DE69410921T2 - Koordiniertes steuern eines arbeitsgerätes - Google Patents

Koordiniertes steuern eines arbeitsgerätes

Info

Publication number
DE69410921T2
DE69410921T2 DE69410921T DE69410921T DE69410921T2 DE 69410921 T2 DE69410921 T2 DE 69410921T2 DE 69410921 T DE69410921 T DE 69410921T DE 69410921 T DE69410921 T DE 69410921T DE 69410921 T2 DE69410921 T2 DE 69410921T2
Authority
DE
Germany
Prior art keywords
tool
coordinated control
coordinated
control
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Fee Related
Application number
DE69410921T
Other languages
English (en)
Other versions
DE69410921D1 (de
Inventor
William Allen
Paul Anderson
Walter Bradbury
John Hadank
Richard League
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar Inc
Original Assignee
Caterpillar 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 Caterpillar Inc filed Critical Caterpillar Inc
Publication of DE69410921D1 publication Critical patent/DE69410921D1/de
Application granted granted Critical
Publication of DE69410921T2 publication Critical patent/DE69410921T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • 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
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35438—Joystick
    • 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
    • G05B2219/39002—Move tip of arm on straight line
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20201—Control moves in two planes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Paleontology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Operation Control Of Excavators (AREA)
DE69410921T 1993-05-13 1994-03-14 Koordiniertes steuern eines arbeitsgerätes Expired - Fee Related DE69410921T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US08/060,667 US5424623A (en) 1993-05-13 1993-05-13 Coordinated control for a work implement
PCT/US1994/002646 WO1994026988A1 (en) 1993-05-13 1994-03-14 Coordinated control for a work implement

Publications (2)

Publication Number Publication Date
DE69410921D1 DE69410921D1 (de) 1998-07-16
DE69410921T2 true DE69410921T2 (de) 1999-02-11

Family

ID=22031017

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69410921T Expired - Fee Related DE69410921T2 (de) 1993-05-13 1994-03-14 Koordiniertes steuern eines arbeitsgerätes

Country Status (5)

Country Link
US (1) US5424623A (de)
EP (1) EP0650544B1 (de)
JP (1) JP3453142B2 (de)
DE (1) DE69410921T2 (de)
WO (1) WO1994026988A1 (de)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012389A1 (de) * 2000-03-14 2001-09-27 Orenstein & Koppel Ag Arbeitsmaschine
DE202018100592U1 (de) * 2018-02-02 2019-05-03 Liebherr-Hydraulikbagger Gmbh Bedieneinrichtung für ein Arbeitsgerät und Arbeitsgerät mit entsprechender Bedieneinrichtung
IT201900005800A1 (it) * 2019-04-15 2020-10-15 Cnh Ind Italia Spa Veicolo industriale provvisto di un attrezzo frontale

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JP2566745B2 (ja) * 1994-04-29 1996-12-25 三星重工業株式会社 電子制御油圧掘削機の自動平坦作業方法
US5590041A (en) * 1994-07-29 1996-12-31 Vermeer Manufacturing Company Track trencher steering system and process
US5574642A (en) * 1994-07-29 1996-11-12 Vermeer Manufacturing Company Track trencher information system and process
US5544055A (en) * 1994-07-29 1996-08-06 Vermeer Manufacturing Company Track trencher control system and process
US5509220A (en) * 1994-07-29 1996-04-23 Vermeer Manufacturing Company Track trencher propulsion system and process
US5576704A (en) * 1994-12-01 1996-11-19 Caterpillar Inc. Capacitive joystick apparatus
US5598090A (en) * 1995-07-31 1997-01-28 Caterpillar Inc. Inductive joystick apparatus
KR0168992B1 (ko) * 1995-10-31 1999-02-18 유상부 굴삭기의 제어방법
KR100335363B1 (ko) * 1996-04-30 2002-10-12 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 굴삭기의제어장치
US5704429A (en) * 1996-03-30 1998-01-06 Samsung Heavy Industries Co., Ltd. Control system of an excavator
US5933346A (en) * 1996-06-05 1999-08-03 Topcon Laser Systems, Inc. Bucket depth and angle controller for excavator
JP3306301B2 (ja) * 1996-06-26 2002-07-24 日立建機株式会社 建設機械のフロント制御装置
US5908458A (en) * 1997-02-06 1999-06-01 Carnegie Mellon Technical Transfer Automated system and method for control of movement using parameterized scripts
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6233511B1 (en) * 1997-11-26 2001-05-15 Case Corporation Electronic control for a two-axis work implement
US6115660A (en) * 1997-11-26 2000-09-05 Case Corporation Electronic coordinated control for a two-axis work implement
US6129155A (en) * 1998-12-02 2000-10-10 Caterpillar Inc. Method and apparatus for controlling a work implement having multiple degrees of freedom
USH1831H (en) * 1998-12-18 2000-02-01 Caterpillar Inc. Ergonomic motor grader vehicle control apparatus
US6374147B1 (en) 1999-03-31 2002-04-16 Caterpillar Inc. Apparatus and method for providing coordinated control of a work implement
US6434437B1 (en) 1999-12-02 2002-08-13 Caterpillar Inc. Boom extension and boom angle control for a machine
US6473679B1 (en) 1999-12-10 2002-10-29 Caterpillar Inc. Angular velocity control and associated method for a boom of a machine
US6389922B1 (en) 2000-02-14 2002-05-21 Clark Equipment Company Control for drive motors for a self-propelled machine
US6459976B1 (en) 2000-05-23 2002-10-01 Caterpillar Inc. Method and system for controlling steady-state speed of hydraulic cylinders in an electrohydraulic system
US6474064B1 (en) 2000-09-14 2002-11-05 Case Corporation Hydraulic system and method for regulating pressure equalization to suppress oscillation in heavy equipment
FR2814552B1 (fr) * 2000-09-28 2003-01-24 Renault Agriculture Systeme et procede de commande d'outils, et engin correspondant
US6571902B2 (en) * 2000-12-28 2003-06-03 Case Corporation Backhoe auxiliary hydraulics control system
US6941687B2 (en) 2001-09-25 2005-09-13 Cnh America Llc Electronic control for swing damping
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US6643577B1 (en) 2002-08-22 2003-11-04 Caterpillar Inc Operator control station and method for a work machine having more than one function
US6694240B1 (en) 2002-08-29 2004-02-17 Caterpillar Inc Control system for and method of operating a work machine
US6609315B1 (en) * 2002-10-31 2003-08-26 Deere & Company Automatic backhoe tool orientation control
JP4707306B2 (ja) * 2003-02-28 2011-06-22 株式会社小坂研究所 多関節型座標測定装置
US7079931B2 (en) * 2003-12-10 2006-07-18 Caterpillar Inc. Positioning system for an excavating work machine
US7856282B2 (en) * 2004-03-26 2010-12-21 Incova Technologies, Inc. Hydraulic system with coordinated multiple axis control of a machine member
US7222444B2 (en) * 2004-10-21 2007-05-29 Deere & Company Coordinated linkage system for a work vehicle
DE102005008412A1 (de) * 2005-02-24 2006-09-07 Ratiopharm Gmbh Piperazinsalz des Omeprazols und dessen Enantiomere
CA2646390C (en) * 2006-02-17 2014-09-23 Oceaneering International, Inc. A multi-mode manipulator arm and drive system
FI123932B (fi) 2006-08-16 2013-12-31 John Deere Forestry Oy Puomirakenteen ja siihen nivelletysti kiinnitetyn työkalun ohjaus
US20090018745A1 (en) * 2006-12-31 2009-01-15 Caterpillar Inc System and method for operating a machine
US7772969B2 (en) * 2007-04-19 2010-08-10 Prohaska Dean P Vehicle with always forward system
US7778756B2 (en) * 2007-06-29 2010-08-17 Vermeer Manufacturing Company Track trencher propulsion system with load control
US7762013B2 (en) * 2007-06-29 2010-07-27 Vermeer Manufacturing Company Trencher with auto-plunge and boom depth control
US7930843B2 (en) * 2007-06-29 2011-04-26 Vermeer Manufacturing Company Track trencher propulsion system with component feedback
US7729835B2 (en) * 2007-08-21 2010-06-01 Jcb Compact Products Limited Method of controlling a working machine
US7949449B2 (en) * 2007-12-19 2011-05-24 Caterpillar Inc. Constant work tool angle control
US7934329B2 (en) * 2008-02-29 2011-05-03 Caterpillar Inc. Semi-autonomous excavation control system
GB2461910B (en) * 2008-07-17 2012-07-18 Bamford Excavators Ltd Method of operating an apparatus
WO2010117372A1 (en) 2009-04-09 2010-10-14 Vermeer Manufacturing Company Work machine attachment based speed control system
DE102009018070A1 (de) * 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit einer Positionsregeleinrichtung eines Arbeitsarms und Verfahren zur Positionregelung eines Arbeitsarms einer mobilen Arbeitsmaschine
US8406963B2 (en) * 2009-08-18 2013-03-26 Caterpillar Inc. Implement control system for a machine
US9777465B2 (en) * 2009-09-04 2017-10-03 Philip Paull Apparatus and method for enhanced grading control
JP5226634B2 (ja) * 2009-09-10 2013-07-03 キャタピラー エス エー アール エル 油圧ショベルの作業腕制御装置
US8275524B2 (en) * 2009-12-23 2012-09-25 Caterpillar Inc. System and method for limiting operator control of an implement
US8850806B2 (en) * 2011-06-28 2014-10-07 Caterpillar Inc. Hydraulic control system having swing motor energy recovery
US8919113B2 (en) 2011-06-28 2014-12-30 Caterpillar Inc. Hydraulic control system having energy recovery kit
US9068575B2 (en) 2011-06-28 2015-06-30 Caterpillar Inc. Hydraulic control system having swing motor energy recovery
US9139982B2 (en) 2011-06-28 2015-09-22 Caterpillar Inc. Hydraulic control system having swing energy recovery
EP2765240A4 (de) * 2011-10-05 2015-10-28 Volvo Constr Equip Ab System zur steuerung von nivellierungsarbeiten mit einem bagger
US8600621B2 (en) 2011-12-20 2013-12-03 Caterpillar Inc. System and method for controlling slip
WO2013183654A1 (ja) * 2012-06-08 2013-12-12 住友重機械工業株式会社 ショベルの制御方法及び制御装置
US8862340B2 (en) 2012-12-20 2014-10-14 Caterpillar Forest Products, Inc. Linkage end effecter tracking mechanism for slopes
FI20135085L (fi) 2013-01-29 2014-07-30 John Deere Forestry Oy Menetelmä ja järjestelmä työkoneen puomiston ohjaamiseksi kärkiohjauksella
SE537716C2 (sv) * 2013-06-25 2015-10-06 Steelwrist Ab System, metod och datorprogram för att kontrollera rörelse på en entreprenadmaskins arbetsredskap
US9404237B2 (en) * 2014-06-13 2016-08-02 Caterpillar Inc. Operator assist algorithm for an earth moving machine
DE102014212480A1 (de) 2014-06-27 2015-12-31 Robert Bosch Gmbh Verfahren und Steuergerät zum Ansteuern eines Arbeitsarms einer Baumaschine und Baumaschine
US9822507B2 (en) 2014-12-02 2017-11-21 Cnh Industrial America Llc Work vehicle with enhanced implement position control and bi-directional self-leveling functionality
CN107407213A (zh) * 2015-03-20 2017-11-28 住友建机株式会社 挖土机
US9913437B2 (en) 2015-04-10 2018-03-13 Deere & Company Velocity-based control of end effector
US9976279B2 (en) * 2016-02-02 2018-05-22 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
US9976285B2 (en) * 2016-07-27 2018-05-22 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
WO2018192850A1 (en) * 2017-04-19 2018-10-25 Rototilt Group Ab Control systems for an excavator and methods for controlling an excavator with a movable excavator thumb and an auxiliary tool hold by a tiltrotator
US10480541B2 (en) 2017-07-06 2019-11-19 Deere & Company Intelligent boom control with rapid system cycling
WO2019151335A1 (ja) 2018-01-30 2019-08-08 住友建機株式会社 ショベル及びショベルの管理システム
US10844572B2 (en) 2018-04-25 2020-11-24 Deere & Company Method of controlling movement of an intelligent boom
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10012389A1 (de) * 2000-03-14 2001-09-27 Orenstein & Koppel Ag Arbeitsmaschine
DE10012389B4 (de) * 2000-03-14 2005-03-17 O & K Orenstein & Koppel Ag Arbeitsmaschine
DE202018100592U1 (de) * 2018-02-02 2019-05-03 Liebherr-Hydraulikbagger Gmbh Bedieneinrichtung für ein Arbeitsgerät und Arbeitsgerät mit entsprechender Bedieneinrichtung
IT201900005800A1 (it) * 2019-04-15 2020-10-15 Cnh Ind Italia Spa Veicolo industriale provvisto di un attrezzo frontale
EP3725954A1 (de) * 2019-04-15 2020-10-21 CNH Industrial Italia S.p.A. Industriefahrzeug mit einem frontwerkzeug

Also Published As

Publication number Publication date
US5424623A (en) 1995-06-13
DE69410921D1 (de) 1998-07-16
WO1994026988A1 (en) 1994-11-24
JPH07509294A (ja) 1995-10-12
EP0650544B1 (de) 1998-06-10
JP3453142B2 (ja) 2003-10-06
EP0650544A1 (de) 1995-05-03

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee