EP1297395A1 - Method for automatically moving on the ground a tool mounted at the end of an articulated arm - Google Patents

Method for automatically moving on the ground a tool mounted at the end of an articulated arm

Info

Publication number
EP1297395A1
EP1297395A1 EP01938307A EP01938307A EP1297395A1 EP 1297395 A1 EP1297395 A1 EP 1297395A1 EP 01938307 A EP01938307 A EP 01938307A EP 01938307 A EP01938307 A EP 01938307A EP 1297395 A1 EP1297395 A1 EP 1297395A1
Authority
EP
European Patent Office
Prior art keywords
tool
point
work
computer
ground
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.)
Withdrawn
Application number
EP01938307A
Other languages
German (de)
French (fr)
Inventor
Yves Riberon
Jean-Claude Robert-Peillard
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 Furukawa Loaders Europe SAS
Original Assignee
Furukawa Equipement S A
Furukawa Equipement SA
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 Furukawa Equipement S A, Furukawa Equipement SA filed Critical Furukawa Equipement S A
Publication of EP1297395A1 publication Critical patent/EP1297395A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements

Definitions

  • the subject of the present invention is a method of automatically moving over a ground, a tool mounted at the end of an articulated arm, and a device for its implementation.
  • the articulated arm equipped with the tool can be, for example, the arm of a hydraulic shovel, pivotally mounted about a vertical axis on the chassis of the vehicle.
  • the object of the invention is to provide a method which makes it possible to systematize the work of a site, in order to avoid leaving unworked areas.
  • the process of automatically moving a tool mounted on the end of an articulated arm, over which it relates consists of defining and calculating a surface called the work surface from several keys. of the tool on the ground, then move the tool over the work surface.
  • this process consists, after defining the working surface, in defining a working diagram of the tool which can be superimposed on the working surface, in order to allow it to cover, by discontinuous or continuous movements, the entire surface. of work.
  • this method is characterized in that it consists in bringing the tool to a first point on the surface and in calculating the coordinates of this point which is considered to be the point origin of the work diagram, to bring the tool to a second point allowing to orient a first axis of coordinates of the work diagram and to determine the most distant point to reach on this axis, to bring the tool to a third point close to the second coordinate axis and used to define the position of the coordinate system of the work diagram, then at a fourth point delimiting the area of the plane inside which the work will be carried out.
  • this process consists in defining a working diagram the points of which, subsequently reached by the tool, are arranged in two perpendicular directions according to a sequence such that at a pitch characteristic of the shape of the head of the tool in one direction follows a step characteristic of the dimension of the head of the tool in said direction.
  • the method according to the invention consists in controlling the various movements and displacements of the tool using a computer. This relieves the operator of his task, and reaches areas that are not always directly visible to the operator.
  • this method consists in supplying the computer with the coordinates of the four points, from which the computer defines a process for moving the tool over the entire working surface and controls the members ensuring the movement of the latter.
  • the operator can, at any time, interrupt the cycle of operation and movement of the tool to control it manually.
  • the computer memorizes the different points reached by the tool, as well as the points on the surface which would not have been reached, with a view to achieving there further work.
  • the operator can select a work area which is reached directly and automatically independently of the implementation of the work schedule controlled by the computer.
  • a device for implementing this method comprises a carrier on the chassis of which a turret is pivotally mounted about a vertical axis, this turret being equipped with an arm consisting of several elements articulated around horizontal axes, and at the end of which is mounted a tool, the turret comprising an angular sensor determining the angle which it forms with the chassis and each element of the arm comprising an angular sensor providing its inclination relative to the horizontal.
  • this device comprises a computer equipped with a program for controlling the movement of the tool to cover the surface to be secured, this computer receiving the values provided by the various angular sensors and delivering at the output electrical signals controlling solenoid valves hydraulically supplying the turret drive motor and the various actuating cylinders of the arm elements, until the angular values are equal to the calculated values.
  • Figure 1 is a perspective view of a device for securing land
  • Figure 2 is a top view
  • Figure 3 is a view of a control diagram of the tool
  • Figure 4 is a view of a diagram of movement of the tool on the ground
  • Figure 5 is a view of a second tool, consisting of a vibrating device with one foot
  • Figure 6 is a view of a movement diagram of this tool on the ground;
  • Figure 7 is a view of the end of the arm of a device, equipped with a metal detector;
  • Figure 8 is a view of a movement diagram of this metal detector vis-à-vis the ground.
  • FIG. 1 represents a carrying machine 2 comprising a chassis 3 mounted on wheels and capable of being stabilized horizontally by stabilizing jacks 4.
  • a turret 5 On the chassis 3 is mounted a turret 5, pivoting about a vertical axis A1.
  • the turret comprising an angular sensor C1 which makes it possible to determine the angle that the turret forms with respect to the chassis.
  • an arm 6 consisting of three elements 6a, 6b and 6c, the element 6b being articulated on the element 6a around a horizontal axis A3 and the element 6c being articulated at the end of the element 6b around an axis A4.
  • the elements 6a, 6b and 6c are respectively equipped with angular sensors C2, C3 and C4 making it possible to determine the angle that each element makes with the horizontal.
  • the tool 7 which comprises parallel bars 8 each equipped, at its lower end, with a foot 9 bearing on the ground.
  • the tool 7 is also equipped with a device for vibrating the bars 8 and the feet 9, known per se and not shown.
  • the device according to the invention is, as shown in FIG. 3, equipped with a computer 10 receiving the signals representative of the angular values of the sensors C1, C2, C3 and C4.
  • the computer delivers at the output electrical signals controlling solenoid valves E1, E2, E3 and E4 respectively supplying the motor 12 for rotating the turret 5, as well as jacks 13, 14 and 15 driving the elements respectively 6a, 6b and 6c.
  • the operator controls the movement of the tool until the end point of the tool coincides with a point he has chosen on the surface of the ground to be worked. Using the angular values measured in this position, the coordinates of the point are calculated in the machine origin reference and stored. This operation is carried out successively four times.
  • the first point thus determined is the point of origin of the work diagram.
  • the second point is used to orient the first coordinate axis of the work diagram and to determine the maximum point to be reached on this axis.
  • the third determined point, and close to the second coordinate axis, makes it possible to define the position of the reference point of the working diagram, and the fourth point delimits the zone of the plane inside which the security work will be carried out.
  • the computer will, from software taking into account parameters such as the number of feet, the size of the feet in two rectangular directions as well as the space between two feet, pilot a work diagram.
  • the feet are square and are six in number.
  • the six feet are placed at an angle to the work surface by command from the computer. This is the position centered on point 0.
  • they are moved along the axis X by a first step P1 corresponding to half the size of a foot.
  • the feet occupy the position, defined by mixed lines, and the feet are centered on point 1.
  • the feet cover the spaces which were delimited between the feet, in position 0, which spaces were oriented parallel to the Y axis.
  • the next step is to move all the feet in a step P2, always along the X axis, by a value equal to 2.5 times the dimension of all the feet in the direction X.
  • the feet are centered on point 2.
  • step P1 After setting in vibration, they are moved by the value of the first step P1, that is to say half the size of a foot to be brought into the position 3 and so on along the X axis.
  • the procedure is the same along the Y axis, the assembly of the surface that can thus be covered, without leaving unexplored areas, by successive displacements following two different steps.
  • This movement is preferably automated, and controlled by the computer, as indicated above.
  • the computer memorizes the zones which have been reached by the tool, and possibly the zones which could not be reached, in particular due to the fact that the displacement of the tool cannot be perfectly linear in the two directions, taking into account of the turret rotation.
  • the computer would be possible to consider an additional degree of freedom of the tool, allowing the rotation of the latter around a vertical axis around the element 6c, to keep it parallel to itself, when the turret turns on the chassis.
  • FIG. 5 shows a second device, of which only the end of the arm is shown in the drawing and which differs from the previous device by the tool.
  • the tool 17, also intended for securing land comprises a foot 19 mounted at the end of a bar 18.
  • This foot 19, after having rested on the ground, is capable of be vibrated in a manner known per se.
  • Figure 6 shows the working diagram of the tool on the ground.
  • the computer defines, in two directions X and Y, points on which the tool must come to rest successively during its movement on the ground.
  • the step whose foot is moved in both the X and Y directions corresponds to a length less than the dimension of the foot in the direction considered. It can be noted that in FIG. 6, a slight pivoting of the foot is shown, taking account of the rotation of the turret on which the arm is mounted. However, the computer modifies the angular position of the arm so that, despite the pivoting of the turret, the points defined by the working diagram remain aligned.
  • FIG. 7 represents a device, in which the same elements are designated by the same references as above.
  • a tool 27 is equipped with a metal detector 29 carried by a bar 28.
  • the lower end of the bar 28 protrudes from the metal detector to allow support on the ground, in particular to carry out the delimitation of the work surface.
  • the surface taken into consideration is the square 30 inscribed inside the circular detector 29.
  • the movement of the detector takes place in one or more steps. another of the two directions X and Y, which is smaller than the dimension of the side of the square 30, so that there is an overlap zone between one position and the next. If the movement of the detector can be carried out in steps, it is also possible to carry out a continuous movement, which is all the more possible since the metal detector does not rest on the ground, but follows the surface of the latter to distance.
  • the invention brings a great improvement to the existing technique by allowing automation of the surface of a ground using a tool, by systematizing the work of all this surface.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Numerical Control (AREA)

Abstract

The invention concerns a method for automatically moving on the ground a tool mounted at the end of an articulated arm. It consists in bringing the tool (7, 17, 27) onto a first point of the surface and in calculating the co-ordinates of said point; in bringing the tool onto a second point enabling to set a first axis of co-ordinates of the working plan and to determine the furthermost point to be reached on said axis; in bringing the tool onto a third point close to the second co-ordinate axis and enabling to define the position of the frame of reference of the working plan, then in a fourth point delimiting the zone plane inside which the work will be performed and in defining a working plan for the tool capable of being superimposed with the working surface so as to enable it to cover, by discontinuous or continuous movements, the entire working surface.

Description

PROCEDE DE DEPLACEMENT AUTOMATIQUE SUR UN TERRAIN, D'UN OUTIL MONTE A L'EXTREMITE D'UN BRAS ARTICULE METHOD FOR AUTOMATICALLY MOVING ON A GROUND, A TOOL MOUNTED AT THE END OF AN ARTICULATED ARM
La présente invention a pour objet un procédé de déplacement automatique sur un terrain, d'un outil monté à l'extrémité d'un bras articulé, et un dispositif pour sa mise en oeuvre.The subject of the present invention is a method of automatically moving over a ground, a tool mounted at the end of an articulated arm, and a device for its implementation.
Le bras articulé équipé de l'outil peut être, par exemple, le bras d'une pelle hydraulique, montée pivotante autour d'un axe vertical sur le châssis du véhicule.The articulated arm equipped with the tool can be, for example, the arm of a hydraulic shovel, pivotally mounted about a vertical axis on the chassis of the vehicle.
Lorsqu'un opérateur doit travailler, à l'aide d'un outil monté à l'extrémité d'un tel bras, une surface très précise de terrain, il rencontre des difficultés, dans la mesure où il commande manuellement le déplacement de l'outil, qu'il est placé à une distance importante de l'outil, de l'ordre de 5 à 6 m, et ne dispose pas toujours d'une vision précise de la zone dans laquelle travaille l'outil. Il n'est donc pas facile, surtout en tenant compte des jeux dans l'articulation des différents éléments du bras, de déplacer l'outil sur la surface à travailler-, de façon à ne laisser aucune zone de terrain non travaillée.When an operator has to work, using a tool mounted at the end of such an arm, a very precise surface of ground, he encounters difficulties, insofar as he manually controls the movement of the tool, that it is placed at a significant distance from the tool, of the order of 5 to 6 m, and does not always have a precise vision of the zone in which the tool works. It is therefore not easy, especially taking into account the play in the articulation of the different elements of the arm, to move the tool over the surface to be worked, so as to leave no area of ground unworked.
Il est important de systématiser le travail d'une surface de terrain dans certaines applications, telles que la recherche de mines anti- personnel pouvant être enfouies dans un terrain. La sécurisation du terrain nécessite de ne laisser aucune surface non atteinte par l'outil de détection. Le but de l'invention est de fournir un procédé qui permette de systématiser le travail d'un terrain, afin d'éviter de laisser des zones non travaillées. A cet effet, le procédé de déplacement automatique sur un terrain, d'un outil monté à l'extrémité d'un bras articulé, qu'elle concerne, consiste à définir et calculer une surface appelée surface de travail à partir de plusieurs , touches successives de l'outil au sol, puis à réaliser le déplacement de l'outil sur la surface de travail. En outre, ce procédé consiste, après définition de la surface de travail, à définir un schéma de travail de l'outil superposable avec la surface de travail, afin de lui permettre de couvrir, par des déplacements discontinus ou en continu, toute la surface de travail.It is important to systematize the work of a ground surface in certain applications, such as the search for anti-personnel mines which can be buried in a ground. Securing the ground requires not leaving any surface not reached by the detection tool. The object of the invention is to provide a method which makes it possible to systematize the work of a site, in order to avoid leaving unworked areas. To this end, the process of automatically moving a tool mounted on the end of an articulated arm, over which it relates, consists of defining and calculating a surface called the work surface from several keys. of the tool on the ground, then move the tool over the work surface. In addition, this process consists, after defining the working surface, in defining a working diagram of the tool which can be superimposed on the working surface, in order to allow it to cover, by discontinuous or continuous movements, the entire surface. of work.
Suivant un mode de mise en oeuvre, ce procédé est caractérisé en ce qu'il consiste à amener l'outil sur un premier point de la surface et à calculer les coordonnées de ce point qui est considéré comme le point origine du schéma de travail, à amener l'outil en un deuxième point permettant d'orienter un premier axe de coordonnées du schéma de travail et de déterminer le point le plus éloigné à atteindre sur cet axe, à amener l'outil en un troisième point proche du deuxième axe de coordonnées et permettant de définir la position du repère du schéma de travail, puis en un quatrième point délimitant la zone du plan à l'intérieur de laquelle le travail sera effectué.According to one embodiment, this method is characterized in that it consists in bringing the tool to a first point on the surface and in calculating the coordinates of this point which is considered to be the point origin of the work diagram, to bring the tool to a second point allowing to orient a first axis of coordinates of the work diagram and to determine the most distant point to reach on this axis, to bring the tool to a third point close to the second coordinate axis and used to define the position of the coordinate system of the work diagram, then at a fourth point delimiting the area of the plane inside which the work will be carried out.
Suivant une autre caractéristique, ce procédé consiste à définir un schéma de travail dont les points, atteints ultérieurement par l'outil, sont rangés dans deux directions perpendiculaires suivant une séquence telle qu'à un pas caractéristique de la forme de la tête de l'outil dans une direction succède un pas caractéristique de la dimension de la tête de l'outil dans ladite direction.According to another characteristic, this process consists in defining a working diagram the points of which, subsequently reached by the tool, are arranged in two perpendicular directions according to a sequence such that at a pitch characteristic of the shape of the head of the tool in one direction follows a step characteristic of the dimension of the head of the tool in said direction.
Avantageusement, le procédé selon l'invention consiste à commander les différents mouvements et déplacements de l'outil à l'aide d'un calculateur. Cela permet de soulager l'opérateur dans sa tâche, et d'atteindre des zones qui ne sont pas toujours directement visibles par l'opérateur.Advantageously, the method according to the invention consists in controlling the various movements and displacements of the tool using a computer. This relieves the operator of his task, and reaches areas that are not always directly visible to the operator.
En pratique, ce procédé consiste à fournir au calculateur les coordonnées des quatre points, à partir desquels le calculateur définit un processus de déplacement de l'outil sur toute la surface de travail et commande les organes assurant le déplacement de celui-ci.In practice, this method consists in supplying the computer with the coordinates of the four points, from which the computer defines a process for moving the tool over the entire working surface and controls the members ensuring the movement of the latter.
Toutefois, l'opérateur peut, à tout moment, interrompre le cycle de fonctionnement et de déplacement de l'outil pour le commander manuellement.However, the operator can, at any time, interrupt the cycle of operation and movement of the tool to control it manually.
Suivant une autre caractéristique de l'invention, au cours du travail sur une surface, le calculateur mémorise les différents points atteints par l'outil, ainsi que les points de la surface qui n'auraient pas été atteints, en vue d'y réaliser un travail ultérieur. Selon une autre possibilité, l'opérateur peut sélectionner une zone de travail qui est atteinte directement et automatiquement indépendamment de la mise en oeuvre du schéma de travail commandée par le calculateur.According to another characteristic of the invention, during work on a surface, the computer memorizes the different points reached by the tool, as well as the points on the surface which would not have been reached, with a view to achieving there further work. According to another possibility, the operator can select a work area which is reached directly and automatically independently of the implementation of the work schedule controlled by the computer.
Un dispositif pour la mise en oeuvre de ce procédé comprend un engin porteur sur le châssis duquel une tourelle est montée pivotante autour d'un axe vertical, cette tourelle étant équipée d'un bras constitué de plusieurs éléments articulés autour d'axes horizontaux, et en bout duquel est monté un outil, la tourelle comportant un capteur angulaire déterminant l'angle qu'elle forme avec le châssis et chaque élément du bras comportant un capteur angulaire fournissant son inclinaison par rapport à l'horizontale. Dans un repère attaché au châssis, dont deux axes sont placés dans un plan horizontal, il est possible de calculer les coordonnées du point extrémité de l'outil connaissant, d'une part, les distances entre les axes d'articulation des différents éléments du bras et, d'autre part, l'angle que fait chaque élément avec l'horizontale. L'angle que fait la direction principale de l'outil par rapport au sol est choisi par l'opérateur, en fonction du terrain, et maintenu pendant la phase de travail. Dans ces conditions, il est possible de calculer les angles de la tourelle par rapport au châssis, des éléments articulés par rapport à l'horizontale, en connaissant les coordonnées du point extrémité de l'outil. Ainsi, à chacun des points de l'espace pouvant être atteint par l'extrémité de l'outil, correspondent des valeurs angulaires calculées.A device for implementing this method comprises a carrier on the chassis of which a turret is pivotally mounted about a vertical axis, this turret being equipped with an arm consisting of several elements articulated around horizontal axes, and at the end of which is mounted a tool, the turret comprising an angular sensor determining the angle which it forms with the chassis and each element of the arm comprising an angular sensor providing its inclination relative to the horizontal. In a reference frame attached to the chassis, two axes of which are placed in a horizontal plane, it is possible to calculate the coordinates of the end point of the tool knowing, on the one hand, the distances between the axes of articulation of the various elements of the arm and, on the other hand, the angle that each element makes with the horizontal. The angle made by the main direction of the tool relative to the ground is chosen by the operator, depending on the terrain, and maintained during the work phase. Under these conditions, it is possible to calculate the angles of the turret relative to the chassis, of the elements articulated relative to the horizontal, by knowing the coordinates of the end point of the tool. Thus, to each of the points of the space that can be reached by the end of the tool, corresponding angular values correspond.
Suivant une autre caractéristique, ce dispositif comporte un calculateur équipé d'un programme de commande du déplacement de l'outil pour couvrir la surface à sécuriser, ce calculateur recevant les valeurs fournies par les différents capteurs angulaires et délivrant en sortie des signaux électriques commandant des électro-distributeurs alimentant hydrauliquement le moteur d'entraînement en rotation de la tourelle et les différents vérins d'actionnement des éléments du bras, jusqu'à ce que les valeurs angulaires soient égales aux valeurs calculées. De toute façon, l'invention sera bien comprise à l'aide de la description qui suit, en référence au dessin schématique annexé représentant, à titre d'exemples non limitatifs, plusieurs formes d'exécution d'un dispositif pour la mise en oeuvre de ce procédé de travail d'un terrain :According to another characteristic, this device comprises a computer equipped with a program for controlling the movement of the tool to cover the surface to be secured, this computer receiving the values provided by the various angular sensors and delivering at the output electrical signals controlling solenoid valves hydraulically supplying the turret drive motor and the various actuating cylinders of the arm elements, until the angular values are equal to the calculated values. In any case, the invention will be clearly understood with the aid of the description which follows, with reference to the appended diagrammatic drawing representing, by way of nonlimiting examples, several embodiments of a device for the implementation of this working process of a field:
Figure 1 est une vue en perspective d'un dispositif destiné à la sécurisation d'un terrain ;Figure 1 is a perspective view of a device for securing land;
Figure 2 en est une vue de dessus ;Figure 2 is a top view;
Figure 3 est une vue d'un diagramme de commande de l'outil ; Figure 4 est une vue d'un schéma de déplacement de l'outil sur le sol ; Figure 5 est une vue d'un second outil, constitué par un dispositif vibreur à un pied ; Figure 6 est une vue d'un schéma de déplacement de cet outil sur le sol ;Figure 3 is a view of a control diagram of the tool; Figure 4 is a view of a diagram of movement of the tool on the ground; Figure 5 is a view of a second tool, consisting of a vibrating device with one foot; Figure 6 is a view of a movement diagram of this tool on the ground;
Figure 7 est une vue de l'extrémité du bras d'un dispositif, équipé d'un détecteur de métaux ; Figure 8 est une vue d'un schéma de déplacement de ce détecteur de métaux vis-à-vis du sol.Figure 7 is a view of the end of the arm of a device, equipped with a metal detector; Figure 8 is a view of a movement diagram of this metal detector vis-à-vis the ground.
La figure 1 représente un engin porteur 2 comportant un châssis 3 monté sur roues et pouvant être stabilisé à l'horizontal par des vérins stabilisateurs 4. Sur le châssis 3 est montée une tourelle 5, pivotant autour d'un axe vertical A1. La tourelle comportant un capteur angulaire C1 qui permet la détermination de l'angle que forme la tourelle par rapport au châssis. Sur la tourelle est articulé, autour d'un axe horizontal A2, un bras 6 constitué par trois éléments 6a, 6b et 6c, l'élément 6b étant articulé sur l'élément 6a autour d'un axe horizontal A3 et l'élément 6c étant articulé à l'extrémité de l'élément 6b autour d'un axe A4. Les éléments 6a, 6b et 6c sont équipés respectivement de capteurs angulaires C2, C3 et C4 permettant de déterminer l'angle que fait chaque élément avec l'horizontal.FIG. 1 represents a carrying machine 2 comprising a chassis 3 mounted on wheels and capable of being stabilized horizontally by stabilizing jacks 4. On the chassis 3 is mounted a turret 5, pivoting about a vertical axis A1. The turret comprising an angular sensor C1 which makes it possible to determine the angle that the turret forms with respect to the chassis. On the turret is articulated around a horizontal axis A2, an arm 6 consisting of three elements 6a, 6b and 6c, the element 6b being articulated on the element 6a around a horizontal axis A3 and the element 6c being articulated at the end of the element 6b around an axis A4. The elements 6a, 6b and 6c are respectively equipped with angular sensors C2, C3 and C4 making it possible to determine the angle that each element makes with the horizontal.
A l'extrémité de l'élément 6c est fixé l'outil 7 qui comporte des barres parallèles 8 équipées chacune, à son extrémité inférieure, d'un pied 9 d'appui sur le sol. L'outil 7 est également équipé d'un dispositif de mise en vibrations des barres 8 et des pieds 9, connu en soi et non représenté.At the end of the element 6c is fixed the tool 7 which comprises parallel bars 8 each equipped, at its lower end, with a foot 9 bearing on the ground. The tool 7 is also equipped with a device for vibrating the bars 8 and the feet 9, known per se and not shown.
Dans un repère attaché au châssis, dont deux axes X et Y sont placés dans un plan horizontal, il est possible de calculer les coordonnées du point extrémité de l'outil connaissant, d'une part, les longueurs des différents éléments 6a, 6b et 6c ainsi que les angles au niveau des axes A1 , A2, A3 et A4. Dans la forme d'exécution représentée au dessin, l'axe vertical correspondant à l'axe de rotation de la tourelle est défini par la référence Z.In a reference frame attached to the chassis, two axes of which X and Y are placed in a horizontal plane, it is possible to calculate the coordinates of the end point of the tool knowing, on the one hand, the lengths of the different elements 6a, 6b and 6c as well as the angles at the axes A1, A2, A3 and A4. In the embodiment shown in the drawing, the vertical axis corresponding to the axis of rotation of the turret is defined by the reference Z.
Le dispositif selon l'invention est, comme montré à la figure 3, équipé d'un calculateur 10 recevant les signaux représentatifs des valeurs angulaires des capteurs C1 , C2, C3 et C4. Le calculateur délivre en sortie des signaux électriques commandant des électro-distributeurs E1 , E2, E3 et E4 alimentant respectivement le moteur 12 d'entraînement en rotation de la tourelle 5, ainsi que des vérins 13, 14 et 15 entraînant les éléments respectivement 6a, 6b et 6c. En pratique, l'opérateur commande le déplacement de l'outil jusqu'à faire coïncider le point extrémité de l'outil avec un point qu'il a choisi sur la surface du terrain à travailler. Par l'intermédiaire des valeurs angulaires mesurées dans cette position, les coordonnées du point sont calculées dans le repère origine de la machine et mémorisées. Cette opération est réalisée successivement quatre fois. Le premier point ainsi déterminé est le point origine du schéma de travail. Le deuxième point permet d'orienter le premier axe de coordonnées du schéma de travail et de déterminer le point maximum à atteindre sur cet axe. Le troisième point déterminé, et proche du deuxième axe de coordonnées, permet de définir la position du repère du schéma de travail, et le quatrième point délimite la zone du plan à l'intérieur de laquelle le travail de sécurisation sera effectué.The device according to the invention is, as shown in FIG. 3, equipped with a computer 10 receiving the signals representative of the angular values of the sensors C1, C2, C3 and C4. The computer delivers at the output electrical signals controlling solenoid valves E1, E2, E3 and E4 respectively supplying the motor 12 for rotating the turret 5, as well as jacks 13, 14 and 15 driving the elements respectively 6a, 6b and 6c. In practice, the operator controls the movement of the tool until the end point of the tool coincides with a point he has chosen on the surface of the ground to be worked. Using the angular values measured in this position, the coordinates of the point are calculated in the machine origin reference and stored. This operation is carried out successively four times. The first point thus determined is the point of origin of the work diagram. The second point is used to orient the first coordinate axis of the work diagram and to determine the maximum point to be reached on this axis. The third determined point, and close to the second coordinate axis, makes it possible to define the position of the reference point of the working diagram, and the fourth point delimits the zone of the plane inside which the security work will be carried out.
Il est compréhensible que toutes les coordonnées des points du schéma de travail sont connues et en conséquence que tous les points du schéma situés à l'intérieur de la zone de travail déterminée pourront être atteints successivement par l'outil.It is understandable that all the coordinates of the points of the working diagram are known and consequently that all the points of the diagram located inside the determined working zone can be reached successively by the tool.
A titre d'exemple, le calculateur va, à partir d'un logiciel tenant compte de paramètres tels que le nombre de pieds, la dimension des pieds dans deux directions rectangulaires ainsi que l'espace entre deux pieds, piloter un schéma de travail.For example, the computer will, from software taking into account parameters such as the number of feet, the size of the feet in two rectangular directions as well as the space between two feet, pilot a work diagram.
Dans l'exemple schématisé à la figure 4, les pieds sont carrés et sont au nombre de six. Les six pieds sont posés dans un angle de la surface de travail par commande à partir du calculateur. Il s'agit de la position centrée sur le point 0. Après mise en vibrations des pieds, ceux-ci sont déplacés suivant l'axe X d'un premier pas P1 correspondant à la moitié de la dimension d'un pied. Les pieds occupent la position, définie par des traits mixtes, et les pieds sont centrés sur le point 1. Dans cette seconde position, les pieds recouvrent les espaces qui se trouvaient délimités entre les pieds, dans la position 0, lesquels espaces étaient orientés parallèlement à l'axe Y. Il est ensuite procédé au déplacement de l'ensemble des pieds d'un pas P2, toujours suivant l'axe X, d'une valeur égale à 2,5 fois la dimension de la totalité des pieds dans la direction X. Les pieds sont centrés sur le point 2. Après mise en vibrations, ils sont déplacés de la valeur du premier pas P1 , c'est-à-dire la moitié de la dimension d'un pied pour être amenés dans la position 3 et ainsi de suite suivant l'axe X. Il est procédé de la même façon suivant l'axe Y, l'ensemble de la surface pouvant être ainsi couvert, sans laisser de zones non explorées, par déplacements successifs suivant deux pas différents.In the example shown schematically in Figure 4, the feet are square and are six in number. The six feet are placed at an angle to the work surface by command from the computer. This is the position centered on point 0. After setting the feet in vibration, they are moved along the axis X by a first step P1 corresponding to half the size of a foot. The feet occupy the position, defined by mixed lines, and the feet are centered on point 1. In this second position, the feet cover the spaces which were delimited between the feet, in position 0, which spaces were oriented parallel to the Y axis. The next step is to move all the feet in a step P2, always along the X axis, by a value equal to 2.5 times the dimension of all the feet in the direction X. The feet are centered on point 2. After setting in vibration, they are moved by the value of the first step P1, that is to say half the size of a foot to be brought into the position 3 and so on along the X axis. The procedure is the same along the Y axis, the assembly of the surface that can thus be covered, without leaving unexplored areas, by successive displacements following two different steps.
Ce déplacement est de préférence automatisé, et commandé par le calculateur, comme indiqué précédemment. Le calculateur mémorise les zones qui ont été atteintes par l'outil, et éventuellement les zones qui ne pourraient pas être atteintes, notamment en raison du fait que le déplacement de l'outil ne peut pas être parfaitement linéaire dans les deux directions, compte tenu de la rotation de la tourelle. Pour obtenir une parfaite linéarité du déplacement de l'outil dans les deux directions, il serait possible d'envisager un degré de liberté supplémentaire de l'outil, permettant la rotation de celui-ci autour d'un axe vertical autour de l'élément 6c, pour le conserver parallèle à lui-même, lorsque la tourelle tourne sur le châssis.This movement is preferably automated, and controlled by the computer, as indicated above. The computer memorizes the zones which have been reached by the tool, and possibly the zones which could not be reached, in particular due to the fact that the displacement of the tool cannot be perfectly linear in the two directions, taking into account of the turret rotation. To obtain perfect linearity of the tool movement in both directions, it would be possible to consider an additional degree of freedom of the tool, allowing the rotation of the latter around a vertical axis around the element 6c, to keep it parallel to itself, when the turret turns on the chassis.
La figure 5 représente un second dispositif, dont seule l'extrémité du bras est représentée au dessin et qui diffère du dispositif précédent par l'outil. Dans ce second dispositif, les mêmes éléments sont désignés par les mêmes références que précédemment. Dans ce dispositif, l'outil 17, destiné également à la sécurisation d'un terrain, comprend un pied 19 monté à l'extrémité d'une barre 18. Ce pied 19, après avoir pris appui sur le sol, est susceptible d'être mis en vibrations de façon connue en soi. La figure 6 montre le schéma de travail de l'outil sur le sol. Dans ce cas encore, le calculateur définit, suivant deux directions X et Y, des points sur lesquels l'outil doit venir reposer successivement lors de son déplacement sur le sol. Dans la mesure où il n'existe qu'un seul pied, dans le cas présent, le pas dont le pied est déplacé tant dans les directions X que Y, correspond à une longueur inférieure à la dimension du pied dans la direction considérée. Il peut être noté, qu'à la figure 6, est représenté un léger pivotement du pied tenant compte de la rotation de la tourelle sur laquelle est monté le bras. Toutefois, le calculateur modifie la position angulaire du bras afin que, malgré le pivotement de la tourelle, les points définis par le schéma de travail demeurent alignés.FIG. 5 shows a second device, of which only the end of the arm is shown in the drawing and which differs from the previous device by the tool. In this second device, the same elements are designated by the same references as above. In this device, the tool 17, also intended for securing land, comprises a foot 19 mounted at the end of a bar 18. This foot 19, after having rested on the ground, is capable of be vibrated in a manner known per se. Figure 6 shows the working diagram of the tool on the ground. In this case also, the computer defines, in two directions X and Y, points on which the tool must come to rest successively during its movement on the ground. Insofar as there is only one foot, in the present case, the step whose foot is moved in both the X and Y directions, corresponds to a length less than the dimension of the foot in the direction considered. It can be noted that in FIG. 6, a slight pivoting of the foot is shown, taking account of the rotation of the turret on which the arm is mounted. However, the computer modifies the angular position of the arm so that, despite the pivoting of the turret, the points defined by the working diagram remain aligned.
La figure 7 représente un dispositif, dans lequel les mêmes éléments sont désignés par les mêmes références que précédemment. Dans ce dispositif, un outil 27 est équipé d'un détecteur de métaux 29 porté par une barre 28. Comme montré au dessin, l'extrémité inférieure de la barre 28 dépasse du détecteur de métaux pour permettre un appui sur le sol, notamment pour réaliser la délimitation du plan de travail.FIG. 7 represents a device, in which the same elements are designated by the same references as above. In this device, a tool 27 is equipped with a metal detector 29 carried by a bar 28. As shown in the drawing, the lower end of the bar 28 protrudes from the metal detector to allow support on the ground, in particular to carry out the delimitation of the work surface.
Comme montré à la figure 8, pour la détermination du schéma de travail, la surface prise en considération est le carré 30 inscrit à l'intérieur du détecteur circulaire 29. Le déplacement du détecteur intervient suivant un pas, dans l'une ou l'autre des deux directions X et Y, qui est inférieur à la dimension du côté du carré 30, afin qu'il y ait une zone de chevauchement entre une position et la suivante. Si le déplacement du détecteur peut être réalisé par pas, il est possible également de réaliser un déplacement continu, ce qui est d'autant plus possible que le détecteur de métaux ne repose pas sur le sol, mais suit la surface de celui-ci à distance.As shown in FIG. 8, for the determination of the working scheme, the surface taken into consideration is the square 30 inscribed inside the circular detector 29. The movement of the detector takes place in one or more steps. another of the two directions X and Y, which is smaller than the dimension of the side of the square 30, so that there is an overlap zone between one position and the next. If the movement of the detector can be carried out in steps, it is also possible to carry out a continuous movement, which is all the more possible since the metal detector does not rest on the ground, but follows the surface of the latter to distance.
Comme il ressort de ce qui précède, l'invention apporte une grande amélioration à la technique existante en permettant une automatisation de la surface d'un terrain à l'aide d'un outil, en systématisant le travail de toute cette surface.As is apparent from the above, the invention brings a great improvement to the existing technique by allowing automation of the surface of a ground using a tool, by systematizing the work of all this surface.
Comme il va de soi, l'outil pourrait être autre que ceux décrits précédemment, sans que l'on sorte pour autant du cadre de l'invention. As is obvious, the tool could be other than those described above, without departing from the scope of the invention.

Claims

REVENDICATIONS
1. Procédé de déplacement automatique sur un terrain, d'un outil monté à l'extrémité d'un bras articulé, caractérisé en ce qu'il consiste à définir et calculer une surface appelée surface de travail à partir de plusieurs touches successives de l'outil au sol, puis à réaliser le déplacement de l'outil (7, 17, 27) sur la surface de travail.1. A method of automatically moving a tool mounted on the ground at the end of an articulated arm, characterized in that it consists in defining and calculating a surface called the working surface from several successive keys of the tool on the ground, then carry out the displacement of the tool (7, 17, 27) on the work surface.
2. Procédé selon la revendication 1 , caractérisé en ce qu'il consiste, après définition de la surface de travail, à définir un schéma de travail de l'outil (7, 17, 27) superposable avec la surface de travail, afin de lui permettre de couvrir, par des déplacements discontinus ou en continu, toute la surface de travail.2. Method according to claim 1, characterized in that it consists, after definition of the working surface, in defining a working diagram of the tool (7, 17, 27) superimposable with the working surface, in order to allow it to cover, by discontinuous or continuous movements, the entire work surface.
3. Procédé selon la revendication 2, caractérisé en ce qu'il consiste à amener l'outil (7, 17, 27) sur un premier point de la surface et à calculer les coordonnées de ce point qui est considéré comme le point origine du schéma de travail, à amener l'outil en un deuxième point permettant d'orienter un premier axe de coordonnées du schéma de travail et de déterminer le point le plus éloigné à atteindre sur cet axe, à amener l'outil en un troisième point proche du deuxième axe de coordonnées et permettant de définir la position du repère du schéma de travail, puis en un quatrième point délimitant la zone du plan à l'intérieur de laquelle le travail sera effectué.3. Method according to claim 2, characterized in that it consists in bringing the tool (7, 17, 27) to a first point on the surface and in calculating the coordinates of this point which is considered to be the point of origin of the working diagram, to bring the tool to a second point allowing to orient a first axis of coordinates of the working diagram and to determine the most distant point to reach on this axis, to bring the tool to a third close point from the second coordinate axis and used to define the position of the reference in the work diagram, then at a fourth point delimiting the area of the plane inside which the work will be carried out.
4. Procédé selon l'une des revendications 2 et 3, caractérisé en ce qu'il consiste à définir un schéma de travail dont les points, atteints ultérieurement par l'outil (7, 17, 27), sont rangés dans deux directions perpendiculaires suivant une séquence telle qu'à un pas caractéristique de la forme de la tête de l'outil dans une direction succède un pas caractéristique de la dimension de la tête de l'outil dans ladite direction.4. Method according to one of claims 2 and 3, characterized in that it consists in defining a working diagram whose points, subsequently reached by the tool (7, 17, 27), are arranged in two perpendicular directions in a sequence such that at a step characteristic of the shape of the tool head in one direction follows a step characteristic of the size of the tool head in said direction.
5. Procédé selon l'une des revendications 1 à 4, caractérisé en ce qu'il consiste à commander les différents mouvements et déplacements de l'outil à l'aide d'un calculateur (10).5. Method according to one of claims 1 to 4, characterized in that it consists in controlling the various movements and displacements of the tool using a computer (10).
6. Procédé selon la revendication 5, caractérisé en ce qu'il consiste à fournir au calculateur (10) les coordonnées des quatre points, à partir desquels le calculateur définit un processus de déplacement de l'outil sur toute la surface de travail et commande les organes assurant le déplacement de celui-ci. 6. Method according to claim 5, characterized in that it consists in providing the computer (10) with the coordinates of the four points, from which the computer defines a process of movement of the tool over the entire work surface and control the organs ensuring the displacement thereof.
7. Procédé selon l'une des revendications 5 et 6, caractérisé en ce qu'au cours du travail sur une surface, le calculateur (10) mémorise les différents points atteints par l'outil, ainsi que les points de la surface qui n'auraient pas été atteints, en vue d'y réaliser un travail ultérieur. 7. Method according to one of claims 5 and 6, characterized in that during work on a surface, the computer (10) stores the different points reached by the tool, as well as the points on the surface which n 'would not have been reached, with a view to carrying out further work there.
8. Dispositif de déplacement automatique sur un terrain, d'un outil monté à l'extrémité d'un bras articulé, pour la mise en oeuvre du procédé selon l'une des revendications 1 à 7, caractérisé en ce qu'il comprend un engin porteur (2) sur le châssis (3) duquel une tourelle (5) est montée pivotante autour d'un axe vertical (A1 ), cette tourelle étant équipée d'un bras (6) constitué de plusieurs éléments (6a, 6b, 6c) articulés autour d'axes horizontaux (A2, A3, A4), et en bout duquel est monté un outil (7, 17, 27), la tourelle (5) comportant un capteur angulaire (C1 ) déterminant l'angle qu'elle forme avec le châssis et chaque élément (6a, 6b, 6c) du bras comportant un capteur angulaire (C2, C3, C4) fournissant son inclinaison par rapport à l'horizontale.8. Device for automatically moving a tool mounted on the ground at the end of an articulated arm, for implementing the method according to one of claims 1 to 7, characterized in that it comprises a carrier (2) on the chassis (3) of which a turret (5) is pivotally mounted about a vertical axis (A1), this turret being equipped with an arm (6) made up of several elements (6a, 6b, 6c) articulated around horizontal axes (A2, A3, A4), and at the end of which is mounted a tool (7, 17, 27), the turret (5) comprising an angular sensor (C1) determining the angle that it forms with the chassis and each element (6a, 6b, 6c) of the arm comprising an angular sensor (C2, C3, C4) providing its inclination relative to the horizontal.
9. Dispositif selon la revendication 8, caractérisé en ce qu'il comporte un calculateur (10) équipé d'un programme de commande du déplacement de l'outil (7, 17, 27) pour couvrir la surface à sécuriser, ce calculateur (10) recevant les valeurs fournies par Jes différents capteurs angulaires (C1 , C2, C3, C4) et délivrant en sortie des signaux électriques commandant des électro-distributeurs (E1 , E2, E3, E4) alimentant hydrauliquement le moteur (12) d'entraînement en rotation de la tourelle (5) et les différents vérins (13, 14, 15) d'actionnement des éléments du bras (6a, 6b, 6c), jusqu'à ce que les valeurs angulaires soient égales aux valeurs calculées. 9. Device according to claim 8, characterized in that it comprises a computer (10) equipped with a program for controlling the movement of the tool (7, 17, 27) to cover the surface to be secured, this computer ( 10) receiving the values supplied by the various angular sensors (C1, C2, C3, C4) and delivering at the output electrical signals controlling solenoid valves (E1, E2, E3, E4) hydraulically supplying the motor (12) of rotation drive of the turret (5) and the different actuators (13, 14, 15) for actuating the elements of the arm (6a, 6b, 6c), until the angular values are equal to the calculated values.
EP01938307A 2000-05-26 2001-05-22 Method for automatically moving on the ground a tool mounted at the end of an articulated arm Withdrawn EP1297395A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0006794 2000-05-26
FR0006794A FR2809339B1 (en) 2000-05-26 2000-05-26 METHOD FOR AUTOMATICALLY MOVING ON A GROUND, A TOOL MOUNTED AT THE END OF AN ARTICULATED ARM
PCT/FR2001/001584 WO2001092976A1 (en) 2000-05-26 2001-05-22 Method for automatically moving on the ground a tool mounted at the end of an articulated arm

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EP1297395A1 true EP1297395A1 (en) 2003-04-02

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EP (1) EP1297395A1 (en)
JP (1) JP2003534932A (en)
AU (1) AU2001264003A1 (en)
CA (1) CA2410282A1 (en)
FR (1) FR2809339B1 (en)
WO (1) WO2001092976A1 (en)

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FR2860015B1 (en) * 2003-09-22 2006-12-22 Giat Ind Sa MILITARY FIELD DEVELOPMENT VEHICLE
EP3445919A4 (en) 2016-04-19 2020-01-22 CPAC Systems AB Control unit in working machine for identifying human operation of implement

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JP2003534932A (en) 2003-11-25
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US20040020084A1 (en) 2004-02-05
FR2809339B1 (en) 2002-09-20
CA2410282A1 (en) 2001-12-06

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