Title:
AUTOMATIC EXCAVATOR, AUTOMATIC EXCAVATION METHOD AND AUTOMATIC LOADING METHOD
Document Type and Number:
WIPO Patent Application WO/1998/011305
Kind Code:
A1
Abstract:
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.
Inventors:
TAKEDA SHU (JP)
TOJIMA MASANORI (JP)
OZAKI TOMONORI (JP)
HIYOSHI MEGUMI (JP)
TOJIMA MASANORI (JP)
OZAKI TOMONORI (JP)
HIYOSHI MEGUMI (JP)
Application Number:
PCT/JP1997/003238
Publication Date:
March 19, 1998
Filing Date:
September 12, 1997
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
TAKEDA SHU (JP)
TOJIMA MASANORI (JP)
OZAKI TOMONORI (JP)
HIYOSHI MEGUMI (JP)
TAKEDA SHU (JP)
TOJIMA MASANORI (JP)
OZAKI TOMONORI (JP)
HIYOSHI MEGUMI (JP)
International Classes:
E02F3/84; E02F5/00; E02F9/20; G05D1/02; (IPC1-7): E02F9/20
Foreign References:
| JPH05297942A | 1993-11-12 | |||
| JPS59106634A | 1984-06-20 | |||
| JPH04128438A | 1992-04-28 |
Attorney, Agent or Firm:
Kimura, Takahisa (8-11 Minato 1-chom, Chuo-ku Tokyo 104, JP)
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