CL2016000016A1 - Control de una herramienta de excavación a lo largo de una ruta o trayectoria. - Google Patents

Control de una herramienta de excavación a lo largo de una ruta o trayectoria.

Info

Publication number
CL2016000016A1
CL2016000016A1 CL2016000016A CL2016000016A CL2016000016A1 CL 2016000016 A1 CL2016000016 A1 CL 2016000016A1 CL 2016000016 A CL2016000016 A CL 2016000016A CL 2016000016 A CL2016000016 A CL 2016000016A CL 2016000016 A1 CL2016000016 A1 CL 2016000016A1
Authority
CL
Chile
Prior art keywords
control
objective
vector
route
path
Prior art date
Application number
CL2016000016A
Other languages
English (en)
Inventor
P Taylor Wesley
J Slaboch Brian
Original Assignee
Joy Global Surface Mining Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Joy Global Surface Mining Inc filed Critical Joy Global Surface Mining Inc
Publication of CL2016000016A1 publication Critical patent/CL2016000016A1/es

Links

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
    • E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/308—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom working outwardly
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • 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
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/54—Cable scrapers
    • 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
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/58—Component parts
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36342—Tool path processing, sequence to cut paths
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39573—Tool guidance along path

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Operation Control Of Excavators (AREA)
  • Numerical Control (AREA)

Abstract

UNA MÁQUINA INDUSTRIAL QUE INCLUYE UN COMPONENTE, UNO O MÁS ACTUADORES CONFIGURADOS PARA CONTROLAR EL COMPONENTE, UN DISPOSITIVO DE ENTRADA CONFIGURADO PARA GENERAR UNA PRIMERA SEÑAL CORRESPONDIENTE A UN PRIMER MOVIMIENTO DESEADO Y UNA SEGUNDA SEÑAL CORRESPONDIENTE A UN SEGUNDO MOVIMIENTO DESEADO, Y UN CONTROLADOR. EL CONTROLADOR ESTÁ CONFIGURADO PARA RECIBIR LA PRIMERA SEÑAL, DETERMINAR UN PRIMER VECTOR OBJETIVO, DETERMINAR UN PRIMER CONJUNTO DE SEÑALES DE CONTROL, EL PRIMER CONJUNTO DE SEÑALES DE CONTROL SE RELACIONA CON EL PRIMER MOVIMIENTO DESEADO, Y PROPORCIONAR EL PRIMER CONJUNTO DE SEÑALES DE CONTROL AL UNO O MÁS ACTUADORES. EL CONTROLADOR TAMBIÉN ESTÁ CONFIGURADO PARA RECIBIR UNA SEGUNDA SEÑAL, DETERMINAR UN SEGUNDO VECTOR OBJETIVO, DETERMINAR UN SEGUNDO CONJUNTO DE SEÑALES DE CONTROL BASADAS EN EL PRIMER VECTOR OBJETIVO Y EL SEGUNDO VECTOR OBJETIVO, DONDE EL PRIMER VECTOR OBJETIVO ES ACTUALIZADO USANDO EL SEGUNDO VECTOR OBJETIVO Y EL PRIMER VECTOR OBJETIVO ACTUALIZADO ES USADO PARA DETERMINAR EL SEGUNDO CONJUNTO DE SEÑALES DE CONTROL, EL SEGUNDO CONJUNTO DE SEÑALES DE CONTROL SE RELACIONA CON EL SEGUNDO MOVIMIENTO DESEADO, Y PROPORCIONAR EL SEGUNDO CONJUNTO DE SEÑALES DE CONTROL AL UNO O MÁS ACTUADORES.
CL2016000016A 2015-01-06 2016-01-06 Control de una herramienta de excavación a lo largo de una ruta o trayectoria. CL2016000016A1 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US14/590,730 US10120369B2 (en) 2015-01-06 2015-01-06 Controlling a digging attachment along a path or trajectory

Publications (1)

Publication Number Publication Date
CL2016000016A1 true CL2016000016A1 (es) 2016-11-11

Family

ID=56286480

Family Applications (1)

Application Number Title Priority Date Filing Date
CL2016000016A CL2016000016A1 (es) 2015-01-06 2016-01-06 Control de una herramienta de excavación a lo largo de una ruta o trayectoria.

Country Status (10)

Country Link
US (1) US10120369B2 (es)
CN (1) CN105756117B (es)
AU (1) AU2016200042B2 (es)
BR (1) BR102016000200B1 (es)
CA (1) CA2916689C (es)
CL (1) CL2016000016A1 (es)
MX (1) MX2016000115A (es)
PE (1) PE20160761A1 (es)
RU (1) RU2705436C2 (es)
ZA (1) ZA201600053B (es)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
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AU2012202213B2 (en) * 2011-04-14 2014-11-27 Joy Global Surface Mining Inc Swing automation for rope shovel
DE102015201010A1 (de) * 2015-01-22 2016-07-28 Robert Bosch Gmbh Vorrichtung zum Ansteuern eines Kraftfahrzeugs
JP6892070B2 (ja) * 2017-02-10 2021-06-18 国立大学法人神戸大学 工作機械の制御装置の制御パラメータ調節方法、ワークの加工方法および工作機械
US10689831B2 (en) * 2018-03-27 2020-06-23 Deere & Company Converting mobile machines into high precision robots
US10900202B2 (en) * 2018-05-14 2021-01-26 Caterpillar Trimble Control Technologies Llc Systems and methods for generating operational machine heading
CN108824515B (zh) * 2018-06-26 2021-06-29 段文凯 适用于农业生产的多功能装载机
US11697917B2 (en) * 2019-07-26 2023-07-11 Deere & Company Anticipatory modification of machine settings based on predicted operational state transition

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Also Published As

Publication number Publication date
US10120369B2 (en) 2018-11-06
RU2016100184A (ru) 2017-07-17
US20160195871A1 (en) 2016-07-07
ZA201600053B (en) 2017-02-22
RU2705436C2 (ru) 2019-11-07
AU2016200042A1 (en) 2016-07-21
BR102016000200B1 (pt) 2023-01-24
CN105756117A (zh) 2016-07-13
CN105756117B (zh) 2020-11-10
RU2016100184A3 (es) 2019-05-20
CA2916689A1 (en) 2016-07-06
AU2016200042B2 (en) 2020-08-20
MX2016000115A (es) 2016-08-01
CA2916689C (en) 2021-05-11
BR102016000200A2 (pt) 2018-06-12
PE20160761A1 (es) 2016-08-01

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