EP4311886A1 - Machine de travail dotée d'une unité de limitation pour définir un paramètre limite - Google Patents

Machine de travail dotée d'une unité de limitation pour définir un paramètre limite Download PDF

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Publication number
EP4311886A1
EP4311886A1 EP23186170.9A EP23186170A EP4311886A1 EP 4311886 A1 EP4311886 A1 EP 4311886A1 EP 23186170 A EP23186170 A EP 23186170A EP 4311886 A1 EP4311886 A1 EP 4311886A1
Authority
EP
European Patent Office
Prior art keywords
unit
area
adjustment
work machine
work
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.)
Pending
Application number
EP23186170.9A
Other languages
German (de)
English (en)
Inventor
Georg Edlbauer
Christian LÖHR
Florian Deisl
Jan Braun
Andreas Wizgall
Severin Kessler
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.)
Wacker Neuson Linz GmbH
Original Assignee
Wacker Neuson Linz GmbH
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 Wacker Neuson Linz GmbH filed Critical Wacker Neuson Linz GmbH
Publication of EP4311886A1 publication Critical patent/EP4311886A1/fr
Pending legal-status Critical Current

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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
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • 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 mobile work machine with a support frame and with a drive unit and with a limiting unit for setting a limit parameter according to the preamble of claim 1.
  • Mobile work machines have a vertically pivotable boom or lifting/gripping/load arm for picking up a load or a tool by means of a load/tool holder, with the boom also being partially adjustable in its length or its working radius.
  • hydraulic systems or actuators are mostly used, but more recently (purely) electrical systems or actuators are also increasingly being used.
  • Such a working machine or its boom is controlled via controls such as so-called “joysticks” and/or foot pedals, whereby, for example, there is usually a control element for adjusting the lifting angle of the boom and a control element for adjusting the length of the boom, e.g a telescopic arm of the extension and a gripper arm of an excavator bending.
  • the operator's control signals are usually sent to the actuators without being checked, ie mostly Hydraulic cylinders, passed on and there is no intervention in the control signals.
  • a height limiter which limits the working height of a work machine, especially excavators, loaders and other machines for earthworks, with a boom or lifting arm and with an attachment attached to the end.
  • the height limitation therefore represents a limit parameter of the existing kinematic chain, ie of the lifting/gripper arm and attachment and/or an optional swivel console for the usually lateral pivoting of the lifting/gripper arm, and, in addition to the boom, also includes one or more sensors.
  • An input device is also optionally provided to allow an operator to select an attachment that is currently attached to the boom.
  • the assigned sensor serves as a means of determining the heights of the boom and the attachment and records the respective actual parameters of these components.
  • a controller prevents the boom or attachment from raising when the boom or attachment is at a height that is at or above a maximum height and is therefore in a prohibited area.
  • the boom or the attachment can be adjusted manually as usual, as usual.
  • the object of the invention is, in contrast, to propose a mobile work machine with a support frame and a drive unit that at least partially improves the disadvantages of the prior art, in particular ensures safe operation or a safe way of working and / or enables novel functionalities.
  • a mobile work machine is characterized in that the electrical and/or electronic control unit has at least one buffer unit for changing/braking/buffering an adjustment speed and/or adjusting the kinematic chain and/or the swivel console and/or lifting device and/or the Work tool and / or the tool holder, so that the adjustment area comprises at least one buffer area designed as an edge area, the buffer area being arranged on the prohibited area and having a width designed as a buffer distance.
  • a buffer parameter is provided which is spaced from the limit parameter at a distance of the width or at the buffer distance from the prohibited area.
  • a work step of a working method according to the invention can result in a change in the control and/or adjustment of the kinematic chain and/or the swivel console and/or by detecting the actual parameter and by detecting whether the buffer parameter or the buffer distance has been reached the lifting device and/or the work tool and/or the tool holder can be used.
  • the limit parameter or the buffer parameter is a spatial parameter and/or a space parameter and/or an environmental parameter and/or a parameter of the three-dimensional space and/or a limit value or a limit value.
  • Line/area of a (local and/or global) coordinate system especially a Cartesian or orthogonal coordinate system or a polar coordinate system or the GPS system. If necessary, a linear and/or affine coordinate transformation of two coordinate systems, in particular a first/local/own machine/coordinate system with a global/other/second coordinate system, is provided, so that, for example, a common coordinate system is generated or used.
  • the work machine especially with its kinematic chain, advantageously has its own machine coordinate system in which, for example, the adjustment takes place and / or can be classified or defined / fixed.
  • a second/different coordinate system e.g.
  • a geographic information system and/or a spatial planning or architectural system and/or a construction site leveling device or laser measuring device and/or the GPS system or the like that an advantageous coordinate transformation of the two coordinate systems is carried out in an advantageous manner, including by means of mathematical calculation methods, for example the control unit or CPU or the like, so that a common coordinate system is generated/determined/defined in which the limit parameters and/or the buffer -Parameters are arranged, for example, as spatial parameters and/or space parameters and/or environmental parameters and/or parameters of the three-dimensional space and/or limit value or limit line/surface of the first and/or second and/or the common coordinate system or is/are defined/determined and/or adopted/transferred/transformed.
  • the limit parameters and/or the buffer parameters are advantageously fixed, immovable parameters, in particular coordinates, which define or delimit the prohibited area and also the adjustment area from one another.
  • “behind” these, i.e. these prohibited areas usually mean protected and/or dangerous or endangered, fixed objects/things/spaces such as lines, canals, buildings, road or rail or traffic areas/spaces or the like protected or should not be touched or damaged by the kinematic chain or work tool or into which the working machine or the kinematic chain must not penetrate.
  • a free adjustment or mode of operation is possible in the adjustment area, especially outside the buffer area according to the invention, a completely free or uninfluenced and / or unchanged adjustment or mode of operation is possible. This also means that only a certain change/braking or buffering can or does take place in the buffer area with regard to the adjustment in the sense of the invention, as explained in more detail before or below.
  • the edge/buffer area or buffer parameters according to the invention can also be used to reduce the accuracy of defining the forbidden zone, i.e. the tolerances with regard to the limit parameters and/or adjustment versus forbidden zone or the border lines/areas can be lower, since according to the invention the buffer is installed/defined as a "safety area" between completely free or unchanged adjustment and the "taboo zone” or prohibited area. This allows the system measurement/accuracy costs to be reduced without compromising safety. Rather, security is significantly increased according to the invention.
  • an advantageous control and, if necessary, restriction of the working area of the respective work machine can be implemented. This effectively prevents parts or sections of the kinematic chain, in particular the lifting device and/or the swivel console and/or the The work tool and/or the tool holder move into the prohibited area or beyond the limit parameter.
  • the buffer area and/or the buffer distance and/or the width is predetermined or fixed in relation to the prohibited area and/or limit parameters, in particular cannot be changed during operation.
  • a firmly defined buffer distance or edge area is specified or stored in an electrical/electronic memory. This is an advantage in terms of the design and control engineering effort.
  • the buffer unit is advantageously designed in such a way that the buffer area and/or the buffer distance and/or the width can be changed, in particular during operation or adjustment. In this way, an advantageous adaptation to the work situation or general conditions can be implemented, especially dynamically. This significantly increases the flexibility and security of the operation.
  • the buffer unit is designed such that a direction and/or an amount of the adjustment speed of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder can be changed.
  • the amount of the adjustment speed at/at the limit parameter and/or prohibition area and/or a limit line/area is zero. In this way, a defined reduction/braking of the adjustment, especially down to a standstill, can take place.
  • the buffer unit is advantageously designed in such a way that changing/braking/buffering the adjustment speed and/or the adjustment of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder is provided as a function of an adjustment angle, wherein the adjustment angle is arranged between the direction of the adjustment speed and a tangent and/or a boundary line/surface of the prohibited area/adjustment area.
  • both the adjustment angle or the direction of the adjustment speed as well as the amount of the adjustment speed can be changed, in particular the adjustment angle and/or the amount can be reduced.
  • the adjustment angle can advantageously not be changed/reduced, but the amount of the adjustment speed can.
  • advantageous braking or reduction of the adjustment speed can take place depending on the adjustment angle.
  • the adjustment or the adjustment/speed direction is arranged at a particularly acute angle or even parallel to the tangent and/or a boundary line/surface of the prohibited area/adjustment area. Because with a very acute angle or even parallel adjustment, a relatively small or even (Almost) no braking/reduction/change in the adjustment of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder can be realized in the buffer area. In this particular case, the operator would be able to detect almost no intervention in the work.
  • this can be the case if, for example, an excavator bucket is adjusted (almost) parallel to a sewer or an open-air power line or a house wall, etc.
  • an almost vertical/orthogonal adjustment of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder in the buffer area in relation to the sewer, house wall, etc. would, according to a variant of the invention, be relatively cause strong braking/reduction/change in the adjustment of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder. This additionally increases the safety of the operation.
  • the amount of the adjustment speed can advantageously not be changed/reduced, but the adjustment angle is changed, so that, for example, the adjustment angle is advantageously at/at/the limit parameter and/or prohibition area and/or limit line / area is zero.
  • the adjustment or the adjustment/speed direction is changed in such a way that the adjustment angle becomes (always) smaller or more acute and, for example, even aligned/designed parallel to the tangent and/or a boundary line/surface of the prohibited area or adjustment area the smaller the distance to the limit parameter or becomes a prohibited area. Accordingly, an advantageous deflection of the adjustment angle or the adjustment can be realized.
  • the movement or adjustment therefore makes a curved curve and can ultimately lead to a straight line or parallel to the limit parameter or prohibition area.
  • the parallel to the border parameter or prohibition area would therefore not be a straight adjustment, but of course also a curved adjustment/curve. This is advantageous, for example, if a structure such as a large sewage pipe or rainwater cistern or the like is to be uncovered or excavated, which is bent in three dimensions and must not be damaged.
  • the buffer unit is designed in such a way that changing/braking/buffering the adjustment speed and/or the adjustment of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder depending on a Load and/or loading of the kinematic chain and/or the swivel console and/or lifting device and/or the work tool and/or the tool holder is provided, with the changing/braking/buffering of the adjustment speed and/or the adjustment speed being carried out particularly in the case of a large load/load
  • the amount/adjustment angle is larger/stronger than with a small load/load on the work tool and/or the tool holder. In this way, a particularly large impulse or a particularly large inertia of the boom or the kinematic chain can be taken into account in an advantageous manner. This additionally increases the safety of the operation.
  • the adjustment/movement within a defined area or the adjustment range according to a variant of the invention should be possible as unrestricted as possible, but protected areas or barriers, i.e. the prohibited area, exist that do not allow machine movements that bring the implement into these protected areas /Move into prohibited areas.
  • a variant of the invention or the advantageous function is designed in such a way that the current operating status of the system is advantageously displayed or communicated/signaled to the operating personnel/driver at any time.
  • This can be done, for example, by means of a screen, display, LED or the like, with which optical signaling clearly shows/symbolizes the distance to the prohibited area and/or the change/braking/buffering.
  • a (different) acoustic signaling or warning can advantageously occur, for example when the buffer area/parameter and/or the prohibition zone or the limit parameter is reached.
  • the above-mentioned object of the invention can also be achieved with a work machine according to the preamble of claim 1, for example in that the limit parameter and / or the prohibited area and / or the boundary line / area are the work machine and / or the support frame and / or the drive unit and/or the drive element and/or the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder and/or is designed as its envelope/contour and/or outer/surface / is fixed.
  • the limit parameter and / or the prohibited area and / or the boundary line / area are the work machine and / or the support frame and / or the drive unit and/or the drive element and/or the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder and/or is designed as its envelope/contour and/or outer/surface / is fixed.
  • Such a work machine can also be advantageously combined with individual and/or other features of various variants of the invention.
  • control unit and/or boundary unit and/or buffer unit comprises at least one electrical and/or electronic storage unit for storing the actual parameter and/or the limit parameter and/or boundary line/area and/or the buffer area/parameter and/or or the buffer distance and/or the width and/or digital data/signals/information.
  • This allows defined parameters or working conditions to be specified and/or changed/adapted for operation. This improves the Functionality and thus also the operational reliability of a variant of the invention are further added.
  • control unit and/or limiting unit and/or buffer unit is/are designed in such a way that the actual parameter is used as a stored limit parameter of the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder is designed, wherein actuation of the control element and / or a rest phase of the kinematic chain and / or the swivel console and / or the lifting device and / or the work tool and / or the tool holder generates the stored limit parameter.
  • the operator or driver can thus advantageously manually adjust and/or set the parameters during operation.
  • the operator operates the control element in a specific position of the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder and/or, if necessary, by means of a subsequent rest phase, this actual position is used as a limit.
  • Position or limit parameters are defined/saved in the sense of a variant of the invention. This can be implemented as an advantageous learning process or “teaching”.
  • At least one orientation unit is for orienting in the environment and/or detecting/locating surrounding objects using orientation and/or location data/signals, in particular GPS data/signals and/or ultrasound signals or LED and / or laser and / or light signals.
  • orientation and/or location data/signals in particular GPS data/signals and/or ultrasound signals or LED and / or laser and / or light signals.
  • the limit parameters or prohibition area can be set in an advantageous manner using other/external data/signals/information.
  • the work machine has its own machine coordinate system, which it coordinates or compares with another/external coordinate system using the orientation unit, in particular with the GPS system and/or with geodata or geoinformation systems and/or architectural data or the like.
  • the orientation unit has at least one receiving unit for receiving orientation and/or positioning data/signals and/or at least one transmitting unit for sending orientation and/or positioning data/signals, for example a GPS receiver and/or at least one laser - and/or IR and/or ultrasonic receiver/transmitter.
  • a GPS receiver for example, a GPS receiver and/or at least one laser - and/or IR and/or ultrasonic receiver/transmitter.
  • control unit and/or limiting unit and/or buffer unit is/are designed such that the orientation and/or location data/signals of the orientation unit are stored as stored limit parameters of the kinematic chain and/or the swivel console and/or the lifting device and/or or the work tool and/or the tool holder are designed, with actuation of the operating element and/or an orientation/locating phase of the orientation unit generating the stored limit parameters.
  • the operator operates the control element in a specific position of the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder and/or, if necessary, objects or obstacles etc. are detected by means of a subsequent rest phase. or their orientation/locating parameters are defined/saved as limit parameters in the sense of a variant of the invention. This can be implemented as an advantageous learning process or “teaching”.
  • control unit and/or limiting unit and/or buffer unit is/are designed such that at least two/several stored limit parameters form a polygon and/or curve to form the boundary line/surface.
  • More complex prohibited areas or boundary lines can also be used or generated, e.g. two-dimensional boundary lines and/or three-dimensional boundary surfaces.
  • interpolation and/or extrapolation methods are also used for this purpose.
  • a work machine orientation unit with an orientation unit for orienting in the environment and/or detecting/locating surrounding objects by means of orientation and/or location data/signals, in particular GPS data/signals and/or ultrasound signals or LED and/or or laser and/or light signals, and provided with a work machine, the orientation unit being designed as an orientation unit separate from the work machine.
  • the orientation unit is designed as a laser measuring device, the laser measuring device being designed to transmit at least one laser beam and the work machine having at least one laser receiving unit for receiving the laser beam.
  • a construction site leveling device can be used here, so that an advantageous spatial classification of the work machine and/or a coordinate transformation of the coordinate system of the laser measuring device can be achieved in an advantageous manner, for example by means of mathematical calculation methods, for example the control unit or CPU or the like and the work machine can be made, so that a common coordinate system is generated or defined/defined, in which the limit parameters and/or the buffer parameter, for example as a spatial parameter and/or space parameter and/or environmental parameter and/or Parameters of the three-dimensional space and/or limit value or limit line/surface of the first and/or second and/or the common coordinate system are arranged or defined/determined and/or adopted or transferred/transformed.
  • the work machine has at least one GPS receiving unit for receiving a GPS signal and/or GPS data.
  • This allows an advantageous “connection” to the GPS system.
  • an advantageous spatial classification of the work machine and/or a coordinate transformation of the coordinate system of the GPS system and the work machine can be achieved in an advantageous manner, for example by means of mathematical calculation methods, for example of the control unit or CPU or the like can be made, so that the work machine is integrated or integrated into the common coordinate system or into the GPS system, in which the limit parameters and / or the buffer parameter, for example as a spatial parameter and / or spatial parameter and / or environmental parameters and/or parameters of the three-dimensional space and/or limit value or limit line/surface of the first and/or second and/or the common coordinate system or GPS system are arranged or defined/determined and/or adopted or is/are transferred/transformed.
  • the orientation unit is advantageously designed as a geoinformation unit for receiving and/or utilizing geoinformation and/or digital geodata, in particular geographical and/or spatial planning/planning and/or architectural data/signals. This can be used to create an advantageous “connection” to a geographic information system and/or to digital geodata.
  • an advantageous spatial classification of the work machine and/or a coordinate transformation of the coordinate system of the geoinformation system and the work machine can be carried out in an advantageous manner, for example by means of mathematical calculation methods, for example of the control unit or CPU or the like, so that the work machine can be integrated into the common coordinate system or is integrated or integrated into the geoinformation system, in which the boundary parameters and/or the buffer parameters are, for example, as spatial parameters and/or spatial parameters and/or environmental parameters and/or parameters of the three-dimensional space and/or limit value or .Border line/area of the first and/or second and/or the common coordinate system or geoinformation system is/are arranged or defined/determined and/or adopted or transferred/transformed.
  • control unit and/or limitation unit and/or buffer unit is/are designed such that the geoinformation and/or digital geodata and/or GPS signals and/or GPS data are stored as stored boundary parameters of the kinematic chain and/or the swivel console and/or the lifting device and/or the work tool and/or the tool holder are formed, with actuation of the operating element and/or a transmission/storage phase of the orientation unit generating the stored limit parameters.
  • This allows the data to be transferred or transferred/transformed in an advantageous manner, which reduces the effort and costs.
  • the global specification of blocked areas that no part of the machine may reach is also provided.
  • this variant is advantageously possible in cases where the machine has, if possible, a 3D GPS system that records both the global machine position and, if possible, a 3D map in which the (virtual) map points are specified.
  • Globally valid prohibited areas or barriers can then be entered in this (virtual) map, which, depending on the configuration, define, for example, height- or depth-limited areas or areas with other restrictions.
  • the calculated distances are advantageously compared with the minimum distance set in each case and if the distance is not reached, the control signals are intervened in an advantageous manner, for example in such a way that movements in the direction of the prohibited areas or barriers are slowed down. When a prohibited zone or barrier is reached, no movement/adjustment is permitted that would lead to the protected area.
  • the buffer/minimum distance is advantageously dynamically adapted to the speed of the respective drive.
  • the intervention can advantageously either take place in an axis-specific manner and specifically brake the axes whose activity is currently contributing to the movement in the direction of the barrier. Alternatively, all axes are reduced proportionally and thus the direction commanded by the driver is retained.
  • Another possible embodiment variant is, for example, a pure “worst case” limitation of the joint angles, without a position coordinate calculation of the critical points. However, this would generally restrict the range of movement comparatively severely.
  • most embodiment variants advantageously require one for the advantageous function Measurement/recording of the (precise) joint positions in order to be able to calculate the exact position of the machine in its working space, ie for the actual parameters in the sense of a variant of the invention.
  • An advantageous intervention in the control signals is also advantageous for all variants.
  • An excavator 1 in Fig. 1 comprises a mobile undercarriage 2 and an uppercarriage 3 rotatably mounted thereon about a vertical axis V1.
  • An excavator boom 4 is attached to the uppercarriage 3, which can advantageously be rotated about a vertical axis V2 by means of a swivel console and about a horizontal axis H1 by means of a joint.
  • the terms “vertical axis” and “horizontal axis” refer, for example, to an excavator that stands on a horizontal work or standing surface, ie the ground E. If the excavator 1 moves on an inclined surface, these axes that are perpendicular to one another are also inclined accordingly.
  • the excavator boom is divided into three sections 5, 6, 7 that can be rotated relative to one another about horizontal axes H1, H2, H3. On the last section 7, a work tool or spoon 8 is attached to a tool holder 9 that can be rotated about a further horizontal axis H4. Hydraulic cylinders 10, 11, 12, 13 are provided as drive elements for the movements of the excavator boom 4. This structure is typical for excavator 1 of a known type.
  • Fig. 1 The excavator boom is shown in an intermediate position within its working area A. Dashed lines, between which are hatched areas/surfaces P are shown represent different buffer areas P according to a variant of the invention.
  • An example is in Fig. 1 a height limit line GH and a depth limit line GT are shown as well as a polygon line GS for "self-protection". The latter is intended for self-protection, especially of the hydraulic cylinder 10 and the clearing blade or the chassis/undercarriage 2 and has a buffer P3 and P4.
  • a first width B1 of the height buffer area P1 different or larger than a second width B2 of the depth buffer area P2 and also different/larger than a self-protection buffer area P3 and P4.
  • the work area is formed between the schematically represented horizontal boundary lines GH and GT.
  • area A there are two separate taboo zones T TH and TT or prohibited areas in the sense of a variant of the invention, e.g. above due to a power line and/or below due to a sewer.
  • Sensors detect the actual positions of the sections 5, 6, 7 and the spoon 8 etc. According to a variant of the invention, these actual parameters are compared with the boundary lines GH by means of a control unit or CPU or the like (not shown). GT, GS etc. as well as the buffer areas P or their widths B and / or the resulting or resulting buffer lines / areas compared.
  • a change, buffering or Braking the adjustment or the adjustment speed of these components of the kinematic chain when one of the sections 5, 6, 7 and/or the spoon 8 penetrates or exceeds these buffer areas P, a change, buffering or Braking the adjustment or the adjustment speed of these components of the kinematic chain.
  • the adjustment speed is usually braked or slowed down. This is done automatically using electronic/electrical control or control, which the driver does not actively influence in this situation. Rather, he and/or with the help of an external system determined this behavior/change. For example, he determined the width B and the boundary line G as well as the type and extent of the change and/or the boundary lines G or taboo zones T were created using external data/information, such as the GPS system and/or geoinformation systems, etc separated from the work area.
  • a leveling device 15 or a laser measuring device 15 is shown, which advantageously emits a laser beam with which a receiver 16 on the arm 7 or section 7 detects a "global" reference height RG and, if necessary, with an internal or vehicle-specific one "local" reference height RL or can determine a difference D or a height offset.
  • an internal or vehicle-specific local coordinate system/height coordinates can advantageously be compared or brought into agreement with an external or “global” coordinate system or height coordinates. This improves the accuracy of work and compliance with boundaries and buffer areas.
  • FIG. 2 Four different possible variants according to the invention are shown schematically.
  • Various boundary lines G and buffer areas P, especially buffer areas PS, are for the machine's self-protection (cf. Figures 2a) and 2b )). It can be seen that there are almost unlimited possibilities in the design or shaping of the work areas A and taboo zones T or boundary lines G or boundary areas depending on requirements or application case are possible.
  • a swivel range (cf. Figures b) and 2d)) or a radius (cf. Figures 2a), 2b) and 2d )) and/or a square or polygon (cf. Figures 2c) and 2d )) can be implemented with or without a self-protection area.
  • FIG. 3 two advantageous variants of intervention or change in the adjustment within the buffer areas P are presented.
  • Figure 3a a so-called “axle-specific" reduction in the adjustment speed VW of the tool 8 and / or the lifting arm 4 or excavator boom 4 is illustrated.
  • An angle alpha represents the direction of the adjustment or the adjustment speed VW.
  • the adjustment speed VW of the tool 8 resulting from two vector working axes I and II is changed in such a way that only the working axis I is reduced/reduced depending on the distance to the boundary line G is reduced, but the working axis II is not changed within the buffer area P.

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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)
  • Operation Control Of Excavators (AREA)
EP23186170.9A 2022-07-28 2023-07-18 Machine de travail dotée d'une unité de limitation pour définir un paramètre limite Pending EP4311886A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102022119045.5A DE102022119045A1 (de) 2022-07-28 2022-07-28 Arbeitsmaschine mit einer Begrenzungseinheit zum Festlegen eines Grenz-Parameters

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EP4311886A1 true EP4311886A1 (fr) 2024-01-31

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EP3995629A1 (fr) * 2020-03-25 2022-05-11 Hitachi Construction Machinery Co., Ltd. Système d'aide à l'actionnement pour engin de chantier

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AU2017202395A1 (en) 2017-04-11 2018-10-25 G Fleet Holdings Pty Ltd Height Limiter
US20210010236A1 (en) * 2018-03-26 2021-01-14 Sumitomo Construction Machinery Co., Ltd. Shovel
EP3995629A1 (fr) * 2020-03-25 2022-05-11 Hitachi Construction Machinery Co., Ltd. Système d'aide à l'actionnement pour engin de chantier

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