US20040020084A1 - Method for automatically moving on the ground a tool mounted at the end of an articulated arm - Google Patents

Method for automatically moving on the ground a tool mounted at the end of an articulated arm Download PDF

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Publication number
US20040020084A1
US20040020084A1 US10/296,179 US29617903A US2004020084A1 US 20040020084 A1 US20040020084 A1 US 20040020084A1 US 29617903 A US29617903 A US 29617903A US 2004020084 A1 US2004020084 A1 US 2004020084A1
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US
United States
Prior art keywords
tool
point
working
ground
computer
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.)
Abandoned
Application number
US10/296,179
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English (en)
Inventor
Yves Riberon
Jean-Claude Robert-Peillard
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.)
Hitachi Furukawa Loaders Europe SAS
Original Assignee
Hitachi Furukawa Loaders Europe SAS
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 Hitachi Furukawa Loaders Europe SAS filed Critical Hitachi Furukawa Loaders Europe SAS
Assigned to HITACHI FURUKAWA LOADERS EUROPE S.A.S. reassignment HITACHI FURUKAWA LOADERS EUROPE S.A.S. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: RIBERON, YVES, ROBERT-PEILLARD, JEAN-CLAUDE
Publication of US20040020084A1 publication Critical patent/US20040020084A1/en
Abandoned legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/12—Means for clearing land minefields; Systems specially adapted for detection of landmines
    • F41H11/16—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
    • F41H11/18—Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles with ground-impacting means for activating mines by the use of mechanical impulses, e.g. flails or stamping elements

Definitions

  • the subject of the present invention is a method for automatically displacing, over an area of ground, a tool mounted at the end of an articulated arm, and to a device for implementing it.
  • the articulated arm equipped with the tool may, for example, be the arm of a motorized shovel, mounted to pivot about a vertical axis on the chassis of the vehicle.
  • the object of the invention is to provide a method which allows the working of the ground to be made systematic, so as to avoid leaving unworked areas.
  • the method for automatically moving over an area of ground, a tool that is mounted at the end of an articulated arm, to which it relates consists in defining and calculating a surface known as the working surface from several successive touchings of the tool onto the ground, then in moving the tool over the working surface.
  • this method consists, after defining the working surface, in defining a working pattern for the tool that can be superposed with the working surface so as to allow it, through discontinuous or continuous displacements, to cover the entire working surface.
  • this method is characterized in that it consists in bringing the tool onto a first point of the surface and in calculating the coordinates of this point which is considered to be the point of origin of the working pattern, in bringing the tool to a second point to orient a first axis of coordinates of the working pattern and to determine the furthest point to be reached along this axis, in bringing the tool to a third point near the second axis of coordinates to define the position of the frame of reference of the working pattern, then to a fourth point delimiting the region of the plane within which the work will be carried out.
  • this method consists in defining a working pattern in which the points reached later by the tool are arranged in two perpendicular directions in a sequence such that a step characteristic of the shape of the head of the tool in one direction is followed by a step characteristic of the size of the head of the tool in said direction.
  • the method according to the invention consists in controlling the various movements and displacements of the tool using a computer. This allows the operator's task to be made easier and allows him to reach regions which are not always directly in his sight.
  • this method consists in supplying the computer with the coordinates of the four points, from which the computer defines a process of displacement of the tool over the entire working surface and controls the members which displace it.
  • the operator may, at any time, interrupt the operating and displacement cycle of the tool to control it manually.
  • the computer stores in memory the various points reached by the tool, and any points of the surface which might not have been reaached, so as to work on them later.
  • the operator can select a working area which is reached directly and automatically independently of the performing of the working pattern commanded by the computer.
  • a device for implementing this method comprises a carrier vehicle, on the chassis of which a turret is mounted to pivot about a vertical axis, this turret being equipped with an arm consisting of several elements articulated about horizontal axes and at the end of which a tool is mounted, the turret comprising an angular sensor determining the angle it makes with the chassis and each element of the arm comprising an angular sensor supplying its inclination with respect to the horizontal.
  • this device comprises a computer equipped with a program for controlling the displacement of the tool to cover the surface that is to be made safe, this computer receiving the values supplied by the various angular sensors and delivering at output electrical signals that control electrical directional control valves hydraulically powering the motor that turns the turret and the various rams that actuate the elements of the arm until the angular values are equal to the calculated values.
  • FIG. 1 is a perspective view of a device intended to make an area of ground safe
  • FIG. 2 is a view thereof from above;
  • FIG. 3 is a view of a diagram for controlling the tool
  • FIG. 4 is a view of a diagram of the displacement of the tool over the ground
  • FIG. 5 is a view of a second tool, consisting of a one-footed vibrating device
  • FIG. 6 is a view of a diagram of the displacement of this tool over the ground
  • FIG. 7 is a view of the end of the arm of a device, equipped with a metal detector
  • FIG. 8 is a view of a diagram of the displacement of this metal detector with respect to the ground.
  • FIG. 1 depicts a carrier vehicle 2 comprising a chassis 3 mounted on wheels and able to be stabilized horizontally by stabilizing rams 4 .
  • a turret 5 which can pivot about a vertical axis A.
  • the turret comprising an angular sensor C 1 which makes it possible to determine the angle formed by the turret with respect to the chassis.
  • Articulated about a horizontal axis A 2 to the turret is an arm 6 consisting of three elements 6 a , 6 b and 6 c , the element 6 b being articulated to the element 6 a about a horizontal axis A 3 and the element 6 c being articulated to the end of the element 6 b about an axis A 4 .
  • the elements 6 a , 6 b and 6 c are equipped respectively with angular sensors C 2 , C 3 and C 4 to determine the angle that each element makes with the horizontal.
  • the tool 7 Fixed to the end of the element 6 c is the tool 7 which comprises parallel rods 8 each equipped, at its lower end, with a foot 9 for resting on the ground.
  • the tool 7 is also equipped with a device for vibrating the rods 8 and the feet 9 , which device is known per se and not depicted.
  • the device according to the invention is equipped with a computer 10 receiving the signals representing the angular values of the sensors C 1 , C 2 , C 3 and C 4 .
  • the computer delivers electrical signals controlling electrical directional control valves E 1 , E 2 , E 3 and E 4 powering the motor 12 that turns the turret 5 , and rams 13 , 14 and 15 that drive the respective elements 6 a , 6 b and 6 c , respectively.
  • the operator displaces the tool until he makes the end point of the tool coincide with a point he has chosen on the surface of the ground that is it to be worked.
  • the coordinates of the point are calculated in the origin frame of reference of the machine and stored in memory. This operation is carried out four times in succession.
  • the first point thus determined is the point of origin of the working pattern.
  • the second point orients the first axis of coordinates of the working pattern and determines the maximum point to be reached along this axis.
  • the third point determined, and close to the second axis of coordinates makes it possible to define the position of the frame of reference of the working pattern, and the fourth point delimits the area of the plane within which the making-safe work will be performed.
  • the computer will, from software using parameters such as the number of feet, the size of the feet in two rectangular directions and the space in between two feet, control a working pattern.
  • the feet are square and there are six of them.
  • the six feet are placed in a corner of the working surface by a command from the computer. This is the position centered on the point 0 .
  • a first step P 1 corresponding to half the dimension of one foot.
  • the feet occupy the position, defined in chain line, and the feet are centered on the point 1 .
  • the feet cover the spaces which were delimited between the feet, in the position 0 , which spaces were oriented parallel to the Y-axis.
  • All the feet are then displaced by a step P 2 , still along the X-axis, by a value equal to 2.5 times the size of all of the feet in the X-direction.
  • the feet are centered on the point 2 .
  • After vibrating, they are displaced by the value of the first step P 1 , that is to say half the size of one foot, to bring them into position 3 and so on along the X-axis.
  • the same procedure is followed along the Y-axis, it thus being possible for the entire surface to be covered, without leaving any region unexplored, by successive displacements with two different step sizes.
  • This displacement is preferably automated and controlled by the computer, as mentioned earlier.
  • the computer stores in memory those regions which have been reached by the tool, and possibly regions which might not have been reached, particularly as a result of the displacement of the tool perhaps not being perfectly linear in both directions, given the rotation of the turret.
  • the tool In order to obtain perfect linearity of the displacement of the tool in both directions it would be possible to envision the tool having an additional degree of freedom, allowing it to rotate about a vertical axis about the element 6 c , in order to keep it perfectly parallel to itself as the turret turns on the chassis.
  • FIG. 5 depicts a second device, of which only the end of the arm is depicted in the drawing, and which differs from the previous device in the form of the tool.
  • the tool 17 also intended for making the ground safe, comprises one foot 19 mounted at the end of a bar 18 .
  • This foot 19 having been rested on the ground, can be set in vibration in a way known per se.
  • FIG. 6 shows the working pattern for the tool on the ground.
  • the computer defines, in the two directions X and Y, points on which the tool must come to rest in succession as it is displaced over the ground.
  • the step with which the foot is displaced both in the X and Y directions corresponds to a length shorter than the dimension of the foot in the direction considered. It may be noted that, in FIG. 6, a slight pivoting of the foot is depicted to take account of the rotation of the turret on which the arm is mounted. However, the computer modifies the angular position of the arm so that in spite of the pivoting of the turret, the points defined by the working pattern remain aligned.
  • FIG. 7 depicts a device in which the same elements are denoted by the same references as previously.
  • a tool 27 is equipped with a metal detector 29 borne by a bar 28 .
  • the lower end of the bar 28 protrudes from the metal detector to allow it to rest on the ground, particularly to delimit the working plane.
  • the surface taking into consideration is the square 30 inscribed inside the circular detector 29 .
  • the displacement of the detector occurs with a step, in either one of the two directions X or Y, which is shorter than the dimension of the side of the square 30 , so that there is a region of overlap between one position and the next. While the detector can be displaced stepwise, it is also possible to perform continuous displacement, especially if the metal detector does not rest on the ground but follows the surface thereof from a distance.
  • the invention provides a vast improvement to the existing art by allowing automation of the area of ground using a tool, making the working of this entire area systematic.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Numerical Control (AREA)
US10/296,179 2000-05-26 2001-05-22 Method for automatically moving on the ground a tool mounted at the end of an articulated arm Abandoned US20040020084A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR00/06794 2000-05-26
FR0006794A FR2809339B1 (fr) 2000-05-26 2000-05-26 Procede de deplacement automatique sur un terrain, d'un outil monte a l'extremite d'un bras articule
PCT/FR2001/001584 WO2001092976A1 (fr) 2000-05-26 2001-05-22 Procede de deplacement automatique sur un terrain, d'un outil monte a l'extremite d'un bras articule

Publications (1)

Publication Number Publication Date
US20040020084A1 true US20040020084A1 (en) 2004-02-05

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Family Applications (1)

Application Number Title Priority Date Filing Date
US10/296,179 Abandoned US20040020084A1 (en) 2000-05-26 2001-05-22 Method for automatically moving on the ground a tool mounted at the end of an articulated arm

Country Status (7)

Country Link
US (1) US20040020084A1 (ja)
EP (1) EP1297395A1 (ja)
JP (1) JP2003534932A (ja)
AU (1) AU2001264003A1 (ja)
CA (1) CA2410282A1 (ja)
FR (1) FR2809339B1 (ja)
WO (1) WO2001092976A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040199302A1 (en) * 2001-12-21 2004-10-07 Oshkosh Truck Corporation Turret control system and method for a fire fighting vehicle
EP1516966A1 (fr) * 2003-09-22 2005-03-23 Giat Industries Vehicule militaire d'aménagement de terrain
US10711430B2 (en) 2016-04-19 2020-07-14 Cpac Systems Ab Control unit in working machine for identifying human operation of implement

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10215220B4 (de) * 2002-04-06 2006-09-07 Rheinmetall Landsysteme Gmbh Minensuch- und Räumsystem für Landminen

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5312211A (en) * 1990-05-04 1994-05-17 Aerospatiale Societe Nationale Industrielle Method and system for embodying a plane reference surface defined by a specific equation on an assembling frame of a structure from a rough surface
US5629849A (en) * 1993-06-30 1997-05-13 Samsung Heavy Industries Co., Ltd. Method for controlling operation of repeated work of excavator vehicle
US5799419A (en) * 1995-10-31 1998-09-01 Samsung Heavy Industries Co., Ltd. Method for controlling the operation of power excavator

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0308539A1 (de) * 1987-09-25 1989-03-29 Waldrich Siegen Werkzeugmaschinenbau GmbH Verfahren zum Ausrichten einer konkreten bzw. wirklichen Fläche, z. B. einer Form, auf ein internes Koordinatensystem einer sich relativ zu ihr bewegenden Maschine, insbesondere einer Mehrachsen-Bandlegemaschine sowie Positionierungssystem bzw. -vorrichtung zur Durchführung des verfahrens
US5043906A (en) * 1989-11-24 1991-08-27 Ford Motor Company Absolute gouge avoidance for computer-aided control of cutter paths
JP3439331B2 (ja) * 1997-09-12 2003-08-25 株式会社ミツトヨ プローブ座標系駆動装置
EP0964221A4 (en) * 1997-12-25 2000-08-23 Yamanashi Hitachi Construction DEVICE AND METHOD FOR DETONATING LANDMINE

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5312211A (en) * 1990-05-04 1994-05-17 Aerospatiale Societe Nationale Industrielle Method and system for embodying a plane reference surface defined by a specific equation on an assembling frame of a structure from a rough surface
US5629849A (en) * 1993-06-30 1997-05-13 Samsung Heavy Industries Co., Ltd. Method for controlling operation of repeated work of excavator vehicle
US5799419A (en) * 1995-10-31 1998-09-01 Samsung Heavy Industries Co., Ltd. Method for controlling the operation of power excavator

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040199302A1 (en) * 2001-12-21 2004-10-07 Oshkosh Truck Corporation Turret control system and method for a fire fighting vehicle
US7451028B2 (en) * 2001-12-21 2008-11-11 Oshkosh Corporation Turret control system based on stored position for a fire fighting vehicle
EP1516966A1 (fr) * 2003-09-22 2005-03-23 Giat Industries Vehicule militaire d'aménagement de terrain
US10711430B2 (en) 2016-04-19 2020-07-14 Cpac Systems Ab Control unit in working machine for identifying human operation of implement

Also Published As

Publication number Publication date
AU2001264003A1 (en) 2001-12-11
JP2003534932A (ja) 2003-11-25
FR2809339A1 (fr) 2001-11-30
EP1297395A1 (fr) 2003-04-02
WO2001092976A1 (fr) 2001-12-06
FR2809339B1 (fr) 2002-09-20
CA2410282A1 (fr) 2001-12-06

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AS Assignment

Owner name: HITACHI FURUKAWA LOADERS EUROPE S.A.S., FRANCE

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:RIBERON, YVES;ROBERT-PEILLARD, JEAN-CLAUDE;REEL/FRAME:013351/0780

Effective date: 20021218

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION