Claims
- 1. An automatically operated shovel including a power shovel and an automatic operation controller arranged on said power shovel for making said power shovel reproduce a series of taught operations ranging from digging to dumping, wherein said automatic operation controller is provided with a positioning determinator for determining whether or not said power shovel has reached within a predetermined positioning range based on a corresponding one of positioning accuracies set for individual taught positions of said power shovel; and, when said power shovel is determined to have reached within said predetermined positioning range, said automatic operation controller outputs a next one of said taught positions as a target position.
- 2. An automatically operated shovel according to claim 1, wherein during reproducing operations from an initiation of said digging to an end of said digging, said automatic operation controller outputs, subsequent to outputting one of said taught positions as a target position, a target position based on a next one of said taught positions without performing a determination by said positioning depending on a setting taught beforehand.
- 3. An automatically operated shovel including a power shovel provided with solenoid-operated directional control valves for operating hydraulic cylinders, which are adapted to actuate at least a boom, an arm and a bucket, and a hydraulic motor for driving a swivel superstructure and also with an angle detector for detecting angles between said swivel superstructure and said boom, between said boom and said arm and between said arm and said bucket, respectively, a taught position outputter for successively reading and outputting taught position data which have been taught and stored, a servo preprocessor for being inputted with said taught position data and outputting target position data with position data interpolated between said taught position data to allow said power shovel to operate smoothly, and a servo controller for being inputted with said target position data and outputting control signals to said solenoid-operated directional control valves to control said power shovel to a target position, wherein said automatic operation controller is provided with a positioning determinator for determining whether or not said power shovel has reached within a predetermined positioning range based on a corresponding one of positioning accuracies set for individual taught positions of said power shovel; and, when said power shovel is determined to have reached within said predetermined positioning range, said automatic operation controller outputs target position data based on a next taught position data from said servo preprocessing means to said servo control section.
- 4. An automatically operated shovel according to claim 3, wherein said automatic operation controller is provided with a computer for computing positioning accuracies of said swivel superstructure, boom, arm and bucket, respectively, based on said corresponding one of said positioning accuracies set for said individual taught positions; and said positioning determinator determines whether or not said swivel superstructure, boom, arm and bucket have reached within the corresponding predetermined positioning ranges based on said positioning accuracies, respectively.
- 5. An automatically operated shovel according to any one of claims 3 and 4, wherein during reproducing operations from an initiation of digging to an end of said digging, said servo processing means outputs, subsequent to outputting final target position data corresponding to said taught position data, the target position data based on the next taught position data without performing a determination by said positioning determinator.
- 6. An automatically operated shovel according to any one of claim 1, claim 3 and claim 4, wherein among said positioning accuracies set for said individual taught positions from an initiation of said digging to an end of said digging, said positioning accuracies at said taught positions other than a digging initiating position and a digging ending position are set lower than positioning accuracies at said digging initiating position and said digging ending position.
- 7. An automatically operated shovel according to any one of claim 1, claim 3, and claim 4, wherein said positioning accuracies set for said individual taught positions in a digging operation are set lower than said positioning accuracies set for said individual taught positions in a dumping operation.
- 8. An automatically operated shovel according to any one of claim 1 to claim 4, wherein said positioning accuracies set for said individual taught positions can be set at will by an operating means arranged on said power shovel or at a position remote from said power shovel.
- 9. An automatically operated shovel according to claim 6, wherein said positioning accuracies set for said individual taught positions in a digging operation are set lower than said positioning accuracies set for said individual taught positions in a dumping operation.
- 10. An automatically operated shovel according to claim 6, wherein said positioning accuracies set for said individual taught positions can be set at will by an operating means arranged on said power shovel or at a position remote from said power shovel.
- 11. An automatically operated shovel according to claim 7, wherein said positioning accuracies set for said individual taught positions can be set at will by an operating means arranged on said power shovel or at a position remote from said power shovel.
- 12. An automatically operated shovel according to claim 5, wherein said positioning accuracies set for said individual taught positions can be set at will by an operating means arranged on said power shovel or at a position remote from said power shovel.
- 13. A method for automatically operating an automatically operated shovel to make a power shovel reproduce a series of taught operations ranging from digging to dumping, comprising: (1) commanding taught positions and reproducing operation speeds and positioning accuracies at said taught positions to make said power shovel reproduce said operations; (2) computing target positions interpolated between said taught positions and taught positions preceding said taught positions to smoothen said reproducing operation; (3) commanding said target positions in succession; (4) determining whether or not a final target position out of said target positions, said final target position corresponding to said taught position, has been commanded and, when said final target position is not determined to have been commanded, performing said third step until said final target position is commanded; (5) when said final target position is determined to have been commanded in said fourth step, determining whether or not said positioning accuracy at said taught position is not smaller than a predetermined value; (6) when said positioning accuracy is determined to be not smaller than said predetermined value in said fifth step, determining whether or not a current position has reached within a positioning range predetermined based on said positioning accuracy and, when said current position is not determined to have reached within said positioning range, repeating said determination until said current position is determined to have reached within said positioning range; and (7) when said positioning accuracy is not determined to be not smaller than said predetermined value in said fifth step or when said current position is determined to have reached within said positioning range in said sixth step, commanding a taught position, which is next to said taught position, and a reproducing operation speed and a positioning accuracy at said next taught position.
- 14. An automatically operated shovel including a power shovel and an automatic operation controller arranged on said power shovel for making said power shovel reproduce a series of taught operations ranging from digging to dumping, wherein said automatic operation controller is provided with a delay means such that after a predetermined time has elapsed since an output of taught positions as target position data during reproducing operations ranging from an initiation of digging to an end of said digging, said automatic operation controller outputs next target position data.
- 15. An automatically operated shovel including a power shovel provided with solenoid-operated directional control valves for operating hydraulic cylinders, which are adapted to actuate at least a boom, an arm and a bucket, and a hydraulic motor for driving a swivel superstructure and also with angle detectors for detecting angles between said swivel superstructure and said boom, between said boom and said arm and between said arm and said bucket, respectively, a target position outputter for successively reading taught position data, which have been taught and stored, and outputting the same as target position data, a servo preprocessor for being inputted with said target position data, outputting said target position data and also outputting interpolated target position data to allow said power shovel to operate smoothly, and a servo controller for being inputted with said respective target position data and outputting control signals to said solenoid-operated directional control.
- 16. An automatically operated shovel according to any one of claim 14 and claim 15, wherein said predetermined time set by said delay means is set at a time in which at a time of a light load or no load, said power shovel reaches said target position of said target position data after said taught position is outputted as said target position data.
Priority Claims (2)
Number |
Date |
Country |
Kind |
10-068733 |
Mar 1998 |
JP |
|
10-190806 |
Jul 1998 |
JP |
|
Parent Case Info
This application is a division of application Ser. No. 09/424,061, filed Nov. 18, 1999 now U.S. Pat No. 6,523,765.
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