DE102018201856A1 - Device and method for a vehicle with a machining tool - Google Patents

Abstract

The invention relates to a device of a vehicle (1) which has at least one machining tool (2), in particular for straightening, a bottom surface (3), wherein at least one actuating unit (18) for the at least one machining tool (2) and a control unit (14 ) are provided for operating the at least one actuating unit (18), and wherein the device further comprises at least one height measuring device (4) with at least one barometric height sensor (5.1, 5.2, 5.3; 6) and an evaluation unit (16), wherein the evaluation unit ( 16) is arranged for processing signals of the height measuring device (4) and for providing data for adjusting the position of the at least one machining tool (2). Furthermore, a method for operating a device for a vehicle (1) with a machining tool (2) of a bottom surface (3) is proposed.

Description

The invention relates to a device and a method for a vehicle with a machining tool, in particular for straightening a bottom surface, wherein a height measuring device is provided for adjusting the machining tool.

It is for example possible to design or straighten the height profile of certain surface sections with a device for leveling the soil on an excavator. This may be horizontal or oblique to be applied smooth or flat surfaces. The operator can use a control command to adjust the speed and / or direction of movement of the tool to the ground level. In semi-automatic operation, a so-called path planner can calculate a synchronized reference joint angle of the jib of the tool (eg in the form of a loading shovel) on the excavator, so that the loading shovel exerts a radial movement that is linear in the height profile. If a flat excavator (eg a grader) is used for the task, a reference path can be planned for the undercarriage (ie in particular the steering angle and travel speed) and the time-indexed boom position of the blade can be calculated such that the desired height profile of the ground is formed becomes.

For targeted tillage, a height measurement can be carried out by means of satellite navigation, whereby a geographical position is determined and / or navigation in the terrain is made possible. There are various satellite-based positioning systems, such. B. GPS, GLONASS, GALILEO or Beidou / Compass, which can be summarized under the term GNSS (Global Navigation Satellite Systems). Such GNSS systems are expensive to install. The GNSS measurement is also subject to significant error influences, eg. B. Errors in the space and control segment, signal propagation errors, errors in the user segment.

Another way of checking the tillage can be done by means of guideline or laser systems, the device of these systems can be complicated, inaccurate and especially time-consuming.

Even though the approaches described for the operation of such vehicles for straightening a floor surface already provide good results, the available systems are nevertheless sometimes too complex and therefore too costly and / or not sufficiently reliable. In that regard, there is a need for improvement especially in the height measurement in the course of leveling of floor surfaces.

On this basis, it is an object of the present invention to provide a device and a method which alleviate or even avoid the disadvantages mentioned. In particular, the height measurement is to be improved in a structurally simple manner when flattening a floor surface. In addition, the method should allow a correct adjustment of the machining tool on the vehicle.

Contributing to this is a device of a vehicle, which has at least one machining tool (in particular for straightening or specific design of a floor surface), at least one actuating unit being provided for the at least one machining tool and a control device for operating the at least one actuating unit. The device has at least one height measuring device with at least one barometric height sensor and an evaluation unit, wherein the evaluation unit is set up for processing signals of the height measuring device and for providing data for adjusting the position of the at least one processing tool.

In this case, the vehicle may be a mobile working machine, in particular a powered earth-moving machine, such as a flat excavator (for example a leveling machine). Such earth-moving machines have a chassis, a working equipment and a tool, preferably for leveling. The devices are characterized in particular by the fact that they have hydraulic drive elements, are mobile and are used for earthmoving. The chassis can be chain-driven, such. B. at a bulldozer, or be wheel-driven.

The machining tool can be designed in the manner of a (leveling) blade or a blade. This is done a Gestatlung, straightening, leveling and / or flattening a floor area. The floor area can be horizontal or inclined.

The position or position of the machining tool, in particular the height and / or inclination, can be adjusted with an actuating unit, which preferably cooperates with at least one hydraulic mechanism (actuator). The hydraulic mechanisms may be operatively connected to a control device via the actuator unit for adjusting the machining tool. The hydraulic mechanisms may include one or more hydraulic lift actuators and / or one or more hydraulic tilt actuators for moving the machining tool to various positions, such as for raising and / or lowering the machining tool, tilting the machining tool left and / or right, and a nod of the machining tool forward and / or back.

At least one height measuring device comprises at least one barometric height sensor. The height sensor is suitable for detecting air pressures (atmospheric pressures) and thus for producing signals which are characteristic for its altitude in space or in a reference coordinate system. The height dependence of the air pressure in the atmosphere is advantageously used for the height measurement of the vehicle or machining tool. The method of barometric altitude measurement by means of a pressure sensor is based on the vertical change of atmospheric air pressure and consists of replacing a height measurement with an air pressure measurement. The basis of the relationship between air pressure and altitude is provided by the barometric altitude formula. The barometric altitude measurement with the at least one height sensor is quick and relatively easy to perform.

Optionally, the height measuring means may comprise further sensors to perform a more accurate interpretation of the height sensor signals. For example, a temperature sensor and / or an air humidity sensor may be provided, the measured values of which are used for this purpose.

An evaluation unit can be electrically and data-connected to the at least one height sensor and configured to regulate its operation and to process and / or process its measurement signals. The evaluation unit can be set up to carry out an analysis of the air pressures, so that the height sensor can be clearly detected or determined with respect to its position / position, in particular its height. The height determined in the evaluation unit or a corresponding electrical signal can be adjusted or influenced by predetermined parameters (eg stored and / or set by the operator of the vehicle), where appropriate a control signal to a control unit for operating the at least one Actuating unit of the machining tool transmitted while the operation of the hydraulic actuator unit can be influenced. The evaluation unit may be a separate (electronic) unit, but it is also possible that the evaluation unit is part of the control unit for controlling the hydraulic actuating unit itself. It is possible for the at least one height sensor, the evaluation unit, the control unit, etc., to form data-conducting connections with one another which can be realized by cable or wireless. The control unit and / or the evaluation unit can be assigned to a vehicle control or be set up independently thereof.

The evaluation unit can process signals of the height measuring device and possibly process them and (directly or optionally via an additional control device) provide data for adjusting the position of the at least one processing tool. The data may include control rules for the operating unit of the machining tool and / or the vehicle drive. The attitude adjustment comprises, in particular, the alignment of the at least one machining tool or of the vehicle in space with respect to height (vertical), inclination (horizontal) and / or tilt angle (perpendicular to height and inclination).

The device presented here preferably relates to a construction machine for producing a straight surface (grader). As a height reference for z. B. the area straightening serve here preferably several barometric height sensors. With the proposed device is a use of atmospheric pressure sensors for controlling straightening tools. The barometric air pressure increases with decreasing altitude. By attaching pressure sensors on the machining tool (in particular straightening tool) and / or on the vehicle this information is used for flattening.

It is possible to arrange at least one barometric height sensor on the machining tool and / or on the vehicle. It is for example possible to provide at least two barometric height sensors in a plane, such. B. a level in the height direction, in the direction of inclination and / or tilt direction. These two barometric height sensors can accordingly be provided on the vehicle and / or on the machining tool.

The at least one height measuring device may comprise at least one height sensor external to the vehicle, which can transmit signals to the evaluation unit by radio. Consequently, not only on the vehicle or on the machining tool barometric height sensors can be arranged. It may be advantageous to the system to a outside of the vehicle z. B. on the edge of the surface to be machined placed height sensor that provides reference pressure values for a given geographic height coordinate. The use of a vehicle-external height sensor (eg in the manner of a stationary pressure sensor) can additionally be used as a reference pressure. The vehicle-external height sensor can be positioned at the edge of the plane. It measures the air pressure to a static level and communicates it to the vehicle. When the field is flattened, this reference pressure can be regulated. A particular advantage is that even with changing air pressure can be regulated to the same height.

The height sensors arranged on the machining tool and / or on the vehicle are mobile, that is to say they are moved during the driving or machining of the floor. Preferably, a static height sensor is positioned at the edge of the floor surface (to be leveled).

The evaluation unit may be connected to at least one height control device or tilt control device of the at least one processing tool in a data-conducting manner. Advantageously, the device is equipped with the at least one barometric height sensor for adjusting the height and / or inclination and / or the tilt of the adjustable machining tool.

Suitably, the operating unit for controlling the operation of the machining tool on or in the vehicle is present. Preferably, the actuating unit comprises an electro-hydraulic actuator, which is optionally controlled with its own control unit and / or a control unit.

1. a) Bestimmen des Drucks mittels des mindestens einen barometrischen Höhensensors;
2. b) Vergleichen des ermittelten Drucks mit einem Referenzwert;
3. c) Abwandeln der Regelvorgabe des Steuergeräts, wenn der bestimmte Druck von dem Referenzwert abweicht.

According to a further aspect, a method for operating a vehicle with a machining tool (in particular for designing or straightening a floor surface) is proposed, in which at least one actuating unit is provided for the at least one machining tool and a control unit for operating the at least one actuating unit. The device further comprises at least one height measuring device with at least one barometric height sensor and an evaluation unit. The method comprises at least the following steps:

1. a) determining the pressure by means of the at least one barometric height sensor;
2. b) comparing the determined pressure with a reference value;
3. c) modifying the control specification of the control unit if the specific pressure deviates from the reference value.

The steps a) to c) do not have to be performed (always) in the specified order. The steps a) to c) can be executed or repeated differently in a predeterminable time period. The steps a) to c) can be performed at least partially overlaid in time.

Step a) comprises in particular the determination of the pressure at the current position of the at least one barometric height sensor in the room or the surroundings. A corresponding pressure measurement can be repeated several times. Step a) comprises the provision of an (electrical) signal characteristic of the current pressure that z. B. the evaluation unit can be fed.

Step b) can be carried out in or with the evaluation unit. The pressure (or the corresponding signal) determined from step a) can be compared with a reference value (eg a reference pressure and / or a reference signal). The reference value may be a stored value and / or a calculated or further measured value. The reference value can be provided with another barometric altitude sensor.

If an (impermissible) deviation is detected from the comparison of step b), a control specification of the control unit can be modified (automatically) directly or (if necessary after a renewed check by executing steps a) and b)). This means in particular that the control unit controls in parallel according to a predetermined control plan, the at least one operating unit, so in particular the position of the machining tool relative to the ground predetermined and thus forms the desired soil profile or the desired flat bottom surface. In this control operation can now be intervened, the rule specifications can be adjusted according to or depending on the degree of deviation. This leads to a deviation of the desired soil profile from the soil profile actually generated can be kept very low.

Individual or all steps a) to c) can be performed while the vehicle is running. The "ride" refers to a movement of the machining tool and / or vehicle relative to the ground. It is possible that the vehicle is (temporarily) stationary, but the machining tool is moved relative to the ground.

It is possible that at least two pressures at different positions (in space, on the machining tool, on the vehicle, etc.) are determined and compared with each other. If, for example, an (external) height sensor is placed at a height level characteristic for the flat floor surface, the signal of this (external) height sensor can be matched with the signal of a signal present on the vehicle.

The reference value may be a predetermined ambient pressure or a differential pressure with respect to a plurality of barometric altitude sensors.

Furthermore, a computer program is proposed, which is intended and set up for carrying out such a method. This also applies to a machine-readable storage medium on which such a computer program is stored.

The use of at least one barometric height sensor for determining the position of at least one vehicle or a machining tool on the vehicle is preferred. In particular, at least one barometric height sensor can be used for setting at least one geodetic height or inclination of at least one vehicle or a machining tool on the vehicle.

Explanations of one aspect of the device, method, computer program, storage medium, and use may each be used for another of these aspects.

The arrangement and / or method shown here offer in particular the advantages that the position (position) or height of the machining tool and / or the vehicle by means of the at least one barometric height sensor is realized in a cost-effective, reliable and technically simple manner.

• 1: schematisch eine Seitenansicht einer Erdbewegungsmaschine zur Begradigung einer Bodenfläche mit einem mobilen und einem stationären barometrischen Höhensensor;
• 2: ein Blockschaltbild, wobei zwei barometrische Höhensensoren mit einem elektrischen Steuergerät für ein Bearbeitungswerkzeug elektrisch in Verbindung stehen;
• 3: ein Blockschaltbild, wobei zwei mobile Höhensensoren und ein stationärer Höhensensor mit dem elektrischen Steuergerät für das Bearbeitungswerkzeug elektrisch in Verbindung stehen;
• 4a, 4b: Seitenansicht einer Erdbewegungsmaschine gemäß 1 mit einem barometrischen Höhensensor am Bearbeitungswerkzeug in horizontaler Richtung (4a) und in ansteigender Richtung (4b);
• 5a, 5b: Vorderansicht eines Planierschildes in horizontaler Ausrichtung (5a) und in gekippter Ausrichtung (5b); und
• 6a, 6b: Seitenansicht einer Erdbewegungsmaschine gemäß 4a, 4b, jedoch mit einem weiteren barometrischen Höhensensor am Fahrzeug in horizontaler Richtung (6a) und in ansteigender Richtung (6b).
• 1 zeigt die prinzipielle Darstellung der hier angegebenen Vorrichtung an einem Fahrzeug 1 mit einem Bearbeitungswerkzeug 2 beispielsweise zur Begradigung einer Bodenfläche 3, umfassend eine Höhenmesseinrichtung 4 mit einem ersten mobilen barometrischen Höhensensor 5.1 und einem stationären barometrischen Höhensensor 6.

The invention and the technical environment will be explained in more detail with reference to figures. The same components are identified by the same reference numerals. The illustrations are schematic and not intended to illustrate size relationships. The explanations given with reference to individual details of a figure are extractable and freely combinable with facts from other figures or the above description, unless it is absolutely necessary for a person skilled in the art or such a combination is explicitly prohibited here. Show it:

• 1 Fig. 1 schematically shows a side view of an earth moving machine for straightening a ground surface with a mobile and a stationary barometric height sensor;
• 2 3 is a block diagram in which two barometric height sensors are electrically connected to an electrical control device for a machining tool;
• 3 3 is a block diagram in which two mobile height sensors and a stationary height sensor are electrically connected to the electrical control device for the machining tool;
• 4a . 4b : Side view of an earthmoving machine according to 1 with a barometric height sensor on the machining tool in the horizontal direction ( 4a) and in ascending direction ( 4b) ;
• 5a . 5b : Front view of a dozer blade in horizontal orientation ( 5a) and in tilted orientation ( 5b) ; and
• 6a . 6b : Side view of an earthmoving machine according to 4a . 4b but with a further barometric altitude sensor on the vehicle in the horizontal direction ( 6a) and in ascending direction ( 6b) ,
• 1 shows the basic representation of the device specified here on a vehicle 1 with a machining tool 2 for example, to straighten a floor surface 3 comprising a height measuring device 4 with a first mobile barometric height sensor 5.1 and a stationary barometric height sensor 6 ,

1 illustrates an earthmoving machine with an earthmoving work attachment. The earthmoving work attachment with a cutting edge 13 Can be used to soil or soil material 7 to move. For purposes of illustration, the earthmoving machine is a caterpillar bulldozer 8th and the earthmoving attachment is a dozer blade 9 shown. The earthmoving machine may include a power source (not shown), an operator station or cabin with the controls necessary to operate the machine, such as one or more input devices for moving the machine or controlling other machine components. The power source may be a motor that supplies power to a ground engaging mechanism (eg, crawler tracks 8th ), which is adapted to carry, steer and drive the machine. The one or more input devices may include one or more joysticks disposed within the cab, and may be adapted to receive inputs from an operator indicating a desired movement of the work attachment. The booth may also include an operator interface with a display for communicating information to the operator, and may include a keyboard, a touch screen, or any suitable mechanism for receiving input from the operator for controlling and / or operating the machine, work attachment, and / or of the other machine components.

The attachment may be operatively connected to the input device in the cabin by one or more hydraulic mechanisms. The hydraulic mechanisms or one or more hydraulic lift actuators 10 and one or more hydraulic tilting actuators 11 serve to move the work attachment in different positions, such as lifting the work attachment or lowering the work attachment, tilting the work attachment to the left or right and / or the pitch of the work attachment to front or back. In the illustrated embodiment, the Machine a hydraulic Hubglied 10 and a hydraulic tilt actuator 11 on each side of the attachment (machining tool 2 ).

The earthmoving machine may further include a frame 12 or rigid body that is between the machining tool 2 and the caterpillars 8th is arranged. A first mobile height sensor 5.1 is on the frame 12 assembled. A stationary height sensor 6 is at the edge of the floor area 3 of the soil 37 fixed installed.

With 3 is the floor area, with 3.1 the targeted to be designed or straightened ground surface, with 3.2 the straightened ground surface and denoted by 7 the removed soil material. With 13 is the cutting edge of the machining tool 2 and with 21 is the direction of travel of the vehicle 1 designated.

2 shows a block diagram, wherein two barometric height sensors 5.1 and 6 with an electronic control unit 14 for the editing tool 2 via data-conducting connections 20 are contacted.

To 2 is a transducer 15 with the first mobile height sensor 5.1 and the stationary height sensor 6 as well as with an evaluation unit 16 electrically connected. The transducer 15 converts the measured pressure values of the height sensors 5.1 and 6 into electrical signals. To the evaluation unit 16 is a predicate 17 connected, which performs a comparison of the determined pressure values with a reference value. The predicate 17 can go to the evaluation unit 16 be integrated. The evaluation unit 16 stands with the control unit 14 electrically communicating data.

To the control unit 14 is an electro-hydraulic actuator 18 connected with hydraulic mechanisms 19 comprising the hydraulic stroke actuator 10 and the hydraulic tilt actuator 11 , communicates. The hydraulic mechanisms 19 move the editing tool 2 ,

The height sensors 5.1 and 6 and the controller 14 can be connected via a data bus, and the controller 14 can the movement of the editing tool 2 by controlling the hydraulic lift actuators 10 and / or the hydraulic tilting actuators 11 control or direct. Any combination of wired and / or wireless networks may be used. The height measuring device 4 may include a device capable of determining an angular rate (eg, yaw rate, pitch rate, roll rate) of the earthmoving machine or vehicle 1 and / or the machining tool 2 to measure and generate a corresponding signal.

The 3 shows a block diagram, wherein two mobile sensors 5.2 and 5.3 and a stationary height sensor 6 with the electrical control unit 14 for the dozer blade 9 communicate electrically. The height sensors 5.2 and 5.3 are above on both sides of the blade 9 attached (see. 5a . 5b) , It is a first summing amplifier 22 , a second mute amplifier 23 as well as a differential amplifier 24 available. The second height sensor 5.2 is with the input of the first summing amplifier 22 and the differential amplifier 24 connected. The third height sensor 5.3 is also connected to the input of the first summing amplifier 22 and the differential amplifier 24 connected. The control unit 14 (please refer 2 ) comprises a height control device 14.1 and a tilt control device 14.2 , The output of the first summing amplifier 22 is about a divisor 38 with the entrance of the height control device 14.1 and the output of the differential amplifier 24 is with the input of the tilt control device 14.2 connected. Furthermore, the stationary height sensor is available 6 with the input of the second summing amplifier 23 in communication, its output with the input of the control device 14.1 connected is. In the entrance of the tilt control device 14.2 flow a Kippregelgröße 25 , in the input of the second summing amplifier 23 a height adjustment 26 and in the entrance of the height control device 14.1 a target value 27 on.

The 4a and 4b show as a vehicle 1 an earthmoving machine (bulldozer) with a barometric height sensor 5.2 on the as a machining tool 2 serving dozer blade 9 , The vehicle 1 is once while driving in a horizontal direction ( 4a) and once in ascending direction ( 4b) shown. The rising surface to be worked on 3.1 points to 4b - compared to 4a - in height direction 28 a first height difference 29 to a horizontal reference plane 30 on. In a corresponding way, the second height sensor 5.2 to 4b - compared to 4a - in height direction 28 a second height distance 31 on. Thereby, that the air pressure (atmospheric pressure) in height direction 28 decreases, results from the second height distance 31 the first height difference 29 for the straightening of the ground surface to be worked 3.1 or to adjust the dozer blade 9 ,

The 5a and 5b show the front view of a dozer blade 9 in horizontal orientation ( 5a) and in sideways tilted orientation ( 5b) , The height sensors 5.2 . 5.3 are above on both sides of the blade 9 (opposite the cutting edge 13 ) appropriate. To 5a are the height sensors 5.2 and 5.3 at the same height and with no distance to a reference altitude 32 arranged. Corresponding 5b has the second height sensor 5.2 a third height distance 33 and the third height sensor 5.3 a fourth height distance 34 - in each case in relation to the reference altitude 32 - on. From the different measured air pressures of the height sensors 5.2 and 5.3 results in the tilting position of the dozer blade 9 , The determined tilting position can either for the production of an inclined bottom surface according to 5b or to set a horizontal position of the blade 9 according to 5a be used.

The 6a and 6b show the earthmoving machine according to 4a . 4b but with another barometric height sensor 5.1 at the vehicle 1 while driving in the horizontal direction ( 6a) and in ascending direction ( 6b) , In height direction 28 have the height sensors 5.1 and 5.2 according to 6a a fifth distance 35 and according to 6b a sixth distance 36 on, with the fifth distance 35 greater than the sixth distance 36 is. From the difference between the fifth distance 35 and the sixth distance 36 results in the first height difference 29 for the straightening of the ground surface to be worked 3.1 or to adjust the dozer blade 9 ,

LIST OF REFERENCE NUMBERS

1

vehicle

2

processing tool

3

floor area

3.1

to be straightened ground surface

3.2

straightened ground surface

4

Height measuring device

5.1

first mobile height sensor

5.2

second mobile height sensor

5.3

third mobile height sensor

6

stationary height sensor

7

Flooring

8th

crawlers

9

Planierschild

10

hydraulic lifting actuator

11

hydraulic tilt actuator

12

frame

13

cutting edge

14

control unit

14.1

Height-control device

14.2

tilt control

15

Readings converter

16

evaluation

17

predicate

18

electrohydraulic actuator

19

hydraulic mechanisms

20

data-conducting connections

21

direction of travel

22

first summing amplifier

23

second summing amplifier

24

differential amplifier

25

Kippregelgröße

26

Height control variable

27

target value

28

height direction

29

first height difference

30

reference plane

31

second height distance

32

reference height

33

third height difference

34

fourth height distance

35

fifth height distance

36

sixth height difference

37

ground

38

dividing element

Claims (13)

Device of a vehicle (1) which has at least one machining tool (2) of a bottom surface (3), at least one actuating unit (18) for the at least one machining tool (2) and a control unit (14) for operating the at least one actuating unit (18 ), and wherein the device further comprises at least one height measuring device (4) with at least one barometric height sensor (5.1, 5.2, 5.3; 6) and an evaluation unit (16), wherein the evaluation unit (16) is adapted to process signals of the Height measuring device (4) and for providing data for adjusting the position of the at least one machining tool (2). Device after Claim 1 , wherein the at least one barometric height sensor (5.2, 5.3) is arranged on the machining tool (2) or on the vehicle (1). Device according to one of the preceding claims, wherein the at least one height measuring device (4) comprises a vehicle-external height sensor (6) which can transmit signals to the evaluation unit (16) by radio. Device according to one of the preceding claims, wherein the evaluation unit (16) at least with a height control device (14.1) or tilt control device (14.2) of the at least one machining tool (2) is data-conducting connected. Device according to one of the preceding claims, wherein the actuating unit (18) comprises an electro-hydraulic actuator. Method for operating a vehicle (1) with a machining tool (2) of a floor surface (3), in which at least one actuating unit (18) for the at least one machining tool (2) and a control unit (14) for operating the at least one actuating unit (18 ), and wherein the apparatus further comprises at least one height measuring device (4) with at least one barometric height sensor (5.1, 5.2, 5.3, 6) and an evaluation unit (16) comprising at least the following steps: a) determining the pressure by means of the at least one barometric height sensor (5.1, 5.2, 5.3, 6); b) comparing the determined pressure with a reference value; c) modifying the control specification of the control unit (14) when the specific pressure deviates from the reference value. Method according to Claim 6 in which all steps a) to c) are carried out while the vehicle (1) is running. Method according to Claim 6 or 7 in which at least two pressures are determined at different positions and compared with each other. Method according to one of Claims 6 to 8th in which the reference value is a predetermined ambient pressure or a differential pressure with respect to a plurality of barometric altitude sensors (5.1, 5.2, 5.3, 6). Computer program for carrying out a method according to one of Claims 6 to 9 is determined and set up. Machine-readable storage medium on which a computer program is based Claim 10 is stored. Use of at least one barometric height sensor (5.1, 5.2, 5.3, 6) for determining the position of at least one vehicle (1) or a machining tool (2) on the vehicle (1). Use of at least one barometric height sensor (5.1, 5.2, 5.3; 6) for setting at least one geodetic height or inclination of at least one vehicle (1) or a machining tool (2) on the vehicle (1).

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