JP6864745B2 - レーザ距離計を用いた機械のリムの長さおよび角度オフセットの決定 - Google Patents

レーザ距離計を用いた機械のリムの長さおよび角度オフセットの決定 Download PDF

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JP6864745B2
JP6864745B2 JP2019529150A JP2019529150A JP6864745B2 JP 6864745 B2 JP6864745 B2 JP 6864745B2 JP 2019529150 A JP2019529150 A JP 2019529150A JP 2019529150 A JP2019529150 A JP 2019529150A JP 6864745 B2 JP6864745 B2 JP 6864745B2
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Prior art keywords
excavator
stick
boom
bias
ldm
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Japanese (ja)
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JP2019536926A5 (https=
JP2019536926A (ja
Inventor
ニコラス ハウエル，マーク
ニコラス ハウエル，マーク
ジョゼフ フライ，サミュエル
ジョゼフ フライ，サミュエル
Original Assignee
キャタピラー トリンブル コントロール テクノロジーズ、 エルエルシー
キャタピラー トリンブル コントロール テクノロジーズ、 エルエルシー
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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
    • E02F3/36—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
    • E02F3/30—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
    • E02F3/43—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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • 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
    • 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)
    • 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
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
    • E02F3/3681—Rotators

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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)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Operation Control Of Excavators (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Prostheses (AREA)
JP2019529150A 2016-11-30 2017-11-17 レーザ距離計を用いた機械のリムの長さおよび角度オフセットの決定 Active JP6864745B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/364,778 US9995016B1 (en) 2016-11-30 2016-11-30 Excavator limb length and offset angle determination using a laser distance meter
US15/364,778 2016-11-30
PCT/US2017/062231 WO2018102160A1 (en) 2016-11-30 2017-11-17 Machine limb length and angle offset determination using a laser distance meter

Publications (3)

Publication Number Publication Date
JP2019536926A JP2019536926A (ja) 2019-12-19
JP2019536926A5 JP2019536926A5 (https=) 2021-01-07
JP6864745B2 true JP6864745B2 (ja) 2021-04-28

Family

ID=62193152

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019529150A Active JP6864745B2 (ja) 2016-11-30 2017-11-17 レーザ距離計を用いた機械のリムの長さおよび角度オフセットの決定

Country Status (5)

Country Link
US (2) US9995016B1 (https=)
EP (1) EP3548672B1 (https=)
JP (1) JP6864745B2 (https=)
AU (1) AU2017366811B2 (https=)
WO (1) WO2018102160A1 (https=)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10597853B2 (en) * 2017-07-13 2020-03-24 Komatsu Ltd. Measuring jig and hydraulic excavator calibration method
CN109440854A (zh) * 2018-10-18 2019-03-08 南京天辰礼达电子科技有限公司 一种计算斗尖与大臂轴心位置关系的方法
EP3882400B1 (en) * 2018-11-14 2026-04-29 Sumitomo Heavy Industries, Ltd. Shovel and device for controlling shovel
CN110700828B (zh) * 2019-10-21 2021-03-23 北京易联创安科技发展有限公司 一种基于激光扫描仪的掘进机自动控制装置及其控制方法
US20210372090A1 (en) * 2020-06-02 2021-12-02 Manitou Equipment America, Llc Boom Extension and Rotation Monitoring System
US11624169B2 (en) * 2020-06-18 2023-04-11 Deere & Company Excavator with improved movement sensing
CN111930089B (zh) * 2020-09-11 2021-01-01 湖南三一中型起重机械有限公司 工程机械设备的控制方法、装置、计算机设备及存储介质
CN112949031B (zh) * 2021-01-27 2023-05-12 国家体育总局体育科学研究所 上肢动作空间范围推算系统、其构建方法及使用方法
CN113358025B (zh) * 2021-05-21 2022-08-02 北京工业大学 一种线激光传感器空间位姿标定件及标定方法
CN113345030B (zh) * 2021-06-17 2024-01-02 三一重机有限公司 作业机械传感器的标定方法、装置、作业机械及电子设备
US12209384B2 (en) 2021-09-20 2025-01-28 Deere &Company Laser reference tracking and target corrections for work machines
CN115060163B (zh) * 2022-06-06 2025-05-27 徐州徐工挖掘机械有限公司 一种挖掘机自动校准系统及校准方法
US12291840B2 (en) 2023-01-25 2025-05-06 Deere &Company System and method of automated setting of elevation reference for continuous grade control

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4945221A (en) * 1987-04-24 1990-07-31 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
US4829418A (en) * 1987-04-24 1989-05-09 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
US5682311A (en) * 1995-11-17 1997-10-28 Clark; George J. Apparatus and method for controlling a hydraulic excavator
JPH1077663A (ja) * 1996-09-04 1998-03-24 Shin Caterpillar Mitsubishi Ltd レーザ計測機付き建設機械
US6253160B1 (en) * 1999-01-15 2001-06-26 Trimble Navigation Ltd. Method and apparatus for calibrating a tool positioning mechanism on a mobile machine
US6263595B1 (en) * 1999-04-26 2001-07-24 Apache Technologies, Inc. Laser receiver and angle sensor mounted on an excavator
WO2003000997A1 (en) * 2001-06-20 2003-01-03 Hitachi Construction Machinery Co., Ltd. Remote control system and remote setting system of construction machinery
US20080000111A1 (en) 2006-06-29 2008-01-03 Francisco Roberto Green Excavator control system and method
US20080047170A1 (en) 2006-08-24 2008-02-28 Trimble Navigation Ltd. Excavator 3D integrated laser and radio positioning guidance system
SE537181C2 (sv) * 2008-10-21 2015-02-24 Svab Hydraulik Ab Styrsystem samt förfarande för en tiltrotator
US8689471B2 (en) 2012-06-19 2014-04-08 Caterpillar Trimble Control Technologies Llc Method and system for controlling an excavator
WO2015173920A1 (ja) * 2014-05-14 2015-11-19 株式会社小松製作所 油圧ショベルの較正システム及び較正方法
US10094654B2 (en) * 2014-08-25 2018-10-09 Trimble Navigation Limited All-in-one integrated sensing device for machine control
RU2572434C1 (ru) * 2014-08-26 2016-01-10 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Система управления рабочим органом землеройно-транспортной машины

Also Published As

Publication number Publication date
US20180148904A1 (en) 2018-05-31
AU2017366811B2 (en) 2023-09-14
US9995016B1 (en) 2018-06-12
US10253476B2 (en) 2019-04-09
US20180258609A1 (en) 2018-09-13
WO2018102160A1 (en) 2018-06-07
EP3548672A1 (en) 2019-10-09
EP3548672B1 (en) 2022-01-05
AU2017366811A1 (en) 2019-06-13
JP2019536926A (ja) 2019-12-19
EP3548672A4 (en) 2020-08-05

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