TR2023018940A2 - AUTOMATIC COLLECTING SYSTEM - Google Patents

Abstract

This invention is related to the automatic collection system for armored backhoe loader vehicles, which allows the front boom, rear boom, stick, bucket, rotating and fixing legs to be collected with a single button when the operator completes the excavation process and/or in emergency situations.

Description

DESCRIPTION AUTOMATIC COLLECTING SYSTEM Technical Field This invention allows the operator to collect the front boom, rear boom, stick, front scoop, rear bucket, rotating and fixing legs with a single button when the operator completes the excavation process and/or in emergency situations for armored backhoe loader vehicles. It is related to the automatic collection system that provides Prior Art Backhoe loader, also known as backhoe loader, is a work machine on the tractor body, equipped with a bucket in front and a small backhoe at the back. It is used in tasks such as loading, carrying and digging various materials. In backhoe loaders, loading and movement of the backhoe part is carried out by the hydraulic system. It is one of the most used vehicles among construction equipment. The front bucket part of the loader is used to pick up any material from one place and load it to another place in a short distance. It is not suitable for long distance cargo transportation. The excavator part is used for trench excavations, channel excavations, building foundations, and digging and loading operations. Armored backhoe loaders, which are used especially in border areas and/or operation areas, are manually brought into walking position by the operator in terrorist attacks. In this process, the operator first manually brings the digger side to the walking position (using a joystick or crowbar); He raises the fixing legs, then turns the seat forward for a walking position, puts the front boom and bucket in the appropriate position, and then moves away from the area using the machine. In general, since this process sequence for armored backhoe loaders takes a long time, it endangers the life safety of the operator and causes serious financial loss by causing damage to high-cost backhoe loaders. In the known state of the technique; Document USS446980A describes an electrohydraulic system containing a microprocessor and an automatic control system for the operating cycle of the boom, stick and bucket. This application discloses a control system for automatically controlling an excavator through a machine work cycle. For the tool, which includes a boom, stick and bucket, each of which is controlled by at least one hydraulic cylinder, the position of the parts is detected with the position sensor, while the position signals are processed with a microprocessor. In addition, the pressure information detected by the pressure sensors (of the hydraulic cylinders of the boom, stick and bucket) is also processed by the microprocessor. However, the system described in this document is designed for automatic use, not for collecting the backhoe loader. The document numbered US9458597B2 is related to a system and method for hydraulic control of construction machines. The use of parts such as pressure sensors, hydraulic cylinders, control valves, data acquisition unit and control unit to provide a control system for the operation of the machine is explained in the specification. According to the described method, a hydraulic control system is used based on the behavioral demands of the machine received by the operator through an HMI (Human Machine Interface). This system, which allows the cylinders to be controlled by opening and closing the valves according to the information received from the operator, does not offer an automatic system because it is operator-dependent and only controls the cylinders through the valves. A method and system that measures the operator's performance and efficiency using machine parameter data and stick data is described. Although the main target of the study is not automatic control, it is mentioned that knowing the amount of load can be used as a feedback value in automatic control systems. In this context, the study mentioned that weight and volume sensors can be used, and also shows that by measuring the hydraulic pressure carrying the bucket with pressure sensors, the pressure exerted by the load inside the bucket can be found by subtracting the known effect of the relevant parts of the machine on the hydraulic pressure from the value measured by the pressure sensor, and it is possible to measure the weight of the load based on this pressure. It is explained that . At the same time, in this study, it has been shown that the weight of the load inside the bucket can be calculated by imaging the bucket through a camera. However, the relevant invention does not provide an automatic collection system for backhoe loaders. The necessity of having a sensor system for precise control or automatic control of machines is explained. Additionally, if used with weight and volume sensors, it is possible to measure how much load the machine carries. However, an automatic collection system is not described in the relevant document. Document USS361211A describes a control system that automatically controls the operations of the excavator. It is stated in the description that the aim is to provide a control system in which the movement mode of the moving motors is automatically changed by using the machine's control levers/pedals. The relevant invention is basically due to the excavator tiring the operator, cylinders breaking during operation, etc. It offers a solution to security problems experienced for various reasons. The goal is to reduce the sudden loads on the cylinders during the operation of the excavator and thus ensure the long life of the system. However, in this invention, processes such as preventing accidents by warning the operator through an alarm when the excavator tries to carry a load above the weight it can carry, are neither related to the same technical problem nor offer the same technical solution as an automatic collection system. A system for automatic collection of backhoe loaders during terrorist attacks, especially for backhoe loaders used in border areas and/or operation areas and preferred as armored, is not available in the state of the art. As a result, the invention subject to the application is needed to improve the solutions offered in the state of the art and to eliminate the existing disadvantages. Brief Description of the Invention The purpose of this invention is to introduce a system for automatic collection of backhoe loaders during terrorist attacks, especially for backhoe loaders used in border areas and/or operation areas and preferred as armored. Another purpose of the invention is to prevent loss of life and property at a high level by allowing the operator to quickly bring the backhoe loader to a walking position. Another purpose of the invention is to provide an automatic collection system that allows the operator to collect the front boom, rear boom, stick, front bucket, rear bucket, rotating and fixing legs with a single button when the excavation process is completed and/or in emergency situations. Another aim of the invention is to minimize physical damage and reduce repair and maintenance costs thanks to rapid collection, especially for backhoe loaders used in border areas and/or operation areas. Detailed Description of the Invention The automatic collection system implemented to achieve the objectives of this invention is shown in the attached figures. Of these shapes; Figure-1 is a general view of the backhoe loader where the automatic collection system is used. Figure-2 is a general view of the backhoe loader where the automatic collection system is used, with the sensor positions indicated on the moving state of the loader bucket. Figure-3 is a general view of the moving state of the loader and the digger bucket of the backhoe loader where the automatic collection system is used. Figure-4 is a general view of the moving state of the loader and digger bucket of the backhoe loader where the automatic collection system is used. Figure-5 is a general view of the moving state of the loader and the digger bucket of the backhoe loader where the automatic collection system is used. Figure-6 is a detailed sectional view of the interior of the operator cabin of the backhoe loader where the automatic collection system is used. Figure-7 is a top view showing the positions of the governors of the backhoe loader where the automatic collection system is used. Figure-8 is a detailed view of the loader/front boom valve group of the automatic collection system. Figure-9 is a detailed view of the digger/rear boom valve group of the automatic collection system. Figure-10 is the flow diagram of the automatic picking system's angle picking method for the rear bucket, rear boom and rear stick. Figure-11 is the flow diagram of the angle picking method for the front boom and front bucket of the automatic picking system. Figure-12 is the ZBL angle collection control flow diagram of the automatic collection system. In order to better understand the invention, the automatic collection system is numbered as follows in the attached figures: Loader/Front Bucket 1.1. Loader/Front Bucket Angle Sensor Loader/Front Boom 2.1. Loader/Front Boom Angle Sensor 2.2. Loader/Front Boom Valve Group 2.2.1 Optional Additional Valve Opening 2.2.2 Loader/Front Boom Lift Valve 2.2.3 Loader/Front Bucket Dump Valve 2.2.4 Loader/Front Boom Lowering Valve 2.2.5 Loader/Front Bucket Collection Valve 3 .KaZici/Rear Boom 3.1. KaZici/Rear Boom Angle Sensor 3.2. Digger/Rear Boom Valve Group 3.2.1 Right Fixing Leg Lifting Valve 3.2.2 Right Fixing Leg Lowering Valve 3.2.3 Digger/Rear Boom Lifting Valve 3.2.4 Digger/Rear Boom Lowering Valve 3.2.5 Digger/Rear Boom Left Turn Valve 3.2.6 Digger/Rear Boom Right Turn Valve 3.2.7 Digger/Rear Bucket Collection Valve 3.2.8 Digger/Rear Bucket Dump Valve 3.2.9 Stick Lowering Valve 3.2.10 Stick Lifting Valve 3.2.1 1 Left Fixing Foot Lifting Valve 3.2 .12 Left Fixing Foot Lowering Valve 4.1. Stick Angle Sensor Digger/ Rear Bucket .1. Digger/Rear Bucket Angle Sensor Rotation Mechanism 6.1. Rotation Mechanism Angle Sensor 7. Fixing Leg 7.1. Foot Switch 8. Scale 9. Electronic Control Unit. Pump 11. Indicator/Display 12. Auto Pickup Switch 13. Loader/Front Boom Control Lever 14. Backhoe/Rear Boom Left Control Lever. Excavator/Rear Boom Right Control Arm 16th Foot Control Panel The automatic collection system of the invention; In its most basic form, it is used in backhoe loaders; Loader/front bucket angle sensor (1.1) for detecting the angle of the loader/front bucket (1), Loader/front boom angle sensor (2.1) for detecting the angle of the loader/front boom (2), Loader/front boom valve group (2.2), Backhoe/rear boom angle sensor (3.1) for detecting the angle of the backhoe/rear boom (3), Backhoe/rear boom valve group (3.2), Stick angle sensor (4.1) for detecting the angle of the stick (4), Backhoe/rear bucket (5) Digger/rear bucket angle sensor (5.1) to detect the angle of the turning mechanism (6), Rotating mechanism angle sensor (6.1) to detect the angle of the turning mechanism (6), Fixing foot (7) and foot switch (7.1), Scale (8), electronic control unit It includes (9), pump (10), indicator/display (11), automatic collection switch (12) and foot control panel (16). The automatic collection system has been developed so that the operator can collect the backhoe loader with a single button in case of emergency, and the programmable controller allows the parts of the backhoe loader to be brought to the default values entered on the card. The programmable controller used is a controller that is produced for use in mobile applications, has a large number of inputs and outputs, and complies with global security standards. The controller can be programmed using the "C" language. The memory of the selected controller can save the data received from the machine and, when requested, analyze and process these data and transmit these data to the appropriate outputs. Thanks to the analog inputs and CAN-bus inputs on the controller, it can exchange data with all the sensors (1.1, 2.1) on the machine. In this way, the user can ensure that the machine works under the desired conditions by writing the appropriate software according to the configuration he wants. It is urgent for the invention to fulfill its function. In this case, it starts working when the operator presses a single button, that is, the automatic collection switch (12). The default values are already registered in the system. Then, these values, called angle sensors (1.1), are sent to the indicator/display (ll) and the process starts. First of all, the controller checks whether the hand throttle is 1500 rpm. If the speed is not at the desired value, the hand throttle is energized until the speed is achieved. Then, the angle measurement of the digger/rear boom (3) is compared with the default value. This is done via the rear boom angle sensor (3.1). If the angle value is equal to the default value, the next stage is passed. If it is less than the default value, the backhoe/rear boom lift valve (3.2.3) is energized. A two-step control algorithm is used at this stage. The digger/rear boom lift valve (3.2.3) is fully opened until the difference between the angle value and the default value is 100, and thus the digger/rear boom (3) moves at maximum speed, depending on the load condition. When the difference between the angles reaches 10°, the valve opening speed is reduced by half and the sapper/rear boom (3) speed is reduced. In this way, the angle value is made equal to the default value by performing proportional control. If the angle value is greater than the default value, the back boom lowering valve (3.2.4) is energized and the angle value is made equal to the default value. Digger/rear boom valve group (3.2), right outrigger foot lift valve (3.2.1), digger/rear boom right outrigger foot lowering valve (3.2.2), digger/rear boom lift valve (3.2.3), digger/rear boom rear boom lowering valve (3.2.4), digger/rear boom left turn valve (3.2.5), digger/rear boom right turn valve (3.2.6), digger bucket/rear shovel pickup valve (3.2.7), digger bucket/rear bucket dump valve (3.2.8), stick lowering valve (3.2.9), stick lift valve (3.2.10), digger/rear boom left outrigger lift valve (3.2.11) and digger/rear boom valve It has the left fixing foot lowering (3.2.12) function modules. The loader/front boom (2) angle value is compared with the default value. Angle measurement is made via the loader/front boom angle sensor (2.1). If the angle value is equal to the default value, the next stage is passed. If it is less than the default value, the loader/front boom lift valve (2.2.2) opens at maximum speed until the difference between the angle value and the default value is 10°, after 10° is reached, the valve opening speed is reduced by half and the angle value is changed to the default (default). is equalized with the value. If the angle value is greater than the default value, the loader/front boom lowering valve (2.2.4) is energized and the angle value is made equal to the default value. To perform the operations, loader/front boom valve group (2.2), optional additional valve opening (2.2.1), loader/front boom lift valve (2.2.2), loader/front bucket dump valve (2.2.3), loader/front boom valve It has front boom lowering valve (2.2.4), loader/front bucket pickup valve (2.2.5) and operational additional valve closing (2.2.6) function modules. Afterwards, the loader/front bucket (1) angle value is compared with the default value. Angle measurement is made via the loader/front bucket angle sensor (1.1). If the angle value is equal to the default value, the next stage is passed. If it is less than the default value, the loader/front bucket collection valve (2.2.5) opens at maximum speed until the difference between the angle value and the default value becomes °. After reaching 10°, the valve opening speed is reduced by half and the angle value returns to the default value. It is equalized with . If the angle value is greater than the default value, the loader/front bucket pouring valve (2.2.3) is energized and the angle value is made equal to the default value. In the next stage, the stick (4) angle value is compared with the default value. Angle measurement is made via the stick angle sensor (4.1). If the angle value is equal to the default value, we proceed to the next stage. If it is less than the default value, the stick lift valve (3.2.10) opens at maximum speed until the difference between the angle value and the default value reaches 10°. After the 10° value is reached, the valve opening speed is reduced by half and the angle value is adjusted to the default value. equalizes. If the angle value is greater than the default value, the stick lowering valve (3.2.9) is energized and the angle value is made equal to the default value. Afterwards, the digger/rear bucket (5) angle value is compared with the default value. Angle measurement is made via the backhoe/rear bucket angle sensor (5.1). If the angle value is equal to the default value, we proceed to the next stage. If it is less than the default value, the digger/rear bucket pouring valve (3.2.8) is opened at maximum speed until the difference between the angle value and the default value reaches °. After reaching 10°, the valve opening speed is reduced by half and the angle value is changed to the default (default) value. is equalized with the value. If the angle value is greater than the default value, the backhoe/rear bucket collection valve (3.2.7) is energized and the angle value is made equal to the default value. The angle value of the rear rotation mechanism (6) is compared with the default value. Angle measurement is made via the rotation mechanism angle sensor (6.1). If the angle value is equal to the default value, we proceed to the next stage. If it is smaller than the default value, the angle value is equalized to the default value by energizing the digger/rear boom right rotation valve (3.2.6), if it is larger, the digger/rear boom left rotation valve (3.2.5) is energized. In this process, the switch information coming from the fixing leg (7) is checked. Switch information is obtained via foot switch (7.1). If the foot switch (7.1) information is displayed, the feet are up and the next step is taken. If the foot switch (7.1) information is not received, the right fixing leg lifting valve (3.2.1) and the left fixing leg lifting valve (3.2.11) are energized until the feet are completely lifted (until the switch information is received). All of the operations listed above are carried out as a result of the operator pressing a single button, namely the Automatic Collection Key (12). Automatic collection switch (12), loader/front boom control lever (13), digger/rear boom left control lever (14), digger/rear boom right control lever (15) and foot control panel (16) are located inside the operator cabin. In manual use, the operator controls the loader/front boom (2), digger/rear boom (3), stick (4), loader/front bucket (l), digger/rear bucket (5) and fixing legs (7) using these control levers. It is provided with. Loader/front boom control lever (13); Check the loader/front boom lift valve (2.2.2), loader bucket/front bucket dump valve (2.2.3), loader/front boom lowering valve (2.2.4) and loader bucket/front bucket pickup valve (2.2.5). It does. KaZici / rear boom left control arm (14); It controls the shovel/rear boom left turn valve (3.2.5), the shovel/rear boom right turn valve (3.2.6), the stick lowering valve (3.2.9) and the stick lift valve (3.2.10). Digger / rear boom right control arm (15); It controls the digger/rear boom lift valve (3.2.3), the digger/rear boom lowering valve (3.2.4), the digger/rear bucket collection valve (3.2.7) and the digger/rear bucket pouring valve (3.2.8). Foot control panel (16); It controls the right fixing leg lifting valve (3.2.1), the right fixing leg lowering valve (3.2.2), the left fixing leg lifting valve (3.2.11) and the left fixing leg lowering valve (3.2.12). Around this basic concept, it is possible to develop a wide variety of applications for the automatic collection system that is the subject of the invention, and the invention cannot be limited to the examples explained here, it is essentially as stated in the claims.TR TR

Claims (21)

STEMS 1. For the armored backhoe loader vehicles that are the subject of the invention, the loader/front boom (2), backhoe/rear boom (3), stick (4), loader/front bucket (l) are used when the operator completes the excavation process and/or in emergency situations. ), is an automatic collection system that allows the digger/rear bucket (5) and fixing legs (7) to be collected with a single button, and its feature is; - Loader/front bucket angle sensor (1.1) for detecting the angle of the loader/front bucket (1), - Loader/front boom angle sensor (2.1) for detecting the angle of the loader/front boom (2), - Loader/front boom valve group ( 2.2), - Backhoe/rear boom angle sensor (3.1) for detecting the backhoe/rear boom (3) angle, - Backhoe/rear boom valve group (3.2), - Stick angle sensor (4.1) for detecting the stick (4) angle, - Digger/rear bucket angle sensor (5.1) to detect the angle of the digger/rear bucket (5), - Rotation to detect the angle of the turning mechanism (6) - Fixing foot (7) and foot switch (7.1), - Scale (8), It is characterized by containing an electronic control unit (9), pump (10), indicator/display (11), automatic collection switch (12) and foot control panel (16). 2. It is an automatic collection system according to claim 1, and its feature is; mentioned loader/front boom valve group (2.2), optional additional valve opening (2.2.1), loader/front boom lifting valve (2.2.2), loader/front bucket dump valve (2.2.3), loader/front boom lowering valve (2.2.4), loader/front bucket collection valve (2.2.5) and operational additional valve closing (2.2.6) function modules. 3. It is an automatic collection system according to claim 1, and its feature is; said backhoe/rear boom valve group (32); right outrigger lift valve (3.2.1), backhoe/rear boom right outrigger lowering valve (3.2.2), backhoe/rear boom lift valve (3.2.3), backhoe/rear boom lowering valve (3.2.4), backhoe/rear boom left turn valve (3.2.5), backhoe/rear boom right turn valve (3.2.6), backhoe bucket/rear bucket pickup valve (3.2.7), backhoe bucket/rear bucket cast boom left outrigger lift valve (3.2.11) and backhoe/rear boom valve left fixing leg lowering (3.2.12) function modules. 4. It is an automatic collection system according to claim 1, and its feature is; The default position of the backhoe loader parts: loader/front boom (2), backhoe/rear boom (3), stick (4), loader/front bucket (1), backhoe/rear bucket (5) and fixing legs (7). It is characterized by containing a programmable controller card to allow the values to be adjusted. 5. It is an automatic collection system according to claim 4, and its feature is; The said programmable controller is characterized by being produced for use in mobile applications, having a large number of inputs and outputs, and complying with global security standards. 6. It is an automatic collection system according to claim 4, and its feature is; It is characterized by the fact that the said programmable controller contains analog inputs and CAN-bus inputs to enable data exchange with all instruments such as sensors (1.1, indicator / display (11), etc.) on the backhoe loader. 7. It is an automatic collection system according to claim 1, and its feature is; When the operator completes the excavation and/or in emergency situations, the loader/front boom (2), backhoe/rear boom (3), stick (4), loader/front bucket (1), backhoe/rear bucket (5) and fixing legs (7) ) is characterized by containing an automatic collection switch (12) to enable collection with a single button. 8. It is an automatic collection system according to claim 1, and its feature is; It is characterized by including a loader/front boom control lever (13), digger/rear boom left control lever (14), digger/rear boom right control lever (15) and foot control panel (16) inside the operator cabin to enable manual operation. is to be done. 9. It is an automatic collection system according to claim 8, and its feature is; of the said loader/front boom control arm (13), loader/front boom lift valve (2.2.2), loader bucket/front bucket dump valve (2.2.3), loader/front boom lowering valve (2.2.4) and loader bucket/front boom valve (2.2.2). It is characterized by controlling the front bucket collection valve (2.2.5). 10.It is an automatic collection system according to claim 8, and its feature is; The digger/rear boom left control arm (14) includes the digger/rear boom left rotation valve (3.2.5), the digger/rear boom right rotation valve (3.2.6), the stick lowering valve (3.2.9) and the stick lifting valve (3.2.5). 3.2.10) is characterized by controlling. 11. It is an automatic collection system according to claim 8, and its feature is; of the mentioned digger/rear boom right control arm (15), digger/rear boom lifting valve (3.2.3), digger/rear boom lowering valve (3.2.4), digger/rear bucket collection valve (3.2.7) and digger/rear boom It is characterized by controlling the bucket pouring valve (3.2.8). 12. It is an automatic collection system according to claim 8, and its feature is; the right fixing leg lifting valve (3.2.1), right fixing leg lowering valve (3.2.2), left fixing leg raising valve (3.2.11) and left fixing leg lowering valve (3.2.12) of the said foot control panel (16). It is characterized by control. 13. It is an automatic collection system according to claim 1, and its feature is; It is characterized by the default values already registered in the system. 14. When the operator of the subject of the invention completes the excavation process and/or in emergency situations, the loader/front boom (2), backhoe/rear boom (3), stick (4), loader/front bucket (1), backhoe/rear bucket (5) and It is the working method of an automatic collection system that allows the fixing legs (7) to be collected with a single button, and its feature is; After the automatic collection switch (12) is pressed by the operator; and sending these values, called real angle values, to the indicator/screen (11), - Checking by the controller whether the hand throttle is 1500 rpm, if not, energizing the hand throttle until the desired speed is achieved, - Digger/rear boom angle sensor ( Comparing the backhoe/rear boom (3) angle value measured via 3.1) with the default value and equalizing it if not equal, - Comparing the loader/front boom (2) angle value measured via the loader/front boom angle sensor (2.1) with the default value comparison and equalization if not equal, - Comparison of the loader/front bucket (1) angle value measured via the loader/front bucket angle sensor (1.1) with the default value and equalization if not equal, - Stick measured via the stick angle sensor (4.1) (4 ) angle value compared to the default value and equalized if not equal, Comparing the digger/rear bucket (5) angle value measured by the digger/rear bucket angle sensor (5.1) with the default value and equalized if not equal, Turning mechanism angle sensor ( It is characterized by the process steps: comparing the angle value of the rear rotation mechanism (6) measured by 6.1) with the default value and equalizing it if it is not equal, checking the foot switch (7.1) information coming from the fixing foot (7). 15. It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the digger/rear boom (3) angle value measured via the digger/rear boom angle sensor (3.1) with the default value, proceeding to the next stage if the digger/rear boom (3) angle value is equal to the default value based on the comparison result. /If the rear boom (3) angle value is less than the default (default) value, the digger/rear boom lift valve (3.2.3) is energized and the default (default) value is adjusted with the digger/rear boom (3) angle value by a two-step control algorithm. Until the difference between the values reaches 100, the digger/rear boom lift valve (3.2.3) is fully opened and the digger/rear boom (3) is moved at maximum speed according to the load condition. Then, when the difference between the angles reaches 100, the digger/rear boom lift valve (3.2) is opened. .3) halving the opening speed and reducing the movement speed of the digger/rear boom (3) and making the angle value equal to the default value by making proportional control. If the angle value of the digger/rear boom (3) is greater than the default value, the digger/rear boom (3) It is characterized by the steps of energizing the boom lowering valve (3.2.4) and making the angle value equal to the default value. 16. It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the loader/front boom (2) angle value measured via the loader/front boom angle sensor (2.1) with the default value, according to the comparison result; - If the loader/front boom (2) angle value is equal to the default value, proceed to the next stage, - If the loader/front boom (2) angle value is less than the default value, the loader/front boom until the difference between the default value is 10°. Opening the lift valve (2.2.2) at maximum speed, reducing the valve opening speed by half after reaching 10° and making the loader/front boom (2) angle value equal to the default value, - Adjusting the loader/front boom (2) angle value to the default ( If the angle value is greater than the default value, the loader/front boom lowering valve (2.2.4) is energized and the angle value is equalized to the default value. It is characterized by the process steps. 17. It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the loader/front bucket (1) angle value measured via the loader/front bucket angle sensor (1.1) with the default value, according to the comparison result; - If the loader/front bucket (1) angle value is equal to the default value - If the loader/front bucket (1) angle value is less than the default value, the loader/front bucket pickup valve (2.2. 5) opening at maximum speed, reducing the valve opening speed by half after reaching 10° and making the loader/front bucket (1) angle value equal to the default value, - If the loader/front bucket (1) angle value is greater than the default value, It is characterized by energizing the loader/front bucket pouring valve (2.2.3) and making the angle value equal to the default value, and includes the process steps. 18. It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the angle value of the stick (4) measured by the stick angle sensor (4.1) with the default value, according to the comparison result; If the stick (4) angle value is equal to the default value, proceed to the next stage. If the stick (4) angle value is less than the default value, open the stick lift valve (3.2.10) at maximum speed until the difference between the default value is 10°, After reaching the 10° value, the valve opening speed is reduced by half and the stick (4) angle value is made equal to the default value. If the stick (4) angle value is greater than the default value, the stick lowering valve (3.2.9) is energized and the angle value is set to the default. It is characterized by being equal to the (default) value and containing processing steps. 19. It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the digger/rear bucket (5) angle value measured via the digger/rear bucket angle sensor (5.1) with the default value, if the digger/rear bucket (5) angle value is equal to the default value based on the comparison result, proceeding to the next stage. /If the rear shovel (5) angle value is less than the default value, the digger/rear shovel pouring valve (3.2.8) should be opened at maximum speed until the difference between the default value is 10°, and after the 10° value is reached, the valve opening speed should be reduced by half. /rear bucket (5) angle value equal to the default value. If the digger/rear bucket (5) angle value is greater than the default value, the digger/rear bucket collector valve (3.2.7) is energized and the angle value is adjusted to the default value. It is characterized by being equal to the value and containing processing steps. 20.It is an automatic collection system operating method according to claim 14, and its feature is; Comparing the rear rotation mechanism (6) angle value measured by the rotation mechanism angle sensor (6.1) with the default value, according to the comparison result; - If the rotation mechanism (6) angle value is equal to the default value, proceed to the next stage, - If the rotation mechanism (6) angle value is less than the default value, the digger/rear boom right rotation valve (3.2.6) is energized and the rotation mechanism ( 6) Equalizing the angle value to the default value, - If the angle value of the turning mechanism (6) is greater than the default value, the digger/rear boom left rotation valve (3.2.5) is energized to make the angle value equal to the default value, the process It is characterized by including the following steps. 21.It is an automatic collection system operating method according to claim 14, and its feature is; Checking the foot switch (7.1) information coming from the fixing foot (7), according to the comparison result; - If the foot switch (7.1) information is received, proceed to the next step. - If the foot switch (7.1) information is not received, press the right fixing foot lifting valve (3.2.1) and the left fixing foot lifting valve (3.2.) until the feet are completely lifted (until the switch information is received). 11) lifting the fixing legs (7) by applying energy.