EP0790355A4 - Excavation region setting apparatus for controlling region limited excavation by construction machine - Google Patents

Excavation region setting apparatus for controlling region limited excavation by construction machine

Info

Publication number
EP0790355A4
EP0790355A4 EP96926605A EP96926605A EP0790355A4 EP 0790355 A4 EP0790355 A4 EP 0790355A4 EP 96926605 A EP96926605 A EP 96926605A EP 96926605 A EP96926605 A EP 96926605A EP 0790355 A4 EP0790355 A4 EP 0790355A4
Authority
EP
European Patent Office
Prior art keywords
excavation
region
boundary
excavation region
basis
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.)
Granted
Application number
EP96926605A
Other languages
German (de)
French (fr)
Other versions
EP0790355B1 (en
EP0790355A1 (en
Inventor
Hiroshi Watanabe
Toichi Hirata
Masakazu Haga
Kazuo Fujishima
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.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
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 Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of EP0790355A1 publication Critical patent/EP0790355A1/en
Publication of EP0790355A4 publication Critical patent/EP0790355A4/en
Application granted granted Critical
Publication of EP0790355B1 publication Critical patent/EP0790355B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • E02F9/26—Indicating devices

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

In an excavation region setting apparatus for controlling the region limited excavation by a construction machine, which is adapted to calculate a target speed vector Vc for use in controlling a front unit (1A), on the basis of a vehicle body (1B), restrict when the front unit approaches a boundary of a preset excavation region the moving speed thereof in the direction approaching the same boundary, by correcting the target speed vector, and move the front unit along the mentioned boundary, an outer reference 80 is set first in the horizontal direction in a position outside a hydraulic shovel body, and a depth hr between the outer reference and the boundary of the excavation region is then set by using a setter (7), for the purpose of setting the excavation region. The front unit (1A) is then moved, and, when the position of a front reference 70 agrees with that of the outer reference, an outer reference setting switch (71) is pressed. Consequently, a control unit (9) computes a height hf between a vehicle body reference point O and the outer reference, and then a height hs of a boundary surface of the excavation region with respect to the vehicle body reference point O on the basis of this depth hr by using the height hf as a correction value, and set the excavation region based on the vehicle body (1B), on the basis of which the target speed vector Vc is calculated. This enables the setting of an excavation region suitable for an excavation control operation in which computation is carried out on the basis of the vehicle reference to be done, and a highly reliable control operation to be carried out.
EP96926605A 1995-08-14 1996-08-08 Excavation region setting apparatus for controlling region limited excavation by construction machine Expired - Lifetime EP0790355B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP20702395A JP3609164B2 (en) 1995-08-14 1995-08-14 Excavation area setting device for area limited excavation control of construction machinery
JP207023/95 1995-08-14
PCT/JP1996/002251 WO1997007296A1 (en) 1995-08-14 1996-08-08 Excavation region setting apparatus for controlling region limited excavation by construction machine

Publications (3)

Publication Number Publication Date
EP0790355A1 EP0790355A1 (en) 1997-08-20
EP0790355A4 true EP0790355A4 (en) 1999-09-15
EP0790355B1 EP0790355B1 (en) 2006-08-30

Family

ID=16532932

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96926605A Expired - Lifetime EP0790355B1 (en) 1995-08-14 1996-08-08 Excavation region setting apparatus for controlling region limited excavation by construction machine

Country Status (6)

Country Link
EP (1) EP0790355B1 (en)
JP (1) JP3609164B2 (en)
KR (1) KR100191392B1 (en)
CN (1) CN1064426C (en)
DE (1) DE69636494T2 (en)
WO (1) WO1997007296A1 (en)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3571142B2 (en) * 1996-04-26 2004-09-29 日立建機株式会社 Trajectory control device for construction machinery
JP4024042B2 (en) 1999-10-01 2007-12-19 日立建機株式会社 Target excavation surface setting device of excavating machine, its recording medium and display device
US6418364B1 (en) * 2000-12-13 2002-07-09 Caterpillar Inc. Method for determining a position and heading of a work machine
FI121243B (en) * 2001-01-24 2010-08-31 Sandvik Mining & Constr Oy loading Machine
KR100532664B1 (en) * 2002-09-09 2005-12-02 주식회사 바이오메드랩 Probe for detecting chlamydia trachomatis, detection kit and detection method for chlamydia trachomatis using the same
US8406963B2 (en) * 2009-08-18 2013-03-26 Caterpillar Inc. Implement control system for a machine
US8401746B2 (en) 2009-12-18 2013-03-19 Trimble Navigation Limited Excavator control using ranging radios
JP5237409B2 (en) * 2011-03-24 2013-07-17 株式会社小松製作所 Hydraulic excavator calibration apparatus and hydraulic excavator calibration method
US9020709B2 (en) * 2011-03-24 2015-04-28 Komatsu Ltd. Excavation control system
CL2012000933A1 (en) * 2011-04-14 2014-07-25 Harnischfeger Tech Inc A method and a cable shovel for the generation of an ideal path, comprises: an oscillation engine, a hoisting engine, a feed motor, a bucket for digging and emptying materials and, positioning the shovel by means of the operation of the lifting motor, feed motor and oscillation engine and; a controller that includes an ideal path generator module.
JP5952244B2 (en) * 2013-09-12 2016-07-13 日立建機株式会社 Basic information calculation device for excavation area restriction control and construction machine
DE112014000074B4 (en) * 2014-05-30 2020-07-30 Komatsu Ltd. Work machine control system, work machine and work machine control method
JP6666209B2 (en) * 2016-07-06 2020-03-13 日立建機株式会社 Work machine
EP3663465A4 (en) * 2017-08-01 2020-08-12 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Asphalt finisher
KR102125282B1 (en) * 2017-09-06 2020-06-23 히다찌 겐끼 가부시키가이샤 Working machine
JP7275498B2 (en) * 2018-08-23 2023-05-18 コベルコ建機株式会社 working machine
WO2020059094A1 (en) * 2018-09-20 2020-03-26 日立建機株式会社 Work machine
JP7283910B2 (en) * 2019-02-01 2023-05-30 株式会社小松製作所 CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE, AND CONSTRUCTION MACHINE CONTROL METHOD
JP7146701B2 (en) * 2019-06-27 2022-10-04 日立建機株式会社 excavator

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4829418A (en) * 1987-04-24 1989-05-09 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
WO1993023628A1 (en) * 1992-05-19 1993-11-25 Kabushiki Kaisha Komatsu Seisakusho Operating range limiting apparatus of working machine
GB2272204A (en) * 1992-11-09 1994-05-11 Kubota Kk Contact prevention system for a backhoe
EP0707118A1 (en) * 1994-04-28 1996-04-17 Hitachi Construction Machinery Co., Ltd. Aera limiting digging control device for a building machine
EP0735202A1 (en) * 1995-03-30 1996-10-02 Laser Alignment, Inc. Hydraulically operated machine, control therefor and method of control thereof

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0633618B2 (en) * 1987-03-09 1994-05-02 日立建機株式会社 Construction machinery
JPH0794735B2 (en) * 1990-09-27 1995-10-11 株式会社小松製作所 Work area control device for excavator

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4829418A (en) * 1987-04-24 1989-05-09 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
WO1993023628A1 (en) * 1992-05-19 1993-11-25 Kabushiki Kaisha Komatsu Seisakusho Operating range limiting apparatus of working machine
US5490081A (en) * 1992-05-19 1996-02-06 Kabushiki Kaisha Komatsu Seisakusho Working tool operation range limiting apparatus
GB2272204A (en) * 1992-11-09 1994-05-11 Kubota Kk Contact prevention system for a backhoe
EP0707118A1 (en) * 1994-04-28 1996-04-17 Hitachi Construction Machinery Co., Ltd. Aera limiting digging control device for a building machine
EP0735202A1 (en) * 1995-03-30 1996-10-02 Laser Alignment, Inc. Hydraulically operated machine, control therefor and method of control thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO9707296A1 *

Also Published As

Publication number Publication date
DE69636494D1 (en) 2006-10-12
EP0790355B1 (en) 2006-08-30
WO1997007296A1 (en) 1997-02-27
CN1157020A (en) 1997-08-13
JPH0953253A (en) 1997-02-25
EP0790355A1 (en) 1997-08-20
KR970705678A (en) 1997-10-09
KR100191392B1 (en) 1999-06-15
DE69636494T2 (en) 2007-02-15
JP3609164B2 (en) 2005-01-12
CN1064426C (en) 2001-04-11

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