EP2508680A1 - Steuersystem für ferngesteuerte Arbeitsmaschine mit beweglichem Arm - Google Patents

Steuersystem für ferngesteuerte Arbeitsmaschine mit beweglichem Arm Download PDF

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Publication number
EP2508680A1
EP2508680A1 EP12446501A EP12446501A EP2508680A1 EP 2508680 A1 EP2508680 A1 EP 2508680A1 EP 12446501 A EP12446501 A EP 12446501A EP 12446501 A EP12446501 A EP 12446501A EP 2508680 A1 EP2508680 A1 EP 2508680A1
Authority
EP
European Patent Office
Prior art keywords
control
working machine
arm
manoeuvrable
manoeuvrable arm
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
EP12446501A
Other languages
English (en)
French (fr)
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EP2508680B1 (de
Inventor
Stefan Andersson
Gunnar Bystedt
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.)
Brokk AB
Original Assignee
Brokk AB
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Filing date
Publication date
Application filed by Brokk AB filed Critical Brokk AB
Publication of EP2508680A1 publication Critical patent/EP2508680A1/de
Application granted granted Critical
Publication of EP2508680B1 publication Critical patent/EP2508680B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/966—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements of hammer-type tools
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller

Definitions

  • the present invention concerns a control system for a working machine equipped with a manoeuvrable arm intended to support a tool.
  • This type of remote-controlled working machine is intended for various types of task, not only specific industrial applications and work to be carried out with high precision but also more general applications with more heavy-duty work that is carried out on site, and that can most closely be compared with excavation of the type that is normally carried out with conventional excavators.
  • the most common task of the working machine is, however, destruction and demolition and the displacement of freed material, whereby the operator walks beside the machine and controls its various motions with a control unit of the type that is intended to be carried on the body of the operator using a harness, waist belt or similar.
  • the working machine has various types of working mode that can be selected through the control unit.
  • the operator is in connection with the machine by cable or by wireless communication, for example Bluetooth or radio control.
  • the control unit comprises two control sticks and a series of button and knobs that through their influence and settings can cause the manoeuvrable arm to carry out the desired motions.
  • the working machine can be set into various functional or working modes through the control unit. During exchange of working mode, the control unit is set into what is known as "setup mode". Exchange of working mode can take place only when the control unit is in the said setup mode, whereby the selected working mode is displayed with the aid of symbols that are illuminated on a screen or display on the control unit. By setting the working machine into various working modes, the working machine can carry out a number of different motions with only the two control sticks.
  • the working machine generally comprises a chassis with an upper part and a lower part.
  • the upper part is mounted in bearings on the lower part such that it can be rotated in a horizontal plane around a vertical axis.
  • the lower part of the working machine is provided with a propulsion means that includes continuous tracks.
  • the manoeuvrable arm of the working machine is supported at the rotatable upper part and is relatively complicated in its design in that it includes four hydraulic functions that include, when viewed from the chassis of the working machine, pivoting of a first arm section (known as the "boom" or the "lifting arm”), pivoting of a second arm section, pivoting of a third arm section, and pivoting of a tool supported at the end of the third arm section.
  • the working machine is equipped with a hydraulic pump with which the operating means of the machine for the manoeuvrable arm, which means comprises a first cylinder (the boom cylinder), a second and a third arm cylinder, and a fourth cylinder that constitutes a breaker or pivot cylinder for the supported tool, is driven by hydraulic fluid that is supplied by the pump.
  • a control valve that controls the hydraulic fluid from the pump to the operating means such that the displaceable arm of the working machine can be manoeuvred in the desired manner through the influence of the two control sticks.
  • the flow to each of the operating means is determined by the position of the control stick.
  • manoeuvrable arm of the working machine is therefore intended to support many types of tool at its free end, in a manner that allows them to be exchanged, for example concrete crushers, demolition hammers, and various types of bucket for excavation work and for the displacement of material.
  • special tools Some of these tools are relatively heavy, while others are light, and this influences the behaviour of the manoeuvrable arm during operation.
  • Certain operations of a more industrial nature require that the tool be operated with high precision during what is known as "parallel displacement" across a large working area.
  • parallel displacement is achieved through the allocation of a determined amount of driving fluid to the hydraulic consumers, divided into suitable partial amounts.
  • the amount of flow is distributed between the first hydraulic cylinder, which is used for the raising and lowering of the first arm section (the lifting arm), and the second hydraulic cylinder, which is used for the manoeuvring of a second arm section.
  • a constant horizontal longitudinal extent of the manoeuvrable arm is achieved through interaction between the first and second cylinders of the working machine.
  • the purpose of the present invention is to achieve a control system for a working machine of the present type that solves the above-mentioned problems and that makes the working machine more efficient by increasing its ease of use and flexibility. This is achieved through a working machine being equipped with a control system that demonstrates the distinctive features and characteristics that are specified in claim 1.
  • the insight that forms the basis of the invention is that of assigning to the working machine the ability to be switched between different working modes, in particular a mode that includes a mode for manual operation in which the operator controls the motions of the manoeuvrable arm by direct influence on the control sticks, and a mode for semi-automatic or fully automatic operation (automatic motion control stick mode) whereby the working machine, when a control stick is operated, follows a course determined in advance based on synchronisation of the operating means of the manoeuvrable arm being carried out through the use of software that is stored in a computer.
  • the working machine is this way able to be switched by the control unit between a first working mode known as "manual control stick mode" and an automatic control stick mode, whereby the manoeuvrable arm moves along a course under control of the software of the computer.
  • the operating means When the working machine has been switched to the manual control stick mode, the operating means carry out their motions for the manoeuvring of the displaceable arm by direct manual influence of the operating means of the control unit, i.e. through influence of the two control sticks.
  • the operating means When the working machine has been switched to the automatic control stick mode, the operating means carry out their motions in a manner that has been mutually preprogrammed in order to carry out motion that has been determined in advance.
  • This motion that has been determined in advance includes the manoeuvring of the displaceable arm, can include any suitable courses of motion at all, but it includes two linear motions of particular interest, namely a first denoted by “horizontal parallel guidance” and a second denoted by “vertical parallel guidance”.
  • horizontal parallel guidance the operating means are synchronised through following a control curve that has been developed for each one of these operating means, such that a tool supported at the free end of the manoeuvrable arm moves linearly along a horizontal axis.
  • the operating means are so synchronised that the tool at the end of the arm moves linearly along a vertical axis and the hydraulic control circuit is equipped with means for the adjustment of the parameters of the synchronous electronic (electrohydraulic) control of the operating means of the manoeuvrable arm, depending on the weight of the selected tool.
  • the hydraulic control circuit is equipped with means for the adjustment of the parameters of the synchronous electronic (electrohydraulic) control of the operating means of the manoeuvrable arm, depending on the apparent temperature, and thus viscosity, of the hydraulic medium.
  • the system comprises means for the identification of the selected tool and for automatic adjustment of the parameters of the electronic (electrohydraulic) control of the operating means of the manoeuvrable arm, depending on the weight of the selected tool.
  • the system includes the possibility of selecting the operating specifications of the hydraulic system through a choice of the tool by means of the control unit for the remote control of the working machine.
  • Figure 1 A shows a remote-controlled electrically driven working machine 1 designed as a demolition robot that is supplied with power through a cable 2.
  • a remote-controlled working machine is manufactured and sold under the trademark "BROKK", and is such a working machine at which an operator 3 walks beside the machine and controls and operates it by means of a portable control unit 4 or remote-control unit that is carried on the body by means of a belt or harness.
  • the control unit 4 comprises two control sticks, one of which 4a is located at the left and the other of which 4b is located at the right, and the control unit has a series of buttons and knobs that through their influence and settings can cause the working machine to carry out the desired motions, or through the input of data the working machine is provided with the required instructions.
  • the working machine 1 can be set into different types of working mode that can be selected by means of the control unit, see also Figures 4A and 4B .
  • the control unit is set into the setting mode and position for "Tool choice”
  • different types of tool can be selected, see Figure 6 , whereby the selection of the following tools is illustrated: hydraulic hammer, hydraulic cutter, bucket, and two user-specific tools denoted by "Special 1" and "Special 2".
  • the operation of the working machine 1 takes place with the aid of controls that can be influenced for each relevant function, whereby functions are included that are arranged through the control system for fully automatic or semi-automatic synchronisation of the motions of the operating means.
  • the term "fully automatic control” is used below to denote the process in which, when a control stick is influenced, there is initiated and executed a complete work cycle as a motion along a course that has been determined in advance, while “semi-automatic control” is used to denote a process in which the motion along the course continues only for as long as the control stick is influenced.
  • the motion stops immediately i.e. the manoeuvrable arm 10 stops moving.
  • the operator 3 is in connection with the machine through the control unit 4 by cable or in a wireless manner, for example through Bluetooth or radio control.
  • the working machine 1 can be set through the control unit 4 into different working modes as is illustrated in Figure 5B .
  • the control unit 4 is set into what is known as "setup mode" during the switching of the working mode. Exchange of working mode can take place only when the control unit 4 is in the said setup mode, whereby the selected working mode is displayed with the aid of symbols that are illuminated on a screen 4c or display on the control unit 4.
  • the working machine can carry out a number of different motions with the two control sticks 4a, 4b.
  • the working machine is shown in Figure 1A during the execution of work with a demolition hammer for the freeing and crushing of material, and it is shown in Figure 1 B during excavation and the removal of free material, whereby the working machine is equipped with a bucket 16.
  • the working machine 1 generally comprises a chassis 5 with an upper part 6 and a lower part 7.
  • the upper part 6 is mounted to rotate in bearings on the lower part 7 for rotation in a horizontal plane around a vertical axis C.
  • the lower part 7 of the working machine 1 is provided with a propulsion means that includes continuous tracks 8.
  • the working machine 1 has a manoeuvrable arm 10 that is supported at the rotatable upper part 6 and including four hydraulic functions that include, when viewed from the chassis of the working machine, pivoting of a first arm section 11 (known as the "boom" or the "lifting arm”), pivoting of a second arm section 12, pivoting of a third arm section 13, and pivoting of a tool 14 supported at the end of the third arm section.
  • the working machine 1 is equipped with a hydraulic pump 20 with which the operating means of the machine for the manoeuvrable arm 10 is driven by hydraulic fluid that is supplied by the pump.
  • the operating means include a first hydraulic cylinder 31 [here and elsewhere - the cylinder numbers in Figure 1A are 30, 31, 32, 33] (the boom cylinder), a second 32 and a third 33 hydraulic cylinder (arm cylinders), and a fourth hydraulic cylinder 34 (the breaker or pivot cylinder) for the tool.
  • control valve 21a, 21b that controls the hydraulic fluid from the hydraulic pump 20 to the operating means such that the working machine can be manoeuvred in the desired manner through the influence of the two control sticks 4a, 4b of the control unit 4.
  • the working machine 1 is provided with means that make it possible to set the hydraulic system into different working modes in order to make it easier for the operator 3 to carry out specific tasks. It is thus possible to select through the control unit 4 in association with this different types of tool, whereby the working machine is placed into the mode for tool selection.
  • these two different working modes include a first mode for manual operation in which the operator 3 controls the motions of the manoeuvrable arm 10 through direct influence of the control sticks 4a, 4b, and a second mode for automated operation, whereby the motion is fully or partially controlled by software in a computer such that the tool 14 that is suspended at the manoeuvrable arm 10 of the working machine carries out a defined motion along a course following a linear course that has been determined in advance, but stops at a freely chosen position along the course as soon as the influence of the control stick ceases.
  • the working machine 1 has, in this way, the advantage that the manoeuvrable arm 10 can be assigned through rules and control technical measures a course of motion that has been determined in advance, for example, as is shown in Figure 1 A , that of causing a tool 14 supported by the manoeuvrable arm 10 to follow an exact linear horizontal course denoted by "X", i.e. to achieve complete parallel guidance of a supported tool 14 along the course.
  • X exact linear horizontal course
  • the control system be so designed that the deviation of the position of the control sticks 4a, 4b from their central points influences the speed of motion of the manoeuvrable arm 10, such that a small deviation results in the manoeuvrable arm moving slowly.
  • a vertical course is denoted by "Y" in Figure 1A .
  • the operating means 31, 32, 33, 34 of the manoeuvrable arm are synchronised to carry out motions that ensure that the manoeuvrable arm as a unit carries out the desired motion along a course in space.
  • FIG. 2 shows a circuit diagram for a control arrangement 22 intended for the control of the working machine 1.
  • the hydraulic system 23 is shown schematically with its associated regulator structure for the control of the operating means of the working machine, i.e. the first cylinder 31 (the boom cylinder), the second 32 and the third 33 cylinders, and the fourth cylinder 34 that constitutes the breaker or pivot cylinder for the supported tool 14.
  • the full lines denote hydraulic lines, while the dashed lines denote lines for electrical signals.
  • the hydraulic pump 20 is arranged to supply the operating means 31, 32, 33, 34 of the manoeuvrable arm 10 with hydraulic fluid.
  • the valve 22a in Figure 3 of the hydraulic system 23 It is the task of the first flow-regulating valve 22a in Figure 3 of the hydraulic system 23 to regulate the hydraulic flow to a hydraulically powered tool, for example a demolition hammer, and the valve is connected hydraulically to the pump 20 through a valve 24 that sets priorities, and electrically to a computer unit 25.
  • the tool that is supported by the manoeuvrable arm 10 includes a demolition hammer 14, but it could, however, be constituted by any tool that is available, such as, for example, a bucket 16 (see Figure 1 B) .
  • the valve 24 that sets priorities in the present embodiment is set to always give priority to the hydraulic flow to the tool (the hydraulic demolition hammer), before other consumers.
  • the hydraulic system 23 in Figure 3 comprises further a second flow-regulating valve 22b in the form of a manoeuvrable arm valve that is set to regulate the hydraulic flow to the operating means of the working machine, i.e. to the first cylinder 31 (the boom cylinder), the second 32 and the third 33 cylinders, and the fourth cylinder 34 that constitutes the breaker or pivot cylinder for the supported tool 14.
  • the computer unit 25 is connected to the said first and second valves 21a, 21b for the regulation of these.
  • the control arrangement 22 comprises further influenceable control means in the form of the said sticks 4a, 4b, which, as has been described above, are arranged on the control unit 4 that is carried by the operator 3.
  • the sticks 4a, 4b, are connected to the computer unit 25, as is the control unit in its entirety.
  • the hydraulic system 23 is of the type that senses the load applied, and this means that the pump 20 supplies fluid only when it is required and only to the locations at which it is required. This means that motor power is available to power particularly demanding tools, for example a hydraulic demolition hammer 14.
  • the present working machine 1 has a broad field of use in which the manoeuvrable arm is intended to support many different types of tool 14, 16 at its free end, and these tools may also be selected in the control unit 4 of the working machine, whereby the control arrangement 22 of the hydraulic system is adapted by the control computer 25 in a pre-determined manner for the tool selected.
  • This adaptation may concern, for example setting the priority for the hydraulic flow to the hydraulically powered tool. It would be an advantage during certain operations of a more industrial nature if the tool could be manoeuvred with high precision during what is known as "parallel displacement", and displaced linearly while maintaining its orientation across a large working area.
  • the present working machine is assigned a control system that makes it possible directly through the control unit to switch between a first working mode denoted the "manual control stick mode” and a second working mode denoted the "automatic control stick mode”.
  • the computer 25 comprises software with a regulatory structure that can control in a synchronised manner each one of the operating means that are used for the motions of the manoeuvrable arm 10.
  • the working machine 1 is this way able to be switched by the control unit 4 between a first working mode known as "manual control stick mode" and an "automatic control stick mode".
  • a tool 14 that is suspended at the manoeuvrable arm 10 moves along a course in space under the control of the software of the computer.
  • FIG. 3 shows the principle for the automatic control stick mode in more detail and, as the drawing makes clear, electrohydraulic valve blocks are denoted by 22a which valve blocks are equipped with electrohydraulic pilot valves (not shown in the drawing) and which valve blocks control and regulate the motion of the first and second operating means of the working machine, i.e. the first cylinder 31 (the boom cylinder) and the second arm cylinder 32.
  • the electrical operation of the valves 21a, 21b is carried out by the computer unit 25. Any other hydraulic cylinders that are components of the manoeuvrable arm 10, i.e.
  • a first signal transmitter connected to the control arrangement 22 and comprising a control stick 4a (or 4b) that is a component of the control unit is arranged such that the operator can give orders to the control arrangement.
  • the control signals required are produced in the electronic control stick 4a in order subsequently to be led onwards to the computer unit 25 of the working machine and from this unit to the relevant operating means 31, 32 that is required in order for the tool 14 to carry out the desired linear displacement.
  • the control stick 4a communicates with the control unit 22 and with relevant other components through an integrated CAN interface.
  • parameter determination of programmed functions occurs through the CAN interface, using, for example, a portable service computer.
  • the special functions and the switching between the operating modes, manual and automatic working modes, is activated by the operator with the aid of buttons on the control unit 4 and the signals are received by digital inputs to the control computer 25.
  • the CAN signals and the signals at the digital inputs are processed in task and maintask, and they start and dismiss control routines.
  • the program routines control through PWM outputs proportional magnets in the electrohydraulic pilot valves in the control valves 21, 21b.
  • Valve control curves 26a, 26b are available in the computer unit 25 in the form of software for each one of the relevant operating means 31, 32 and for any other operating means that are necessary in order to carry out the required functional cycle for the motion of the manoeuvrable arm 10.
  • correction factor curves 27a, 27b and 28a, 28b are available that, based on external circumstances that are related to the weight of the selected tool 14 (curves 27a, 27b) or related to the viscosity of the hydraulic fluid (curves 28a, 28b), compensate and correct the valve control curves 26a, 26b such that the manoeuvrable arm 10 and thus also the tool 14 always carry out the desired linear motion, for example parallel displacement along a horizontal course as is shown in Figure 1 A , independently of the weight of the current tool and of the instantaneous viscosity of the hydraulic fluid. It is appropriate that light-emitting diodes on the control unit 4 indicate the condition of the various units.
  • the control process for automatic control stick mode is divided into two groups, namely one group with preprogrammed fixed valve control curves 26a, 26b, for the relevant operating cylinder 31, 32, and one group with the said correction factor curves 27a, 27b; 28a, 28b that are determined by the condition and that are selected by the control system depending on data that has been obtained from a set of sensors connected to the computer unit 25.
  • the control arrangement 22 comprises thus means 40 for the detection of the weight of the selected tool 14, 16 and means 41 for the detection of the temperature, and thus the viscosity, of the hydraulic fluid.
  • a suitable correction factor curve 27a, 27b for the weight correction is selected using information about the weight of the tool 14, 16.
  • the computer unit can subsequently determine the viscosity of the hydraulic fluid based on the temperature of the fluid and select, based on this, a suitable correction factor curve 28a, 28b.
  • the preprogrammed fixed valve control curves 26a, 26b for the relevant operating cylinder are determined at a certain temperature, for example room temperature at 20 °C.
  • the working machine is shown with symbols in Figure 4 set into different working modes including manual working mode, automatic horizontal motion inwards and outwards, automatic vertical motion upwards and downwards.
  • the operating means 31, 32, 33, 34 carry out their motions for the manoeuvring of the displaceable arm 10 by direct manual influence of the operating means 4a, 4b of the control unit 4, i.e. through influence of the two control sticks 4a, 4b.
  • the control signals for the basic functions raising and lowering the manoeuvrable arm 10 and the supported tool 14 takes place through the crosswise operation of what is known as a "multifunction control stick".
  • buttons 4d, 4e arranged at the top of the control sticks special functions can be activated and signals can be transferred to the control unit for the motion of the working machine.
  • the motion of the manoeuvrable arm 10 is controlled in manual working mode through operation of the control sticks 4a, 4b.
  • the control takes place by means of the control stick 4a in combination with the influence of the upper button 4d of the control stick 4a.
  • the control takes place by means of the control stick 4b in combination with the influence of the upper button 4e of the control stick 4b.
  • the operator 3 through the control unit 4 specifies the choice of a specific tool, for example a hydraulic hammer, hydraulic cutter or bucket, through symbols on the control unit.
  • the hydraulic control circuit 22 is assigned means 40 for the parameter adjustment of the valve control curves 26a, 26b through the influence of correction factor curves 27a, 27b that, stored as software in the control computer 25, are selected depending on the specified tool 14, 16 that is supported by the working machine and that has been specified by the operator.
  • the operator does not need to specify which tool the working machine is supporting: this can take place fully automatically.
  • the system includes means that automatically identify identification data of the selected tool 14, 16, and when the working machine 1 has been switched into the automatic control stick the valve control curves 26a, 26b of the operating means are adapted automatically through the choice of suitable correction factor curves 27a, 27b.
  • Another method is that the operator manually inputs into the control computer 25 through the buttons of the control unit 4 data that concerns the type or weight of the tool when the tool is changed. Although it is true that this method functions well, it is time-consuming and it is not very reliable.
  • the present control system comprises wireless identification means in which a receiver 50 is arranged to receive identification information from identification means 51.
  • the system is further arranged to adapt and adjust at least one operating parameter of the working machine 1 on the basis of an identified tool, for example a demolition hammer 14 or a bucket 16.
  • an identified tool for example a demolition hammer 14 or a bucket 16.
  • the identification means 51 may be attached to the outer surface of the tool while the receiver is arranged at the working machine 1, in this case given as an example, on the manoeuvrable arm 10.
  • the identification means 51 operates wirelessly and may include a passive radiolabel known as a "radio frequency identification" tag, or "RFID” tag.
  • An RFID tag consists of an RFID chip with an identification number and an aerial. The passive RFID tag is supplied with power from an electromagnetic field that is transmitted from an RFID receiver. When the transponder is supplied with power, it transmits its identification number. The identification number is subsequently read by the RFID receiver.
  • RFID technology is well-known to one skilled in the arts and will not, therefore, be described in more detail.
  • Different types of tool such as demolition hammers 14 and buckets 16, intended to be supported in an exchangeable manner by the present working machine 1 are provided during manufacture with a passive radiolabel, an RFID tag, containing identification information, and thus also containing information about the weight of the tool, and possibly other information that may be significant for the functional adaptation of the hydraulic control system 22 of the working machine 1.
  • the receiver 50 that is arranged at the working machine 1 reads identification information from the identification means, the radiolabel, what is known as an "RFID tag", which information is addressed to the computer unit 25 of the control system 22.
  • the software in the computer unit 25 ensures that the identification information that has been received is used for the adaptation and adjustment of at least one operating parameter of the working machine 1.
  • This adaptation concerns the control process during automatic control stick mode, whereby in which a correction factor curve 27a, 27b that is stored in the computer unit 25 and that has been appropriately prepared is selected on the basis of the identification information concerning the weight of the current tool that has been received, for the adjustment of the different program loops from the group of preprogrammed fixed valve control curves 26a, 26b that are used for the synchronised control of the relevant operating means 31, 32, in order to achieve the desired linear motion of the manoeuvrable arm 10.
  • the manoeuvrable arm 10 and a tool 14 that is supported by it can in this way be caused to carry out the desired linear motion along a course, for example in order to achieve horizontal parallel guidance.
  • the two operating means 31, 32 of the manoeuvrable arm 10 each follows a valve control curve 26a, 26b that has been developed for each one of these operating means and that has been adjusted by a suitable correction factor curve 27a, 27b, selected on the basis of the identification information received from the identification means 51, i.e. from the RFID tag, and concerning the weight of the current tool.

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  • 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)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
EP12446501.4A 2011-04-07 2012-03-28 Steuersystem für und mit ferngesteuerter Arbeitsmaschine mit beweglichem Arm Active EP2508680B1 (de)

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SE1150307A SE536152C2 (sv) 2011-04-07 2011-04-07 Styrsystem för en fjärrstyrd arbetsmaskin utrustad med en manöverbar arm

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Cited By (18)

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AT513585A1 (de) * 2012-10-17 2014-05-15 Wacker Neuson Linz Gmbh Baufahrzeug
KR20140102370A (ko) * 2013-02-13 2014-08-22 두산인프라코어 주식회사 작업용 차량의 작업기 제어 장치 및 그 방법
JP2015031141A (ja) * 2013-08-07 2015-02-16 キャタピラー エス エー アール エル 建設機械の遠隔操作システム
EP2957679A1 (de) * 2014-06-18 2015-12-23 Morath GmbH Übergeordnetes Steuersystem
WO2017174576A1 (de) * 2016-04-07 2017-10-12 Schwing Gmbh FERNSTEUERGERÄT FÜR GROßMANIPULATOR MIT STEUERHEBEL
WO2017213572A1 (en) 2016-06-09 2017-12-14 Husqvarna Ab Improved arrangement and method for operating a hydraulically operated boom carrying a tool in a carrier
JP2019078133A (ja) * 2017-10-27 2019-05-23 コベルコ建機株式会社 作業機械
WO2019097059A1 (de) 2017-11-20 2019-05-23 Schwamborn Geraetebau Gmbh Anbaugerät sowie handhabungsvorrichtung mit einem anbaugerät
US10422357B2 (en) 2015-10-19 2019-09-24 Husqvarna Ab Adaptive control of hydraulic tool on remote controlled demolition robot
WO2020145823A1 (en) * 2019-01-10 2020-07-16 Hudson I.P. B.V. Mobile device
US10738442B2 (en) 2015-10-19 2020-08-11 Husqvarna Ab Automatic tuning of valve for remote controlled demolition robot
WO2020162809A1 (en) * 2019-02-05 2020-08-13 Brokk Aktiebolag Method, device and user interface for presentation of information describing a running operating condition of a demolition robot
US11124949B2 (en) 2016-06-09 2021-09-21 Husqvarna Ab Arrangement and method for operating a hydraulically operated boom carrying a tool
EP3889007A1 (de) * 2020-03-30 2021-10-06 Manitowoc Crane Group France Anhängereinheit und entsprechender kran mit automatisierter montage
US11162243B2 (en) 2015-10-19 2021-11-02 Husqvarna Ab Energy buffer arrangement and method for remote controlled demolition robot
WO2022026200A1 (en) * 2020-07-27 2022-02-03 Caterpillar Inc. Method for remote operation of machines using a mobile device
WO2022256964A1 (zh) * 2021-06-07 2022-12-15 何明志 穿刺引导系统及方法
EP4119491A1 (de) * 2021-07-16 2023-01-18 TOYOTA MATERIAL HANDLING MANUFACTURING ITALY S.p.A Flurförderzeug mit fähigkeit zur erkennung einer materialhandhabungsvorrichtung

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Cited By (36)

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AT513585B1 (de) * 2012-10-17 2022-02-15 Wacker Neuson Linz Gmbh Baufahrzeug
AT513585A1 (de) * 2012-10-17 2014-05-15 Wacker Neuson Linz Gmbh Baufahrzeug
KR20140102370A (ko) * 2013-02-13 2014-08-22 두산인프라코어 주식회사 작업용 차량의 작업기 제어 장치 및 그 방법
EP2957680A4 (de) * 2013-02-13 2017-02-08 Doosan Infracore Co., Ltd. Vorrichtung und verfahren zur steuerung einer arbeitsmaschine für nutzfahrzeuge
JP2015031141A (ja) * 2013-08-07 2015-02-16 キャタピラー エス エー アール エル 建設機械の遠隔操作システム
EP2957679A1 (de) * 2014-06-18 2015-12-23 Morath GmbH Übergeordnetes Steuersystem
US10422357B2 (en) 2015-10-19 2019-09-24 Husqvarna Ab Adaptive control of hydraulic tool on remote controlled demolition robot
US11162243B2 (en) 2015-10-19 2021-11-02 Husqvarna Ab Energy buffer arrangement and method for remote controlled demolition robot
US10738442B2 (en) 2015-10-19 2020-08-11 Husqvarna Ab Automatic tuning of valve for remote controlled demolition robot
WO2017174576A1 (de) * 2016-04-07 2017-10-12 Schwing Gmbh FERNSTEUERGERÄT FÜR GROßMANIPULATOR MIT STEUERHEBEL
CN109072622A (zh) * 2016-04-07 2018-12-21 德国施维英有限公司 具有控制杆的用于大型操纵器的远程控制设备
US11214970B2 (en) 2016-04-07 2022-01-04 Schwing Gmbh Remote control device for a large manipulator having a control lever
US10920436B2 (en) 2016-06-09 2021-02-16 Husqvarna Ab Arrangement and method for operating a hydraulically operated boom carrying a tool in a carrier
CN109312555B (zh) * 2016-06-09 2021-06-08 胡斯华纳有限公司 用于操作载体中承载工具的液压操作式梁杆的改进装置和方法
US11401699B2 (en) 2016-06-09 2022-08-02 Husqvarna Ab Arrangement and method for operating a hydraulically operated boom carrying a tool
WO2017213572A1 (en) 2016-06-09 2017-12-14 Husqvarna Ab Improved arrangement and method for operating a hydraulically operated boom carrying a tool in a carrier
CN109312555A (zh) * 2016-06-09 2019-02-05 哈斯科瓦那股份公司 用于操作载体中承载工具的液压操作式梁杆的改进装置和方法
EP3469149A4 (de) * 2016-06-09 2020-01-22 Husqvarna AB Verbesserte anordnung und verfahren zum betrieb eines hydraulisch betätigten ausleger zum tragen eines werkzeugs in einem träger
US11124949B2 (en) 2016-06-09 2021-09-21 Husqvarna Ab Arrangement and method for operating a hydraulically operated boom carrying a tool
JP2019078133A (ja) * 2017-10-27 2019-05-23 コベルコ建機株式会社 作業機械
AU2018368620B2 (en) * 2017-11-20 2021-11-18 Schwamborn Geraetebau Gmbh Attachment, and handling device comprising an attachment
WO2019097059A1 (de) 2017-11-20 2019-05-23 Schwamborn Geraetebau Gmbh Anbaugerät sowie handhabungsvorrichtung mit einem anbaugerät
US11958729B2 (en) 2017-11-20 2024-04-16 Schwamborn Geraetebau Gmbh Attachment and handling device with an attachment
DE102017127339A1 (de) 2017-11-20 2019-05-23 Schwamborn Gerätebau Gmbh Anbaugerät sowie Handhabungsvorrichtung mit einem Anbaugerät
WO2020145823A1 (en) * 2019-01-10 2020-07-16 Hudson I.P. B.V. Mobile device
NL2022360B1 (nl) * 2019-01-10 2020-08-13 Hudson I P B V Mobiele inrichting
WO2020162809A1 (en) * 2019-02-05 2020-08-13 Brokk Aktiebolag Method, device and user interface for presentation of information describing a running operating condition of a demolition robot
CN113366172A (zh) * 2019-02-05 2021-09-07 布鲁克有限公司 用于呈现描述拆除机器人的运行操作状况的信息的方法、设备和用户界面
EP3921476A4 (de) * 2019-02-05 2023-02-22 Brokk Aktiebolag Verfahren, vorrichtung und benutzerschnittstelle zur darstellung von informationen, die einen laufenden betriebszustand eines abbruchroboters beschreiben
CN113366172B (zh) * 2019-02-05 2023-10-31 布鲁克有限公司 用于呈现描述拆除机器人的运行操作状况的信息的方法、设备和用户界面
US11643141B2 (en) 2020-03-30 2023-05-09 Manitowoc Crane Group France Trailer assembly and associated self-erecting crane
EP3889007A1 (de) * 2020-03-30 2021-10-06 Manitowoc Crane Group France Anhängereinheit und entsprechender kran mit automatisierter montage
WO2022026200A1 (en) * 2020-07-27 2022-02-03 Caterpillar Inc. Method for remote operation of machines using a mobile device
US11505919B2 (en) 2020-07-27 2022-11-22 Caterpillar Inc. Method for remote operation of machines using a mobile device
WO2022256964A1 (zh) * 2021-06-07 2022-12-15 何明志 穿刺引导系统及方法
EP4119491A1 (de) * 2021-07-16 2023-01-18 TOYOTA MATERIAL HANDLING MANUFACTURING ITALY S.p.A Flurförderzeug mit fähigkeit zur erkennung einer materialhandhabungsvorrichtung

Also Published As

Publication number Publication date
SE536152C2 (sv) 2013-06-04
EP2508680B1 (de) 2018-09-19
SE1150307A1 (sv) 2012-10-08

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