CA2873021A1 - Bucket movement control device for automatically shaking off foreign substances and method therefor - Google Patents
Bucket movement control device for automatically shaking off foreign substances and method therefor Download PDFInfo
- Publication number
- CA2873021A1 CA2873021A1 CA 2873021 CA2873021A CA2873021A1 CA 2873021 A1 CA2873021 A1 CA 2873021A1 CA 2873021 CA2873021 CA 2873021 CA 2873021 A CA2873021 A CA 2873021A CA 2873021 A1 CA2873021 A1 CA 2873021A1
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- Prior art keywords
- bucket
- joystick
- value
- control signal
- automatic
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/221—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for generating actuator vibration
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The present invention relates to a bucket movement control device for automatically shaking off foreign substances, comprising a bucket movement control unit for controlling the movement of a bucket by determining whether to output an automatic control signal for automatically driving the bucket forward/backward at a predetermined speed or to output a manual control signal for driving the bucket according to an operating value of a joystick, and outputting a corresponding signal to a bucket driving unit even if an input value of the joystick does not change according to whether an automatic mode is selected by an automatic mode selection switch, and according to an operating value detected by an operating value detection means and an operating angle detected by an operating angle detection means. The bucket movement control device can automatically control the movement of the bucket so as to enable a driver to adjust the foreign substances within the bucket or scatter earth and sand and the like without need for an additional operation.
Description
BUCKET MOVEMENT CONTROL DEVICE FOR AUTOMATICALLY SHAKING OFF
FOREIGN SUBSTANCES AND METHOD THEREFOR
TECHNICAL FIELD
The present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof. More particularly, the present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
BACKGROUND ART
In general, an excavator is equipment that is used for the main purpose of containing earth and sand in a bucket and moving the earth and sand contained in the bucket to a target position.
However, if the earth and sand get wet or pressure is applied to the earth and sand during containing, a considerable amount of earth and sand may stick to an inner or outer portion of the bucket. In this case, the weight of the bucket is increased and the volume inside the bucket is reduced to cause the work rate to be reduced.
To prevent this, as illustrated in Fig. 1, an existing operator may move the bucket forward and backward to shake off the earth and sand through impacts, and repetition of such an operation may cause the operator's work fatigue to be increased.
Further, the operator may perform such an operation for the purpose of sprinkling the earth and sand contained in the bucket.
However, introduction of an additional operation device for automatically performing such an operation is not advantageous in cost and use convenience.
DISCLOSURE
TECHNICAL PROBLEM
Therefore, the present invention has been made to solve the above-mentioned problems occurring in the related art, and an object of the present invention is to provide an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
TECHNICAL SOLUTION
In accordance with an aspect of the present invention, there is provided an apparatus for controlling bucket movement for automatically shaking off foreign substances, which includes an automatic mode selection switch; an operation value detection means for detecting an operation value generated by a stroke of a joystick; an operation angle detection means for detecting an operation angle of the joystick; and a bucket movement control unit controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to r CA 02873021 2014-11-07 , .
the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, and outputting a corresponding signal to a bucket driving unit.
Preferably, the bucket movement control unit may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected by the automatic mode selection switch, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected by the automatic mode selection switch, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
Further, in the automatic control state, the bucket movement control unit may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
In accordance with another aspect of the present invention, there is provided a method for controlling bucket movement for automatically shaking off foreign substances, which includes selecting an automatic mode; detecting an operation value generated by a stroke of a joystick;
detecting an operation angle of the joystick; and controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit.
Preferably, the bucket movement control step may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
Further, in the automatic control state, the bucket movement control step may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
ADVANTAGEOUS EFFECT
According to the present invention, the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
In particular, since the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
BRIEF DESCRIPTION OF THE DRAWINGS
The above objects, other features and advantages of the present invention will become more apparent by describing the preferred embodiments thereof with reference to the accompanying drawings, in which:
Fig. 1 is a conceptual view illustrating an excavator that is shaking off earth;
Fig. 2 is a block diagram illustrating the configuration of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention; and Fig. 3 is a flowchart illustrating the sequential operation of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
* Description of Reference Numerals in the Drawing 201: automatic mode selection switch 202: operation value detection means 203: operation angle detection means 204: bucket movement control unit 205: bucket driving unit BEST MODE
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The matters defined in the description, such as the detailed construction and elements, are nothing but specific details provided to assist those of ordinary skill in the art in a comprehensive understanding of the invention, and the present invention is not limited to the embodiments disclosed hereinafter.
For clear explanation of the present invention, portions that do not have relation to the explanation are omitted, and in the entire description of the present invention, similar drawing reference numerals are used for the similar elements across various figures.
In the entire description and claims of the present invention, the term "comprises" and/or "includes" used in the description means that one or more other components are not excluded in addition to the described components unless specially described on the contrary.
Fig. 2 is a block diagram illustrating the configuration of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
FOREIGN SUBSTANCES AND METHOD THEREFOR
TECHNICAL FIELD
The present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof. More particularly, the present invention relates to an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
BACKGROUND ART
In general, an excavator is equipment that is used for the main purpose of containing earth and sand in a bucket and moving the earth and sand contained in the bucket to a target position.
However, if the earth and sand get wet or pressure is applied to the earth and sand during containing, a considerable amount of earth and sand may stick to an inner or outer portion of the bucket. In this case, the weight of the bucket is increased and the volume inside the bucket is reduced to cause the work rate to be reduced.
To prevent this, as illustrated in Fig. 1, an existing operator may move the bucket forward and backward to shake off the earth and sand through impacts, and repetition of such an operation may cause the operator's work fatigue to be increased.
Further, the operator may perform such an operation for the purpose of sprinkling the earth and sand contained in the bucket.
However, introduction of an additional operation device for automatically performing such an operation is not advantageous in cost and use convenience.
DISCLOSURE
TECHNICAL PROBLEM
Therefore, the present invention has been made to solve the above-mentioned problems occurring in the related art, and an object of the present invention is to provide an apparatus for controlling bucket movement for automatically shaking off foreign substances, and a method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
TECHNICAL SOLUTION
In accordance with an aspect of the present invention, there is provided an apparatus for controlling bucket movement for automatically shaking off foreign substances, which includes an automatic mode selection switch; an operation value detection means for detecting an operation value generated by a stroke of a joystick; an operation angle detection means for detecting an operation angle of the joystick; and a bucket movement control unit controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to r CA 02873021 2014-11-07 , .
the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, and outputting a corresponding signal to a bucket driving unit.
Preferably, the bucket movement control unit may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected by the automatic mode selection switch, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected by the automatic mode selection switch, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
Further, in the automatic control state, the bucket movement control unit may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
In accordance with another aspect of the present invention, there is provided a method for controlling bucket movement for automatically shaking off foreign substances, which includes selecting an automatic mode; detecting an operation value generated by a stroke of a joystick;
detecting an operation angle of the joystick; and controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit.
Preferably, the bucket movement control step may output the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and may output the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
Further, in the automatic control state, the bucket movement control step may output a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and may output a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
ADVANTAGEOUS EFFECT
According to the present invention, the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
In particular, since the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
BRIEF DESCRIPTION OF THE DRAWINGS
The above objects, other features and advantages of the present invention will become more apparent by describing the preferred embodiments thereof with reference to the accompanying drawings, in which:
Fig. 1 is a conceptual view illustrating an excavator that is shaking off earth;
Fig. 2 is a block diagram illustrating the configuration of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention; and Fig. 3 is a flowchart illustrating the sequential operation of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
* Description of Reference Numerals in the Drawing 201: automatic mode selection switch 202: operation value detection means 203: operation angle detection means 204: bucket movement control unit 205: bucket driving unit BEST MODE
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The matters defined in the description, such as the detailed construction and elements, are nothing but specific details provided to assist those of ordinary skill in the art in a comprehensive understanding of the invention, and the present invention is not limited to the embodiments disclosed hereinafter.
For clear explanation of the present invention, portions that do not have relation to the explanation are omitted, and in the entire description of the present invention, similar drawing reference numerals are used for the similar elements across various figures.
In the entire description and claims of the present invention, the term "comprises" and/or "includes" used in the description means that one or more other components are not excluded in addition to the described components unless specially described on the contrary.
Fig. 2 is a block diagram illustrating the configuration of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
= CA 02873021 2014-11-07 As illustrated in Fig. 2, an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention is configured to briefly include an automatic mode selection switch 201, an operation value detection means 202, an operation angle detection means 203, and a bucket movement control unit 204.
That is, the apparatus includes the automatic mode selection switch 201; the operation value detection means 202 for detecting an operation value generated by a stroke of a joystick; the operation angle detection means 203 for detecting an operation angle of the joystick; and the bucket movement control unit 204 controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch 201, the operation value detected by the operation value detection means 202, and the operation angle detected by the operation angle detection means 203, and outputting a corresponding signal to a bucket driving unit 205.
Here, the automatic mode selection switch 201 is a device which selects an automatic mode, in which the bucket is controlled to move quickly forward and backward to shake off the foreign substances even if the input value of the joystick is not changed, according to an operator's key operation, and inputs the result of the selection to the bucket movement control unit 204.
The operation value detection means 203 detects the operation value that is generated by the stroke of the joystick. The detected operation value of the joystick is input to the bucket movement control unit 204 and is used to determine whether to output the automatic control signal or the manual control signal. The automatic control signal that is defined according to the present invention is a signal for automatically driving the bucket forward and backward at the predetermined speed even if the input value of the joystick is not changed, and the manual control signal is defined as a signal for driving the bucket corresponding to the input operation value of the joystick.
The operation angle detection means 203 detects the operation angle of the joystick, and the detected operation angle is used to determine whether a command direction of the joystick coincides with a predefined direction.
The bucket movement control unit 204 outputs the automatic control signal to the bucket driving unit 205 in the case where the automatic mode is selected by the automatic mode selection switch 201, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (i.e., automatic control state). In contrast, the bucket movement control unit 204 outputs the corresponding manual control signal to the bucket driving unit 205 in the case where the automatic mode is not selected by the automatic mode selection switch 201, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (i.e., manual control state).
That is, in order to determine whether an automatic operation or an ordinary operation is selected, the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction. In the case where the input value is larger than the set value and the command direction coincides with the predefined direction, the ordinary operation is performed, while in the opposite case, the automatic operation is performed. Here, the ordinary , CA 02873021 2014-11-07 =
. a operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick, and the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
On the other hand, in the process of performing the automatic operation, it may be required for an operator to directly adjust the bucket to strongly or weakly shake the bucket or to directly adjust the bucket to quickly or slowly shake the bucket. In order to reflect such an operator's requirement, a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value. For example, if the joystick input operation value is a relatively small value that is equal to or smaller than the set value, the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
For this, in the automatic control state, the bucket movement control unit 204 outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit 205 if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit 205 if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
Hereinafter, the operation of then apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention of Fig. 2 will be described with reference to Fig. 3.
Fig. 3 is a flowchart illustrating the sequential operation of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
As illustrated in Fig. 3, according to the present invention, it is first confirmed whether to select an automatic mode, and then an operation value that is generated by a stroke of a joystick is detected.
In addition, an operation angle of the joystick is detected.
Then, the bucket movement is controlled by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit 205 (S301 to S306).
This will be described in more detail.
First, the automatic control signal is output to the bucket driving unit 205 in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (S301 to S305).
In contrast, the corresponding manual control signal is output to the bucket driving unit 205 in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (S306).
That is, in order to determine whether an automatic operation or an ordinary operation is selected, the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction. In the case where the input value is larger than the set value and the command direction coincides with the predefined direction, the ordinary operation is performed, while in the opposite case, the automatic operation is performed.
Here, the ordinary operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick, and the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
On the other hand, in the process of performing the automatic operation, it may be required for an operator to directly adjust the bucket to strongly or weakly shake the bucket or to directly adjust the bucket to quickly or slowly shake the bucket.
In order to reflect such an operator's requirement, a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value.
For example, if the joystick input operation value is a relatively small value that is equal to or smaller than the set value, the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively A
large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
For this, in the automatic control state, the bucket movement control unit outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
As described above, according to the present invention, the bucket movement can be automatically controlled so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
Through this, the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
In particular, since the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
s.
INDUSTRIAL APPLICABILITY
As apparent from the above description, the present invention can be used for the apparatus for controlling bucket movement for automatically shaking off foreign substances, and the method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
That is, the apparatus includes the automatic mode selection switch 201; the operation value detection means 202 for detecting an operation value generated by a stroke of a joystick; the operation angle detection means 203 for detecting an operation angle of the joystick; and the bucket movement control unit 204 controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch 201, the operation value detected by the operation value detection means 202, and the operation angle detected by the operation angle detection means 203, and outputting a corresponding signal to a bucket driving unit 205.
Here, the automatic mode selection switch 201 is a device which selects an automatic mode, in which the bucket is controlled to move quickly forward and backward to shake off the foreign substances even if the input value of the joystick is not changed, according to an operator's key operation, and inputs the result of the selection to the bucket movement control unit 204.
The operation value detection means 203 detects the operation value that is generated by the stroke of the joystick. The detected operation value of the joystick is input to the bucket movement control unit 204 and is used to determine whether to output the automatic control signal or the manual control signal. The automatic control signal that is defined according to the present invention is a signal for automatically driving the bucket forward and backward at the predetermined speed even if the input value of the joystick is not changed, and the manual control signal is defined as a signal for driving the bucket corresponding to the input operation value of the joystick.
The operation angle detection means 203 detects the operation angle of the joystick, and the detected operation angle is used to determine whether a command direction of the joystick coincides with a predefined direction.
The bucket movement control unit 204 outputs the automatic control signal to the bucket driving unit 205 in the case where the automatic mode is selected by the automatic mode selection switch 201, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (i.e., automatic control state). In contrast, the bucket movement control unit 204 outputs the corresponding manual control signal to the bucket driving unit 205 in the case where the automatic mode is not selected by the automatic mode selection switch 201, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (i.e., manual control state).
That is, in order to determine whether an automatic operation or an ordinary operation is selected, the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction. In the case where the input value is larger than the set value and the command direction coincides with the predefined direction, the ordinary operation is performed, while in the opposite case, the automatic operation is performed. Here, the ordinary , CA 02873021 2014-11-07 =
. a operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick, and the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
On the other hand, in the process of performing the automatic operation, it may be required for an operator to directly adjust the bucket to strongly or weakly shake the bucket or to directly adjust the bucket to quickly or slowly shake the bucket. In order to reflect such an operator's requirement, a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value. For example, if the joystick input operation value is a relatively small value that is equal to or smaller than the set value, the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
For this, in the automatic control state, the bucket movement control unit 204 outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit 205 if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit 205 if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
Hereinafter, the operation of then apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention of Fig. 2 will be described with reference to Fig. 3.
Fig. 3 is a flowchart illustrating the sequential operation of an apparatus for controlling bucket movement for automatically shaking off foreign substances according to the present invention.
As illustrated in Fig. 3, according to the present invention, it is first confirmed whether to select an automatic mode, and then an operation value that is generated by a stroke of a joystick is detected.
In addition, an operation angle of the joystick is detected.
Then, the bucket movement is controlled by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit 205 (S301 to S306).
This will be described in more detail.
First, the automatic control signal is output to the bucket driving unit 205 in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction (S301 to S305).
In contrast, the corresponding manual control signal is output to the bucket driving unit 205 in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction (S306).
That is, in order to determine whether an automatic operation or an ordinary operation is selected, the command value of the joystick is compared with the set value, and it is determined whether the command direction of the joystick is a predefined direction. In the case where the input value is larger than the set value and the command direction coincides with the predefined direction, the ordinary operation is performed, while in the opposite case, the automatic operation is performed.
Here, the ordinary operation means that the bucket is made to move at a speed and with movement that correspond to the input value of the joystick, and the automatic operation means that the bucket is made to quickly move forward and backward to shake off the foreign substances even if the input value of the joystick is not changed.
On the other hand, in the process of performing the automatic operation, it may be required for an operator to directly adjust the bucket to strongly or weakly shake the bucket or to directly adjust the bucket to quickly or slowly shake the bucket.
In order to reflect such an operator's requirement, a predefined output may be sent according to the command value of the joystick in the case where the operation value of the joystick is equal to or smaller than the set value.
For example, if the joystick input operation value is a relatively small value that is equal to or smaller than the set value, the bucket is controlled to be shaken slowly, while if the joystick input operation value is a relatively A
large value that is equal to or smaller than the set value, the bucket is controlled to be shaken quickly.
For this, in the automatic control state, the bucket movement control unit outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large (in this case, the change of the automatic control signal, that is, the output signal, may change the frequency, the level, or both the frequency and the level of the output signal).
As described above, according to the present invention, the bucket movement can be automatically controlled so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
Through this, the operator can effectively remove the foreign substances that stick to the bucket with reduction of the operator's work fatigue, and if needed, the above-described operation can be automatically performed while the excavating work is performed without any operation of a separate additional device.
In particular, since the operation according to the direction of the joystick is separately set and the shaking speed or level is controlled in proportion to the input value of the joystick, the operator's work fatigue can be reduced and the work rate can be increased as the excavating work is normally performed.
s.
INDUSTRIAL APPLICABILITY
As apparent from the above description, the present invention can be used for the apparatus for controlling bucket movement for automatically shaking off foreign substances, and the method thereof, which can automatically control the bucket movement so as to control the foreign substances contained in the bucket or to sprinkle earth and sand without any separate operation of an operator.
Claims (6)
1. An apparatus for controlling bucket movement for automatically shaking off foreign substances, comprising:
an automatic mode selection switch;
an operation value detection means for detecting an operation value generated by a stroke of a joystick;
an operation angle detection means for detecting an operation angle of the joystick; and a bucket movement control unit controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, and outputting a corresponding signal to a bucket driving unit.
an automatic mode selection switch;
an operation value detection means for detecting an operation value generated by a stroke of a joystick;
an operation angle detection means for detecting an operation angle of the joystick; and a bucket movement control unit controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode by the automatic mode selection switch, the operation value detected by the operation value detection means, and the operation angle detected by the operation angle detection means, and outputting a corresponding signal to a bucket driving unit.
2. The apparatus for controlling bucket movement according to claim 1, wherein the bucket movement control unit outputs the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected by the automatic mode selection switch, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and outputs the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected by the automatic mode selection switch, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
3. The apparatus for controlling bucket movement according to claim 2, wherein in the automatic control state, the bucket movement control unit outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
4. A
method for controlling bucket movement for automatically shaking off foreign substances, comprising:
selecting an automatic mode;
detecting an operation value generated by a stroke of a joystick;
detecting an operation angle of the joystick; and controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit.
method for controlling bucket movement for automatically shaking off foreign substances, comprising:
selecting an automatic mode;
detecting an operation value generated by a stroke of a joystick;
detecting an operation angle of the joystick; and controlling the bucket movement by determining whether to output an automatic control signal for automatically driving the bucket forward and backward at a predetermined speed even if an input value of the joystick is not changed or to output a manual control signal for driving the bucket according to the operation value of the joystick, in accordance with a selection/non-selection of an automatic mode, the operation value of the joystick, and the operation angle of the joystick, and outputting a corresponding signal to a bucket driving unit.
5. The method for controlling bucket movement according to claim 4, wherein the bucket movement control step outputs the automatic control signal to the bucket driving unit in an automatic control state where the automatic mode is selected, the operation value of the joystick is equal to or smaller than a set value, and a command direction obtained from the operation angle of the joystick coincides with a predefined direction, and outputs the corresponding manual control signal to the bucket driving unit in a manual control state where the automatic mode is not selected, the operation value of the joystick is larger than the set value, or the command direction obtained from the operation angle of the joystick does not coincide with a predefined direction.
6. The method for controlling bucket movement according to claim 5, wherein in the automatic control state, the bucket movement control step outputs a first automatic control signal for shaking the bucket slowly to the bucket driving unit if the operation value of the joystick belongs to a first range that is relatively small, and outputs a second automatic control signal for shaking the bucket quickly to the bucket driving unit if the operation value of the joystick belongs to a second range that is relatively large.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/KR2012/004019 WO2013176301A1 (en) | 2012-05-22 | 2012-05-22 | Bucket movement control device for automatically shaking off foreign substances and method therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2873021A1 true CA2873021A1 (en) | 2013-11-28 |
Family
ID=49623973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2873021 Abandoned CA2873021A1 (en) | 2012-05-22 | 2012-05-22 | Bucket movement control device for automatically shaking off foreign substances and method therefor |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US20150134209A1 (en) |
| EP (1) | EP2853642A4 (en) |
| KR (1) | KR101668733B1 (en) |
| CN (1) | CN104334805A (en) |
| BR (1) | BR112014028749A2 (en) |
| CA (1) | CA2873021A1 (en) |
| WO (1) | WO2013176301A1 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9725882B2 (en) | 2013-01-24 | 2017-08-08 | Volvo Construction Equipment Ab | Device and method for controlling flow rate in construction machinery |
| JP6604624B2 (en) * | 2015-05-11 | 2019-11-13 | キャタピラー エス エー アール エル | Automatic vibration device for work machines |
| CN105908797A (en) * | 2016-02-29 | 2016-08-31 | 江苏耐维思通科技股份有限公司 | Control system of unattended loader |
| US10246855B2 (en) | 2016-10-10 | 2019-04-02 | Wacker Neuson Production Americas Llc | Material handling machine with bucket shake control system and method |
| JP6791827B2 (en) * | 2017-09-29 | 2020-11-25 | 株式会社小松製作所 | Work vehicle and control method of work vehicle |
| DE102020206368A1 (en) | 2020-05-20 | 2021-11-25 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for the automated removal of material adhering to a loading tool of a loading machine |
| US11708681B2 (en) | 2021-04-13 | 2023-07-25 | Caterpillar Inc. | System and method for bucket agitation during automated payload tip-off |
| CN113266046A (en) * | 2021-05-24 | 2021-08-17 | 江苏徐工工程机械研究院有限公司 | Loader-digger |
| US11761170B2 (en) | 2021-11-17 | 2023-09-19 | Robert Bosch Gmbh | Apparatus for facilitating bucket movement |
| WO2023167548A1 (en) * | 2022-03-03 | 2023-09-07 | 현대두산인프라코어(주) | System for controlling construction machine, and method for controlling same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0699948B2 (en) * | 1988-07-14 | 1994-12-12 | 株式会社小松製作所 | Automatic vibration method and automatic vibration device for hydraulic excavator |
| DE69030265T2 (en) * | 1990-01-16 | 1997-08-28 | Komatsu Mfg Co Ltd | AUTOMATIC VIBRATION METHOD OF A HYDRAULIC EXCAVATOR |
| JPH04237726A (en) * | 1991-01-16 | 1992-08-26 | Kubota Corp | Bucket operating device of back-hoe |
| US5235809A (en) * | 1991-09-09 | 1993-08-17 | Vickers, Incorporated | Hydraulic circuit for shaking a bucket on a vehicle |
| KR100328217B1 (en) * | 1996-04-30 | 2002-06-26 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | Automatic Vibration System and Method of Hydraulic Construction Machinery |
| KR200166284Y1 (en) * | 1997-12-31 | 2000-01-15 | 토니헬 | Oscillation working system of heavy equipment vehicle |
| US6763661B2 (en) * | 2002-05-07 | 2004-07-20 | Husco International, Inc. | Apparatus and method for providing vibration to an appendage of a work vehicle |
| US6757992B1 (en) * | 2003-01-14 | 2004-07-06 | New Holland North America, Inc. | Skid steer loader bucket shaker |
| KR100621978B1 (en) * | 2004-03-10 | 2006-09-14 | 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 | automatic vibration device and method of heavy equipment |
| SE526989C2 (en) * | 2004-04-19 | 2005-11-29 | Volvo Constr Equip Holding Se | Method for shaking work tools |
| US7269943B2 (en) * | 2005-05-06 | 2007-09-18 | Caterpillar Inc. | Apparatus and method for controlling work tool vibration |
| US7467514B2 (en) * | 2006-07-17 | 2008-12-23 | Caterpillar Inc. | System and method for controlling shakability of a work tool |
| US7866149B2 (en) * | 2007-09-05 | 2011-01-11 | Caterpillar Inc | System and method for rapidly shaking an implement of a machine |
| EP3239408B1 (en) * | 2009-03-26 | 2018-10-31 | Komatsu Ltd. | Control method and control apparatus for work vehicle |
-
2012
- 2012-05-22 EP EP12877395.9A patent/EP2853642A4/en not_active Withdrawn
- 2012-05-22 KR KR1020147032482A patent/KR101668733B1/en active IP Right Grant
- 2012-05-22 BR BR112014028749A patent/BR112014028749A2/en not_active IP Right Cessation
- 2012-05-22 US US14/400,898 patent/US20150134209A1/en not_active Abandoned
- 2012-05-22 WO PCT/KR2012/004019 patent/WO2013176301A1/en active Application Filing
- 2012-05-22 CN CN201280073241.8A patent/CN104334805A/en active Pending
- 2012-05-22 CA CA 2873021 patent/CA2873021A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| KR101668733B1 (en) | 2016-10-24 |
| EP2853642A1 (en) | 2015-04-01 |
| EP2853642A4 (en) | 2016-03-02 |
| KR20150023269A (en) | 2015-03-05 |
| WO2013176301A1 (en) | 2013-11-28 |
| BR112014028749A2 (en) | 2017-06-27 |
| US20150134209A1 (en) | 2015-05-14 |
| CN104334805A (en) | 2015-02-04 |
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| EEER | Examination request |
Effective date: 20141107 |
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| FZDE | Discontinued |
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