JP3973803B2 - Automated driving system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic driving system for an automatic driving shovel, and more particularly to an automatic driving system for an automatic driving shovel that can automatically move an automatic driving shovel to a predetermined standby position.
[0002]
[Prior art]
Conventionally, as a system for automating excavation / loading work, for example, a system disclosed in JP-A-9-195321 is known. This system is equipped with an excavator that automatically excavates and loads the debris collected by the bulldozer, and a crusher that crushes the debris loaded by the excavator to generate crushed stone. It is a system that can generate crushed stones by humans.
[0003]
Japanese Patent Laid-Open No. 10-212740 teaches the excavator start position and earthing position of the excavator to the controller provided in the automatic operation excavator, and outputs a command to automatically move each part of the excavator from the controller. It is described that the excavator automatically performs excavation and earthing work.
[0004]
[Problems to be solved by the invention]
By the way, even in a system that automates excavation and loading work, when the operator gets on and off the excavator at the end of automatic operation, it is better to move the excavator to a position where it can easily get on and off (hereinafter referred to as a standby position). It is convenient, and it is easier for the operator to get on and off when the excavator gets on and off in a stable posture. Furthermore, when moving to the standby position, it is necessary to change the moving method depending on the operation state of the shovel. This is because, for example, when a movement process to the standby position occurs during excavation operation, the excavator must first be turned so that the shovel can be turned, and then the turning operation must be performed. When the movement process to the standby position occurs during the turning operation to the earth release position, it can be executed as it is from the turning operation.
[0005]
However, in the above-described conventional technology, there is no particular consideration for the movement to the standby position, and there is a problem that the operator must get on and off with the excavator in an unstable posture at the end of the automatic operation or the like. .
[0006]
In view of the above-mentioned problems of the prior art, the object of the present invention is to make a shovel automatically perform a predetermined standby operation when a standby command is issued during automatic operation or at the end of automatic operation. To provide an automatic driving excavator that can be moved to a standby position and then waited in a predetermined standby posture, thereby improving the convenience and safety of the automatic driving excavator. is there.
[0007]
[Means for Solving the Problems]
The present invention employs the following means in order to achieve the above-described problems.
[0008]
The first means automatically teaches and stores a plurality of positions by a teaching operation, and automatically repeats a series of operations from excavation to unloading based on the plurality of stored positions by a reproducing operation. In the driving excavator, the automatic driving excavator includes, as the plurality of positions taught and stored by the teaching operation, teaching position storage means for storing at least a position including an excavation position, a earthing position, and a standby position; When the movement to the standby position is instructed, it is determined which operation state of the automatic operation excavator is in a series of operations from the excavation to the earthing, and predetermined standby is performed according to each operation state. It is characterized by comprising standby operation processing means for performing an operation and waiting at a predetermined standby position.
[0009]
The second means is the first means, wherein the standby operation processing means is configured such that when the movement to the standby position is instructed, and when the automatic driving excavator is in an operation start operation or a return turning operation, the standby operation processing unit The operation includes a first step of causing the front of the excavator to take a swingable posture, a second step of rotating the excavator to the standby position, and a predetermined amount of the arm and bucket of the excavator at the standby position. It consists of the 3rd process of taking a posture, and the 4th process of grounding the front of the excavator to the ground.
[0010]
The third means is either the first means or the second means, and the standby operation processing means is in the excavation operation when the movement to the standby position is instructed. At the time, the standby operation includes a first step of raising the shovel boom to raise the front of the shovel from the ground, and a second step of dumping the shovel bucket to drop debris in the bucket. A third step of taking a posture capable of turning the front of the excavator, a fourth step of turning the excavator to the standby position, and a predetermined position on the arm and bucket of the excavator at the standby position. It comprises a fourth step for taking a posture and a fifth step for grounding the front of the excavator to the ground.
[0011]
The fourth means is any one of the first means to the third means, and when the movement to the standby position is instructed, the automatic operation excavator goes and turns in the standby operation processing means. In some cases, the standby operation includes a first step of turning the shovel to the standby position, a second step of causing the arm of the shovel to take a predetermined posture at the standby position, And a third step of grounding the front to the ground.
[0012]
A fifth means is any one of the first means to the fourth means, wherein when the movement to the standby position is instructed, the automatic operation excavator performs the earthing operation when the movement to the standby position is instructed. In some cases, the standby operation includes a first step of quickly interrupting the earthing operation by clouding the shovel bucket, and a second step of taking a posture capable of turning the front of the shovel. A third step of turning the excavator to the standby position, a fourth step of causing the shovel arm to take a predetermined posture at the standby position, and a fifth step of grounding the front of the excavator to the ground. It consists of a process.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
FIG. 1 is a diagram showing an automatic driving excavator according to the present embodiment and its working mode.
[0015]
In the figure, 1 is an excavator for excavating debris stored in the stockyard 2 and loaded on a crasher 3 to be described later. 3 is a crusher for generating crushed stone 4 by crushing the debris loaded by the shovel 1. It is an operation box installed at an arbitrary place suitable for performing the reproduction operation of the shovel 1.
[0016]
The excavator 1 includes a traveling body 10, a revolving body 11 provided on the traveling body 10 so as to be rotatable, a boom 12 provided on the revolving body 11 so as to be rotatable, and a pivot 12 provided at the tip of the boom 12. A swing motor 110 (not shown) for rotating the arm 13, the bucket 14 rotatably provided at the tip of the arm 13, and the swing body 11, boom 12, arm 13, and bucket 14. From the cylinders 120, 130, 140, the cab 15 provided in the swing body 11, the antenna 150 that transmits and receives signals to and from the operation box 5, and the operation panel 60 that performs the teaching operation of the excavator 1. Composed.
[0017]
Further, the excavator 1 includes an angle sensor 111 that detects a turning angle of the swing body 11, an angle sensor 112 that detects a rotation angle between the swing body 11 and the boom 12, and a rotation angle between the boom 12 and the arm 13. An angle sensor 113 for detecting, an angle sensor 114 for detecting a rotation angle between the arm 13 and the bucket 14, a pressure sensor 160 (not shown) for detecting the pressure of the swing motor 110, and a pressure of the boom cylinder 120 are detected. A pressure sensor 161, a pressure sensor 162 for detecting the pressure of the arm cylinder 130, and a pressure sensor 163 for detecting the pressure of the bucket cylinder 140 are provided. When the controller switch 66 is turned on, the automatic operation mode is entered. The excavator 1 is automatically operated by the controller 61.
[0018]
The crasher 3 includes a traveling body 30, a hopper 31, a crushed stone part 32, and a conveyor 33.
[0019]
The operation box 5 includes an operation stop button 500 for automatic operation of the excavator 1, an operation start button 501, a standby position button 502, an emergency stop button 503, and an engine ON button 504 for starting the engine of the excavator 1. An engine OFF button 505 that stops the engine, an UP button 506 that increases the engine speed, and a DOWN button 507 that decreases the engine speed are provided, and an antenna 51 that transmits and receives signals to and from the antenna 150 of the excavator 1. And has.
[0020]
FIG. 2 is a block diagram showing a control mechanism of the automatic driving shovel according to the present embodiment. In the figure, the same reference numerals as those shown in FIG. 1 denote the same parts.
[0021]
In the figure, 50 is a reproduction operation unit provided in the operation box 5 and operated during reproduction, and 52 is a command generation unit for forming a signal output from the reproduction operation unit into a predetermined signal output to a controller 61 described later. , 53 and 65 are wireless devices for transmitting and receiving signals between the reproduction operation unit 50 and the controller 61, respectively.
[0022]
The command generation unit 52 is configured by a general controller using a microcomputer, and has a function of generating a command code corresponding to the input signal.
[0023]
6 indicates an in-vehicle device, 60 is an operation panel, 61 is a controller mainly composed of a microcomputer, 62 is a proportional solenoid valve driven by a drive current output from the controller 61, and 63 is output from the proportional solenoid valve 62. 1 is a control valve that controls the amount of oil flowing into the actuator or the hydraulic pressure, and 64 is an actuator such as a swing motor 110 and cylinders 120, 130, 140 for operating each part of the shovel 1 shown in FIG. 66 are controller switches for turning on / off the power of the controller 61. When the control switch 66 is in the OFF state, the manual operation mode is the same as that of the standard machine. When the control switch 66 is in the ON state, the automatic operation mode is selected, and the controller 61 can be operated automatically.
[0024]
FIG. 3 is a block diagram showing an outline of the hardware configuration of the controller 61 shown in FIG.
[0025]
In the figure, reference numeral 611 denotes a controller switch 66, sensors 111 to 114, 160 to 163, an interface for inputting an input signal from the operation panel 60, 612 denotes a CPU for executing predetermined arithmetic processing according to various programs described later, and 613 denotes RAM for storing teaching data, various arithmetic processed data, and the like; 614, a communication interface for inputting / outputting transmission / reception signals to / from the wireless device 65; 615, an interface for outputting an output signal to the proportional solenoid valve 62; The ROM stores various programs such as a teaching program 617, a reproduction program 618, and a standby processing program 619.
[0026]
Next, the outline | summary of operation | movement of the automatic driving shovel which concerns on this embodiment is demonstrated according to FIG. 2 and FIG.
[0027]
First, the controller switch 66 is turned on in the state where the engine of the excavator 1 is started, and the automatic operation mode is set.
[0028]
At the time of teaching, a teaching operation necessary for automatic driving is performed according to an instruction displayed on the operation panel 60. The teaching operation in the present embodiment is teaching of the excavation position, the earthing position, and the standby position. The excavation position and the earthing position are the position for the excavator 1 to excavate the debris stored in the stockyard 2, the position for discharging the debris excavated to the hopper 31 of the crasher 3, and the standby position are automatic. It is a position for the operator to get on and off the excavator 1 at the end of driving, etc. The teaching operation described above is calculated by inputting the detection values from the angle sensors 111 to 114 according to the operation, and is stored in a predetermined manner. The teaching position data and teaching commands are stored in the area. When the teaching operation is completed and the reproduction operation is performed, automatic operation is started.
[0029]
At the time of reproduction, by pressing the operation start button 501 from the reproduction operation unit 50, a predetermined signal generated in the command generation unit 52 is transmitted to the controller 61 via the antennas 51 and 150, and the reproduction process is started. . When the reproduction process is started in the controller 61, the stored teaching data is recalled, and compared with the information obtained from the angle sensors 111 to 114, the revolving body 11, A drive current is output to the proportional solenoid valve 62 for operating the boom 12, the arm 13, and the bucket 14. The excavator 1 is automatically operated by controlling each actuator 64 from the proportional solenoid valve 62 via the control valve 63.
[0030]
During standby, by pressing the standby position button 502 from the reproduction operation unit 50, a predetermined signal generated in the command generation unit 52 is transmitted to the controller 61 via the antennas 51 and 150, and standby processing is started. . When the standby process is started in the controller 61, the excavator 1 interrupts the repetitive operation, calls the stored teaching data according to the standby process program, and compares it with the information obtained from the angle sensors 111-114. A drive current is output to the proportional solenoid valve 62 for operating the swing body 11, the boom 12, the arm 13, and the bucket 14 so as to match the teaching position data, and a predetermined standby operation is performed to return to the standby position. Moving.
[0031]
Next, the processing procedure of the standby operation by the standby processing program 619 of the automatic driving shovel according to the present embodiment will be described with reference to the flowcharts shown in FIGS.
[0032]
FIG. 4 is a diagram for setting a standby operation counter W_CNT for performing different standby operations according to the operation state of the automatic driving excavator when the standby position button 502 is pressed and a standby command is issued. It is a flowchart which shows a process sequence.
[0033]
First, as shown in the figure, when the operation start button 501 is turned ON, automatic operation starts. In step S1, the standby operation counter W_CNT is set to 1.
[0034]
Here, the standby operation counter W_CNT identifies the operation state during the automatic operation in the standby operation processing described later by the value set here, and the excavator 1 selects a predetermined standby operation. Is possible.
[0035]
Next, an operation start operation is executed in step S2. This operation start operation is an operation in which the excavator 1 is turned to a swingable posture by raising the boom and the like, and the turning operation is performed to the taught excavation position. In step S3, the standby operation counter W_CNT is set to 2, and excavation operation is performed in step S4. This excavation operation is an operation in which the shovel 1 is lowered in the boom, the front is grounded to the ground, then excavation is performed by the arm cloud, debris is scraped by the bucket cloud, and the excavator 1 is turned in a posture capable of turning by raising the boom. is there. Next, in step 5, the standby operation counter W_CNT is set to 3, and in step S6, the turning operation is performed. This outbound turning operation is a turning operation from the taught excavation position to the earthing position. Next, the standby operation counter W_CNT is set to 4 in step S7, and the earthing operation is performed in step S8. This earthing operation is an action of earthing the debris excavated in step S4 by a bucket dump or the like to the hopper 31 of the crasher 3 at the taught earthing position. Next, the standby operation counter W_CNT is set to 1 in step S9, and the return turning operation is performed in step S10. This return turning operation is a turning operation from the taught earthing position to the excavation position. Next, the process returns to step S3, and thereafter, the same processing is repeated to perform automatic operation.
[0036]
FIG. 5 is a flowchart showing a processing procedure for identifying each operation state of the automatic driving shovel and selecting a predetermined standby operation process according to the standby operation counter W_CNT value at the time when the standby command is issued.
[0037]
When the standby position button 502 is turned on during the automatic driving operation, first, in step S100, it is determined whether or not the standby operation counter W_CNT is 1. If the determination result is true, the process proceeds to step S200, and standby operation 1 described later is executed. If the determination result is false, the process proceeds to step S300, and it is determined whether or not the standby operation counter W_CNT is 2. If the determination result is true, the process proceeds to step S400, and a standby operation 2 described later is executed. If the determination result is false, the process proceeds to step S500, and it is determined whether or not the standby operation counter W_CNT is 3. If the determination result is true, the process proceeds to step S600, and a standby operation 3 described later is executed. On the other hand, if the determination ligation is false, the process proceeds to step S700, and it is determined whether or not the standby operation counter W_CNT is 4. If the determination result is true, the process proceeds to step S800, and a standby operation 4 to be described later is executed. When each standby operation in steps S200, S400, S600, and S800 is executed, the standby operation ends in step S900.
[0038]
FIG. 6 is a flowchart showing a processing procedure of the standby operation process of the automatic driving excavator when the standby operation 1 is selected in step 200 of FIG.
[0039]
First, in step S201, the front of the excavator 1 is moved to the collision preventing posture, and a swingable posture is ensured. Here, the collision prevention posture is a posture in which the excavator 1 can turn 360 degrees, and in this embodiment, the posture is a posture in which a certain amount of boom is raised from the taught earthing position. It is automatically generated by the controller 61 based on the teaching position. Note that the front (boom, arm, and bucket) posture in the forward turning operation in step S6 in FIG. 4 is the same as the front posture in the collision prevention posture.
[0040]
Next, the turning operation is performed to the standby position taught in step S202. Next, in step S203, the arm and the bucket are moved so as to be in the posture at the taught standby position. In step S204, the boom is lowered, and in step S205, it is determined whether or not the boom pressure is larger than the set value, and the grounding of the front to the ground is detected. When the determination result in step S205 is true, the process proceeds to step S206, the operation of the excavator 1 is stopped, and the execution of the standby operation 1 is ended. If the determination result is false, the process returns to step S204 to repeat the boom lowering operation.
[0041]
In this embodiment, the contact of the front with the ground is detected by the determination of the boom pressure, and the operation is terminated. However, the shape of the ground at the taught standby position changes while the automatic operation is repeated. This is to cope with this.
[0042]
FIG. 7 is a flowchart showing a processing procedure of the standby operation process of the automatic excavator when the standby operation 2 is selected in step 400 of FIG.
[0043]
First, in step S401, the boom is moved to the boom posture in the collision preventing posture, and the front is raised from the ground during excavation. Next, in step S402, the bucket is dumped, and an operation weight is executed in step S403, and the debris in the bucket is released. In this embodiment, the wait time is 2 seconds. Next, in step S404, the front of the excavator 1 is moved to the collision preventing posture, and a swingable posture is ensured. Next, the turning operation is performed to the standby position taught in step S405. Next, in step S406, the arm and bucket are moved so as to be in the posture at the standby position taught. Next, in step S407, the boom is lowered, and in step S408, it is determined whether or not the boom pressure is larger than the set value, and the grounding of the front to the ground is detected. When the determination result in step S408 is true, the process proceeds to step S409, the operation of the excavator 1 is stopped, and the execution of the standby operation 2 is ended. If the determination result is false, the process returns to step S407, and the boom lowering operation is repeated.
[0044]
FIG. 8 is a flowchart showing a processing procedure of the standby operation process of the automatic driving excavator when the standby operation 3 is selected in step 600 of FIG.
[0045]
First, the turning operation is performed to the standby position taught in step S601. Next, in step S602, the arm is moved to the posture at the standby position taught. Here, the reason why the bucket is not operated as in the standby operations 1 and 2 is to prevent the fall of debris in the bucket because it is in a going-turning operation. Next, in step S603, the boom is lowered, and in step S604, it is determined whether or not the boom pressure is larger than the set value, and the grounding of the front to the ground is detected. When the determination result in step S604 is true, the process proceeds to step S605, the operation of the excavator 1 is stopped, and the execution of the standby operation 3 is ended. If the determination result is false, the process returns to step S603 to repeat the boom lowering operation.
[0046]
FIG. 9 is a flowchart showing a processing procedure of the standby operation process of the automatic excavator when the standby operation 4 is selected in step 800 of FIG.
[0047]
First, in step S801, only the bucket is set to the bucket posture in the collision preventing posture, and the earthing operation is promptly stopped. Next, in step S802, the front is moved to the collision preventing posture, and a swingable posture is ensured. Next, the turning operation is performed to the standby position taught in step S803. Next, in step S804, the arm is moved to the posture at the standby position taught. Next, in step S805, the boom is lowered, and in step S806, it is determined whether or not the boom pressure is larger than the set value, and the grounding of the front to the ground is detected. If the determination result in step S806 is true, the process proceeds to step S807, the operation of the excavator 1 is stopped, and the execution of the standby operation 4 is ended. If the determination result is false, the process returns to step S805 to repeat the boom lowering operation.
[0048]
【The invention's effect】
As described above, according to the automatic driving system of the present invention, the excavator is automatically moved to the standby position in accordance with the standby position operation command so that the operator can easily get on and off. In addition, since the excavator is not taken in and out in an unstable posture, the safety of the operator can be ensured.
[0049]
Furthermore, when moving to the standby position, a different standby operation is performed depending on the operation state of the excavator at the start of movement. For example, when the vehicle is in an excavation state and the front is submerged in the ground, It is possible to improve the safety as an automatic driving excavator without executing the operation.
[Brief description of the drawings]
FIG. 1 is a diagram showing an automatic driving excavator and an operation mode thereof according to an embodiment of the present invention.
FIG. 2 is a block diagram showing a control mechanism mounted on an in-vehicle mounting device and an operation box of an automatic driving shovel according to the present embodiment.
3 is a block diagram showing an outline of a hardware configuration of a controller 61 shown in FIG.
FIG. 4 is a flowchart showing a processing procedure for setting a standby operation counter W_CNT for performing a different standby operation in accordance with the operation state of the automatic driving shovel when a standby command is issued.
FIG. 5 is a flowchart showing a processing procedure for identifying each operation state of the automatic driving excavator and selecting a predetermined standby operation process according to a standby operation counter W_CNT value when a standby command is issued.
6 is a flowchart showing a processing procedure of a standby operation process of the automatic excavator when standby operation 1 is selected in step 200 of FIG.
FIG. 7 is a flowchart showing a processing procedure of standby operation processing of the automatic driving excavator when standby operation 2 is selected in step 400 of FIG. 5;
FIG. 8 is a flowchart illustrating a processing procedure of standby operation processing of the automatic excavator when standby operation 3 is selected in step 600 of FIG. 5;
FIG. 9 is a flowchart showing a processing procedure of a standby operation process of an automatic driving excavator when standby operation 4 is selected in step 800 of FIG. 5;
[Explanation of symbols]
1 Excavator 3 Class 5 Operation Box 60 Operation Panel 61 Controller 66 Controller Switch 613 RAM
617 ROM
111 to 114 Angle sensor 5 Operation box 500 Operation stop button 501 Operation start button 502 Standby position button 503 Emergency stop button

Claims (5)

An operation box for instructing a reproduction operation, and a plurality of positions are taught and stored by a teaching operation, and a series of operations from excavation to earth release based on the plurality of positions stored by the reproduction operation of the operation box In an automatic driving system consisting of an automatic driving excavator that automatically repeats
The operation box includes a standby position button for instructing movement to a standby position for an operator to get on and off the excavator,
A teaching position storage means for storing at least a position comprising an excavation position, a earthing position, and a standby position as the plurality of positions taught and stored by the teaching operation;
The automatic operation excavator is released from the excavation according to the standby operation counter for identifying which operation state of the series of operations from the excavation to the earthing operation the excavator in automatic operation is in, and the value of the standby operation counter. It is determined which operating state of the series of operations up to the soil, comprising a standby operation processing means for performing a predetermined standby operation according to each operation state, and waiting in the standby position,
The automatic operation system characterized in that the standby operation processing means determines that the front portion of the excavator is in contact with the ground when the boom pressure is equal to or higher than a predetermined set pressure.   The standby operation processing means according to claim 1, wherein when the movement to the standby position is instructed, the standby operation is performed at the front of the excavator when the automatic operation excavator is in an operation start operation or a return turning operation. A first step of taking a swingable posture; a second step of turning the shovel to the standby position; and a third step of causing the shovel arm and bucket to take a predetermined posture at the standby position. An automatic driving system comprising a step and a fourth step of grounding the front of the excavator to the ground. In either claim 1 or claim 2,
When the movement to the standby position is instructed and the automatic operation excavator is in excavation operation, the standby operation processing means raises the boom of the excavator so that the front of the excavator is underground. A first step of raising the excavator, a second step of dumping the bucket of the shovel to drop debris in the bucket, a third step of allowing the front of the shovel to pivot, and the excavator A fourth step of turning the excavator to the standby position, a fourth step of causing the shovel arm and bucket to take a predetermined posture at the standby position, and a fifth step of grounding the front of the excavator to the ground. An automatic driving system characterized by comprising a process. In any one of claims 1 to 3,
When the movement to the standby position is instructed and the automatic driving excavator is in a turning operation, the standby operation processing means turns the excavator to the standby position when the automatic driving excavator is in a turning operation. An automatic operation system comprising: the step of: a second step of causing the shovel arm to take a predetermined posture at the standby position; and a third step of grounding the front of the shovel to the ground. In any one of claims 1 to 4,
When the movement to the standby position is instructed, and the automatic operation excavator is in the earthing operation, the standby operation processing unit performs the earthing operation by clouding the shovel bucket. A first step of quickly interrupting, a second step of taking a posture capable of turning the front of the excavator, a third step of turning the excavator to the standby position, and An automatic driving system comprising a fourth step of causing a shovel arm to take a predetermined posture and a fifth step of grounding the front of the shovel to the ground.

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