi limit the pivoting movement of the E direction in i = 0, turn in the direction D when the z <zi Restrict operations. (4) Restriction of Vertical Operation by Limiter A _{3 As} shown in FIG. 16D, when i = 1, 2 or 3, y
When ≧ yi, the operation in the downward direction c is restricted, and when y <yi, the operation in the upward direction B is restricted. (5) As shown in the turning operation by the limiter A ₄ limits diagram 16 (e), at i = 0 limit the E direction of the turning operation when zd ≧ 0. (6) As shown in (f) of the restriction 16 in the vertical direction of the operation by the limiter A _4, when zd ≧ 0, limits the operation of the direction c lowered by i = 1 or 2 or 3 when y ≧ yi Then, when y <yi, the operation in the raising direction B is restricted. (7) Restriction of turning operation by limiter A4 As shown in FIG. 16G, when zd <0, the turning operation in the E direction is restricted. (8) As shown in the limiter A ₄ according to the vertical direction of the operation of the restriction Figure 16 (h), to limit the operation of the direction B up when the i = 1 to 2 in zd, 0 of y ≧ yi, y
When <yi, the operation in the lowering direction is restricted. (9) As shown in (i) limit 16 of the turning operation by the limiter A _5, to restrict the D direction of the turning operation when zd ≦ 0. (10) as shown in (j) of the restriction 16 in the vertical direction of the operation by the limiter A _5, zd ≦ 0 at i = 1 or 2
Alternatively, in y, when y ≧ yi, the operation in the downward direction c is restricted, and when y <yi, the operation in the upward direction B is restricted. Similarly, when y ≧ yi at z = 1> 2 or 3 with zd> 0, the operation in the upward direction B is restricted, and when y> yi, the operation in the downward direction c is restricted. (11) in the state shown by the solid line in (k) of the upper and lower by the limiter A ₂ direction of operation restriction 16 limits the operation of the direction c lowered when x ≧ xi, the state shown in broken line in (k) in FIG. 16 When x <xi, the operation in the downward direction C is restricted. The limitation of the excavation operation is, for example, when an operation signal is input to the controller 16 from the operation lever 17 shown in FIG.
That is, the switching signal is not output from the controller 16 to each directional control valve.

Next, the excavation operation of the square hole by the operator will be described. After setting the excavation range as described above, the operator starts the excavation by operating the operation lever in the same manner as the normal operation to perform the normal excavation operation as shown in FIG. At this time, even if the operator visually checks the tip of the bucket and operates without being aware of the boundary of the excavation range, the limiter and the operation restriction prevent the tip of the bucket from coming into contact with the ground surface outside the excavation range and even when near the boundary. It can touch the ground surface at a speed, that is, can move to the excavation start position. For example, the boom as shown in (a) of FIG. 3, arm, reaches the limiter A ₁ at a position where the bucket tip 7a exceeds the limiter A ₆ as shown in FIG. 17 at the start excavation by operating the bucket Then the arm up operation, the bucket dumping operation is restricted is prevented from exceeding a limiter a ₁ and bucket tip 7a is moved along a trajectory indicated by F _1. Also, as shown in FIGS. 3B, 3C and 3D, when the boom, the arm and the bucket are operated to excavate, the bucket tip 7 is excavated.
a reaches the limit A ₃ when the arm of the lowering operation, bucket tip 7a will limit the excavating operation of the bucket without exceeding the limiter A _3, operation scooping as shown in FIG. 3 (e) after this Perform FIG. 18 shows the above excavation operation, and the trajectory of the bucket tip 7a is indicated by F ₁ , F ₂ , F ₃ , and F ₄ , and the operation is performed by the limiter A ₁ at F ₁ and F _2. limited, when the F ₄ is restricted by the limiter a _3, the same as the normal drilling operation when the F _3. Also, work scooping limits the reach limiter A ₂ and the same manner as described above arm lowering operation, drilling operation of the bucket when drilling a bottom excavating surface as shown in FIG. 19,
Locus of this time the bucket tip 7a becomes F _5. Similarly, the operation is restricted so that the bucket tip 7a does not exceed the limiters A ₄ and A ₅ . Limiter A ₁ when earth removal of excavated earth and sand bucket tip 7a as shown in FIG. 20 becomes above the limiter _{A 6, A 2, A 3} , A
_4, since A ₅ does not function, to be discharged to pivot to free the discharge position, it is possible to prevent the bucket tip 7a by the limiter A ₇ from interfering with the upper vehicle body or the like. As described above, by the same operation as usual, FIG.
It allows to drill a hole A ₁ of the set square shape hole A and substantially the same shape as shown in (b).

Same as the normal finishing operation as shown in FIG.
Then, the finishing operation is performed by the operation of the operator.
At this time, similarly to the above, the bucket tip 7a is
₁, A_Two, A_Three, A_Four, A_FiveMovement beyond the direction is restricted
As a result, the bucket tip 7a is
A₁, A_Two, A_Three, A_Four, A_FiveI'm far from that Limi
It moves in the direction approaching the
As a result, a rectangular hole with a predetermined shape can be finally excavated.
You. For example, as shown in FIG.
When finishing the surface, the operator moves the operation lever.
Operate to output boom lowering signal and arm raising signal
However, as shown in FIG.
Limiter A₁Over the arm 6
The raising operation is restricted and only the lowering operation of the boom 5 is performed.
Therefore, as shown in FIG.
a is the limiter A ₁And a small distance dx
The restriction of the raising operation of the arm 6 is released and the arm 6
To move the bucket tip 7a to the limiter A₁Approach
You. By repeating this operation in a very short time,
Bucket tip 7a is limiter A₁Descend along
The vertical excavation surface can be finished. Flow the above operation
FIG. 23 shows the state shown in FIG.

[0020]

When a hole of a predetermined shape is excavated by performing a turning operation, a boom up / down operation, an arm up / down operation, a bucket dumping operation, and an excavating operation by an operator's operation, a limiter of each excavation surface at which the position of the bucket tip is set. During the finishing operation, the bucket tip moves toward and away from the limiter along each excavation surface, so that a hole of a predetermined shape can be seen without looking at the bucket tip. Excavation can be easily performed, and excavation can be easily performed by an operator in the set limiter in the same manner as usual, so that the excavation speed can be increased and the excavation efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a front view of an excavator.

FIG. 2 is a control circuit diagram of the excavator.

FIGS. 3A to 3E are explanatory diagrams showing a normal excavation operation pattern.

FIGS. 4A to 4E are explanatory diagrams showing a normal finishing operation pattern.

FIG. 5 is an explanatory diagram of detection of a bucket tip position.

FIG. 6 is an explanatory diagram showing another example of the operation of detecting the position of the tip of the bucket.

FIG. 7 is an explanatory diagram of a detection operation of a bucket tip position.

FIGS. 8A and 8B are a plan view and a front view showing a relationship between a reference point and a position of a bucket tip.

FIG. 9 is a perspective view illustrating setting of an excavation range.

FIG. 10 is an explanatory perspective view showing another example of setting of an excavation range.

FIGS. 11A and 11B are a plan view and a front view for explaining setting of a limiter.

12A and 12B are a plan view and a bottom view for explanation of selecting a functioning limiter.

FIG. 13 is a front view illustrating a vector of a difference between the limiter and the position of the tip of the bucket in the x coordinate direction.

14A, 14B, and 14C are a front view, a plan view, and a front view for explanation when a vector is equal to or larger than a set value.

FIG. 15 is a front view for explaining the operation restriction of the boom.

16 (a), (b), (c), (d), (e),
(F), (g), (h), (i), (j), and (k) are explanatory diagrams of the operation limitation by each limiter.

FIG. 17 is an explanatory diagram of a digging start position.

FIG. 18 is an explanatory diagram of an excavation operation.

FIG. 19 is an explanatory diagram of a limitation on excavation operation of a bottom excavation surface.

FIG. 20 is an explanatory diagram of a discharging operation.

21 (a) and (b) are a plan view and a front view of a hole excavated in a schematic shape.

FIGS. 22 (a), (b) and (c) are explanatory views showing operation restrictions during a finishing operation.

FIG. 23 is a flowchart.

[Explanation of symbols]

3 Upper body, 5 Boom, 6 Arm, 7 Bucket.

Claims (1)

(57) [Claims] 1. A boom 5 to the upper vehicle body 3 to pivot, the arm 6, sequentially attaching the bucket 7 freely swing vertically, operating
Rotation, boom up / down, and
Excavator that moves up and down, bucket dump, and excavates
An excavator control method for excavating a hole of a specified shape.
And the limiter A ₁ of the front vertical excavation surface facing the left and right direction , the bottom excavation surface
Limiter A ₂ , which limits the rear vertical excavation surface
Tab A ₃ , limiter A ₄ on the right vertical excavation surface facing in the front-back direction , front
Set the limiter A ₅ of the left vertical excavating surface toward the rear direction, the turning operation by the operator of the manual operation, the boom moves up and down
Work, arm up and down movement bucket dump, excavation operation and excavation
While detecting the position of the bucket tip 7a,
The position of the detected bucket tip 7a is set to the limit value.
Predetermined shape to restrict movement in the direction beyond
Hole, and after this, the bucket tip was manually operated by the operator.
The part 7a is moved along each of the excavation surfaces to perform a finishing operation.
When the position of the detected bucket tip 7a is set.
Limit the movement in the direction beyond the limiter, and
Move 7a away from the limiter and approach the limiter again
It is characterized by repeating the work and finishing each excavated surface
Excavator excavation control method.