JPH04128438A - Automatic trench excavator - Google Patents

Abstract

PURPOSE:To attempt automation of an excavation work by detecting a guide material on the ground by means of a reading means while making an automatic trench excavator run along the guide material on the ground and performing the excavation work while correcting the deviation between the guide material and the excavator. CONSTITUTION:A camera 12 for reading a guide material on the ground is provided on the top of a sensor arm 11 on the upper area of an automatic trench excavator 2, and a white line guide material 14 is detected by this camera. A running gear 10 is controlled so that the deviation of the excavator 2 from the guide material 14 may be corrected while always detecting the guide material 14 on the ground by the camera 12 to run the excavator 2 along the guide material 14. In the next step, when the camera 12 detects the excavation area indicator 15 provided on the guide material 14, running of the excavator 2 is stopped, and an excavation unit 5 is actuated to perform excavation work on the place where the excavation area indicator 15 is provided. This constitution enables automatic excavation work.

Description

[Detailed description of the invention] 1. Industrial application field 1. This invention relates to a self-propelled trench digging machine,
Part f relates to an automatic trenching machine that travels along a guide on the ground.

``Prior art'' Conventionally, this type of self-propelled trench digging machine has been used for riding type and walking type J(II).
There are various types of both (JP-A-Sho L) 2-IL)
2601', 'Publication, 'f Kaimei t) 2-8620
+) 'J Publication, etc.).

These T117i excavators, both the riding type and the throat type, require manual operation.For example, when excavating around a house or a tree, the operator must operate the excavator. Then move to the excavation location and operate the excavation equipment manually with -]. Then, when the predetermined depth is reached, the excavation work is stopped.
Operating the J excavator and moving to another excavation location 1, repeating such operations to excavate a certain surrounding area 3, 1]
Problems to be Solved by the Invention] Conventional full-digging machines must be operated by a worker each time they are moved or excavated. Therefore, even relatively simple excavation work, such as excavation around a house, requires manpower, and the work efficiency is not good.

Therefore, a technical problem arises that needs to be solved in order to automatically excavate a predetermined location without the effort of one person to automatically travel around a certain area, and the present invention solves this problem. Let's call it 1-1.

[Means for Solving the Problems 11 This invention was proposed in order to achieve the above object, and it provides a means for reading an object on the ground without traveling along the guide. A traveling device controlled in conjunction with the reading means described in Section 1III, and a control means that stops the aircraft and operates the excavation device when the excavation section indicator provided at an appropriate location on the guide is read. An automatic t1'l') digging machine is provided.

1-Function 1 A derivative is provided in the ground in advance on the route where the automatic trench excavator is scheduled to run and excavate. Next, while the aircraft is traveling, the reading means detects a transparent conductor on the ground (7, the traveling gear is steered to correct the deviation between the guiding body and the aircraft body. Then, the reading means detects and the traveling gear Control is performed in conjunction with steering, and the aircraft travels along a guide on the ground.

Further, an excavation part indicator is provided in advance along the guide at the location where excavation is planned, and when the excavation part indicator on the ground 1- is read by the reading means, the moving aircraft is stopped or stopped.
do. Then, the excavation device is operated to excavate the location where the excavation section indicator is installed.

In this way, the machine repeatedly travels and excavates along the guide on the ground, and the excavation work is performed automatically without any manual effort.

[Embodiment] Hereinafter, an embodiment of the present invention will be described in detail according to the attached drawings.
1), in which a hydraulically operated excavator 1- (3) is installed at the front of the machine body (2), and a drill bit 1- (/l) is attached to the tip of the excavator 1- (3). A device (5) is configured.

At the bottom left and right of the aircraft (2) are the front wheels (6) (6) and the rear wheels (7).
) (7), and crawlers (8) (8) are wound between them, and the power of the engine (9) is transmitted to the left and right crawlers (8) (8) to constitute a traveling device (In). .

Sensor arm 1 (11) is fixed to a part of the fuselage (2), and the sensor arm Q +) is connected to the excavation arm (3).
The front part is bent diagonally in the F direction. At the tip of the sensor arm (11),
A camera (1
Many are provided.

As shown in the block diagram shown in FIG.
is connected to the CPU via an output interface.

Here, as shown in Fig. 3, we will explain the case where excavation is carried out in various places around the house (1. is laid on the ground and a derivative (1/l) is provided.

Then, at the excavation location, an excavation point indicator (one...) is provided on the derivative (Vl)-1-. ..

Then, according to the flowchart 1 in Fig. 4, the automatic 111
11) Explaining the procedure of excavation work by the excavator (1) 3. First, 1) Detect the white line 1 transparent conductor (14) provided on the ground 1- by the camera 11 (121) (step group 1) Then, the deviation between the position of the guide (eye) projected on the monitor screen and the center position of the screen is calculated (step l112).

Here, to determine the direction of deviation of the dielectric (N), use the steraf 0
3L The derivative (figure) is located to the right of the center of the screen (Y'f
ii'l: When L, the aircraft (2) or the derivative (X
) is shifted to the left of l'l'l i! The site clutch of the self-regulating traveling device I (1) is operated on and off to drive the aircraft (2) forward while steering it to the right (step +04), and the aircraft (2) is returned to the induction body (Vl). Conversely, when the guide (l/l) is located to the left of the screen center position 34, the aircraft (2) has shifted to the right of the guide (1/l); Step 106) to move the aircraft (2) forward without steering it to the left.
1) Return to -1-. Also, when the guide (Z) is at the center position of the screen, there is no deviation of the aircraft (2), and the aircraft (2) moves straight ahead at the left and right center position (step group 5) 3. In this way, the camera (1) The guide (l/l) of the aircraft (l/l) is constantly detected, and the traveling device (In) is controlled to correct the deviation from the aircraft (2), and the aircraft (2) moves along the guide (l/l).
). Then, when the camera (17) detects the excavation part indicator (1) provided on the derivative (x)-1 (step 10?), the machine (2) stops traveling and moves to the excavation device (1). 5), and avoid operating the excavation part indicator (
Excavating one or more provided locations (step 108)
). If the excavation section indicator is not detected in step 1 [)7, the process returns to step 1 (old). Repeat this operation and automatically tt along the derivative (l/l) shown in Figure 3.
The excavator (1) should be stopped at a predetermined place where the excavator (1) should be set up (Jjj (man running enemy)), and the excavation work around the house (1 Unlike the above-mentioned operation, the 3° direction is automatically performed without bothering with steps, and from step group 1 to step group 107, the aircraft is driven by the guide (along →). At the same time, while digging a trench to a certain depth, the machine (2) is stopped when the excavation part indicator (151) is detected in Step 1 (Step 1), and in Step 108, the excavation part indicator (151) is detected. It is also possible to perform work with different cutting depths at different locations.

Here, an optical receiver (10) is provided on the front side of the J-mera (l) shown in FIG. may be connected to the CPU and constitute a reading means together with the camera (1). Then, as shown in FIG. (r7) (r'7)... The excavation part indicator (r7) may be of a light-emitting type, and for example, a light-emitting element such as a CI for I is used.

1- The procedure for excavation work using the automatic trench digging machine (1) configured as described below is as follows:
It is exactly the same as the flowchart 1 in FIG. 4 described above, but in step H17-C, the light emission beat from the excavation part indicator (r?) is detected by the optical receiver (16) 11; , and thereafter, in the same manner, stop the flight of the aircraft (2) +L
Avoid operating the L-C drilling rig (5), and press the excavation part indicator (
1. Excavate the area where the force is installed. By repeating this operation, the excavation work around the house 1z4 (1) shown in Figure 6 is automatically done.

Furthermore, in FIG. 1, a sensor arm (Y) is provided protruding from the front F portion of the fuselage (2), and the sensor "γ-A" is provided diagonally downward.
(An ultrasonic sensor (one) etc. is installed at the tip of I,
As shown in the block diagram of Fig. 7, an ultrasonic sensor (19) is connected to the CPU via an input input, and a means for detecting the excavation depth by the bucket (4) of the excavation device (5) is configured. Good too.

The procedure for excavation work of the automatic trench digging machine (+) with the above configuration is explained in the 8th section.
As shown in the figure, steps up to step group 8 are exactly the same as the flowchart 1 in FIG. (Step 109). Then, it is determined whether the excavation depth has reached a predetermined value or not. If the excavation depth has not yet reached the predetermined value, the process returns to step 1[]8 to continue the excavation work. Then, when the excavation depth reaches a predetermined value in the loop of step 1 (from 18 to 111), return to step 1]11, repeat the operations from step 101 to step 10, and the excavation work is automatically started. It will be done to.

Note that this invention can be modified in various ways without departing from the spirit of the invention, and it goes without saying that this invention extends to such modifications.

Effects of the Invention 1 As detailed in the above-mentioned embodiment, the present invention is capable of automatically performing excavation work at a predetermined location provided with an excavation point indicator while the aircraft moves along a guide on the ground. . Therefore, r
・If the guide and the excavation point indicator are installed in the specified positions, the subsequent work will not require any manual effort, and the automation of excavation work in a certain area can be achieved, which will improve work efficiency. can contribute to

[Brief explanation of drawings]

The figures show one embodiment of the present invention, in which Fig. 1 is a side view of an automatic trenching machine, Figs. 2, 5 and 7 are block diagrams, and Figs. 3 and 6 are block diagrams. Flowchart 1 is shown in FIGS. 4 and 8, which are plan views showing a state in which the guide body and the excavation part indicator are provided on the ground. (1)・・・Automatic trench digging machine (2)・・・・・・
・Aircraft (5)...Drilling equipment Qo)...
...Traveling device (121...Camera)
(VI)......Inductor θ (■...Excavation part indicator (10...Optical receiver (+q)
...Ultrasonic sensor patent Applicant: Iseki Agricultural Machinery Co., Ltd. Kobe Steel, Ltd.

Claims (1)

[Claims] It is equipped with a means for reading the guide on the ground, and a traveling device controlled in conjunction with the reading means so as to travel along the guide. An automatic trench digging machine characterized by being provided with a control means for stopping and operating the excavating device.