JP2002115271A - Automatic operation backhoe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation backhoe, with which the speed of soil discharge to a crusher for crushed stones can be changed in response to the state of excavated soil and rocks and which can prevent clogging of mucking chute, even when soil and rocks, in which soil occupies the greater part, are excavated. SOLUTION: The automatic operation backhoe is composed of the hydraulic backhoe 1 and an automatic operation controller 61 which automatically and repeatedly conduct excavation operation, forward slewing operation, soil discharge operation and return slewing operation. A teaching-position storage section 601, in which at least two pairs or more of teaching data related to soil discharge operation are stored, a command interpreter section 605 selectively reading teaching data related to required soil discharge operation from the teaching-position storage section 601, in response to a command from a soil- discharge operation selecting switch 508 which is mounted outside the hydraulic backhoe and a servo control section 608 driving the backhoe 1 according to reaching data read by the command interpreter section 605 are installed to the automatic operation controller 61.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving shovel, and more particularly, to an automatic driving shovel that automatically repeats a series of operations from excavation to earth removal.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Unexamined Patent Publication No.
As disclosed in Japanese Unexamined Patent Publication No. 1 (1994), in particular, a raw stone put into a stock yard by an inputting machine is excavated by an automatic shovel and loaded into a crusher for crushing stone, and the crushed crusher generates a required crushed stone. Crushed stone processing systems are known.

[0003] The system described in the above-mentioned known document includes a bulldozer having a remote control function and an automatic driving operation function of an automatic driving shovel, and an automatic operation for automatically excavating and loading a rough stone put into a stock yard by the bulldozer. A shovel, a crusher for crushing stones that crushes debris loaded by the automatic driving shovel to generate required crushed stone, and a system control room having a remote control function and an automatic driving operation function of the automatic driving shovel like the bulldozer It is possible to perform remote control of the automatic driving shovel while the worker is in the bulldozer and / or in the system control room, and to perform teaching operation and reproduction operation of the automatic driving shovel, The advantage is that a small number of people can manage the entire system with multiple self-driving shovels. Having.

The system disclosed in the above-mentioned known document includes a crushed stone level detecting means for detecting a crushed stone level charged into a hopper provided in the crushed stone crusher and a crushed stone level on a conveyor provided in the crushed stone crusher. And, a data transfer device and a transmission antenna for transmitting the detected crushed stone level signal to the control device of the automatic driving shovel are provided, and the crushed stone level in the hopper and on the conveyor reaches a preset threshold value. In this case, the automatic operation shovel is automatically stopped before the loading operation, and the operation of the automatic operation shovel according to the processing capacity of the crusher for crushing stone can be performed.

[0005]

By the way, there are various states (types) of debris which is the object of excavation and loading work.
Therefore, it is necessary to change the operation of loading (discharging) the hopper with the automatic driving shovel according to the state of the debris at the time of work.

For example, when stones occupy the majority,
As long as the hopper is within the allowable amount, the soil can be released at once. This is because the crusher for crushing stones is provided with a feeder for gradually feeding the debris loaded in the hopper into the crushing unit. When the level of crushed stone on the conveyor reaches a certain threshold, suspending the unloading operation of the autonomous shovel and suspending the loading of debris into the hopper to avoid the inconvenience of the crusher for crushed stone due to overloading. Can be.

[0007] On the other hand, in the case where soil occupies a large part, even if the soil is within the allowable amount of the hopper, if the soil is expelled at a stretch in the hopper, the slip provided in the crusher for crushed stone is removed. The dirt is clogged in the part called the chute, which separates the stone and the soil (soil), and the crusher for crushed stones becomes inoperable, and the trouble of returning the work requires a lot of labor and time. It is necessary to slowly perform the soil discharging operation by the automatic driving shovel so that the soil is not clogged.

However, according to the above prior art, as long as the crushed stone level in the hopper and the crushed stone level on the conveyor detected by the crushed stone level detecting means have not reached the threshold value, the automatic operation shovel is used regardless of the state of the debris. Excavated earth and stone is dumped at once in the hopper of the stone crusher. Easy to occur,
There is room for further improvement in improving work efficiency.

SUMMARY OF THE INVENTION The present invention has been made to solve such a deficiency of the prior art, and the discharging speed to the crusher for crushing stone can be changed according to the state of excavated debris, so that the majority of the soil is occupied. It is an object of the present invention to provide an automatically driven shovel capable of preventing clogging of a slip-out chute even when such debris is excavated.

[0010]

According to the present invention, in order to achieve the above object, a hydraulic excavator and a hydraulic excavator repeatedly and automatically perform a digging operation, a go-swing operation, a soil discharging operation, and a return-swing operation. An automatic operation shovel comprising an automatic operation controller, wherein the automatic operation controller is provided with at least two sets of teaching data on the unloading operation.
Storage means for storing a set or more, teaching data reading means for selectively reading teaching data relating to a required soil discharging operation from the storage means in response to a command from the earth discharging operation selecting means provided outside the excavator, And a control unit for driving the hydraulic excavator in accordance with the teaching data read by the teaching data reading unit.

Thus, the automatic operation controller stores at least two sets of teaching data relating to the earth discharging operation, and the storage unit in response to a command from the earth discharging operation selecting means provided outside the hydraulic excavator. When teaching data reading means for selectively reading teaching data relating to a required earth unloading operation and control means for driving a hydraulic shovel in accordance with the teaching data read by the teaching data reading means are provided. Therefore, an optimum soil removal operation can be selected in accordance with the state of the work, so that a highly efficient operation can always be performed regardless of the state of the earth and stone.

[0012] For example, when clogging of the slip-out chute in the crusher for crushing stone does not matter, such as when most of the excavated object is a stone, the unloading operation in which the unloading is performed at a relatively high speed at a stretch. By selecting, the crushed stone processing system can be operated efficiently. Also, when clogging of the slip-out chute in the crusher for crushed stone becomes a problem, such as when most of the excavation target is soil, a soil discharging operation in which the soil discharging operation is performed at a relatively slow speed is selected. Thus, clogging of the slipping chute can be prevented beforehand, and labor and time required for restoring the crusher for crushed stone can be omitted, so that the crushed stone processing system can be efficiently operated as a whole.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS First, an embodiment of an automatic operation shovel according to the present invention and an embodiment of a crushed stone processing system to which the automatic operation shovel is applied will be described with reference to FIGS. FIG. 1 is a diagram illustrating a working mode of a crushed stone processing system using the automatic driving shovel according to the present embodiment, and FIG. 2 is a block diagram illustrating a configuration of a vehicle-mounted device and a remote control device of the automatic driving shovel.

As shown in FIG. 1, the automatic driving shovel 1 of the present embodiment is remotely operated by an operation box 5,
The excavation operation of the debris stored in the stock yard 2 and the loading (discharge) operation to the crusher 3 for crushed stone are repeatedly performed. The traveling body 30 and the hopper 31 are provided on the crusher 3 for crushed stone.
And a crushing unit 32 and a conveyor 33. The debris discharged into the hopper 31 is separated from the stone that needs to be crushed by a feeder unit (not shown) provided in the hopper 31 and the slip that does not need to be crushed ( The crushed stone is crushed by the crushing unit 32 to generate the required crushed stone 4, and is transported to the required crushed stone accumulation position by the conveyor 33. On the other hand, the soil passes through a slipping chute and a slipping conveyor (not shown), is collected at a slip collecting position set at a position separated from the crushed stone collecting position, and is sorted from the crushed stone 4. In addition, the dumping of the debris into the stockyard 2 is performed by the dump truck 6 which inputs the debris loaded at the face into the stockyard 2.

As shown in FIG. 1, the automatic driving shovel 1 includes a traveling body 10, a revolving body 11 rotatably provided on the traveling body 10, and a boom rotatably provided on the revolving body 11. 12, an arm 13 rotatably provided at the tip of the boom 12, a bucket 14 rotatably provided at the tip of the arm 13, and a swing motor 1 for swinging the swing body 11.
10 and a boom cylinder 120 for driving the boom 12
An arm cylinder 130 for driving the arm 13, a bucket cylinder 140 for driving the bucket 14, an angle sensor 111 for detecting a turning angle of the swing body 11 with respect to the traveling body 10, and a turning angle of the boom 12 with respect to the swing body 11. , An angle sensor 113 for detecting a rotation angle of the arm 13 with respect to the boom 12, and an angle sensor 114 for detecting a rotation angle of the bucket 14 with respect to the arm 13.

The revolving superstructure 1 of the self-driving shovel 1
1, the cab 15 and an automatic operation controller 61 are provided. The cab 15 includes an operation panel 60 for performing a teaching operation and the like on the automatic operation controller 61, and an automatic operation controller 61. A controller switch 66 for controlling on / off of the controller 61 and an antenna 150 for wirelessly transmitting and receiving signals to and from the operation box 5 are provided.

Further, as shown in FIG. 2, the automatic operation shovel 1 has a pressure sensor 160 for detecting the pressure of the swing motor 110, a pressure sensor 161 for detecting the pressure of the boom cylinder 120, and an arm cylinder 130. A pressure sensor 162 for detecting pressure and a bucket cylinder 14
0, a proportional electromagnetic valve 62 driven by a drive current output from the automatic operation controller 61, and a hydraulic signal output from the proportional electromagnetic valve 62, and the swing motor 110, a boom cylinder 120, an arm cylinder 130, and a control valve 63 for controlling the amount of oil or hydraulic pressure flowing into a bucket cylinder 140 (these may be collectively referred to as an "actuator"). 1
And a wireless device 65 having 50.

As shown in detail in FIG. 2, the automatic operation controller 61 operates the operation panel 60 to store a current position of the automatic operation shovel 1 as a teaching position in a teaching position storage unit 601 to be described later. 600,
A teaching position storage unit 601 for storing teaching position data at the time of automatic driving according to a command from the teaching processing unit 600, a command transmitting / receiving unit 602 for transmitting / receiving a command to / from the remote operation controller 52, and performing a reproducing process according to the received command. Processing unit 603, a playback command storage unit 604 storing playback commands for sequentially executing playback operations, and a playback stored in the playback command storage unit 604 in response to a command from the playback processing unit 603. A command interpreter unit 605 that interprets the command and instructs output of predetermined teaching position data from the teaching position storage unit 601
And a command from the command interpreter unit 605,
Calculation is performed from the teaching position output unit 606 that outputs the teaching position data stored in the teaching position storage unit 601 and the teaching position data output from the teaching position output unit 606 so that the automatic operation shovel 1 operates smoothly. Servo preprocessing unit 607 for creating and outputting position data interpolated by
And the position data output from the servo preprocessing unit 607 and the angle sensors 111 to 114 and the pressure sensors 160 to 16
The automatic driving shovel 1 is controlled to a predetermined position by comparing the current position and the current pressure data from the position pressure calculating unit 609 for calculating the current position and the current pressure of the automatic driving shovel 1 based on the measurement data of No. 3. The shift amount (angle) for each joint stored in the shift amount storage unit 611 is instructed by a command from a servo control unit 608 that outputs a drive current to the proportional solenoid valve 62 and a command interpreter unit 605. The teaching position shift calculation unit 610 generates new position data by adding the teaching position data stored in the position storage unit 601.

The automatic operation shovel 1 of this embodiment is switched to a manual operation mode or an automatic operation mode by turning on and off a controller switch 66. That is, when the controller switch 66 is turned off, the automatic operation controller 61 is switched to the off state, and the same manual operation as that of the standard machine is enabled. When the controller switch 66 is turned on, the automatic operation controller 61 is turned off.
Is switched to the ON state, and the automatic operation controller 6
1 enables automatic operation.

On the other hand, the operation box 5 has the contents shown in FIGS.
As shown in the figure, an operation stop button 500 for stopping the automatic operation of the automatic operation shovel 1, an operation start button 501 for starting the automatic operation of the automatic operation shovel 1, and a position at which the operator can get on and off when the automatic operation ends. A standby position button 502 for retracting the automatic driving shovel 1, an emergency stop button 503, a start button (START) 504 for starting the engine of the automatic driving shovel 1, a stop button (STOP) 505 for stopping the engine,
Up button (UP) 506 to increase engine speed
And a down button to lower the engine speed (DOWN)
507, an unloading operation selection switch 508 for selecting the speed of the unloading operation performed by the automatic driving shovel 1, and a remote operation for outputting a predetermined signal corresponding to the operation content of each button or switch to the automatic driving controller 61. An antenna 51 for transmitting and receiving signals between the controller 52 and a wireless device 65 provided in the automatic driving shovel 1
And a wireless device 53.

Hereinafter, an automatic driving method of the automatic driving shovel 1 will be described.

When starting the automatic operation, the controller switch 66 is turned on while the engine of the automatic operation shovel 1 is started, and the automatic operation controller 61 is activated to switch to the automatic operation mode.

Next, in accordance with the instructions displayed on the operation panel 60, the teaching operation necessary for the automatic operation is performed. The teaching operation in the present embodiment is a teaching of an excavation start position, a dumping position, and a standby position. The excavation start position is a position for the automatic driving shovel 1 to excavate the debris stored in the stock yard 2, and the unloading position is a position for discharging the debris excavated to the hopper 31 of the crusher 3. . The standby position is a position at which the operator gets on and off the automatic driving shovel 1 at the end of the automatic driving or the like. The automatic operation controller 61 includes the angle sensors 111 to 11
4 to calculate the excavation start position, the unloading position, and the standby position taught from the operation panel 60, and store the calculated excavation start position, tillage position, and standby position in the predetermined storage area as the taught position data. The teaching operation is completed as described above, and by performing the reproduction operation described below, the automatic driving is enabled.

The reproduction operation is performed by pressing an operation start button 501 provided in the remote control box 5. That is, when the operation start button 501 is pressed, a predetermined signal generated by the remote operation controller 52 is transmitted to the automatic operation controller 61 via the antennas 51 and 150, and the automatic operation controller 61 starts a regeneration process. The automatic operation controller 61 reads the teaching position data stored in a predetermined storage area, compares the teaching position data with the information obtained from the angle sensors 111 to 114, and matches the revolving unit 1 with the teaching position data.
1, a drive current is output to a proportional solenoid valve 62 for operating the boom 12, the arm 13, and the bucket 14. As a result, the opening of the control valve 63 is controlled, the operation of each of the actuators 11, 12, 13, and 14 is controlled, and the automatic operation of the automatic operation shovel 1 is executed.

In this state, when the operation stop button 500 provided on the operation box 5 is operated, the automatic operation of the automatic operation shovel 1 is stopped. When the standby position button 502 is operated, the automatic operation shovel 1 is repeatedly operated. Is interrupted, and the automatic driving shovel 1 automatically moves to the standby position. When the emergency stop button 503 is operated, the automatic operation shovel 1 is emergency stopped, and when the stop button 505 is operated, the engine mounted on the automatic operation shovel 1 is stopped. Further, by operating the up button 506, the engine speed can be increased, and by operating the down button 507, the engine speed can be reduced.

Next, an operation procedure of the automatic driving shovel 1 and a processing procedure of the automatic driving controller 61 during the automatic driving will be described with reference to FIGS.

FIG. 5 is a flowchart showing the operation procedure of the automatic driving shovel 1 during automatic driving. As is apparent from FIG. 5, the operation start button 501 provided in the remote control box 5 is turned on, and When the automatic operation of the driving shovel 1 starts, the automatic operation controller 61 executes an operation start operation in step S1. Here, the operation start operation is an operation in which the automatic driving shovel 1 is turned to a revolvable posture by raising a boom or the like, and is turned to a taught excavation position. Next, step S2
Excavation operation is performed. Here, the excavation operation means that the boom of the automatic driving shovel 1 is lowered to ground the front to the ground, then excavation is performed by the arm cloud, the debris is scraped by the bucket cloud, and the automatic driving shovel 1 is raised by raising the boom. This is an operation of setting a revolvable posture. Next, the go-swing operation is performed in step S3. Here, the going turning operation is a turning operation from the taught excavation position to the earth discharging position. After the end of the going-turn operation, in step S4, the automatic operation controller 61 determines whether or not the first unloading operation is selected by the unloading operation selection switch 508 provided in the remote operation box 5. If it is determined in step S4 that the first unloading operation has been selected, the process proceeds to step S5 to execute the first unloading operation. If it is determined in step S4 that the first unloading operation has not been selected, the process proceeds to step S6 to execute the second unloading operation. Here, the earth discharging operation is an operation of discharging earth and stone scraped into the bucket 14 into the hopper 31 of the crusher 3 for crushed stone by an operation such as bucket dumping, and as described above, the first earth discharging operation is performed. In the operation and the second unloading operation, the hopper 31
The dumping speed to the soil is different. In the present embodiment, the selection operation by the unloading operation selection switch 508 has two stages of the first unloading operation and the second unloading operation, but the unloading operation is switched to three or more stages as necessary. It is of course possible to do so. After the end of the unloading, the process proceeds to step S7 to perform a return turning operation. Here, the return turning operation is a turning operation from the taught dumping position to the excavation position. After the unloading is completed, the process returns to step S2, and thereafter, the procedure from step S2 to step S7 is repeated.

The processing procedure of the first unloading operation executed in step S5 will be described with reference to FIGS. In the present embodiment, the first unloading operation is an operation of unloading the hopper 31 at a stretch at a relatively high speed.

First, in step S110, it is determined whether or not the tip of the bucket 14 has reached P1. Here, what is indicated by Pn (n is a positive integer) indicates the teaching position data stored in the teaching position storage unit 601;
Reference numeral 1 denotes a discharging start position shown in FIG. 3A, from which the discharging operation to the hopper 31 is performed. Step S11
If it is determined at 0 that P1 has not been reached, the movement operation to P1 and the arrival determination process are repeated. If the speed has reached P1, the process moves to step S111, and the moving speed is set to the medium speed. Here, V is the playback command storage unit 604
Is a playback command stored in the command, and the designated numerical value is a percentage of the unloading speed with 100 being the maximum speed, and indicates that the larger the numerical value, the higher the speed. Next, P2 is output in step S112. Here, P2 is a dumping end position shown in FIG. 3B, and in this embodiment, a position at which a certain amount of bucket dumping has been performed from P1, and the excavated debris is transferred to the hopper 31 of the crusher 3. And release. Also, MOVE
Is a playback command stored in the playback command storage unit 604 similarly to the above-mentioned V, and instructs movement to the position designated by Pn. Next, it is determined in step S113 whether P2 has been reached. When it is determined that the time has not reached P2, the movement operation to P2 and the arrival determination processing are repeated. When the movement reaches P2, the processing of the first unloading operation is completed, and the process proceeds to step S7 and returns. Perform turning operation.

As described above, when the first unloading operation is selected, the unloading operation is performed at a stretch at a relatively high speed. When the clogging of the slip-out chute in the crusher 3 does not pose a problem, the operator who performs the automatic operation selects the first earth-discharge operation with the earth-discharge operation selection switch 508 to improve the efficiency of the crushed stone processing system. It can be operated in an efficient manner.

Next, the processing procedure of the second unloading operation executed in step S6 will be described with reference to FIGS. In the present embodiment, the second discharging operation is an operation of discharging the hopper 31 into the hopper 31 at a relatively low speed in several steps.

First, it is determined in step S120 whether P1 has been reached. Here, P1 is a dumping start position shown in FIG. 4A, from which the dumping operation of the crusher 3 to the hopper 31 is performed. FIG. 4 (a)
3A and P1 shown in FIG. 3A are at the same position. If it is determined in step S120 that P1 has not been reached, the movement operation to P1 and the arrival determination process are repeated. If P1 has been reached, step S121
And set the movement speed to low. In this example, 20 is specified as the V command. Next, P1 ′ is output in step S122. Here, P1 'is the first earth-discharge intermediate position shown in FIG. 4B, and in this embodiment, is set to the position where a fixed amount of bucket dumping has been performed from P1. S_ON is a playback command stored in the playback command storage unit 604. This is the shift amount S stored in the shift amount storage unit 611.
By specifying n, the teaching position shift operation unit 61
0 generates new position data. In this case, P1 specified by the MOVE command becomes P1 =
P1 + S1 = P1 ′. S1 indicates the above-mentioned bucket dump amount. Next, in step S123, P
The arrival at 1 ′ is determined, and when it reaches P1 ′, the process proceeds to step S124, and the operation is stopped for a predetermined time (for example, 1 to 5 seconds). After the elapse of the predetermined time, the flow shifts to step S125 to output P1 ''. Here, P1 ″ is the second earth-discharge intermediate position shown in FIG. 4C, and in this embodiment, indicates the position where a fixed amount of bucket dumping has been performed from P1 ′. Also, M in step S125
P1 specified in the OVE command is the same as in step S12.
Similarly to 2, P1 = P1 + S1 + S2 = P1 ''. S2 indicates the above-mentioned bucket dump amount similarly to S1. Next, it is determined in step S126 that the vehicle has reached P1 ″.
27, and the operation is stopped for a predetermined time (for example, 1 to 5 seconds). After the elapse of the predetermined time, the flow shifts to step S128 to output P2. Here, P2 is the unloading end position shown in FIG. 4D, and in the present embodiment, indicates the position where a fixed amount of bucket dumping has been performed from P1, and is the same position as FIG. 3B. . Also, S_O
FF is a command stored in the reproduction command storage unit 604, and is a command for invalidating the shift operation.
Next, it is determined in step S129 whether P2 has been reached. If it is determined that P2 has not been reached, the movement operation to P2 and the arrival determination process are repeated. I do.

As described above, when the second unloading operation is selected, since the unloading operation is performed at a relatively low speed and divided into several times, most of the excavated object is soil. In the case where clogging of the slip-out chute in the crusher 3 for crushing stones becomes a problem as in the case, the operator who performs the automatic operation selects the second earth-discharge operation with the earth-discharge operation selection switch 508, and the slip is performed. Since the clogging of the take-out chute can be prevented beforehand, and the labor and time required for restoring the crusher 3 for crushed stone can be omitted, the crushed stone processing system can be efficiently operated as a whole.

In the above embodiment, the bucket dump operation at the time of unloading is slowed down when the second unloading operation is selected, as compared with the case where the first unloading operation is selected. Although the bucket dump operation is performed a plurality of times, the same effect can be obtained by slowing down the bucket dump operation or performing the bucket dump operation in a plurality of times.

[0035]

As described above, according to the present invention,
Storage means for storing at least two sets of teaching data relating to the unloading operation in the automatic operation controller; and teaching relating to the required unloading operation from the storage means in response to a command from the unloading operation selecting means provided outside the excavator. Since the teaching data reading means for selectively reading data and the control means for driving the hydraulic excavator according to the teaching data read by the teaching data reading means are provided, it is optimal according to the state of debris to be excavated. It is possible to select an appropriate soil release operation, and to always perform highly efficient work regardless of the state of the debris.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a working mode of a crushed stone processing system using an automatic driving shovel according to an embodiment.

FIG. 2 is a block diagram illustrating a configuration of an in-vehicle device and a remote control device of the automatic driving shovel according to the embodiment.

FIG. 3 is an operation explanatory diagram showing operations of a boom, an arm, and a bucket when performing a first earth discharging operation.

FIG. 4 is an operation explanatory diagram showing operations of a boom, an arm, and a bucket when executing a second earth discharging operation.

FIG. 5 is a flowchart illustrating an operation procedure of the automatic driving shovel during automatic driving.

FIG. 6 is a flowchart showing a processing procedure of a first earth discharging operation.

FIG. 7 is a flowchart showing a processing procedure of a second earth discharging operation.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 automatic operation excavator 2 stockyard 3 crusher for crushed stone 5 operation box 508 earth removal operation selection switch (earth removal operation selection means) 61 automatic operation controller 601 teaching position storage unit (storage unit) 604 playback command storage unit 605 command interpreter unit ( Teaching data reading means) 606 teaching position output section 607 servo preprocessing section 608 servo control section (control means) 609 position pressure calculation section 608 servo control section 610 teaching position shift calculation section 611 shift amount storage section

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yoshiyuki Nagano 650, Kandamachi, Tsuchiura-shi, Ibaraki F-term in the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (Reference) 2D003 AA01 BA03 BA04 BA06 CA02 DA02 DA04 DB02 DB04 DC06

Claims (1)

[Claims] 1. An automatic operation shovel comprising: a hydraulic excavator; and an automatic operation controller that causes the hydraulic excavator to repeatedly and automatically perform a digging operation, a going-swing operation, a soil discharging operation, and a return-swing operation. The teaching data on the unloading operation is at least 2
Storage means for storing a set or more, teaching data reading means for selectively reading teaching data relating to a required soil discharging operation from the storage means in response to a command from the earth discharging operation selecting means provided outside the excavator, An automatic driving shovel comprising: a control unit that drives the hydraulic excavator according to the teaching data read by the teaching data reading unit.