EP1835079A1 - Excavatrice commandée électro-mécaniquement et procédé de commande de l'excavatrice commandée électro-mécaniquement. - Google Patents

Excavatrice commandée électro-mécaniquement et procédé de commande de l'excavatrice commandée électro-mécaniquement. Download PDF

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Publication number
EP1835079A1
EP1835079A1 EP06122458A EP06122458A EP1835079A1 EP 1835079 A1 EP1835079 A1 EP 1835079A1 EP 06122458 A EP06122458 A EP 06122458A EP 06122458 A EP06122458 A EP 06122458A EP 1835079 A1 EP1835079 A1 EP 1835079A1
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EP
European Patent Office
Prior art keywords
excavator
controller
stick
pump
engine
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Granted
Application number
EP06122458A
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German (de)
English (en)
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EP1835079B1 (fr
Inventor
Qinghua He
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Individual
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Publication of EP1835079A1 publication Critical patent/EP1835079A1/fr
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Publication of EP1835079B1 publication Critical patent/EP1835079B1/fr
Expired - Fee Related legal-status Critical Current
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    • 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
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • This invention relates to electromechanically-integrated excavators and methods for controlling the electromechanically-integrated excavators.
  • Excavators are widely used in the construction industry, and their operation is generally flexible and highly efficient. However, excavator operation is not without problems, including the required high labor input, the inconvenience of direct human participation under adverse conditions, and the necessity for long training of excavator operators to attain high skills, among others.
  • the improvement of electromechanical integration of excavators is critical for overcoming these drawbacks and for realizing a more automatic and intelligent operation of excavators.
  • the present invention arose in the context of the above-identified problems. It is one aspect of the present invention to provide an electromechanically-integrated excavator and a method capable of realizing highly precise operation and control, good positioning capability, and lower power consumption.
  • an electro-mechanically integrated excavator comprising a monitoring processor, a data storage, a watchdog, an indicator screen, an audio alarm, an optoelectronic isolating circuit, a high speed optoelectronic isolating circuit, a counter, a filter, and a communication circuit
  • the monitoring processor is connected respectively with the storage, the watchdog, the indicator screen, the audio alarm, the revolution counter, the filter, and the communication circuit
  • the optoelectronic isolating circuit is connected with the filter
  • the high speed optoelectronic isolating circuit is connected with the counter.
  • the excavator of the present invention also comprises a motion controller, a boom angle sensor, a stick or arm angle sensor, and a bucket angle sensor, wherein the outputs of the boom angle sensor, the stick angle sensor, and the bucket angle sensor are connected with the inputs of the motion controller, and the motion controller is connected with the monitoring processor via the communication circuit.
  • the electromechanically-integrated excavator also comprises a laser emitter rack set near the front portion of the excavator, a laser emitter mounted on the laser emitter rack, and a height detector fixedly mounted on the stick of the excavator, the output of the height detector being connected with the monitoring processor.
  • the electromechanically-integrated excavator also comprises an energy-saving controller, a mode select switch, and a knob for setting the engine speed or revolutions.
  • the energy saving mode is selected via the mode select switch and a desired engine speed is input via the engine speed setting knob.
  • Both the mode information and the desired revolutions per minute (rpm) are sent to the engine controller, which is a subpart of the energy-saving controller, in which the rotating speed is monitored in real-time and fed back.
  • the position of the throttle of the engine is adjusted by a linear displacement electromagnet to meet the requirement on the engine power and to control the power of the engine.
  • the desired pump pressure is input via a ⁇ p regulating knob into a pump controller, which is a subpart of the energy saving controller.
  • the information of the position of the throttle and the rpm of the engine is input into the controller to get a valid feedback.
  • the output signal from the pump controller serves to control the pump regulator so as to control the pump.
  • a method for controlling the work of the electromechanically-integrated excavator comprising the steps of (1) determining the movement of the excavator by utilizing a motion controller so as to obtain the motion sequence of the operating devices, incl., the boom, the stick, and the bucket; (2) setting parameters for the starting point of the motion sequence to obtain a Pulse Width Modulation (PWM) signal to control a pilot electro-hydraulic proportional valve, by means of which the main valve driving the operation of each hydraulic cylinder of the operating devices is controlled; (3) obtaining the position information of the operating devices by utilizing the angle sensors mounted on the boom, the stick, and the bucket of the excavator respectively, which information is then transmitted by a bus to the motion controller, wherein the obtained position information is compared with that preset for the operating devices, wherein the control parameters are corrected in real-time by applying the method of adaptive Proportional-Integral-Differential (PID) algorithm, by which the PID) algorithm, by which the PID
  • the operating device of an excavator in accordance with one embodiment of the present invention comprises a boom 1, an arm or a stick 3, and a bucket 6 mounted with angle sensors 2, 4, and 7, respectively.
  • a laser emitter rack 8 with a laser emitter 9 mounted thereon is disposed near the front portion of the stick 3, a height detector 5 is fixedly mounted on the stick 3, the output of the height detector 5 is connected with a monitoring processor.
  • the laser emitter rack 8 is set to a horizontal status, and the laser head of the laser emitter 9 rotates and emits a laser signal, which is received by the height detector 5 by which the relative height of the laser beam is measured in comparison with the zero level.
  • the signal of the measured relative height is transmitted by a bus to a processor of the monitoring system for processing; the processed signal is displayed on an indicator screen of the monitoring system, and then is transmitted by a communication circuit to a motion controller.
  • the monitoring system of an excavator in accordance with one embodiment of the present invention comprises a monitoring processor, a data storage, a watchdog for protecting the system from specific (software or hardware) failures that may cause the system to stop responding, an indicator screen, an audio alarm, an optoelectronic isolating circuit with isolation elements, a high speed optoelectronic isolating circuit, a revolution counter, a filter, a communication circuit, a motion controller, a boom angle sensor, a stick or arm angle sensor, a bucket angle sensor, a laser emitter, and a height detector, wherein the monitoring processor is connected with the storage, the watchdog, the indicator screen, the audio alarm, the counter, the filter, and the communication circuit, and the optoelectronic isolating circuit is connected with the filter.
  • the position information from the boom angle sensor, the stick angle sensor, and the bucket angle sensor is transmitted as a signal by a bus to the motion controller, and then is sent via the communication circuit to the monitoring processor for processing.
  • the obtained signal is then displayed on the indicator screen.
  • Based on the laser signal received by the height detector the relative height of the laser beam in comparison to the zero level is measured, and is transmitted by a bus to the monitoring processor for processing.
  • the obtained signal is then displayed on the indicator screen.
  • the high-speed pulse signal from the engine is sent via the high-speed optoelectronic isolating circuit to the counter to be counted, and then is sent to the monitoring processor.
  • Various on-off signals passed through the optoelectronic isolating circuit and the filter are sent to the monitoring processor for processing.
  • the obtained signal is then displayed on the indicator screen.
  • the pressure, the temperature, and the liquid level at each node can be displayed when the excavator is in operation.
  • an intelligent control of the operation of the excavator can also be realized.
  • the main parameters of the system including without limitation, the fuel level, the oil pressure, the water temperature, the oil temperature, the low battery voltage, the high water temperature of the engine cooling system, the low fuel, the filter clogging, the air filter deficiency, the high temperature of hydraulic oil, the low oil pressure, the high oil temperature, and the low water level, are monitored and displayed, and alarm is issued when these levels exceed certain preset values.
  • the capability to diagnose malfunctions by the monitoring processor allows the values of the key control parameters of each port to be displayed in real-time when the machine is in operation. If a malfunction occurs, the position of the malfunction can be rapidly and conveniently detected, and corrective actions can be taken in speedily.
  • the operating device of the excavator is regarded as a manipulator with multiple degrees of freedom, wherein the position information of the operating devices is determined by angle sensors 2, 4, and 7 mounted on the boom 1, the stick 3, and the bucket 6, respectively.
  • the signal carrying the position information from the above three sensors is transmitted by a bus to the motion controller 11 of the excavator, in which the precise movement of the operating devices are determined.
  • a movement may be expressed as a horizontal line, a sloped line, an arc line, etc.
  • the signal is sent for analysis in accordance with kinematic and dynamic layouts to obtain a motion sequence of the operating devices, i.e., the boom 1, the stick 3, and the bucket 6.
  • the values of the control parameters on the motion sequence are adjusted in real-time in accordance with the position information of the operating devices by applying adaptive Proportional Integral Derivative (PID) algorithm, and then the real-time-corrected control parameters are obtained as a Pulse-Width-Modulated (PWM) output.
  • PID Proportional Integral Derivative
  • PWM Pulse-Width-Modulated
  • the energy saving mode is selected via the mode select switch and a desired engine revolution speed is input via the engine speed setting knob.
  • Both the mode information and the desired rpm are sent to the engine controller, which is a subpart of the energy-saving controller, in which the rotating speed is monitored in real-time and fed back.
  • the position of the throttle of the engine is adjusted by a linear displacement electromagnet to meet the requirement on the engine power and to control the power of the engine.
  • the desired pump pressure is input via a ⁇ p regulating knob (pressure regulating knob) into a pump controller, which is a subpart of the energy saving controller.
  • the information of the position of the throttle and the rpm of the engine is input into the controller to get a valid feedback.
  • the output signal from the pump controller serves to control the pump regulator so as to control the pump.
  • the engine controller and the pump controller together form an energy-saving controller and realize a good match among the parameters of the engine, the hydraulic pump, and the loading, so as to realize energy saving.
EP06122458A 2006-03-17 2006-10-17 Excavatrice commandée électro-mécaniquement et procédé de commande de l'excavatrice commandée électro-mécaniquement. Expired - Fee Related EP1835079B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN200610331374 2006-03-17

Publications (2)

Publication Number Publication Date
EP1835079A1 true EP1835079A1 (fr) 2007-09-19
EP1835079B1 EP1835079B1 (fr) 2008-05-07

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EP06122458A Expired - Fee Related EP1835079B1 (fr) 2006-03-17 2006-10-17 Excavatrice commandée électro-mécaniquement et procédé de commande de l'excavatrice commandée électro-mécaniquement.

Country Status (2)

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EP (1) EP1835079B1 (fr)
DE (1) DE602006001105D1 (fr)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009158619A2 (fr) * 2008-06-27 2009-12-30 Caterpillar Inc. Système d'évitement de site de travail
CN104120745A (zh) * 2014-07-28 2014-10-29 三一重机有限公司 一种挖掘机自动平地控制方法
CN104246081A (zh) * 2012-06-08 2014-12-24 住友重机械工业株式会社 挖土机的控制方法及控制装置
CN104769189A (zh) * 2014-09-10 2015-07-08 株式会社小松制作所 作业车辆
CN104929169A (zh) * 2015-05-21 2015-09-23 徐工集团工程机械股份有限公司科技分公司 一种提高装载机铲装能力的控制装置及其控制方法
CN105350595A (zh) * 2015-08-27 2016-02-24 中国航空工业集团公司西安飞行自动控制研究所 基于位置控制的挖掘机操纵装置
CN109281345A (zh) * 2018-02-06 2019-01-29 上海云统信息科技有限公司 挖掘机远程监控云服务系统
IT201800006471A1 (it) * 2018-06-19 2019-12-19 Metodo e dispositivo per il controllo della profondita' di scavo di un escavatore.
US10648160B2 (en) 2017-04-27 2020-05-12 Cnh Industrial America Llc Work machine with bucket monitoring
CN111622297A (zh) * 2020-04-22 2020-09-04 浙江大学 一种挖掘机的在线作业纠偏系统和方法
CN112112215A (zh) * 2020-09-30 2020-12-22 徐州徐工挖掘机械有限公司 一种适用于挖掘机的节能控制方法
CN114439070A (zh) * 2022-02-15 2022-05-06 西安方元明鑫精密机电制造有限公司 一种基于可编程控制器的挖掘机用电动缸功率匹配控制系统
RU2779252C1 (ru) * 2022-02-16 2022-09-05 федеральное государственное автономное образовательное учреждение высшего образования "Пермский национальный исследовательский политехнический университет" Рабочее оборудование экскаватора
CN115874675A (zh) * 2023-03-08 2023-03-31 鸿陆智能科技(山东)有限公司 一种液压多路阀控制系统及其实现方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102890487A (zh) * 2012-09-24 2013-01-23 三一重机有限公司 多控制器电控系统
US10968607B2 (en) 2015-10-28 2021-04-06 Komatsu Ltd. Calibration device of work machine, work machine, and calibration method of work machine
JP6756567B2 (ja) * 2016-09-30 2020-09-16 株式会社小松製作所 作業機用の箱形構造体
JP6714534B2 (ja) * 2017-03-29 2020-06-24 日立建機株式会社 建設機械
CN110725359B (zh) * 2019-10-28 2022-03-01 上海三一重机股份有限公司 一种轨迹控制方法及挖掘机

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EP0125736A1 (fr) * 1983-05-17 1984-11-21 Hitachi Construction Machinery Co., Ltd. Drague
EP0136228A2 (fr) * 1983-09-20 1985-04-03 Jean-Yves Leseure Circuit isolateur à coupleur optoélectonique
US4603234A (en) * 1983-04-04 1986-07-29 Gte Lenkurt Incorporated Switching circuit including current limiting and initializing signal isolation
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JPH07113252A (ja) * 1993-10-18 1995-05-02 Hitachi Constr Mach Co Ltd 油圧建設機械の原動機回転数制御装置
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EP0795651A1 (fr) * 1996-02-15 1997-09-17 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif de commande d'un excavateur hydraulique
JPH10317417A (ja) * 1997-05-19 1998-12-02 Hitachi Constr Mach Co Ltd 多関節作業機械の姿勢制御装置
DE19909610A1 (de) * 1998-03-05 1999-11-11 Komatsu Mfg Co Ltd Steuerung für Bagger u. dgl. Baumaschinen
EP0976879A1 (fr) * 1997-10-29 2000-02-02 Shin Caterpillar Mitsubishi Ltd. Systeme de commande de materiel radio a distance, appareil de commande a distance, station relais d'emission-reception, et dispositif radio mobile
US20030001751A1 (en) * 2000-11-17 2003-01-02 Hiroshi Ogura Display device and display controller of construction machinery
JP2003097316A (ja) * 2001-09-20 2003-04-03 Komatsu Ltd 作業機械
US20030147727A1 (en) * 2001-06-20 2003-08-07 Kazuo Fujishima Remote control system and remote setting system for construction machinery

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4603234A (en) * 1983-04-04 1986-07-29 Gte Lenkurt Incorporated Switching circuit including current limiting and initializing signal isolation
EP0125736A1 (fr) * 1983-05-17 1984-11-21 Hitachi Construction Machinery Co., Ltd. Drague
EP0136228A2 (fr) * 1983-09-20 1985-04-03 Jean-Yves Leseure Circuit isolateur à coupleur optoélectonique
JPH02101228A (ja) * 1988-10-07 1990-04-13 Komatsu Ltd 作業機の制御装置
JPH07113252A (ja) * 1993-10-18 1995-05-02 Hitachi Constr Mach Co Ltd 油圧建設機械の原動機回転数制御装置
US5528498A (en) * 1994-06-20 1996-06-18 Caterpillar Inc. Laser referenced swing sensor
EP0795651A1 (fr) * 1996-02-15 1997-09-17 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif de commande d'un excavateur hydraulique
JPH10317417A (ja) * 1997-05-19 1998-12-02 Hitachi Constr Mach Co Ltd 多関節作業機械の姿勢制御装置
EP0976879A1 (fr) * 1997-10-29 2000-02-02 Shin Caterpillar Mitsubishi Ltd. Systeme de commande de materiel radio a distance, appareil de commande a distance, station relais d'emission-reception, et dispositif radio mobile
DE19909610A1 (de) * 1998-03-05 1999-11-11 Komatsu Mfg Co Ltd Steuerung für Bagger u. dgl. Baumaschinen
US20030001751A1 (en) * 2000-11-17 2003-01-02 Hiroshi Ogura Display device and display controller of construction machinery
US20030147727A1 (en) * 2001-06-20 2003-08-07 Kazuo Fujishima Remote control system and remote setting system for construction machinery
JP2003097316A (ja) * 2001-09-20 2003-04-03 Komatsu Ltd 作業機械

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009158619A3 (fr) * 2008-06-27 2010-05-06 Caterpillar Inc. Système d'évitement de site de travail
CN102076914B (zh) * 2008-06-27 2012-12-05 卡特彼勒公司 工地规避系统
US8527155B2 (en) 2008-06-27 2013-09-03 Caterpillar Inc. Worksite avoidance system
WO2009158619A2 (fr) * 2008-06-27 2009-12-30 Caterpillar Inc. Système d'évitement de site de travail
CN104246081A (zh) * 2012-06-08 2014-12-24 住友重机械工业株式会社 挖土机的控制方法及控制装置
CN104246081B (zh) * 2012-06-08 2018-05-22 住友重机械工业株式会社 挖土机的控制方法及控制装置
CN104120745A (zh) * 2014-07-28 2014-10-29 三一重机有限公司 一种挖掘机自动平地控制方法
CN104120745B (zh) * 2014-07-28 2016-08-24 三一重机有限公司 一种挖掘机自动平地控制方法
CN104769189B (zh) * 2014-09-10 2016-12-28 株式会社小松制作所 作业车辆
CN104769189A (zh) * 2014-09-10 2015-07-08 株式会社小松制作所 作业车辆
US9371626B2 (en) 2014-09-10 2016-06-21 Komatsu Ltd. Work vehicle
CN104929169B (zh) * 2015-05-21 2017-05-24 徐工集团工程机械股份有限公司科技分公司 一种提高装载机铲装能力的控制装置及其控制方法
CN104929169A (zh) * 2015-05-21 2015-09-23 徐工集团工程机械股份有限公司科技分公司 一种提高装载机铲装能力的控制装置及其控制方法
CN105350595B (zh) * 2015-08-27 2017-08-29 中国航空工业集团公司西安飞行自动控制研究所 基于位置控制的挖掘机操纵装置
CN105350595A (zh) * 2015-08-27 2016-02-24 中国航空工业集团公司西安飞行自动控制研究所 基于位置控制的挖掘机操纵装置
US10648160B2 (en) 2017-04-27 2020-05-12 Cnh Industrial America Llc Work machine with bucket monitoring
CN109281345A (zh) * 2018-02-06 2019-01-29 上海云统信息科技有限公司 挖掘机远程监控云服务系统
EP3591123A1 (fr) * 2018-06-19 2020-01-08 Edilmag S.r.l. Procédé et dispositif de commande de la profondeur d'excavation d'un excavateur
IT201800006471A1 (it) * 2018-06-19 2019-12-19 Metodo e dispositivo per il controllo della profondita' di scavo di un escavatore.
CN111622297A (zh) * 2020-04-22 2020-09-04 浙江大学 一种挖掘机的在线作业纠偏系统和方法
CN111622297B (zh) * 2020-04-22 2021-04-23 浙江大学 一种挖掘机的在线作业纠偏系统和方法
CN112112215A (zh) * 2020-09-30 2020-12-22 徐州徐工挖掘机械有限公司 一种适用于挖掘机的节能控制方法
CN114439070A (zh) * 2022-02-15 2022-05-06 西安方元明鑫精密机电制造有限公司 一种基于可编程控制器的挖掘机用电动缸功率匹配控制系统
RU2779252C1 (ru) * 2022-02-16 2022-09-05 федеральное государственное автономное образовательное учреждение высшего образования "Пермский национальный исследовательский политехнический университет" Рабочее оборудование экскаватора
CN115874675A (zh) * 2023-03-08 2023-03-31 鸿陆智能科技(山东)有限公司 一种液压多路阀控制系统及其实现方法

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Publication number Publication date
DE602006001105D1 (de) 2008-06-19
EP1835079B1 (fr) 2008-05-07

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