KR950001446A - 굴삭기의 자동 반복작업 제어방법 - Google Patents
굴삭기의 자동 반복작업 제어방법 Download PDFInfo
- Publication number
- KR950001446A KR950001446A KR1019930012199A KR930012199A KR950001446A KR 950001446 A KR950001446 A KR 950001446A KR 1019930012199 A KR1019930012199 A KR 1019930012199A KR 930012199 A KR930012199 A KR 930012199A KR 950001446 A KR950001446 A KR 950001446A
- Authority
- KR
- South Korea
- Prior art keywords
- task
- excavator
- target
- joint
- driver
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
-
- 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
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/085—Servomotor systems incorporating electrically operated control means using a data bus, e.g. "CANBUS"
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
-
- 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
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36413—Adapt playback as function of hardness material, time comparison to reach start point
-
- 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
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39399—Convert position of old, teach to new, changed, actual tool by transform matrix
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45012—Excavator
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
기존 굴삭기에 각종 센서, 전자비례밸브, 마이크로프로세서 등을 사용하여 전자제어를 적용함으로써 미숙련자도 쉽고 신속하게 작업을 할 수 있는 굴삭기의 개발이 요구되고 있는데, 본 발명은 이러한 전자제어식 굴삭기를 이용하여 운전자가 한번 작업을 하면서 그 작업을 기억시켜 두고 운전자가 원하는 시기에 자동으로 반복할 수 있게 하는 것이다.
예를들어 도랑파기와 같은 작업을 하기 위해서 운전자는 흙을 파서 옆에 그 흙을 버린 다음 뒤로 주행하고 다시 흙을 파낼 장소로 각 액츄에이터를 이동시킬 것이다. 이와같은 단순 반복작업을 운전자가 계속 수행한다는 것은 비효율적인 작업이 되는데, 작업의 효율을 높이기 위해 운전자는 일회의 작업수행을 통해 작업과 관련된 정보를 기억시키고 그 다음 부터는 운전자가 직접작업을 하지 않고 반복작업명령을 내리기만 하면 되도록 각 관절의 위치제어를 통하여 반복작업이 지면의 경도와 관계없이 정확하게 수행된다.
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제2도는 본 발명을 실현하기 위한 제어시스템과 굴삭기의 주요구성요소들과의 연결관계를 개략적으로 나타낸 도면, 제3도는 본 발명을 설명하기 위한 흐름도.
Claims (1)
- 전자제어식 굴삭기에 의해 수행되는 소정의 작업과 관련된 정보들을 기억시킨 후 상기 소정의 작업이 상기 굴삭기에 의해 자동으로 반복수행 되도록 하는 방법에 있어서, 반복시작변수(go_pb)가 '참'을 나타내는지 여부를 판별하고 '참'이 아니면 샘플링시간을 누적시키는 단계와, 상기 굴삭기의 관절들 각각의 제1목표각도(ta[])를 계산하고, 상기 각 관절이 반복작업의 시작지점까지 이동하는데 소요될 것이란 예상에 따라서 미리 설정된 예상시간(ft)과 상기 샘플링시간의 누적시간을 비교하여 상기 예상시간(ft)이 상기 누적 시간을 초과하는 경우 상기 누적시간의 크기를 제한하는 단계와, 상기 반복시작변수(go_pb)가 '참'이거나, 상기 각 관절이 상기 반복작업시작지점에 도달했는지 여부를 조사하여 '예'이면 상기 반복시작변수(go_pb)를 '참'으로 설정하고 위치용변수를 초기화시킨 후에는 기억시와 반복작업시 상기 소정의 작업이 수행되는 작업수행의 속도비를 설정하는 단계와, 상기 각 관절의 위치추종이 어려울 때 추종성에 따라 상기 속도비를 조절하고 상기 각 관절의 제2목표각도를 결정하는 단계와, 상기 각 관절이 상기 반복작업시작지점에 도달되지 않았거나 상기 각 관절의 제2목표각도가 결정된 경우 상기 제1목표각도 또는 상기 제2목표각도를 상기 각 관절과 관련된 각 실린더의 위치로 변환하는 단계와, 상기 각 실린더의 목표속도를 구한 후 이 목표속도와 펌프의 토출압력 및 엔진회전수를 고려하여 상기 펌프의 토출가능유량을 구하는 단계와, 상기 펌프의 상기 토출가능유량이 상기 각 실린더의 상기 목표속도를 만족시키지 못할 경우 상기 각 실린더의 목표속도를 일정한 비율로 감소시키고 상기 각 실린더가 이동해야할 예상 위치들을 계산한 후 그들에 해당하는 소정의 전기신호들을 발생시켜 펌프 및 메인컨트롤밸브의 작동을 제어하는 단계를 포함하는 것을 특징으로 하는 굴삭기의 자동반복작업제어방법.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019930012199A KR950001446A (ko) | 1993-06-30 | 1993-06-30 | 굴삭기의 자동 반복작업 제어방법 |
DE4342252A DE4342252C2 (de) | 1993-06-30 | 1993-12-10 | Verfahren zum automatischen Regeln der von einem Bagger wiederholt durchzuführenden vorbestimmten Arbeit |
US08/541,717 US5629849A (en) | 1993-06-30 | 1995-10-10 | Method for controlling operation of repeated work of excavator vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019930012199A KR950001446A (ko) | 1993-06-30 | 1993-06-30 | 굴삭기의 자동 반복작업 제어방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR950001446A true KR950001446A (ko) | 1995-01-03 |
Family
ID=19358432
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019930012199A KR950001446A (ko) | 1993-06-30 | 1993-06-30 | 굴삭기의 자동 반복작업 제어방법 |
Country Status (3)
Country | Link |
---|---|
US (1) | US5629849A (ko) |
KR (1) | KR950001446A (ko) |
DE (1) | DE4342252C2 (ko) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5748097A (en) * | 1997-02-28 | 1998-05-05 | Case Corporation | Method and apparatus for storing the boom of a work vehicle |
FR2764401B1 (fr) * | 1997-06-04 | 1999-09-10 | Renault Agriculture | Procede d'automatisation des taches repetitives sur un engin et dispositif correspondant |
US5899950A (en) † | 1997-07-07 | 1999-05-04 | Case Corporation | Sequential command repeater system for off-road vehicles |
US5953838A (en) * | 1997-07-30 | 1999-09-21 | Laser Alignment, Inc. | Control for hydraulically operated construction machine having multiple tandem articulated members |
US6233511B1 (en) | 1997-11-26 | 2001-05-15 | Case Corporation | Electronic control for a two-axis work implement |
US6279015B1 (en) | 1997-12-23 | 2001-08-21 | Ricoh Company, Ltd. | Method and apparatus for providing a graphical user interface for creating and editing a mapping of a first structural description to a second structural description |
US6129155A (en) * | 1998-12-02 | 2000-10-10 | Caterpillar Inc. | Method and apparatus for controlling a work implement having multiple degrees of freedom |
US6202014B1 (en) * | 1999-04-23 | 2001-03-13 | Clark Equipment Company | Features of main control computer for a power machine |
US6260467B1 (en) | 1999-09-24 | 2001-07-17 | Case Corporation | Hydraulic circuit providing plural swing rates in an earthworking construction machine |
EP1291467B1 (en) * | 2000-05-23 | 2010-01-20 | Kobelco Construction Machinery Co., Ltd. | Construction machine |
FR2809339B1 (fr) * | 2000-05-26 | 2002-09-20 | Furukawa Equipement S A | Procede de deplacement automatique sur un terrain, d'un outil monte a l'extremite d'un bras articule |
JP2004037239A (ja) * | 2002-07-03 | 2004-02-05 | Fuji Heavy Ind Ltd | 同一対象物判断方法および装置、並びに、位置ずれ補正方法および装置 |
US7979181B2 (en) | 2006-10-19 | 2011-07-12 | Caterpillar Inc. | Velocity based control process for a machine digging cycle |
US7752779B2 (en) * | 2007-04-30 | 2010-07-13 | Deere & Company | Automated control of boom or attachment for work vehicle to a preset position |
US7748147B2 (en) * | 2007-04-30 | 2010-07-06 | Deere & Company | Automated control of boom or attachment for work vehicle to a present position |
WO2008153529A1 (en) * | 2007-06-15 | 2008-12-18 | Deere & Company | Hydraulic function control with auto- control mode override |
EP2183437B1 (en) * | 2007-07-13 | 2017-09-06 | Volvo Construction Equipment AB | A method for providing an operator of a work machine with operation instructions and a computer program for implementing the method |
CN102947513B (zh) * | 2010-06-23 | 2015-07-08 | 斗山英维高株式会社 | 建筑机械的作业轨迹控制装置及其方法 |
US8768587B2 (en) * | 2012-07-25 | 2014-07-01 | Caterpillar Inc. | Worksite management system with gear recommendation |
JP5893144B1 (ja) * | 2014-06-04 | 2016-03-23 | 株式会社小松製作所 | 作業機械の姿勢演算装置、作業機械及び作業機械の姿勢演算方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4288196A (en) * | 1979-06-14 | 1981-09-08 | Sutton Ii James O | Computer controlled backhoe |
US5116186A (en) * | 1988-08-02 | 1992-05-26 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling hydraulic cylinders of a power shovel |
DE68926911T2 (de) * | 1988-11-22 | 1996-12-12 | Komatsu Mfg Co Ltd | Verfahren und vorrichtung zum automatischen steuern einer elektronisch betätigten hydraulikbaumaschine |
JP2525233B2 (ja) * | 1988-12-19 | 1996-08-14 | 株式会社小松製作所 | 作業機のティ―チング・プレイバック方法 |
EP0446353B1 (en) * | 1989-09-26 | 1996-03-06 | Kabushiki Kaisha Komatsu Seisakusho | Operation automating apparatus of hydraulic driving machine |
WO1991009183A1 (en) * | 1989-12-12 | 1991-06-27 | Kabushiki Kaisha Komatsu Seisakusho | Method and apparatus for automating work of construction equipment |
GB2243359B (en) * | 1990-04-11 | 1994-11-09 | Kubota Kk | Drive systems for backhoe boom assemblies |
JP2682891B2 (ja) * | 1990-07-25 | 1997-11-26 | 新キャタピラー三菱株式会社 | パワーショベルの掘削制御装置 |
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 |
GB2250108B (en) * | 1990-10-31 | 1995-02-08 | Samsung Heavy Ind | Control system for automatically controlling actuators of an excavator |
-
1993
- 1993-06-30 KR KR1019930012199A patent/KR950001446A/ko active IP Right Grant
- 1993-12-10 DE DE4342252A patent/DE4342252C2/de not_active Expired - Fee Related
-
1995
- 1995-10-10 US US08/541,717 patent/US5629849A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
DE4342252A1 (de) | 1995-01-19 |
US5629849A (en) | 1997-05-13 |
DE4342252C2 (de) | 1997-12-18 |
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