EP3748089B1 - Schaufel- und schaufelverwaltungssystem - Google Patents

Schaufel- und schaufelverwaltungssystem Download PDF

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Publication number
EP3748089B1
EP3748089B1 EP19747825.8A EP19747825A EP3748089B1 EP 3748089 B1 EP3748089 B1 EP 3748089B1 EP 19747825 A EP19747825 A EP 19747825A EP 3748089 B1 EP3748089 B1 EP 3748089B1
Authority
EP
European Patent Office
Prior art keywords
shovel
control
automatic control
bucket
boom
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.)
Active
Application number
EP19747825.8A
Other languages
English (en)
French (fr)
Other versions
EP3748089A1 (de
EP3748089A4 (de
Inventor
Takashi Nishi
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.)
Sumitomo SHI Construction Machinery Co Ltd
Original Assignee
Sumitomo SHI Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo SHI Construction Machinery Co Ltd filed Critical Sumitomo SHI Construction Machinery Co Ltd
Publication of EP3748089A1 publication Critical patent/EP3748089A1/de
Publication of EP3748089A4 publication Critical patent/EP3748089A4/de
Application granted granted Critical
Publication of EP3748089B1 publication Critical patent/EP3748089B1/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
    • 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
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • 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
    • 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
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F9/267—Diagnosing or detecting failure of vehicles
    • E02F9/268—Diagnosing or detecting failure of vehicles with failure correction follow-up actions

Definitions

  • the present disclosure relates to shovels and shovel management systems.
  • the display device 40 is configured to display various kinds of information.
  • the display device 40 may be connected to the controller 30 via a communications network such as a CAN or may be connected to the controller 30 via a dedicated line.
  • the information communicating part 53 may notify the operator of the size of the vertical distance between the teeth tips of the bucket 6 and the intended work surface, using intermittent sounds through the audio output device 43. In this case, the information communicating part 53 may reduce the interval between intermittent sounds as the vertical distance decreases.
  • the information communicating part 53 may use a continuous sound and may represent variations in the size of the vertical distance by changing the pitch, loudness, or the like of the sound.
  • the information communicating part 53 may issue an alarm.
  • the alarm is, for example, a continuous sound significantly louder than the intermittent sounds.
  • the functional element F6 calculates the boom command value ⁇ * on an as-needed basis even when the boom operating lever 26A is not operated, in order to automatically operate the boom 4. The same is true for the arm 5 and the bucket 6.
  • the configuration of FIG. 12 is different in that the functional element F2 generates the intended trajectory based on the output of the space recognition device S7, that the functional element F4 obtains a turning angle ⁇ , and that the functional element F6 calculates a turning command value ⁇ * from, but otherwise equal to, the configuration of FIG. 4 .
  • the configuration of FIG. 13 is different in including a functional element associated with automatic control of the turning hydraulic motor 2A from, but otherwise equal to, the configuration of FIG. 5 . Therefore, the description of a common portion is omitted, and differences are described in detail.
  • Functional elements F41 through F43 are functional elements associated with the turning command value ⁇ *. Specifically, the functional element F41 outputs a turning current command to a turning proportional valve 31D. The functional element F42 calculates the amount of displacement of a turning spool that is a constituent of the control valve 173 pertaining to the turning hydraulic motor 2A based on the output of a turning spool displacement sensor S14. The functional element F43 calculates the turning angle ⁇ based on the output of the turning angular velocity sensor S5.
  • This emergency stop function is executed, for example, in response to the shovel 100 operator's reflexive counterclockwise turning operation when the dump truck DT starts to move while the operator is performing a clockwise turning operation to load the bed of the dump truck DT with soil.
  • this emergency stop function is executed, for example, in response to the operator's reflexive counterclockwise turning operation to prevent contact between the shovel 100 and the dump truck DT when the dump truck DT that has been stopped suddenly starts to move backward.
  • the operator intends to move the bucket 6 away from the dump truck DT while maintaining the height of the bucket 6 by turning the upper turning body 3 turning clockwise in the opposite counterclockwise direction.
  • FIG. 3 discloses a hydraulic operation system including a hydraulic pilot circuit.
  • a hydraulic pilot circuit associated with the boom operating lever 26A hydraulic oil supplied from the pilot pump 15 to a remote control valve 27A is supplied to a pilot port of the control valve 175 at a flow rate commensurate with the opening degree of the remote control valve 27A opened by the tilt of the boom operating lever 26A.
  • a hydraulic pilot circuit associated with the arm operating lever 26B hydraulic oil supplied from the pilot pump 15 to a remote control valve 27B is supplied to a pilot port of the control valve 176 at a flow rate commensurate with the opening degree of the remote control valve 27B opened by the tilt of the arm operating lever 26B.
  • the controller 30 of the shovel 100 may transmit information on at least one of the time, location, etc., of the stoppage of automatic control to the assist device 200, etc.
  • the controller 30 may transmit a peripheral image that is an image captured by the image capturing device S6 to the assist device 200, etc.
  • the peripheral image may be multiple peripheral images captured within a predetermined period including the time of the stoppage of automatic control.
  • the controller 30 may transmit data on the work details of the shovel 100, data on the attitude of the shovel 100, data on the posture of the excavation attachment, etc., within a predetermined period including the time of the stoppage of automatic control to the assist device 200, etc.

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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)
  • Operation Control Of Excavators (AREA)

Claims (11)

  1. Bagger (100), umfassend:
    einen unteren Fahrkörper (1);
    einen oberen Drehkörper (3), der drehbar auf dem unteren Fahrkörper (1) montiert ist;
    ein Ansatzstück, das an dem oberen Drehkörper (3) angebracht ist;
    eine Kabine (10), die auf dem oberen Drehkörper (3) vorgesehen ist;
    eine Raumerkennungsvorrichtung (S7), die an dem oberen Drehkörper (3) angebracht ist oder an einem Inneren der Kabine (10) angebracht ist und konfiguriert ist, ein Objekt zu detektieren; und
    eine Kommunikationsvorrichtung (T1), die an dem oberen Drehkörper (3) angebracht ist,
    gekennzeichnet durch
    eine Steuerungsvorrichtung (30), die an dem oberen Drehkörper (3) montiert ist und in der Lage ist, automatische Steuerung auszuführen, um ein Arbeitsteil des Ansatzstücks entlang einer beabsichtigten Trajektorie gemäß einer Betätigung einer Betätigungsvorrichtung (26) zu bewegen;
    wobei die Steuerungsvorrichtung (30) konfiguriert ist, die automatische Steuerung zu stoppen, wenn die Betätigung der Betätigungsvorrichtung (26) eine Tendenz zeigt, die sich von einer Tendenz einer Betätigung gemäß der automatischen Steuerung unterscheidet, oder wenn eine Ausgabe der Raumerkennungsvorrichtung (S7) und/oder der Kommunikationsvorrichtung (T1) einen Zustand während der automatischen Steuerung zeigt, der sich von einem Normalzustand unterscheidet.
  2. Bagger (100) nach Anspruch 1, wobei
    die Betätigungsvorrichtung (26) auf dem oberen Drehkörper (3) montiert ist, und
    die Steuerungsvorrichtung (30) konfiguriert ist zu bestimmen, dass die Betätigung der Betätigungsvorrichtung (26) die Tendenz zeigt, die sich von der Tendenz der automatischen Steuerung während der automatischen Steuerung unterscheidet, wenn ein Ausmaß der Betätigung der Betätigungsvorrichtung (26) pro Zeiteinheit einen vorbestimmten Wert überschreitet.
  3. Bagger (100) nach Anspruch 1, wobei
    die automatische Steuerung automatische Geradeaussteuerung oder automatische komplexe Drehsteuerung ist,
    die Betätigungsvorrichtung (26) an dem oberen Drehkörper (3) montiert ist, und
    die Steuerungsvorrichtung (30) konfiguriert ist zu bestimmen, dass die Betätigung der Betätigungsvorrichtung (26) die Tendenz zeigt, die sich von der Tendenz der automatischen Steuerung während der automatischen Steuerung unterscheidet, wenn eine Betätigung zum Drehen des oberen Drehkörpers (3) in einer Richtung durchgeführt wird, die einer Drehrichtung entgegengesetzt ist, welche durch die automatische Steuerung durchgeführt wird.
  4. Bagger (100) nach Anspruch 1, ferner umfassend:
    einen Schalter (42A), der mit der automatischen Steuerung in Beziehung steht;
    wobei die Steuerungsvorrichtung (30) konfiguriert ist, die automatische Steuerung auszuführen, wenn der Schalter (42A) betätigt wird.
  5. Bagger (100) nach Anspruch 1, ferner umfassend:
    einen Körperkippsensor (S4), der konfiguriert ist, ein Kippen des oberen Drehkörpers (3) zu detektieren,
    wobei die Steuerungsvorrichtung (30) konfiguriert ist, die automatische Steuerung basierend auf einer Ausgabe des Körperkippsensors (S4) oder der Raumerkennungsvorrichtung (7) zu stoppen.
  6. Baggerverwaltungssystem (SYS), umfassend:
    Den Bagger (100) nach Anspruch 1, wobei der Bagger (100) konfiguriert ist, eine Zeit und/oder einen Ort und/oder eine Stellung und/oder ein Umfangsbild eines Stoppens der durch den Bagger (100) ausgeführten automatischen Steuerung zu speichern und die gespeicherte Zeit und/oder den gespeicherten Ort und/oder die gespeicherte Stellung und/oder das gespeicherte Umfangsbild zu übertragen; und
    eine Verwaltungsvorrichtung (300), die konfiguriert ist, die Zeit und/oder den Ort und/oder die Stellung und/oder das Umfangsbild zu empfangen und die empfangene Stellung und/oder das empfangene Umfangsbild auszugeben.
  7. Bagger (100) nach Anspruch 1, wobei ein erstes Betätigungssignal, das durch ein Betätigungssignalerzeugungsteil eines Betätigungshebels (26A) ausgegeben wird, in die Steuerungsvorrichtung (30) eingegeben wird, und ein zweites Betätigungssignal an ein Solenoidventil (60, 62) ausgegeben wird, das basierend auf dem eingegebenen ersten Betätigungssignal einen Vorsteuerdruck eines Steuerventils (17) steuert.
  8. Bagger (100) nach Anspruch 1, wobei die Steuerungsvorrichtung (30) konfiguriert ist, die automatische Steuerung zu stoppen, wenn ein Bediener als Reaktion auf Vorwärtskippen des Baggers (100) eine Armöffnungsbetätigung oder Auslegerabsenkbetätigung durchführt.
  9. Bagger (100) nach Anspruch 1, wobei die beabsichtigte Trajektorie basierend auf der Ausgabe der Raumerkennungsvorrichtung (S7) erzeugt wird.
  10. Bagger nach Anspruch 1, wobei die beabsichtige Trajektorie eine Trajektorie in Bezug auf eine Bewegung eines Aushubansatzstücks bei der Arbeit des Beladens einer Ladefläche eines Kipplasters (DT) mit Erde ist.
  11. Bagger nach Anspruch 5, wobei die
    Steuerungsvorrichtung (30) konfiguriert ist, Rückkopplungssteuerung basierend auf einem Drehwinkel des oberen Drehkörpers (3) durchzuführen.
EP19747825.8A 2018-01-30 2019-01-30 Schaufel- und schaufelverwaltungssystem Active EP3748089B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018013970 2018-01-30
PCT/JP2019/003201 WO2019151335A1 (ja) 2018-01-30 2019-01-30 ショベル及びショベルの管理システム

Publications (3)

Publication Number Publication Date
EP3748089A1 EP3748089A1 (de) 2020-12-09
EP3748089A4 EP3748089A4 (de) 2021-04-07
EP3748089B1 true EP3748089B1 (de) 2023-03-15

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EP19747825.8A Active EP3748089B1 (de) 2018-01-30 2019-01-30 Schaufel- und schaufelverwaltungssystem

Country Status (6)

Country Link
US (1) US20200354921A1 (de)
EP (1) EP3748089B1 (de)
JP (1) JPWO2019151335A1 (de)
KR (1) KR20200111193A (de)
CN (2) CN111670286A (de)
WO (1) WO2019151335A1 (de)

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WO2020091002A1 (ja) * 2018-10-31 2020-05-07 住友建機株式会社 ショベル、ショベル支援システム
KR20220062261A (ko) * 2019-09-18 2022-05-16 스미도모쥬기가이고교 가부시키가이샤 쇼벨
JP7355624B2 (ja) * 2019-12-02 2023-10-03 株式会社小松製作所 作業機械および作業機械の制御方法
JP7313633B2 (ja) * 2020-01-31 2023-07-25 国立大学法人広島大学 位置制御装置及び位置制御方法
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CN114032981B (zh) * 2021-12-01 2023-04-25 广西柳工机械股份有限公司 自动铲装控制方法和电动装载机
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JP2024055024A (ja) * 2022-10-06 2024-04-18 日立建機株式会社 作業機械

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JP2018013970A (ja) 2016-07-21 2018-01-25 レノボ・シンガポール・プライベート・リミテッド ウェアラブルコンピュータ

Also Published As

Publication number Publication date
CN111670286A (zh) 2020-09-15
US20200354921A1 (en) 2020-11-12
EP3748089A1 (de) 2020-12-09
EP3748089A4 (de) 2021-04-07
JPWO2019151335A1 (ja) 2021-01-14
CN118007731A (zh) 2024-05-10
KR20200111193A (ko) 2020-09-28
WO2019151335A1 (ja) 2019-08-08

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