CN113957939B

CN113957939B - Excavator and control method thereof

Info

Publication number: CN113957939B
Application number: CN202110819676.3A
Authority: CN
Inventors: 金韩率; 林永燮; 柳煜铉; 宋圣缟; 金允慧; 李昌浩
Original assignee: Doosan Infracore Co Ltd
Current assignee: HD Hyundai Infracore Co Ltd
Priority date: 2020-07-20
Filing date: 2021-07-20
Publication date: 2023-04-07
Anticipated expiration: 2041-07-20
Also published as: EP3943669A1; EP3943669B1; CN113957939A; KR20220010795A

Abstract

The present invention relates to an excavator capable of performing precise work, the excavator including: an excavator mounted with a bucket including a plurality of bucket tips; a sensor capable of measuring an angle of a working unit of the excavator; and a control unit that detects distances between the work surface and at least two bucket tips, respectively, based on a size of the bucket and an angle between a virtual straight line connecting the bucket tips of the bucket and the work surface.

Description

Excavator and control method thereof

Technical Field

The present invention relates to an excavator, and more particularly, to an excavator capable of performing precise work and a method of controlling the excavator.

Background

In general, an excavator is a construction machine that performs operations such as excavation work for excavating a ground in civil engineering, construction, and construction sites, loading work for transporting earth and sand, crushing work for dismantling a building, and soil preparation work for working up the ground.

Documents of the prior art

Korean laid-open patent No. 10-2014-0101701 (published 20 months 08 in 2014)

Disclosure of Invention

Technical problem

An object of the present invention is to provide an excavator capable of performing precise work and a control method thereof.

Technical scheme

An excavator according to the present invention for achieving the above object includes: an excavator mounted with a bucket including a plurality of bucket tips; a sensor capable of measuring an angle of a working unit of the excavator; and a control unit that detects distances between the work surface and at least two bucket tips, respectively, based on a size of the bucket and an angle between a virtual straight line connecting the bucket tips of the bucket and the work surface.

The excavator further includes a mechanism for inputting the size of the bucket.

A pop-up window is provided that is selectable among the at least two bucket tips.

The excavator further includes: a display mechanism that displays the distance, the display mechanism displaying a shortest distance of the at least two distances.

The excavator further includes: a first connecting pin connecting the swivel body and a first joint of the boom; a second connecting pin connecting a second joint of the boom and a first joint of the arm; a third connecting pin connecting the second joint of the arm and the joint of the bucket; a boom cylinder connected to a cylinder connection part of the boom and a first cylinder connection part of the arm; an arm cylinder connected to the second cylinder connection part of the arm and the cylinder connection part of the bucket; a bucket link connected to a cylinder connection part of the bucket and a third joint of the arm; a boom cylinder pin connecting a cylinder connecting portion of the boom and the boom cylinder; a first arm cylinder pin connecting the first cylinder connection portion of the arm and the boom cylinder; a second arm cylinder pin that connects the second cylinder connection portion of the arm and the arm cylinder; and a bucket pin that connects the arm cylinder, the bucket link, and the cylinder connection portion of the bucket.

The control part detects the height of the center tip from the height of the center tip, the height of the third connecting pin, the length of a line segment connecting the third connecting pin and the center tip, and an angle between a virtual vertical line and the line segment, and the virtual vertical line represents a line parallel to the direction of gravity; the control unit detects a height of a first edge tip from a height of the first edge tip, a height of the center tip, a width of the bucket, and an angle between the virtual straight line and the work surface; the control unit detects the height of the second edge tip from the height of the second edge tip, the height of the center tip, the width of the bucket, and an angle between the virtual straight line and the work surface.

In order to achieve the above object, a control method for an excavator according to the present invention includes: detecting a size of a bucket and an angle between a virtual straight line connecting a bucket tip of the bucket and a working plane; and a step of detecting distances between the work surface and at least two bucket tips respectively based on the size of the bucket and the detected angle.

The distance between the work surface and the at least two bucket tips includes at least two of a distance between the work surface and a center one of the bucket tips located at a center portion of the bucket, a distance between the work surface and a first one of the bucket tips located at one side edge of the bucket, and a distance between the work surface and a second one of the bucket tips located at the other side edge of the bucket.

The distance between the working face and the central tip is less than the distance between the working face and the first edge tip and greater than the distance between the working face and the second edge tip.

ADVANTAGEOUS EFFECTS OF INVENTION

The excavator and the control method thereof according to the present invention can perform precise work.

Drawings

Fig. 1 is a diagram showing an excavator according to an embodiment of the present invention.

Fig. 2 is a diagram for explaining a method of measuring the height of the boom cylinder pin of fig. 1.

Fig. 3 is a diagram for explaining a method of measuring the height of the first arm cylinder pin of fig. 1.

Fig. 4 is a diagram for explaining a method of measuring the height of the second arm cylinder pin of fig. 1.

Fig. 5 is a diagram for explaining a method of measuring the height of the bucket pin of fig. 1.

Fig. 6 is a diagram for explaining a method of measuring the height of the bucket rear wall of fig. 1.

Fig. 7 is a diagram for explaining a method of measuring the height of the bucket tip of fig. 1.

Fig. 8 is a diagram showing a screen for selecting a bucket tip to be measured.

Fig. 9 is a diagram showing a screen including various information about the bucket.

Fig. 10 is a diagram showing various sensors for calculating the angle of the working unit of the excavator and a screen for displaying the numerical values measured by these sensors.

Fig. 11 is a diagram illustrating a screen for inputting the size of the bucket.

Fig. 12 is a diagram for explaining a method of measuring a distance between the working surface and the bucket tip when the excavator of fig. 1 is disposed on an inclined ground surface.

Fig. 13 is a diagram for explaining a control method of an excavator according to the present invention.

Description of the symbols

300: bucket, 900: ground, 999: work surface, 380: bucket rear wall, 340E1: first edge tip, 340C: center tip, 340E2: second edge tip, LL: a virtual straight line.

Detailed Description

The advantages, features, and methods of accomplishing the same will become apparent from the following detailed description of the embodiments when considered in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various forms, and the embodiments are provided only to complete the disclosure of the present invention and to fully inform the scope of the present invention to those skilled in the art to which the present invention pertains, and the present invention is defined only by the scope of the claims. Accordingly, in several embodiments, some well-known process steps, well-known element structures, and well-known techniques have not been described in detail in order to avoid obscuring the present invention. Throughout the specification, the same reference numerals refer to the same constituent elements.

In the present specification, when a part is connected to another part, the part may be directly connected to the other part, or may be electrically connected to the other part with another element interposed therebetween. Further, when a part includes a certain constituent element, unless otherwise stated to the contrary, it means that another constituent element may be included instead of excluding another constituent element.

In the present specification, the terms first, second, third, and the like may be used to describe various components, but these components are not limited to these terms. These terms are used for the purpose of distinguishing one element from another. For example, a first constituent element may be named as a second or third constituent element, etc., and similarly, a second or third constituent element may also be named interchangeably, without departing from the scope of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in the same sense as commonly understood by one of ordinary skill in the art to which this invention belongs. Furthermore, unless clearly defined otherwise, terms defined in commonly used dictionaries should not be interpreted ideally or excessively.

The excavator and the control method thereof of the present invention will be described in detail with reference to fig. 1 to 10.

As shown in fig. 1, the excavator according to the embodiment of the present invention may include a swing body 520, a traveling body 510, a vehicle attachment portion 530, a boom 100, an arm 200, a bucket 300, a boom cylinder 150, an arm cylinder 250, a boom cylinder pin 120, a first arm cylinder pin 221, a second arm cylinder pin 222, a bucket link 400, a first link pin 11, a second link pin 22, a third link pin 33, a bucket pin 44, a first angle sensor 701, a second angle sensor 702, a third angle sensor 703, and a control portion 600. Among other things, the bucket 300 may include a plurality of bucket tips 340.

The vehicle connection portion 530 connects the traveling body 510 and the turning body 520. The swivel body 520 is rotatably connected to the vehicle connection part 530. For example, the swivel body 520 may rotate 360 degrees around the vehicle connection part 530.

The first joint 101 of the boom 100 is rotatably connected to the swivel body 520. The second joint 102 of the boom 100 is rotatably connected to the first joint 201 of the arm 200. The first joint 101 of the boom 100 may be disposed at one end of the boom 100, and the second joint 102 of the boom 100 may be disposed at the other end of the boom 100. The swivel body 520 and the first joint 101 of the boom 100 may be hingedly connected by a first connection pin 11, and the second joint 102 of the boom 100 and the first joint 201 of the stick 200 may be hingedly connected by a second connection pin 22.

The first joint 201 of the arm 200 is rotatably connected to the second joint 102 of the boom 100. The second joint 202 of the stick 200 is connected to the joint 301 of the bucket 300. The first joint 201 of the arm 200 may be disposed at one end of the arm 200, and the second joint 202 of the arm 200 may be disposed at the other end of the arm 200. The second joint 202 of the stick 200 and the joint 301 of the bucket 300 may be hingedly connected by the third connection pin 33.

Joint 301 of bucket 300 is rotatably connected to second joint 202 of stick 200. Joint 301 of bucket 300 may be disposed at one end of bucket 300. On the other hand, a plurality of bucket tips 340 may be disposed at the other side end portion of the bucket 300.

One end of the boom cylinder 150 is connected to the cylinder connection portion 110 of the boom 100. At this time, one end of the boom cylinder 150 is connected to the cylinder connection part 110 of the boom 100 by the boom cylinder pin 120. One end of the boom cylinder 150 is rotatably connected to the cylinder connection portion 110 of the boom 100.

The other end of the boom cylinder 150 is connected to the first cylinder connection portion 211 of the arm 200. At this time, the other end portion of boom cylinder 150 is connected to first cylinder connection portion 211 of arm 200 by first arm cylinder pin 221. The other end of the boom cylinder 150 is rotatably connected to the first cylinder connection portion 211 of the arm 200.

One end of the arm cylinder 250 is connected to the second cylinder connection portion 212 of the arm 200. At this time, one end portion of arm cylinder 250 is connected to second cylinder connection portion 212 of arm 200 by second arm cylinder pin 222. One end portion of the arm cylinder 250 is rotatably connected to the second cylinder connection portion 212 of the arm 200.

The other end of arm cylinder 250 is connected to bucket link 400. At this time, the other end of arm cylinder 250 is connected to cylinder connection portion 410 of bucket link 400 and bucket 300 by bucket pin 44. The other end of arm cylinder 250 is rotatably connected to connecting portion 410 between bucket link 400 and bucket 300.

One end of bucket link 400 is rotatably connected to third joint 203 of arm 200, and the other end of bucket link 400 is rotatably connected to the other end of arm cylinder 250 and cylinder connection portion 410 of bucket 300.

The first angle sensor 701 may be disposed at the boom 100. The first angle sensor 701 detects an angle of the boom 100.

The second angle sensor 702 may be disposed on the boom 200. The second angle sensor 702 detects the angle of the bucket lever 200.

Third angle sensor 703 may be configured with bucket 300. Third angle sensor 703 detects the angle of bucket 300.

Control 600 may calculate the height of boom cylinder pin 120, first arm cylinder pin 221, second arm cylinder pin 222, bucket pin 44, bucket back wall 380, and bucket tip 340 from ground 900.

Fig. 2 is a diagram for explaining a method of measuring the height of the boom cylinder pin 120 of fig. 1.

The height H1 of the boom cylinder pin 120 can be calculated by the control unit 600.

The height H1 of the boom cylinder pin 120 means a height H1 in the vertical direction from the floor 900 to the boom cylinder pin 120. The height H1 of such a boom cylinder pin 120 can be calculated by the following mathematical formula 1.

< equation 1>

Y _{BoomCylinderPin} ＝Y _JointPin1 +L _Boom *sin(θ _Boom +θ _BommCylinder )

In the above mathematical formula 1, Y _{BoomCylinderPin} Indicating the height H1, Y of the boom cylinder pin 120 _JointPin1 Denotes the height h1, L of the first connecting pin 11 _Boom A length θ of a virtual first line segment L1 connecting the first connecting pin 11 and the boom cylinder pin 120 _Boom Refers to an angle between the virtual horizontal line HL and the virtual second line segment L2, and theta _BommCylinder Refers to the angle between the first line segment L1 and the second line segment L2. Wherein the height h1 of the first coupling pin 11 refers to a distance from the ground 900 to the first coupling pin 11 in a vertical direction, the imaginary horizontal line HL refers to a line extending from the first coupling pin 11 toward the front surface of the swivel body 520 and perpendicular to a gravity direction, and the second line segment L2 refers to a straight line connecting the first coupling pin 11 and the second coupling pin 22. At this time, Y _JointPin1 、L _Boom And theta _BommCylinder Is a fixed value. However, the Y is _JointPin1 、 _Boom And theta _BommCylinder May be different according to the model of the excavator. On the other hand, [ theta ] _Boom Can be detected by the aforementioned first angle sensor 701.

"L" of the above mathematical formula 1 _Boom *sin(θ _Boom +θ _Boom ) "refers to a height h1' in the vertical direction from the horizontal line HL to the boom cylinder pin 120. Therefore, the height H1 in the vertical direction from the ground 900 to the boom cylinder pin 120 can be calculated by the above mathematical formula 1. In the case of the example shown in FIG. 2, "θ _Boom +θ _Boom "less than 90 degrees in the counterclockwise direction with reference to the horizontal line HL, thus" sin (θ) _Boom +θ _Boom ) "has a positive value. Thus, the formula 1 represents the height of the first connecting pin 11 plus "sin (θ) _Boom +θ _Boom ) "size of value.

Fig. 3 is a diagram for explaining a method of measuring the height of first arm cylinder pin 221 of fig. 1.

The height H2 of the first arm cylinder pin 221 may be calculated by the aforementioned control portion 600.

Height H2 of first arm cylinder pin 221 refers to height H2 in the vertical direction from ground 900 to first arm cylinder pin 221. The height H2 of such first arm cylinder pin 221 can be calculated by the following mathematical formula 2.

< equation 2>

Y _{ArmCylinderPin1} ＝Y _JointPin2 -L _Arm1 *cos(θ _Arm +θ _ArmCylinder1 )

In the above mathematical formula 2, Y _{ArmCylinderPin1} Height H2, Y of first arm cylinder pin 221 _JointPin2 Indicates the height h2, L of the second connecting pin 22 _Arm1 A length θ of a virtual third line segment L3 connecting the second connecting pin 22 and the first arm cylinder pin 221 _Arm Represents an angle between the virtual vertical line VL and the virtual fourth line segment L4, and θ _ArmCylinder Indicates the angle between the fourth line segment L4 and the third line segment L3. Wherein the height h2 of the second link pin 22 represents the distance from the ground 900 to the second link pin 22 in the vertical direction, the imaginary vertical line VL indicates a line parallel to the direction of gravity, the third line segment L3 indicates a straight line connecting the second link pin 22 and the first stick cylinder pin 221, and the fourth line segment L4 indicates a straight line connecting the second link pin 22 and the third link pin 33. At this time, L _Arm1 Is a fixed value. However, this L _Arm1 May be different depending on the model of the excavator. On the other hand, [ theta ] _Arm May be detected by the aforementioned second angle sensor 702.

"L" of the above mathematical formula 2 _Arm1 *cos(θ _Arm +θ _ArmCylinder1 ) "refers to a height h2' in the vertical direction from the second connecting pin 22 to the first arm cylinder pin 221. Therefore, the height H2 in the vertical direction from the ground 900 to the first arm cylinder pin 221 can be calculated by the above mathematical expression 2. In the case of the example shown in FIG. 3, "(θ) _Arm +θ _ArmCylinder1 ) "greater than 90 degrees in the counterclockwise direction with reference to the vertical line VL, thus" cos (θ) _Arm +θ _ArmCylinder1 ) "has a negative value. Thus, equation 2 represents the height of the second connecting pin 22 plus "cos (θ) _Arm +θ _ArmCylinder1 ) "size of value.

On the other hand, Y in the formula 2 _JointPin2 Can be represented by the following numbersThe definition of formula 3.

< expression 3>

Y _JointPin2 ＝Y _JointPin1 +L _Boom *sin(θ _Boom )

Fig. 4 is a diagram for explaining a method of measuring the height of second arm cylinder pin 222 of fig. 1.

The height H3 of second arm cylinder pin 222 may be calculated by control unit 600.

Height H3 of second arm cylinder pin 222 refers to height H3 in the vertical direction from ground 900 to second arm cylinder pin 222. Height H3 of such second arm cylinder pin 222 can be calculated by the following equation 4.

< expression 4>

Y _{ArmCylinderPin2} ＝Y _JointPin2 -L _Arm2 *cos(θ _Arm +θ _ArmCylinder2 )

In the above mathematical formula 4, Y _{ArmCylinderPin2} Height H3, Y of second arm cylinder pin 222 _JointPin2 Indicates the height h3, L of the second connecting pin 22 _Arm2 A length θ of a virtual fifth line segment L5 connecting the second connecting pin 22 and the second arm cylinder pin 222 _Arm Refers to an angle between an imaginary vertical line VL and an imaginary fourth line segment L4, and θ _ArmCylinder2 Refers to an angle between the fourth line segment L4 and the fifth line segment L5. Where the height h3 of the second link pin 22 refers to the distance from the ground 900 to the second link pin 22 in the vertical direction, the imaginary vertical line VL refers to a line parallel to the direction of gravity, the fifth line segment L5 refers to a straight line connecting the second link pin 22 and the second arm cylinder pin 222, and the fourth line segment L4 refers to a straight line connecting the second link pin 22 and the third link pin 33. At this time, L _Arm2 Is a fixed value. However, this L _Arm2 May be different depending on the model of the excavator. On the other hand, [ theta ] _Arm Can be detected by the aforementioned second angle sensor 702.

"L" of the above mathematical formula 4 _Arm2 *cos(θ _Arm +θ _ArmCylinder2 ) "refers to a height h3' in the vertical direction from the second connecting pin 22 to the second arm cylinder pin 222. Therefore, can openThe height H3 in the vertical direction from the ground 900 to the second arm cylinder pin 222 is calculated by the above equation 4. In the case of the example shown in FIG. 4, "(θ) _Arm +θ _ArmCylinder2 ) "greater than 90 degrees in the counterclockwise direction with reference to the vertical line VL, thus" cos (θ) _Arm +θ _ArmCylinder2 ) "has a negative value. Thus, equation 4 represents the height of the second connecting pin 22 plus "cos (θ) _Arm +θ _ArmCylinder2 ) "size of value.

On the other hand, Y in the formula 2 _JointPin Can be defined by the aforementioned mathematical formula 3.

Fig. 5 is a diagram for explaining a method of measuring the height of the bucket pin 44 of fig. 1.

The height H4 of the bucket pin 44 may be calculated by the aforementioned control portion 600.

Height H4 of bucket pin 44 refers to height H4 in the vertical direction from ground 900 to bucket pin 44. The height H4 of such a bucket pin 44 can be calculated by the following equation 5.

< equation 5>

Y _BucketPin ＝Y _JointPin3 -L _BucketLink *cos(θ _Bucket +θ _Bucketlink )

In the above mathematical formula 5, Y _BucketPin Indicating the height H4, Y of bucket pin 44 _JointPin3 Indicates the height h4, L of the third connecting pin 33 _BucketLink A length θ of a virtual sixth line segment L6 connecting the third connecting pin 33 and the bucket pin 44 _Bucket Refers to an angle between the virtual vertical line VL and the virtual seventh line segment L7, and θ _Bucketlink Refers to the angle between the sixth line segment L6 and the seventh line segment L7. Wherein the height h4 of the third link pin 33 refers to a distance from the ground 900 to the third link pin 33 in the vertical direction, the virtual vertical line VL refers to a line parallel to the gravity direction, the sixth line segment L6 refers to a straight line connecting the third link pin 33 and the bucket pin 44, and the seventh line segment L7 refers to a straight line connecting the third link pin 33 and the bucket tip 340. At this time, L _BucketLink Is a fixed value. However, this L _BucketLink Can be determined according to the model number of the excavatorThe same is true. On the other hand, [ theta ] _Bucket May be detected by the aforementioned third angle sensor 703.

"L" of the above mathematical formula 5 _BucketLink *cos(θ _Bucket +θ _Bucketlink) "refers to the distance h4' in the vertical direction from the third link pin 33 to the bucket pin 44. Accordingly, the height H4 in the vertical direction from the ground 900 to the bucket pin 44 can be calculated by the above mathematical expression 5. In the case of the example shown in FIG. 5, "(θ) _Bucket +θ _Bucketlink ) "greater than 90 degrees in the counterclockwise direction with reference to the vertical line VL, thus" cos (θ) _Bucket +θ _Bucketlink ) "has a negative value. Therefore, the equation 5 represents the height of the third connecting pin 33 plus "cos (θ) _Bucket +θ _Bucketlink ) "size of value.

On the other hand, Y in the formula 5 _JointPin3 Can be defined by the following mathematical formula 6.

< expression 6>

Y _JointPin3 ＝Y _JointPin2 –L _Arm *cos(θ _Arm )

L of the numerical formula 6 _Arm Refers to the length of the fourth line segment L4. At this time, L _Arm Is a fixed value. However, the L _Arm May be different depending on the model of the excavator.

Fig. 6 is a diagram for explaining a method of measuring the height of the bucket rear wall 380 of fig. 1.

The height H5 of the bucket rear wall 380 may be calculated by the aforementioned control portion 600.

The height H5 of the bucket rear wall 380 refers to the height in the vertical direction from the ground 900 to the bucket rear wall 380. The height H5 of such a bucket rear wall 380 can be calculated by the following equation 7.

< equation 7>

Y _BucketBack ＝Y _JointPin3 -L _BucketBack *cos(θ _Bucket +θ _BucketBack )

In the above mathematical formula 7, Y _BucketBack Indicating the height H5, Y of the bucket back wall 380 _JointPin3 Denotes the third connectionHeight h5, L of the connecting pin 33 _BucketBack Indicates the length, θ, of an eighth virtual line segment L8 connecting the third connecting pin 33 and the bucket back wall 380 _Bucket Refers to an angle between the virtual vertical line VL and the virtual seventh line segment L7, and θ _BucketBack Refers to the angle between the seventh line segment L7 and the eighth line segment L8. Wherein the height h5 of the third link pin 33 refers to a distance from the ground 900 to the third link pin 33 in a vertical direction, the virtual vertical line VL refers to a line parallel to the gravity direction, the eighth line segment L8 refers to a straight line connecting the third link pin 33 and the bucket rear wall 380, and the seventh line segment L7 refers to a straight line connecting the third link pin 33 and the bucket tip 340. At this time, L _BucketBack Is a fixed value. However, this L _BucketBack May be different depending on the model of the excavator.

"L" of the above mathematical formula 7 _BucketBack *cos(θ _Bucket +θ _BucketBack ) "refers to the height in the vertical direction from the third connecting pin 33 to the bucket rear wall 380. Accordingly, the height H5 in the vertical direction from the ground 900 to the bucket rear wall 380 can be calculated by the above mathematical formula 7. In the case of the example shown in FIG. 6, "(θ) _Bucket +θ _BucketBack ) "90 degrees in the counterclockwise direction with reference to the vertical line VL, thus" cos (θ) _Bucket +θ _BucketBack ) "has a value of 0. Therefore, the expression 7 represents the height of the third connecting pin 33 plus "cos (θ) _Bucket +θ _BucketBack ) "size of value.

On the other hand, Y in the formula 7 _JointPin3 Can be defined by the aforementioned mathematical formula 6.

Fig. 7 is a diagram for explaining a method of measuring the height of the bucket tip 340 of fig. 1.

The height H5 of the bucket tip 340 may be calculated by the aforementioned control portion 600.

The height H5 of the bucket tip 340 refers to the height in the vertical direction from the ground 900 to the bucket tip 340. The height H6 of such a bucket tip 340 can be calculated by the following equation 8.

< equation 8>

Y _BucketTip ＝Y _JointPin3 -L _Bucket *cos(θ _Bucket )

In the above numerical formula 8, Y _BucketTip Indicating the height H5, Y of the bucket tip 340 _JointPin3 Indicates the height h5, L of the third connecting pin 33 _Bucket Indicates the length of a line segment (i.e., a seventh line segment L7) connecting the third connecting pin 33 and the bucket tip 340, θ _Bucket An angle between the virtual vertical line VL and the seventh line segment L7 is indicated.

"L" of the above mathematical formula 8 _Bucket *cos(θ _Bucket ) "refers to the height in the vertical direction from the third connecting pin 33 to the bucket tip 340. Accordingly, the height H6 in the vertical direction from the ground 900 to the bucket tip 340 can be calculated by the above mathematical formula 8. In the case of the example shown in FIG. 7, "θ _Bucket "less than 90 degrees in the counterclockwise direction with reference to the vertical line VL, thus" cos (θ) _Bucket ) "has a positive value. Thus, the equation 8 represents subtracting "L" from the height of the third connecting pin 33 _Bucket *cos (θ _Bucket ) "in the above range.

On the other hand, Y in the formula 8 _JointPin3 Can be defined by the aforementioned mathematical formula 6.

Fig. 8 is a diagram showing a screen for selecting a bucket tip to be measured.

A display 800 is disposed on the dashboard of the excavator according to the present invention, and a window 850 as shown in fig. 8 can be created on the screen of the display 800. The operator can select, in the window 850, a distance between the work surface and a first edge tip located on the left side of the bucket 300, a distance between the work surface and a center tip located at the center of the bucket 300, and a distance between the work surface and a second edge tip located on the right side of the bucket 300. For example, when "left side" is selected in the window 850, the distance between the work surface and the first edge tip may be detected and displayed on the screen of the display 800, when "middle" is selected in the window, the distance between the work surface and the middle tip may be detected and displayed on the screen of the display 800, and when "right side" is selected in the window, the distance between the work surface and the second edge tip may be detected and displayed on the screen of the display 800. At this time, at least two of "left", "middle", and "right" may be selected, in which case the respective heights of those selected tips may be detected and displayed on the screen of the display 800. The operator can easily recognize the distances of the selected positions of the "left side", "middle", and "right side" on the screen. For example, when the worker performs work while the ground and the bucket are tilted as shown in fig. 12, the worker can select and observe the position from the position closest to the ground to the position farthest from the ground according to the work tendency of the worker.

Fig. 9 is a diagram showing a screen including various information related to the bucket.

When the tip of the bucket to be measured is selected as shown in the aforementioned fig. 8, the tip thereof is emphasized by another color as shown in fig. 9.

Further, as shown in fig. 9, the slope on the front face of the bucket, the distance of the selected tip of the bucket and the work surface may be displayed on the screen.

As shown in fig. 10, the excavator of the present invention may include a boom angle sensor for sensing an angle of a boom, an arm angle sensor for sensing an angle of an arm, a bucket angle sensor for sensing an angle of a bucket, and an attitude measurement sensor for measuring an attitude of the excavator.

The measurement values regarding the posture of the boom, arm, bucket, and excavator measured by the boom angle sensor, arm angle sensor, bucket angle sensor, and posture measurement sensor may be displayed on the display 800.

In order to calculate coordinates differently for different positions of the end of the bucket when the body of the excavator is tilted, as shown in fig. 11, a screen for inputting the size of the bucket may be provided.

Points D and G of fig. 11 represent coordinates of each bucket pin of the bucket link 400, point Q represents a coordinate of a maximum projecting portion in the back surface of the bucket, and point N represents a coordinate of an end portion of the bucket tip.

As shown in fig. 11, a length between points D and G, a length between D and N, a length between D and Q, a length between N and Q, a bucket width, and a bucket Tooth (Tooth) may be input. At this time, when entering the bucket theory (Tooth), an average value of each length for both bucket tips may be entered. These values are variables required to calculate the coordinates of the bucket tip set by the slope of the excavator body.

When the ground 900 where the excavator is disposed and the working surface 999 where the excavating work is to be performed by the excavator are not parallel, the distance between the working surface 999 and the bucket tip may be different. For example, the distance between the work surface 999 and the bucket tip (hereinafter referred to as the center tip 340C) located at the center of the bucket 300, the distance between the work surface 999 and the bucket tip (hereinafter referred to as the first edge tip 340E 1) located at one edge of the bucket 300, and the distance between the work surface 999 and the bucket tip (hereinafter referred to as the second edge tip 340E 2) located at the other edge of the bucket 300 may be different. In this case, in the present invention, the distances between the work surface 999 and at least two bucket tips can be detected based on the size of the bucket 300 and the angle between the virtual straight line connecting the bucket tips 340 of the bucket 300 and the work surface 999 as shown in fig. 11, respectively.

As shown in FIG. 12, when the excavator is disposed at an inclination θ with respect to the working plane 999 _Chassis The distance H between the working surface 999 and the central tip 340C when on the ground 900 _c Substantially the same as the distance H6 between the ground 900 and the bucket tip 340 measured in fig. 7 previously described.

On the other hand, the distance H of the first edge tip 340E1 of the bucket tip that is farthest from the work surface 999 _E1 The working plane 999 and the centerDistance H between tips 340C _c The distance H of the second edge tip 340E2 of the bucket tip closest to the work surface 999 _E2 Than the distance H between the working surface 999 and the center tip 340C _c Short.

Distance H between work surface 999 and first edge tip 340E1 _E1 And the distance H between the working surface 999 and the second marginal tip 340E2 _E2 May be calculated by the aforementioned control section 600.

First, the distance H between the working surface 999 and the first edge tip 340E1 is calculated _E1 The method of (2) is described.

Distance H between work surface 999 and first edge tip 340E1 _E1 Refers to the distance in the vertical direction from the working surface 999 to the first edge tip 340E 1. Distance H between working surface 999 and first edge tip 340E1 _E1 Can be calculated by the following mathematical formula 9.

< expression 9>

Y _{BucketTip_E1} ＝Y _{BucketTip_C} +W/2*sin(θ _Chassis )

In the above numerical formula 8, Y _{BucketTip_E1} Indicating the height, Y, between the working surface 999 and the first edge tip 3401 _{BucketTip_C} Represents the distance between the work surface 999 and the center tip 340C (i.e., the distance between the bucket tips 3 and 40), W represents the width of the bucket 300, and θ _Chassis Representing the angle between the ground and the work surface 999. In other words, θ _Chassis Is an angle indicating the degree of inclination of the excavator with respect to the working surface 999. More specifically, θ _Chassis Is an angle indicating the degree to which bucket 300 is tilted with respect to ground 900. E.g. theta _Chassis An angle formed by a virtual straight line LL connecting the end of the bucket tip and the working surface 999 is shown.

"W/2 sin (θ) of the above mathematical formula 9 _Chassis ) "means a distance h in the vertical direction from the center portion of the center tip 340C to the outer peripheral edge of the first edge tip 340E1 _e . In addition, "W/2 sin (θ) of the formula 9 _Chassis ) "means from the center portion of the center tip 340C to the secondDistance h in the vertical direction of the contour edge of edge tip 340E2 _e . Therefore, the distance H in the vertical direction from the work surface 999 to the first edge tip 340E1 can be calculated by the above equation 9 _E1 . In the case of the example shown in fig. 12, "θ _Chassis "less than 90 degrees in the counterclockwise direction with reference to the straight line LL, and thus" sin (θ) _Chassis ) "has a positive value. Thus, the height H of the center tip 340C is expressed by the mathematical formula 9 _C Plus "W/2 sin (θ) _Chassis ) "size of value.

Next, a method of calculating the height of the second rim tip 340E2 will be described.

Distance H between working surface 999 and second marginal tip 340E2 _E2 Refers to the distance in the vertical direction from the work surface 999 to the second marginal tip 340E 2. The distance H between the working surface 999 and the second edge tip 340E2 _E2 Can be calculated by the following mathematical formula 10.

< equation 10>

Y _{BucketTip_E2} ＝Y _{BucketTip_C} -W/2*sin(θ _Chassis )

In the above numerical formula 10, Y _{BucketTip_E2} Indicating the distance, Y, between the work surface 999 and the second edge tip 3402 _{BucketTip_C} Indicating the distance H between the work surface 999 and the center tip 340C (i.e., the distance between the work surface 999 and the bucket tip) _C W represents the width of bucket 300, and θ _Chassis Representing the angle between the ground 900 and the work surface 999. In other words, θ _Chassis Is an angle indicating the degree of inclination of the excavator with respect to the working surface 999. More specifically, θ _Chassis Is an angle indicating the degree to which bucket 300 is tilted with respect to ground 900. E.g. theta _Chassis An angle formed by a virtual straight line LL connecting the end of the bucket tip and the working surface 999 is shown.

"W/2 sin (θ) of the above mathematical formula 10 _Chassis ) "means a distance h in the vertical direction from the center portion of the center tip 340C to the outer peripheral edge of the first edge tip 340E1 _e . In addition, the mathematical formula10 of "W/2 sin (θ) _Chassis ) "means a distance Hh in the vertical direction from the center portion of the center tip 340C to the outer peripheral edge of the second edge tip 340E2 _e . Therefore, the distance H in the vertical direction from the work surface 999 to the second edge tip 340E2 can be calculated by the above numerical expression 10 _E2 . In the case of the example shown in FIG. 8, "θ _Chassis "less than 90 degrees in the counterclockwise direction with reference to the straight line LL, and thus" sin (θ) _Chassis ) "has a positive value. Thus, the mathematical expression 10 indicates that "W/2 × sin (θ) is subtracted from the height of the central tip 340C _Chassis ) "size of value.

According to the present invention, even when the body of the excavator is tilted, the heights of the bucket 300 and the work surface 999 can be detected for different positions of the bucket tip 340, and thus more precise work can be performed on the work object.

First, the controller 600 detects the heights of the boom 100, the arm 200, and the bucket 300, respectively. For example, the control unit 600 detects the heights (e.g., the distance between the ground and the bucket tip) of the boom cylinder pin 120, the first arm cylinder pin 221, the second arm cylinder pin 222, the bucket pin 44, the bucket rear wall 380, and the bucket tip 340 of the excavator (S1). Further, the control unit 600 detects the inclination of the excavator body (S1). In addition, as shown in fig. 11, the size of the bucket 300 is detected. The slope may be, for example, an angle θ between a virtual straight line LL connecting the bucket tip 340 of the bucket 300 and the working surface 999 _Chassis 。

Next, at least one of the bucket tips 340 of the bucket 300 may be selected. For example, at least one of the center tip 340C, the first edge tip 340E1, and the second edge tip 340E2 may be selected.

Next, the distance between the selected bucket tip and the work surface is detected. For example, the distance from the work surface 999 to the selected bucket tip may be detected.

The present invention described above is not limited to the above-described embodiments and drawings, and it will be apparent to those skilled in the art to which the present invention pertains that various substitutions, modifications, and changes may be made without departing from the scope of the technical idea of the present invention.

Claims

1. An excavator, comprising:

a dipper (300) having at least two dipper tips (340);

a first angle sensor (701) for detecting the angle (theta) of the boom (100) _Boom )；

A second angle sensor (702) that detects the angle (theta) of the arm (200) _Arm )；

A third angle sensor (703) that detects the angle (theta) of the bucket (300) _Bucket )；

A display mechanism (800) that generates a pop-up window (850) that displays the at least two bucket tips (340) for selecting one of the at least two bucket tips (340); and

a control unit (600) that controls the bucket (300), the arm (200), the boom (100), and the angle (θ) of the boom (100) _Boom ) Angle theta of the arm (200) _Arm ) Angle (theta) of the bucket (300) _Bucket ) And an angle (theta) between a virtual straight line (LL) connecting the bucket tip (340) and a working surface (999) _Chassis ) To detect a distance between the work surface (999) and the selected bucket tip (340),

the display mechanism (800) displays the detected distance between the work surface (999) and the selected bucket tip (340).

2. The excavating machine of claim 1,

the excavator further comprises a mechanism to input a distance between two positions of the bucket (300), a width of the bucket (300), and a size of the bucket (300) including the bucket teeth.

3. The excavating machine of claim 1,

displaying the selected bucket tip (340) at the display mechanism.

4. The excavator of claim 1 further comprising:

a first connecting pin (11) that connects the swivel body (520) and a first joint (101) of the boom (100);

a second connecting pin (22) connecting a second joint (102) of the boom (100) and a first joint (201) of the arm (200);

a third connecting pin (33) that connects the second joint (202) of the arm (200) and the joint (301) of the bucket (300);

a boom cylinder (150) connected to a cylinder connection part (110) of the boom (100) and a first cylinder connection part (211) of the arm (200);

an arm cylinder (250) connected to the second cylinder connection part (212) of the arm (200) and the cylinder connection part (410) of the bucket (300);

a bucket link (400) connected to a cylinder connection part (410) of the bucket (300) and a third joint (203) of the arm (200);

a boom cylinder pin (120) that connects the boom cylinder (150) and a cylinder connection portion (110) of the boom (100);

a first arm cylinder pin (221) that connects the first cylinder connection part (211) of the arm (200) and the boom cylinder (150);

a second arm cylinder pin (222) that connects a second cylinder connection portion (212) of the arm (200) and the arm cylinder (250); and

and a bucket pin (44) that connects the arm cylinder (250), the bucket link (400), and a cylinder connection portion (410) of the bucket (300).

5. The excavating machine of claim 4,

the control unit (600) controls the height (h 2) of the second connecting pin (22), the length of a virtual fourth line segment (L4) connecting the second connecting pin (22) and the third connecting pin (33), and the angle (theta) between a virtual Vertical Line (VL) and the fourth line segment (L4) _Arm ) To detect the height of the third connecting pin (33) ((h5)；

The control unit (600) determines the length of a virtual second line segment (L2) connecting the first connecting pin (11) and the second connecting pin (22) according to the height (h 1) of the first connecting pin (11), and the angle (theta) between the virtual Horizontal Line (HL) and the second line segment (L2) _Boom ) The height (h 2) of the second connecting pin (22) is detected.

6. The excavating machine of claim 4,

the control unit (600) controls the height (h 5) of the third connecting pin (33), the length of a virtual seventh line segment (L7) connecting the third connecting pin (33) and the center tip (340C), and the angle (theta) between a virtual Vertical Line (VL) and the virtual seventh line segment (L7) _Bucket ) Detecting a height (Hc) of a center tip (340C) among the bucket tips (340);

the control unit (600) controls the height (Hc) of the center tip (340C), the width of the bucket (300), and the angle (theta) between a virtual straight line (LL) and the working surface (999) _Chassis ) To detect the height (H) of a first edge tip (340E 1) located at one edge among the bucket tips (340) _E1 )；

The control unit (600) controls the height (Hc) of the center tip (340C) and the angle (theta) between the virtual straight line (LL) and the work surface (999) _Bucket ) To detect the height (H) of a second edge tip (340E 2) located at the other edge among the bucket tips (340) _E2 )。

7. A control method of an excavator, the excavator comprising a bucket (300) having at least two bucket tips (340), characterized by comprising:

a step of selecting one of at least two bucket tips (340);

detecting an angle (theta) of a boom (100) _Boom ) Angle theta of bucket rod 200 _Arm ) Angle (theta) of bucket (300) _Bucket ) And detecting an angle (theta) between a working surface (999) and a virtual straight line (LL) connecting the bucket tip (340) _Chassis ) A step (2);

according to the size of the bucket (300), the size of the arm (200), the size of the boom (100), and the angle (theta) between the working surface (999) and the virtual straight line (LL) _Chassis ) A step of calculating a relative distance between the work surface (999) and the selected bucket tip (340); and

displaying the calculated distance between the work surface (999) and the selected bucket tip (340).

8. The control method of an excavator according to claim 7,

the distance between the working surface (999) and the at least two bucket tips (340) includes a distance (Hc) between the working surface (999) and a center tip (340C) of the bucket tips (340), and a distance (H) between the working surface (999) and a first edge tip (340E 1) of the bucket tips (340) located at one side edge _E1 ) And a distance (H) between the work surface (999) and a second edge tip (340E 2) of the bucket tips (340) located on the other side edge _E2 ) At least two of them.

9. The control method of an excavator according to claim 8,

the distance (Hc) between the working surface (999) and the central tip (340C) is less than the distance (H) between the working surface (999) and the first edge tip (340E 1) _E1 ) And is greater than the distance (H) between the working surface (999) and the second edge tip (340E 2) _E2 )。

10. The control method of an excavator according to claim 7,

further comprising the step of inputting a distance between two positions of the bucket (300), a width of the bucket (300), and a size of the bucket (300) including the bucket teeth.