EP3943669B1 - Bagger und verfahren zur steuerung davon - Google Patents

Bagger und verfahren zur steuerung davon Download PDF

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Publication number
EP3943669B1
EP3943669B1 EP21186671.0A EP21186671A EP3943669B1 EP 3943669 B1 EP3943669 B1 EP 3943669B1 EP 21186671 A EP21186671 A EP 21186671A EP 3943669 B1 EP3943669 B1 EP 3943669B1
Authority
EP
European Patent Office
Prior art keywords
bucket
imaginary
working surface
arm
tip
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
EP21186671.0A
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English (en)
French (fr)
Other versions
EP3943669A1 (de
Inventor
Hansol KIM
Youngsup LIM
Wookhyun YU
Seongho SONG
Yoonhye KIM
Changho Lee
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.)
HD Hyundai Infracore Co Ltd
Original Assignee
HD Hyundai Infracore 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.)
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Publication date
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Publication of EP3943669A1 publication Critical patent/EP3943669A1/de
Application granted granted Critical
Publication of EP3943669B1 publication Critical patent/EP3943669B1/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
    • 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
    • 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
    • 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
    • E02F3/38—Cantilever beams, i.e. booms;, e.g. manufacturing processes, forms, geometry or materials used for booms; Dipper-arms, e.g. manufacturing processes, forms, geometry or materials used for dipper-arms; Bucket-arms
    • 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
    • E02F3/425—Drive systems for dipper-arms, backhoes or the like
    • 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
    • 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
    • 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
    • E02F9/28—Small metalwork for digging elements, e.g. teeth scraper bits
    • E02F9/2808—Teeth

Definitions

  • Embodiments of the present disclosure relate to an excavator, and more particularly, to an excavator capable of performing a precise work and a method for controlling the excavator.
  • excavators are a construction machine to perform works such as excavation works for digging the ground, loading works for transporting soil, shredding works for dismantling buildings, and grading works for clearing the ground at civil engineering, building, and construction sites.
  • Embodiments of the present disclosure may be directed to an excavator capable of performing precise works and a method of controlling the excavator.
  • an excavator includes: an excavator equipped with a bucket including at least two bucket ends; a sensor capable of measuring an angle of a working portion of the excavator; a pop-up window for selecting one of the at least two bucket ends; and a controller configured to detect a distance between a working surface and the selected bucket end based on a size of the bucket and an angle between the working surface and the bucket tips.
  • the bucket may include a plurality of bucket tips, and the controller may be configured to detect a distance between the working surface and the plurality of bucket tips.
  • the excavator may provide a pop-up window for selecting from among the plurality of bucket tips.
  • the excavator may further include a means for inputting the size of the bucket.
  • the excavator may further include a display means for displaying the distance, wherein the display means may display the detected distance.
  • the excavator may be characterized in that the selected bucket end is displayed on the display means.
  • the excavator may be characterized in that the displayed bucket end is a bucket tip.
  • the excavator may further include: a first joint pin connecting a swing body and a first joint of a boom; a second joint pin connecting a second joint of the boom and a first joint of an arm; a third joint pin connecting a second joint of the arm and a joint of the bucket; a boom cylinder connected to a cylinder connector of the boom and a first cylinder connector of the arm; an arm cylinder connected to a second cylinder connector of the arm and the cylinder connector of the bucket; a bucket link connected to the cylinder connector of the bucket and a third joint of the arm; a boom cylinder pin connecting the cylinder connector of the boom and the boom cylinder; a first arm cylinder pin connecting the first cylinder connector of the arm and the boom cylinder; a second arm cylinder pin connecting the second cylinder connector of the arm and the arm cylinder; and a bucket pin connecting the arm cylinder, the bucket link, and the cylinder connector of the bucket.
  • the controller may detect a height of a center tip based on the height of the center tip, a height of the third joint pin, a length of a line segment connecting the third joint pin and the center tip, and an angle between an imaginary vertical line and the line segment, the imaginary vertical line representing a line parallel to a direction of gravity; the controller may detect a height of a first edge tip based on the height of the first edge tip, the height of the center tip, a width of the bucket, and the angle between the imaginary straight line and the working surface, and the controller may detect a height of a second edge tip based on the height of the second edge tip, the height of the center tip, the width of the bucket, and the angle between the imaginary straight line and the working surface.
  • a method for controlling an excavator includes: detecting a size of a bucket and an angle between a working surface and an imaginary straight line connecting bucket ends of the bucket; and detecting respective distances between the working surface and at least two bucket ends based on the size of the bucket and the detected angle.
  • the bucket may include at least two bucket tips, and distances between the working surface and the at least two bucket tips may include at least two of a distance between the working surface and a center tip of the bucket tips located at a center portion of the bucket, a distance between the working surface and a first edge tip of the bucket tips located at one edge of the bucket, and a distance between the working surface and a second edge tip of the bucket tips located at another edge of the bucket.
  • the distance between the working surface and the center tip may be smaller than the distance between the working surface and the first edge tip and greater than the distance between the working surface and the second edge tip.
  • an excavator and a method of controlling the excavator may perform precise works.
  • “About” or “approximately” as used herein is inclusive of the stated value and refers to within an acceptable range of deviation for the particular value as determined by one of ordinary skill in the art, considering the measurement in question and the error associated with measurement of the particular quantity (i.e., the limitations of the measurement system). For example, “about” may mean within one or more standard deviations, or within ⁇ 30%, 20%, 10%, 5% of the stated value.
  • FIG. 1 is a view illustrating an excavator according to an embodiment of the present disclosure.
  • An excavator may include, as illustrated in FIG. 1 , a swing body 520, a traveling body 510, a vehicle connector 530, a boom 100, an arm 200, a bucket 300, a boom cylinder 150, an arm cylinder 250, a boom cylinder pin 120, a first arm cylinder pin 221, a second arm cylinder pin 222, a bucket link 400, a first joint pin 11, a second joint pin 22, a third joint pin 33, a bucket pin 44, a first angle sensor 701, a second angle sensor 702, a third angle sensor 703, and a controller 600.
  • the bucket 300 may include a plurality of bucket tips 340.
  • the vehicle connector 530 connects the traveling body 510 and the swing body 520.
  • the swing body 520 is rotatably connected to the vehicle connector 530.
  • the swing body 520 may rotate 360 degrees around the vehicle connector 530.
  • a first joint 101 of the boom 100 is rotatably connected to the swing body 520.
  • a second joint 102 of the boom 100 is rotatably connected to a first joint 201 of the arm 200.
  • the first joint 101 of the boom 100 may be disposed at one end of the boom 100, and the second joint 102 of the boom 100 may be disposed at another end of the boom 100.
  • the swing body 520 and the first joint 101 of the boom 100 may be connected in a hinge manner by the first joint pin 11, and the second joint 102 of the boom 100 and the first joint 201 of the arm 200 may be connected in a hinge manner by the second joint pin 22.
  • the first joint 201 of the arm 200 is rotatably connected to the second joint 102 of the boom 100.
  • a second joint 202 of the arm 200 is connected to a joint 301 of the bucket 300.
  • the first joint 201 of the arm 200 may be disposed at one end of the arm 200, and the second joint 202 of the arm 200 may be disposed at another end of the arm 200.
  • the second joint 202 of the arm 200 and the joint 301 of the bucket 300 may be connected in a hinge manner by the third joint pin 33.
  • the joint 301 of the bucket 300 is rotatably connected to the second joint 202 of the arm 200.
  • the joint 301 of the bucket 300 may be disposed at one end of the bucket 300.
  • the plurality of bucket tips 340 may be disposed at another end of the bucket 300.
  • One end of the boom cylinder 150 is connected to a cylinder connector 110 of the boom 100.
  • one end of the boom cylinder 150 is connected to the cylinder connector 110 of the boom 100 through the boom cylinder pin 120.
  • One end of the boom cylinder 150 is rotatably connected to the cylinder connector 110 of the boom 100.
  • Another end of the boom cylinder 150 is connected to a first cylinder connector 211 of the arm 200.
  • another end of the boom cylinder 150 is connected to the first cylinder connector 211 of the arm 200 through the first arm cylinder pin 221.
  • Another end of the boom cylinder 150 is rotatably connected to the first cylinder connector 211 of the arm 200.
  • One end of the arm cylinder 250 is connected to a second cylinder connector 212 of the arm 200.
  • one end of the arm cylinder 250 is connected to the second cylinder connector 212 of the arm 200 through the second arm cylinder pin 222.
  • One end of the arm cylinder 250 is rotatably connected to the second cylinder connector 212 of the arm 200.
  • Another end of the arm cylinder 250 is connected to the bucket link 400.
  • another end of the arm cylinder 250 is connected to a cylinder connector 410 of the bucket link 400 and the bucket 300 through the bucket pin 44.
  • Another end of the arm cylinder 250 is rotatably connected to the cylinder connector 410 of the bucket link 400 and the bucket 300.
  • One end of the bucket link 400 is rotatably connected to a third joint 203 of the arm 200, and another end of the bucket link 400 is rotatably connected to another end of the arm cylinder 250 and the cylinder connector 410 of the bucket 300.
  • the first angle sensor 701 may be disposed at the boom 100.
  • the first angle sensor 701 detects an angle of the boom 100.
  • the second angle sensor 702 may be disposed at the arm 200.
  • the second angle sensor 702 detects an angle of the arm 200.
  • the third angle sensor 703 may be disposed at the bucket 300.
  • the third angle sensor 703 detects an angle of the bucket 300.
  • the controller 600 may calculate heights of the boom cylinder pin 120, the first arm cylinder pin 221, the second arm cylinder pin 222, the bucket pin 44, a bucket back 380, and the bucket tip 340 from the ground 900.
  • FIG. 2 is a view for explaining a method of measuring the height of the boom cylinder pin 120 of FIG. 1 .
  • a height H1 of the boom cylinder pin 120 may be calculated by the above-described controller 600.
  • the height H1 of the boom cylinder pin 120 refers to a height H1 from the ground 900 to the boom cylinder pin 120 in a vertical direction.
  • the height H1 of the boom cylinder pin 120 may be calculated by Equation 1 below.
  • Y BoomCylinderPin Y JointPin1 + L Boom * sin ⁇ Boom + ⁇ BoomCylinder
  • Y BoomCylinderPin represents the height H1 of the boom cylinder pin 120
  • Y JointPin1 represents a height h1 of the first joint pin 11
  • L Boom represents a length of an imaginary first line segment L1 connecting the first joint pin 11 and the boom cylinder pin 120
  • ⁇ B ⁇ m represents an angle between an imaginary horizontal line HL and an imaginary second line segment L2
  • ⁇ BoomCylinder represents an angle between the first line segment L1 and the second line segment L2.
  • the height h1 of the first joint pin 11 refers to a distance from the ground 900 to the first joint pin 11 in the vertical direction
  • the imaginary horizontal line HL refers to a line extending from the first joint pin 11 toward a front surface of the swing body 520 and being perpendicular to the direction of gravity
  • the second line segment L2 refers to a straight line connecting the first joint pin 11 and the second joint pin 22.
  • Y JointPin1 , L Boom , and ⁇ BoomCylinder are fixed values.
  • Y JointPin1 , L Boom and ⁇ BoomCylinder may vary depending on the model of the excavator.
  • ⁇ Boom may be detected by the above-described first angle sensor 701.
  • Equation 1 L Boom * sin( ⁇ Boom + ⁇ Boom )" in Equation 1 above means a height h1' from the horizontal line HL to the boom cylinder pin 120 in the vertical direction. Accordingly, the height H1 from the ground 900 to the boom cylinder pin 120 in the vertical direction may be calculated by Equation 1 above.
  • Equation 1 represents a size obtained by adding the value of "sin( ⁇ Boom + ⁇ Boom )" to the height of the first joint pin 11.
  • FIG. 3 is a view for explaining a method of measuring the height of the first arm cylinder pin 221 of FIG. 1 .
  • a height H2 of the first arm cylinder pin 221 may be calculated by the above-described controller 600.
  • the height H2 of the first arm cylinder pin 221 refers to a height H2 from the ground 900 to the first arm cylinder pin 221 in the vertical direction.
  • the height H2 of the first arm cylinder pin 221 may be calculated by Equation 2 below.
  • Y ArmCylinderPin1 Y JointPin2 ⁇ L Arm1 * cos ⁇ Arm + ⁇ ArmCylinder1
  • Y ArmCylinderPin1 represents the height H2 of the first arm cylinder pin 22
  • Yj O i n t P i n2 represents a height h2 of the second joint pin 22
  • L Arm1 represents a length of an imaginary third line segment L3 connecting the second joint pin 22 and the first arm cylinder pin 22
  • ⁇ Arm represents an angle between an imaginary vertical line VL and an imaginary fourth line segment L4
  • ⁇ ArmCylinder1 represents an angle between the fourth line segment L4 and the third line segment L3.
  • the height h2 of the second joint pin 22 refers to a distance from the ground 900 to the second joint pin 22 in the vertical direction
  • the imaginary vertical line VL refers to a line parallel to the direction of gravity
  • the third line segment L3 refers to a straight line connecting the second joint pin 22 and the first arm cylinder pin 221
  • the fourth line segment L4 refers to a straight line connecting the second joint pin 22 and the third joint pin 33.
  • L Arm1 is a fixed value. However, L Arm1 may vary depending on the model of the excavator.
  • ⁇ Arm may be detected by the above-described second angle sensor 702.
  • Equation 2 L Arm1 * cos( ⁇ Arm + ⁇ ArmCylinder1 )" in Equation 2 above means a height h2' from the second joint pin 22 to the first arm cylinder pin 221 in the vertical direction. Accordingly, the height H2 from the ground 900 to the first arm cylinder pin 221 in the vertical direction may be calculated by Equation 2 above.
  • Equation 2 represents a size obtained by adding the value of "cos( ⁇ Arm + ⁇ ArmCylinder1 )" to the height of the second joint pin 22.
  • Yj O i n t P i n2 in Equation 2 may be defined as Equation 3 below.
  • Y JointPin2 Y JointPin1 + L Boom * sin ⁇ Boom
  • FIG. 4 is a view for explaining a method of measuring the height of the second arm cylinder pin 222 of FIG. 1 .
  • a height H3 of the second arm cylinder pin 222 may be calculated by the above-described controller 600.
  • the height H3 of the second arm cylinder pin 222 refers to a height H3 from the ground 900 to the second arm cylinder pin 222 in the vertical direction.
  • the height H3 of the second arm cylinder pin 222 may be calculated by Equation 4 below.
  • Y ArmCylinderPin2 Y JointPin2 ⁇ L Arm2 * cos ⁇ Arm + ⁇ ArmCylinder2
  • Y ArmCylinderPin2 represents the height H3 of the second arm cylinder pin 222
  • Y JointPin2 represents a height h3 of the second joint pin 22
  • L Arm2 represents a length of an imaginary fifth line segment L5 connecting the second joint pin 22 and the second arm cylinder pin 222
  • ⁇ Arm represents an angle between the imaginary vertical line VL and the imaginary fourth line segment L4
  • ⁇ ArmCylinder2 represents an angle between the fourth line segment L4 and the fifth line segment L5.
  • the height h3 of the second joint pin 22 refers to a distance from the ground 900 to the second joint pin 22 in the vertical direction
  • the imaginary vertical line VL refers to a line parallel to the direction of gravity
  • the fifth line segment L5 refers to a straight line connecting the second joint pin 22 and the second arm cylinder pin 222
  • the fourth line segment L4 refers to a straight line connecting the second joint pin 22 and the third joint pin 33.
  • L Arm2 is a fixed value. However, L Arm2 may vary depending on the model of the excavator.
  • ⁇ Arm may be detected by the above-described second angle sensor 702.
  • Equation 4 L Arm2 * cos( ⁇ Arm + ⁇ ArmCylinder2 )" in Equation 4 above means a height h3' from the second joint pin 22 to the second arm cylinder pin 222 in the vertical direction. Accordingly, the height H3 from the ground 900 to the second arm cylinder pin 222 in the vertical direction may be calculated by Equation 4 above. In an example as illustrated in FIG. 4 , “( ⁇ Arm + ⁇ ArmCylinder2 )" is greater than 90 degrees counterclockwise with respect to the vertical line VL, so “cos( ⁇ Arm + ⁇ ArmCylinder2 )" has a negative value. Accordingly, Equation 4 represents a size obtained by adding the value of "cos( ⁇ Arm + ⁇ ArmCylinder2 )" to the height of the second joint pin 22.
  • Equation 4 Yj O i n t P i n2 of Equation 4 may be defined by Equation 3 described above.
  • FIG. 5 is a view for explaining a method of measuring the height of the bucket pin 44 of FIG. 1 .
  • a height H4 of the bucket pin 44 may be calculated by the above-described controller 600.
  • the height H4 of the bucket pin 44 refers to a height H4 from the ground 900 to the bucket pin 44 in the vertical direction.
  • the height H4 of the bucket pin 44 may be calculated by Equation 5 below.
  • Y BucketPin Y JointPin3 ⁇ L BucketLink * cos ⁇ Bucket + ⁇ BucketLink
  • Y BucketPin represents the height H4 of the bucket pin 44
  • Y JointPin3 represents a height h4 of the third joint pin 33
  • L BucketLink represents a length of an imaginary sixth line segment L6 connecting the third joint pin 33 and the bucket pin 44
  • ⁇ Bucket represents an angle between the imaginary vertical line VL and an imaginary seventh line segment L7
  • ⁇ BucketLink represents an angle between the sixth line segment L6 and the seventh line segments L7.
  • the height h4 of the third joint pin 33 refers to a distance from the ground 900 to the third joint pin 33 in the vertical direction
  • the imaginary vertical line VL refers to a line parallel to the direction of gravity
  • the sixth line segment L6 refers to a straight line connecting the third joint pin 33 and the bucket pin 44
  • the seventh line segment L7 refers to a straight line connecting the third joint pin 33 and the bucket tip 340.
  • L BucketLink is a fixed value.
  • L BucketLink may vary depending on the model of the excavator.
  • ⁇ Bucket may be detected by the third angle sensor 703 described above.
  • L BucketLink * cos( ⁇ Bucket + ⁇ BucketLink )" in Equation 5 above means a distance h4' from the third joint pin 33 to the bucket pin 44 in the vertical direction. Accordingly, the height H4 from the ground 900 to the bucket pin 44 in the vertical direction may be calculated by Equation 5 above.
  • Equation 5 represents a size obtained by adding the value of "cos( ⁇ Bucket + ⁇ BucketLink )" to the height of the third joint pin 33.
  • Y JointPin3 of Equation 5 may be defined by Equation 6 below.
  • Y JointPin3 Y JointPin2 ⁇ L Arm * cos ⁇ Arm
  • L Arm in Equation 6 refers to a length of the aforementioned fourth line segment L4.
  • L Arm is a fixed value.
  • L Arm may vary depending on the model of the excavator.
  • FIG. 6 is a view for explaining a method of measuring the height of the bucket back 380 of FIG. 1 .
  • a height H5 of the bucket back 380 may be calculated by the controller 600 described above.
  • the height H5 of the bucket back 380 refers to a height from the ground 900 to the bucket back 380 in the vertical direction.
  • the height H5 of the bucket back 380 may be calculated by Equation 7 below.
  • Y BucketBack Y JointPin3 ⁇ L BucketBack * cos ⁇ Bucket + ⁇ BucketBack
  • Y BucketBack represents the height H5 of the bucket back 380
  • Y JointPin3 represents a height h5 of the third joint pin 33
  • L BucketBack represents a length of an imaginary eighth line segment L8 connecting the third joint pin 33 and the bucket back 380
  • ⁇ Bucket represents an angle between the imaginary vertical line VL and the imaginary seventh line segment L7
  • ⁇ BucketBack represents an angle between the seventh line segment L7 and the eighth line segments L8.
  • the height h5 of the third joint pin 33 refers to a distance from the ground 900 to the third joint pin 33 in the vertical direction
  • the imaginary vertical line VL refers to a line parallel to the direction of gravity
  • the eighth line segment L8 refers to a straight line connecting the third joint pin 33 and the bucket back 380
  • the seventh line segment L7 refers to a straight line connecting the third joint pin 33 and the bucket tip 340.
  • L BucketBack is a fixed value. However, L BucketBack may vary depending on the model of the excavator.
  • Equation 7 means a height from the third joint pin 33 to the bucket back 380 in the vertical direction. Accordingly, the height H5 from the ground 900 to the bucket back 380 in the vertical direction may be calculated by Equation 7 above.
  • Equation 7 represents a size obtained by adding the value of "cos( ⁇ Bucket + ⁇ BucketBack )" to the height of the third joint pin 33.
  • Y JointPin3 of Equation 7 may be defined by Equation 6 described above.
  • FIG. 7 is a view for explaining a method of measuring the height of the bucket tip 340 of FIG.
  • a height H6 of the bucket tip 340 may be calculated by the above-described controller 600.
  • the height H6 of the bucket tip 340 refers to a height from the ground 900 to the bucket tip 340 in the vertical direction.
  • the height H6 of the bucket tip 340 may be calculated by Equation 8 below.
  • Y BucketTip Y JointPin3 ⁇ L Bucket * cos ⁇ Bucket
  • Y BucketTip represents the height H6 of the bucket tip 340
  • Y JointPin3 represents the height h5 of the third joint pin 33
  • L Bucket represents a length of a line segment (i.e., the seventh line segment L7) connecting the third joint pin 33 and the bucket tip 340
  • ⁇ Bucket represents an angle between the imaginary vertical line VL and the seventh line segment L7.
  • Equation 8 means a height from the third joint pin 33 to the bucket tip 340 in the vertical direction. Accordingly, the height H6 from the ground 900 to the bucket tip 340 in the vertical direction may be calculated by Equation 8 above.
  • ⁇ Bucket is smaller than 90 degrees counterclockwise with respect to the vertical line VL, so "cos( ⁇ Bucket )" has a positive value. Accordingly, Equation 8 represents a size obtained by subtracting the value of "L Bucket * cos( ⁇ Bucket )" from the height of the third joint pin 33.
  • Y JointPin3 of Equation 8 may be defined by Equation 6 described above.
  • FIG. 8 is a view illustrating a screen for selecting a bucket tip to be measured.
  • a display 800 is disposed at a dashboard of an excavator of the present disclosure, and a window 850 as illustrated in FIG. 8 may be generated on the screen of the display 800.
  • a window 850 an operator may select a distance between a working surface and a first edge tip located at a left portion of the bucket 300, a distance between the working surface and a center tip located at a center portion (e.g., in the middle) of the bucket 300, and a distance between the working surface and a second edge tip located at a right portion of the bucket 300.
  • the distance between the working surface and the first edge tip is detected and displayed on the screen of the display 800; when “center” is selected in the window, the distance between the working surface and the center tip is detected and displayed on the screen of the display 800; and when “right” is selected in the window, the distance between the working surface and the second edge tip is detected and displayed on the screen of the display 800.
  • at least two of "left", “center” and “right” may be selected, and in such an embodiment, the height of each of the selected tips may be detected and displayed on the screen of the display 800.
  • the operator may easily recognize the distance of the position selected from among “left", "center” and “right” on the screen. For example, when the operator works with the bucket inclined with respect to the ground as illustrated in FIG. 12 , the operator may select and view from a range of a portion of the bucket closest to the ground to a portion of the bucket farthest from the ground as desired.
  • FIG. 9 is a view illustrating a screen including various information related to the bucket.
  • the screen may display an inclination viewed from the front of the bucket and a distance between the selected tip of the bucket and the working surface.
  • FIG. 10 is a view illustrating various sensors for calculating angles of working portions of the excavator and a screen on which values measured by these sensors are displayed.
  • the excavator of the present disclosure may include a boom angle sensor for sensing an angle of the boom, an arm angle sensor for sensing an angle of the arm, a bucket angle sensor for sensing an angle of the bucket, and a posture detect sensor for detecting a posture of the excavator.
  • Measurements related to the boom, arm, bucket and excavator postures measured from the boom angle sensor, the arm angle sensor, the bucket angle sensor, and the posture detect sensor may be displayed on the display 800.
  • FIG. 11 is a view illustrating a screen for inputting a size of the bucket.
  • a screen for inputting the size of the bucket as illustrated in FIG. 11 may be provided.
  • a point D and a point G in FIG. 11 represent the coordinates of each bucket pin of the bucket link 400, a point Q represents the coordinates of a largest protrusion on a rear surface of the bucket, and a point N represents the coordinates of an end of the bucket tip.
  • a length between the points D and G, a length between the points D and N, a length between the points D and Q, a length between the points N and Q, a bucket width and a bucket tooth may be input.
  • an average value of each length of opposite bucket tips may be input.
  • FIG. 12 is a view for explaining a method of measuring the distance between the working surface and the bucket tip when the excavator of FIG. 1 is disposed on the inclined ground.
  • distances between the working surface 999 and the bucket tips may be different from each other.
  • a distance between the working surface 999 and a bucket tip (hereinafter, the center tip 340C) located at a center portion of the bucket 300
  • a distance between the working surface 999 and a bucket tip (hereinafter, the first edge tip 340E1) located at one edge of the bucket 300
  • a distance between the working surface 999 and a bucket tip (hereinafter, the second edge tip 340E2) located at another edge of the bucket 300 may be different from each other.
  • respective distance between the working surface 999 and at least two bucket tips may be detected.
  • a distance H c between the working surface 999 and the center tip 340C is substantially equal to the distance H6 between the ground 900 and the bucket tip 340 measured in FIG. 7 .
  • a distance H E1 of the first edge tip 340E1 located farthest from the working surface 999 among the bucket tips is longer than a distance H c between the working surface 999 and the center tip 340C, and a distance H E2 of the second edge tip 340E2 located closest to the working surface 999 among the bucket tips is shorter than the distance H c between the working surface 999 and the center tip 340C.
  • the distance H E1 between the working surface 999 and the first edge tip 340E1 and the distance H E2 between the working surface 999 and the second edge tip 340E2 may be calculated by the controller 600 described above.
  • the distance H E1 between the working surface 999 and the first edge tip 340E1 refers to a distance from the working surface 999 to the first edge tip 340E1 in the vertical direction.
  • the distance H E1 between the working surface 999 and the first edge tip 340E1 may be calculated by Equation 9 below.
  • Y BcuketTip_E1 Y BucketTip_C + W/2 * sin ⁇ Chassis
  • Y BucketTip_E1 represents a height between the working surface 999 and the first edge tip 340E1
  • Y BucketTip_C represents a distance between the working surface 999 and the center tip 340 (i.e., the distance between the working surface 999 and the bucket tip 340)
  • W represents the width of the bucket 300
  • ⁇ Chassis represents an angle between the ground and the working surface 999.
  • ⁇ Chassis is an angle representing a degree of inclination of the excavator with respect to the working surface 999.
  • ⁇ Chassis is an angle indicating a degree of inclination of the bucket 300 with respect to the ground 900.
  • ⁇ Chassis represents an angle formed by an imaginary straight line LL connecting ends of the bucket tips and the working surface 999.
  • Equation 9 refers to a distance h e from a center portion of the center tip 340C to an outer edge of the first edge tip 340E1 in the vertical direction.
  • W/2 * sin( ⁇ Chassis ) refers to a distance h e from the center portion of the center tip 340C to an outer edge of the second edge tip 340E2 in the vertical direction. Accordingly, the distance H E1 from the working surface 999 to the first edge tip 340E1 in the vertical direction may be calculated by Equation 9 above. In an example as illustrated in FIG.
  • Equation 9 represents a size obtained by adding the value of "W/2 * sin( ⁇ Chassis )" to the height He of the center tip 340C.
  • the distance H E2 between the working surface 999 and the second edge tip 340E2 refers to a distance from the working surface 999 to the second edge tip 340E2 in the vertical direction.
  • the distance H E2 between the working surface 999 and the second edge tip 340E2 may be calculated by Equation 10 below.
  • Y BcuketTip_E2 Y BucketTip_C ⁇ W/2 * sin ⁇ Chassis
  • Y BucketTip_E2 represents the distance between the working surface 999 and the second edge tip 340E2
  • Y BucketTip_C represents the distance H c between the working surface 999 and the center tip 340 (i.e., the distance between the working surface 999 and the bucket tip)
  • W represents the width of the bucket 300
  • ⁇ Chassis represents an angle between the ground 900 and the working surface 999.
  • ⁇ Chassis refers to an angle representing a degree of inclination of the excavator with respect to the working surface 999.
  • ⁇ Chassis refers to an angle indicating a degree of inclination of the bucket 300 with respect to the ground 900.
  • ⁇ Chassis represents an angle formed by an imaginary straight line LL connecting ends of the bucket tips and the working surface 999.
  • Equation 10 refers to a distance h e from a center portion of the center tip 340C to an outer edge of the first edge tip 340E1 in the vertical direction.
  • W/2 * sin( ⁇ Chassis ) refers to a distance h e from the center portion of the center tip 340C to an outer edge of the second edge tip 340E2 in the vertical direction. Accordingly, the distance H E2 from the working surface 999 to the second edge tip 340E2 in the vertical direction may be calculated by Equation 10 above. In an example as illustrated in FIG.
  • Equation 10 represents a size obtained by subtracting the value of "W/2 * sin( ⁇ Chassis )" from the height of the center tip 340C.
  • the heights of the bucket 300 and the working surface 999 may be detected for each position of the bucket tip 340, and thus a more precise work on the work object may be performed.
  • FIG. 13 is a view for explaining a method for controlling an excavator of the present disclosure.
  • the controller 600 detects respective heights of the boom 100, the arm 200 and the bucket 300. For example, the controller 600 detects heights of the boom cylinder pin 120, the first arm cylinder pin 221, the second arm cylinder pin 222, the bucket pin 44, the bucket back 380 and the bucket tip 340 (e.g., a distance between the ground and the bucket tip) of the excavator (S1). In addition, the controller 600 detects an inclination of the excavator itself (S1). In addition, as illustrated in FIG. 11 , a size (e.g., dimension) of the bucket 300 is detected. The inclination may be, for example, an angle ⁇ Chassis between the imaginary straight line LL connecting the bucket tips 340 of the bucket 300 and the working surface 999.
  • At least one of the bucket tips 340 of the bucket 300 may be selected.
  • at least one of the center tip 340C, the first edge tip 340E1, and the second edge tip 340E2 may be selected.
  • a distance between the selected bucket tip and the working surface is detected. For example, a distance from the working surface 999 to the selected bucket tip may be detected.
  • Bucket 900 Ground 999: Working surface 380: Bucket back 340E1: First edge tip 340C: Center tip 340E2: Second edge tip LL: Imaginary straight line

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Claims (11)

  1. Bagger, umfassend:
    eine Schaufel (300), die mindestens zwei Schaufelspitzen (340) umfasst;
    einen Sensor (701, 702, 703), der in der Lage ist zum Messen
    eines Winkels zwischen einer imaginären horizontalen oder vertikalen Linie (HL oder VL) und einem imaginären Liniensegment (L1, L2, L3, L4, L5, L6, L7, L8), wobei die imaginäre horizontale Linie (HL) eine Linie senkrecht zu einer Richtung der Schwerkraft darstellt, die imaginäre vertikale Linie (VL) eine Linie parallel zu einer Richtung der Schwerkraft darstellt und das imaginäre Liniensegment (L1, L2, L3, L4, L5, L6, L7, L8) zwei Abschnitte, die arbeiten, des Baggers verbindet,
    eines Winkels zwischen zwei Liniensegmenten (L1, L2, L3, L4, L5, L6, L7, L8) und
    eines Winkels (θChassis) zwischen einer Arbeitsfläche (999) und einer imaginären geraden Linie (LL), die die Schaufelspitzen (340) verbindet;
    dadurch gekennzeichnet, dass der Bagger ferner umfasst:
    ein Auswahlmittel (800), das eingerichtet ist, um ein Dialogfenster (850) zum Anzeigen der mindestens zwei Schaufelspitzen (340) zu erzeugen, so dass eine der mindestens zwei Schaufelspitzen (340) ausgewählt wird; und
    eine Steuerung (600), die eingerichtet ist, um einen Abstand zwischen der Arbeitsfläche (999) und der ausgewählten Schaufelspitze (340) basierend auf einer Größe der Schaufel (300) und den gemessenen Winkeln zu berechnen,
    wobei das Auswahlmittel (800) eingerichtet ist, um den berechneten Abstand zwischen der Arbeitsfläche (999) und der ausgewählten Schaufelspitze (340) anzuzeigen.
  2. Bagger nach Anspruch 1, wobei die Steuerung (600) eingerichtet ist, um einen Abstand zwischen der Arbeitsfläche (999) und den mindestens zwei Schaufelspitzen (340) basierend auf der Größe der Schaufel (300) und den gemessenen Winkeln zu berechnen.
  3. Bagger nach Anspruch 1, ferner umfassend ein Mittel zum Eingeben einer Länge zwischen zwei Punkten der Schaufel (300), einer Breite der Schaufel (300) und eines Schaufelzahns, welche die Größe der Schaufel (300) darstellen.
  4. Bagger nach Anspruch 1, wobei das Auswahlmittel (800) ferner eingerichtet ist, um die ausgewählte Schaufelspitze (340) anzuzeigen.
  5. Bagger nach Anspruch 2, ferner umfassend:
    einen ersten Gelenkbolzen (11), der einen Schwenkkörper (520) und ein erstes Gelenk (101) eines Auslegers (100) verbindet;
    einen zweiten Gelenkbolzen (22), der ein zweites Gelenk (102) des Auslegers (100) und ein erstes Gelenk (201) eines Arms (200) verbindet;
    einen dritten Gelenkbolzen (33), der ein zweites Gelenk (202) des Arms (200) und ein Gelenk (301) der Schaufel (300) verbindet;
    einen Auslegerzylinder (150), der mit einem Zylinderanschluss (110) des Auslegers (100) und einem ersten Zylinderanschluss (211) des Arms (200) verbunden ist;
    einen Armzylinder (250), der mit einem zweiten Zylinderanschluss (212) des Arms (200) und dem Zylinderanschluss (410) der Schaufel (300) verbunden ist;
    ein Schaufelgelenk (400), das mit dem Zylinderanschluss (410) der Schaufel (300) und einem dritten Gelenk (203) des Arms (200) verbunden ist;
    einen Auslegerzylinderbolzen (120), der den Zylinderanschluss (110) des Auslegers (100) und den Auslegerzylinder (150) verbindet;
    einen ersten Armzylinderbolzen (221), der den Zylinderanschluss (211) des Arms (200) und den Auslegerzylinder (150) verbindet;
    einen zweiten Armzylinderbolzen (222), der den zweiten Zylinderanschluss (212) des Arms (200) und den Armzylinder (250) verbindet; und
    einen Schaufelbolzen (44), der den Armzylinder (250), das Schaufelgelenk (400) und den Zylinderanschluss (410) der Schaufel (300) verbindet.
  6. Bagger nach Anspruch 5, wobei die Steuerung (600) eingerichtet ist, um eine Höhe (h5) des dritten Gelenkbolzens (33) basierend auf einer Höhe (h2) des zweiten Gelenkbolzens (22), einer Länge eines imaginären vierten Liniensegments (L4), das den zweiten Gelenkbolzen (22) und den dritten Gelenkbolzen (33) verbindet, und einem Winkel (θArm) zwischen der imaginären vertikalen Linie (VL) und dem imaginären vierten Liniensegment (L4) zu berechnen,
    wobei die Steuerung (600) eingerichtet ist, um die Höhe (h2) des zweiten Gelenkbolzens (22) basierend auf einer Höhe (h1) des ersten Gelenkbolzens (11), einer Länge eines imaginären zweiten Liniensegments (L2), das den ersten Gelenkbolzen (11) und den Auslegerzylinderbolzen (120) verbindet, und einem Winkel (θBoom) zwischen der imaginären horizontalen Linie (HL) und dem imaginären zweiten Liniensegment (L2) zu berechnen.
  7. Bagger nach Anspruch 6, wobei die Steuerung (600) eingerichtet ist, um eine Höhe (HC, H6) einer mittleren Spitze (340C) der Schaufelspitzen (340), die sich in der Mitte der Schaufelspitzen (340) befindet, basierend auf der Höhe (h5) des dritten Gelenkbolzens (33), einer Länge eines imaginären siebten Liniensegments (L7), das den dritten Gelenkbolzen (33) und die mittlere Spitze (340C) verbindet, und einem Winkel (θBucket) zwischen der imaginären vertikalen Linie (VL) und dem imaginären siebten Liniensegment (L7) zu berechnen,
    wobei die Steuerung (600) eingerichtet ist, um eine Höhe (HE1) einer ersten Randspitze (340E1) der Schaufelspitzen (340), die sich an einem Ende der Schaufelspitzen (340) befindet, basierend auf der Höhe (HC, H6) der mittleren Spitze (340C), der Breite der Schaufel (300) und dem Winkel (θChassis) zwischen der imaginären geraden Linie (LL) und der Arbeitsfläche (999) zu berechnen, und
    wobei die Steuerung (600) eingerichtet ist, um eine Höhe (HE2) einer zweiten Randspitze (340E2) der Schaufelspitzen (340), die sich an einem anderen Ende der Schaufelspitzen (340) befindet, basierend auf der Höhe (HC, H6) der mittleren Spitze (340C), der Breite der Schaufel (300) und dem Winkel (θChassis) zwischen der imaginären geraden Linie (LL) und der Arbeitsfläche (999) zu berechnen.
  8. Verfahren zum Steuern eines Baggers, der eine Schaufel (300) umfasst, die mindestens zwei Schaufelspitzen (340) umfasst, wobei das Verfahren umfasst:
    Auswählen einer der mindestens zwei Schaufelspitzen (340);
    Erfassen
    eines Winkels zwischen einer imaginären horizontalen oder vertikalen Linie (HL oder VL) und einem imaginären Liniensegment (L1, L2, L3, L4, L5, L6, L7, L8), wobei die imaginäre horizontale Linie (HL) eine Linie senkrecht zu einer Richtung der Schwerkraft darstellt, die imaginäre vertikale Linie (VL) eine Linie parallel zu einer Richtung der Schwerkraft darstellt und das imaginäre Liniensegment (L1, L2, L3, L4, L5, L6, L7, L8) zwei Abschnitte, die arbeiten, des Baggers verbindet,
    eines Winkels zwischen zwei Liniensegmenten (L1, L2, L3, L4, L5, L6, L7, L8) und
    eines Winkels (θChassis) zwischen einer Arbeitsfläche (999) und einer imaginären geraden Linie (LL), die die Schaufelspitzen (340) der Schaufel (300) verbindet;
    Berechnen eines jeweiligen Abstands zwischen der Arbeitsfläche (999) und den ausgewählten Schaufelspitzen (340) basierend auf einer Größe der Schaufel (300) und den erfassten Winkeln; und
    Anzeigen des berechneten Abstands zwischen der Arbeitsfläche (999) und der ausgewählten Schaufelspitze (340) .
  9. Verfahren nach Anspruch 8, wobei Abstände zwischen der Arbeitsfläche (999) und den mindestens zwei Schaufelspitzen (340) mindestens zwei umfassen von einem Abstand (HC, H6) zwischen der Arbeitsfläche (999) und einer mittleren Spitze (340C) der Schaufelspitzen (340), die sich in der Mitte der Schaufelspitzen (340) befindet, einem Abstand (HE1) zwischen der Arbeitsfläche (999) und einer ersten Randspitze (340E1) der Schaufelspitzen (340), die sich an einem Ende der Schaufelspitzen (340) befindet, und einem Abstand (HE2) zwischen der Arbeitsfläche (999) und einer zweiten Randspitze (340E2) der Schaufelspitzen (340), die sich an einem anderen Ende der Schaufelspitzen (340) befindet.
  10. Verfahren nach Anspruch 9, wobei der Abstand (HC, H6) zwischen der Arbeitsfläche (999) und der mittleren Spitze (340C) kleiner ist als der Abstand (HE1) zwischen der Arbeitsfläche (999) und der ersten Randspitze (340E1) und größer als der Abstand (HE2) zwischen der Arbeitsfläche (999) und der zweiten Randspitze (340E2).
  11. Verfahren nach Anspruch 8, ferner umfassend Eingeben einer Länge zwischen zwei Punkten der Schaufel (300), einer Breite der Schaufel (300) und eines Schaufelzahns, welche die Größe der Schaufel (300) darstellen.
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JP5054832B2 (ja) * 2011-02-22 2012-10-24 株式会社小松製作所 油圧ショベルの表示システム及びその制御方法
JP5624101B2 (ja) * 2012-10-05 2014-11-12 株式会社小松製作所 掘削機械の表示システム、掘削機械及び掘削機械の表示用コンピュータプログラム
US8965642B2 (en) * 2012-10-05 2015-02-24 Komatsu Ltd. Display system of excavating machine and excavating machine
WO2014123368A1 (ko) 2013-02-08 2014-08-14 두산인프라코어 주식회사 굴삭기의 유압펌프 제어장치 및 방법
DE112014000083B4 (de) * 2014-05-15 2018-04-05 Komatsu Ltd. Anzeigesystem für Baggermaschine und Anzeigeverfahren für Baggermaschine
DE112014000225B4 (de) * 2014-09-09 2017-04-27 Komatsu Ltd. Displaysystem einer Aushubmaschine, Aushubmaschine und Abbildungsanzeigeverfahren
KR101770774B1 (ko) * 2016-04-05 2017-08-24 인하대학교 산학협력단 굴삭기 버킷위치와 현재 굴삭면 간 연직거리 지형도 시스템 및 연직거리 계산 방법

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