JP2020502398A - 付加的建設動作のための機械配置を最適化するための制御システムおよび方法 - Google Patents
付加的建設動作のための機械配置を最適化するための制御システムおよび方法 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
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- 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
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- 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
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/021—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a variable is automatically adjusted to optimise the performance
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42217—Time optimal position control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49019—Machine 3-D slices, to build 3-D model, stratified object manufacturing SOM
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49068—Minimum cost adaptive
Abstract
Description
Claims (10)
- 工事現場(13)上で動作し、所定の器具制御計画(74)に従って付加的建設動作を実行するように構成された器具(12)と関連付けられた機械(10)のための制御システム(30)であって、
少なくとも前記工事現場(13)の地形およびその上に存在する任意の工事現場オブジェクトに関連する位置決め信号(59)を決定するように構成された位置決めシステム(52)と、
前記器具(12)および前記機械(10)と動作可能に関連付けられた一つまたは複数の制御アクチュエータ(32)であって、その一つまたは複数のアクチュエータ(32)は、前記機械(10)に対して前記器具(12)を位置決めするように構成され、一つまたは複数の制御アクチュエータ(32)は、前記機械用の機械構成(100)に基づいて前記器具(12)を位置決めすることができ、前記機械構成(100)は、器具動作範囲(104)および機械設置面積(102)を含む、一つまたは複数の制御アクチュエータと、
プロセッサを含むコントローラ(50)であって、
前記位置決めシステム(52)から前記位置決め信号を受信し、
前記機械(10)および前記器具(12)が少なくとも前記位置決め信号(59)および前記所定の器具制御計画(74)に基づき、使用可能なゾーン(115)内で付加的建設動作を実行することができる、工事現場(13)内の前記使用可能なゾーン(115)を決定し、
前記使用可能なゾーン(115)内の前記工事現場(13)上の所望の付加的建設サイトに対して、動作ゾーン(119)を決定することであって、前記動作ゾーン(119)のパラメータが、少なくとも部分的に、前記使用可能なゾーン(115)、前記機械構成(100)、および前記所定の器具制御計画(74)に基づく、決定するように構成されるコントローラと、を含む、制御システム(30)。 - 前記コントローラ(50)が、前記付加的建設動作の実行前に、または実行の間に、前記機械(10)を前記動作ゾーン(119)に移動させるよう指示する命令(121)を決定するようにさらに構成される、請求項1に記載の制御システム(30)。
- 前記コントローラ(50)と動作可能に関連付けられ、
前記コントローラ(50)から前記機械(10)を指示する命令(121)を受信し、
前記機械(10)を前記機械(10)のオペレータ(60)に指示する命令(121)を提示するように構成される、オペレータ出力部(71)をさらに含む、請求項2に記載の制御システム(30)。 - 前記コントローラ(50)が、前記機械(10)を指示する前記命令(121)に基づいて、前記機械(10)の推進および操舵を自律的に制御するようにさらに構成される、請求項2に記載の制御システム(30)。
- 前記コントローラ(50)が、前記動作ゾーン(119)内で、前記機械の最適建設位置(117a)を、少なくとも部分的に、前記所定の器具制御計画(74)に基づいて、決定するようにさらに構成される、請求項1に記載の制御システム(30)。
- 前記コントローラ(50)が、前記機械を、前記付加的建設動作の前または間に、前記最適建設位置(117a)に近接した位置(117b)に移動させるよう指示する命令(121)を決定するようにさらに構成される、請求項5に記載の制御システム(30)。
- 前記コントローラ(50)によって、前記機械の前記最適建設位置(117a)を決定することは、機械(10)および器具(12)が、前記最適建設位置(117a)に位置決めされるとき、最小数の機械動作を使用して、前記最適建設位置から前記付加的建設動作を実行することができるよう、最適建設位置(117a)を決定することを含む、請求項5に記載の制御システム(30)。
- 前記コントローラ(50)によって前記機械(10)の前記最適建設位置(117a)を決定することは、前記最適建設位置から前記付加的建設動作を実施するために必要な前記機械(10)および前記器具(12)による動きに割り当てられたコストのコスト分析に基づき、コスト効率のための前記最適建設位置(117a)を構成することを含む、請求項5に記載の制御システム(30)。
- 前記コントローラ(50)が、
前記位置決め信号に基づいて、前記使用可能なゾーン(115)内の障害物(105)を検出し、
前記障害物(105)が検出された場合、前記位置決め信号(59)に基づいて前記障害物(105)の位置決めを決定し、
前記コントローラ(50)によって、前記動作ゾーン(119)を決定することが、前記動作ゾーン(119)のパラメータを、さらに前記障害物(105)の前記位置決めに基づいて構成することを含む、請求項1に記載の制御システム(30)。 - 前記機械(10)が、ハウジング(14)と、クレーン(22)とを含み、前記一つまたは複数のアクチュエータ(32)の少なくとも一つが、前記工事現場(13)に対して前記器具(12)を位置決めするとき、前記ハウジング(14)に対して前記クレーン(22)を動かすように構成され、
前記器具動作位置決め範囲(104)が、少なくとも前記クレーン(22)に対する動きの範囲によって制約される、請求項1に記載の制御システム(30)。
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US15/373,600 US10377125B2 (en) | 2016-12-09 | 2016-12-09 | Control systems and methods to optimize machine placement for additive construction operations |
PCT/US2017/061678 WO2018106419A2 (en) | 2016-12-09 | 2017-11-15 | Control systems and methods to optimize machine placement for additive construction operations |
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WO2023022096A1 (ja) * | 2021-08-18 | 2023-02-23 | 株式会社小松製作所 | 燃料電池システム及び作業機械 |
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US10377125B2 (en) | 2019-08-13 |
WO2018106419A3 (en) | 2018-07-26 |
JP7128184B2 (ja) | 2022-08-30 |
US20180162065A1 (en) | 2018-06-14 |
WO2018106419A2 (en) | 2018-06-14 |
JP2022159504A (ja) | 2022-10-17 |
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