EP4269705B1 - Verfahren zur verbesserung der planierwinkelregelung einer arbeitsmaschine - Google Patents

Verfahren zur verbesserung der planierwinkelregelung einer arbeitsmaschine Download PDF

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Publication number
EP4269705B1
EP4269705B1 EP23169142.9A EP23169142A EP4269705B1 EP 4269705 B1 EP4269705 B1 EP 4269705B1 EP 23169142 A EP23169142 A EP 23169142A EP 4269705 B1 EP4269705 B1 EP 4269705B1
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EP
European Patent Office
Prior art keywords
boom
holding element
movement
main body
setpoint
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
EP23169142.9A
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German (de)
English (en)
French (fr)
Other versions
EP4269705A1 (de
Inventor
Armin Grieser
Benjamin Ehlers
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.)
Robert Bosch GmbH
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Robert Bosch GmbH
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—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
    • E02F3/301—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 with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
    • 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
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • 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
    • E02F3/42—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
    • 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
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

Definitions

  • the invention relates to a method for controlling a work machine, which makes it possible to keep an inclination of a holding element constant while at least one boom element is moved.
  • the assistance function "Bucket Retain” is intended to regulate a set leveling angle of a work machine.
  • the leveling angle describes the angle of the bucket in relation to the external, higher-level coordinate system and is dependent on the boom, stick and bucket angles in their respective coordinate systems.
  • the "Bucket Retain” function adjusts the bucket angle in a controlled manner in order to maintain a desired leveling angle. The boom and stick can still be adjusted by the vehicle driver.
  • Other work machines with assistance functions are, for example, from the JP 7 009600 B1 and the JP H10 259619 A known.
  • working machine refers to any of these or other machines known from the state of the art.
  • control accuracy and control speed of this function is not particularly high due to the different weight of the attached holding element (for example, load in a bucket) and the associated dynamics.
  • the purpose of the invention is to improve the existing function.
  • the present invention is particularly advantageous because this function increases the accuracy of the "bucket retain" function.
  • testing of the function and measurements on the excavator have shown that the improvement in control when taking the load into account is enormous.
  • a linear controller is used for all operating points, without taking the load into account.
  • the inventor has observed, however, that the dynamics of the system are strongly dependent on orientation and load. of the bucket.
  • optimal control parameters when the bucket is full differ greatly from those when the bucket is empty. If the current load is not taken into account, only one set of control parameters (as a compromise of the various operating points) can be used.
  • such a solution causes enormous inaccuracies, such as oscillations and long-term control deviations, when compared to the accuracy enabled by a method according to the present invention.
  • FIG 1 shows an excavator 1 as an example of a work machine.
  • the excavator 1 has a main body 2 and a movement device 3 which is connected to the main body 2 of the work machine 1.
  • the movement device is configured to pick up loads and move them with respect to the main body 2.
  • the movement device 1 has a boom, which in turn has several boom elements to move a holding element 6.
  • the boom elements here are, for example, a lifting arm 4 (or simply as “boom”) and an arm 5 (also known as "stick”), which are connected to each other or to the main body 2 of the excavator 1 in a rotatable or pivotable manner.
  • the excavator 1 comprises Figure 1
  • the excavator shown has a bucket 6 which is arranged at an end section of the arm 5.
  • the boom elements 4, 5 and the bucket are movable by means of actuators 7, 8, 9, ie the rotation or swivel movement about the axes is caused by a movement of the actuators.
  • a first actuator 7 is provided for the lifting arm 4, which causes the movement or rotation of the lifting arm 4 relative to the main body 2.
  • a second actuator 8 is also provided for the arm 5, which causes the movement or rotation of the arm 4 relative to the lifting arm 4.
  • a third actuator 9 is also provided for the bucket, which moves or rotates (tilts) the bucket (or also called “shovel").
  • the actuators 7, 8, 9 can be controlled by a controller, whereby in the case of hydraulic cylinders, directional control valves are provided which control the flow of hydraulic fluid to the hydraulic cylinders.
  • Force data is data or measurement data that characterizes or displays the forces applied by the actuators.
  • Pressure sensors can be used in particular for this purpose, e.g. the pressure on both sides of the piston is measured on the hydraulic cylinders, whereby the force applied by the hydraulic cylinder is then characterized by the pressure difference.
  • Position data is data or measurement data that characterizes or displays the position (e.g. angle) of the boom elements, in particular their relative position or their position relative to the boom support (in particular also relative angles).
  • Angle sensors in particular can be provided for this purpose, or sensors that determine the deflection of the hydraulic cylinders.
  • state data and sensors are preferred examples of state data or sensors; in general, state data from other sensors can also be recorded additionally or alternatively, for example to record pressure data, moment data, torque data, speed data, acceleration data and/or voltage data (which, as noted, can in principle also be understood as force and/or position data).
  • the weight or mass of a load taken up can be calculated or estimated from the force and position data.
  • a so-called weighing function is used for this purpose, the implementation of which is known to the person skilled in the art.
  • the point in time or period at which the force and position data are recorded, on the basis of which the load taken up is calculated, is referred to as the weighing time or weighing period.
  • the angle ⁇ a corresponds to the inclination of the lifting arm 4 with respect to a horizontal plane
  • the angle ⁇ b to the inclination of the arm 5 with respect to the axis of the lifting arm 4
  • the angle ⁇ c to the inclination of the bucket 6 with respect to the axis of the arm 5.
  • the angle ⁇ corresponds to the inclination of the bucket 6 with respect to a horizontal plane.
  • the angle ⁇ is shown in a coordinate system which is independent of the other boom elements 4, 5.
  • the aim of the present invention is therefore to automatically keep the angle ⁇ constant while the other angles ⁇ a and ⁇ b are changed.
  • the leveling angle ⁇ is therefore automatically kept constant by the third actuator 9 (if the "Bucket Retain" function is active).
  • Figure 2 shows schematically a method for the "bucket retain" function according to an embodiment of the present invention.
  • a target grading angle ⁇ is obtained by means of an input device (e.g. a joystick or a button).
  • This information 108 can be either a value of the target grading angle ⁇ or the command to keep the current grading angle ⁇ constant.
  • sensor data 109 are recorded in order to record the position of the boom 4, 5 and the bucket 6.
  • the weight 110 calculated during the weighing time is also recorded.
  • a bus system 107 records all the information 108, 109 and 110 and transmits it to a control unit 103, which is responsible for controlling the third actuator 9.
  • the control unit 103 can control the position 106 of the third actuator by means of a pump 104 and a main control valve 105.
  • the control takes place in the loop 100, 101, 102, 103.
  • the target inclination ⁇ of the holding element 6 is detected 100 during the movement of the at least one boom element 4, 5 and compared with the actual inclination ⁇ of the holding element 6 and the difference 101 is communicated to the control unit 103.
  • the control unit 103 will then use the information 101 and the information acquired from the bus system 107 to generate a control signal for the main control valve 105.
  • the signal is therefore calculated taking into account the weight of the load carried by the holding element 6.
  • the information about the weight can be used, for example, as a control parameter in a gain scheduling or in a model-based control.
  • Control parameters can also be selected depending on the positioning (e.g. the angle) of the boom 4, 5. This means different control parameters when guiding the bucket close to the main body 2 than when moving further away from the main body 2.
  • the estimated load mass can also be used in other functions in which variable dynamics play a role. For example, in the workspace limitation assistance function.
  • the core of the present invention is therefore that a further assistance function is used to estimate the current load mass in order to take this information into account in the control of the leveling angle.
  • This can take the form of operating point-dependent control methods, such as gain scheduling, or a general, model-based approach. By combining the two functions, a better and operating point-independent control behavior is expected.

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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)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
EP23169142.9A 2022-04-25 2023-04-21 Verfahren zur verbesserung der planierwinkelregelung einer arbeitsmaschine Active EP4269705B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022203960.2A DE102022203960A1 (de) 2022-04-25 2022-04-25 Verfahren zur Verbesserung der Planierwinkelregelung einer Arbeitsmaschine

Publications (2)

Publication Number Publication Date
EP4269705A1 EP4269705A1 (de) 2023-11-01
EP4269705B1 true EP4269705B1 (de) 2025-01-01

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP23169142.9A Active EP4269705B1 (de) 2022-04-25 2023-04-21 Verfahren zur verbesserung der planierwinkelregelung einer arbeitsmaschine

Country Status (4)

Country Link
EP (1) EP4269705B1 (https=)
JP (1) JP2023161577A (https=)
CN (1) CN116950155A (https=)
DE (1) DE102022203960A1 (https=)

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4030954C2 (de) 1990-09-29 1994-08-04 Danfoss As Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens
JP3441886B2 (ja) 1996-06-18 2003-09-02 日立建機株式会社 油圧建設機械の自動軌跡制御装置
JP3653153B2 (ja) * 1996-12-20 2005-05-25 新キャタピラー三菱株式会社 建設機械の制御装置
JP3641096B2 (ja) * 1997-03-18 2005-04-20 新キャタピラー三菱株式会社 建設機械の制御装置
JP3608900B2 (ja) 1997-03-10 2005-01-12 新キャタピラー三菱株式会社 建設機械の制御方法および制御装置
DE19939796C1 (de) 1999-08-21 2000-11-23 Orenstein & Koppel Ag Verfahren und Arbeitsmaschine zur Herstellung von Bodenflächen
WO2017086488A1 (ja) 2016-11-29 2017-05-26 株式会社小松製作所 建設機械の制御装置及び建設機械の制御方法
CN108575092A (zh) 2017-01-10 2018-09-25 株式会社小松制作所 作业车辆以及控制方法
WO2019093103A1 (ja) 2017-11-10 2019-05-16 住友建機株式会社 ショベル
JP7141843B2 (ja) * 2018-03-30 2022-09-26 株式会社小松製作所 作業機械の制御装置及び作業機械の制御方法
JP7141894B2 (ja) 2018-09-05 2022-09-26 日立建機株式会社 作業機械
US11041291B2 (en) * 2018-09-14 2021-06-22 Deere & Company Controlling a work machine based on sensed variables
NL2022360B1 (nl) 2019-01-10 2020-08-13 Hudson I P B V Mobiele inrichting
DE102020212490A1 (de) 2020-10-02 2022-04-07 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen des Gewichts einer Beladung einer mobilen Arbeitsmaschine, Lernverfahren für ein datenbasiertes Modell und mobile Arbeitsmaschine
JP7009600B1 (ja) * 2020-12-07 2022-01-25 日立建機株式会社 作業機械
DE102021205407A1 (de) 2021-05-27 2022-12-01 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Beladungsschätzung von Arbeitsmaschinen

Also Published As

Publication number Publication date
EP4269705A1 (de) 2023-11-01
JP2023161577A (ja) 2023-11-07
CN116950155A (zh) 2023-10-27
DE102022203960A1 (de) 2023-10-26

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