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1. 发明申请

WO1998011305A1 AUTOMATIC EXCAVATOR, AUTOMATIC EXCAVATION METHOD AND AUTOMATIC LOADING METHOD 审中-公开
标题翻译：自动挖掘机，自动挖掘方法和自动装载方法
公开(公告)号：WO1998011305A1
公开(公告)日：1998-03-19
申请号：PCT/JP1997003238
申请日：1997-09-12
申请人： KOMATSU LTD. , TAKEDA, Shu , TOJIMA, Masanori , OZAKI, Tomonori , HIYOSHI, Megumi
发明人： KOMATSU LTD.
IPC分类号： E02F09/20
CPC分类号： G05D1/0251 , E02F3/842 , E02F9/2045 , G05D1/0234 , G05D2201/021
摘要： An automatic excavator adapted to automatically carry out a series of processes for excavating object earth, and loading an object container with the resultant excavation, provided with a measuring instrument for determining distances between the excavator and object earth and object container, a means for recognizing a three-dimensional shape of the object earth on the basis of an output from the measuring instrument, a means for computing a target excavation position on the basis of the three-dimensional shape of the recognized object earth, a target loading position computing means for computing a relative position of the object container with respect to the excavator and a relative posture of the excavator with respect to the object container on the basis of an output from the measuring instrument, and computing a target loading position on the basis of the computed relative position, a means for automatically setting the excavator or a working machine in the computed target excavation position and target loading position, an automatic excavation control means for automatically excavating the object earth in the target excavation position, and an automatic loading control means for automatically loading the object container with the excavation in the target loading position, whereby a series of operations from the excavation of earth to the loading of excavation can be carried out automatically with a high efficiency by one automatic machine.
摘要翻译：一种自动挖掘机，适用于自动执行一系列挖掘对象土的过程，并装载具有所得挖掘的物体容器，设置有用于确定挖掘机和物体地球物体容器之间的距离的测量仪器，用于识别基于来自测量仪器的输出的对象地球的三维形状，用于基于识别对象地球的三维形状计算目标挖掘位置的装置，用于计算目标加载位置计算装置基于所述测量仪器的输出，所述对象容器相对于所述挖掘机的相对位置以及所述挖掘机相对于所述对象容器的相对姿势，并且基于所计算的相对位置来计算目标装载位置，用于在计算出的目标排泄物中自动设置挖掘机或工作机器的装置自动挖掘控制装置，用于自动挖掘目标挖掘位置中的物体土;以及自动装载控制装置，用于在目标装载位置中自动加载具有挖掘的物体容器，由此进行一系列操作通过一台自动机器，可以从地面开挖到挖掘装载自动高效运行。

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