WO1999035462A1 - Dispositif de controle d'une fleche a plusieurs elements - Google Patents

Dispositif de controle d'une fleche a plusieurs elements

Info

Publication number
WO1999035462A1
WO1999035462A1 PCT/AU1999/000009 AU9900009W WO9935462A1 WO 1999035462 A1 WO1999035462 A1 WO 1999035462A1 AU 9900009 W AU9900009 W AU 9900009W WO 9935462 A1 WO9935462 A1 WO 9935462A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
slope
monitoring arrangement
displacement
processor means
Prior art date
Application number
PCT/AU1999/000009
Other languages
English (en)
Inventor
David Thiel
Sulaiman Thompson
Barry Blakeway
Original Assignee
Griffith University
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 Griffith University filed Critical Griffith University
Priority to AU21427/99A priority Critical patent/AU2142799A/en
Publication of WO1999035462A1 publication Critical patent/WO1999035462A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/18—Measuring arrangements characterised by the use of mechanical techniques for measuring depth
    • 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
    • E02F9/26—Indicating devices

Definitions

  • THIS INVENTION relates to a depth monitor and in particular to an
  • Laser based devices have been used to measure depth and slope for
  • patent describes a method and apparatus for indicating effective digging depth of a backhoe in which a trigonometric equation is used to calculate the lowest point of the backhoe bucket from a knowledge of the length of the booms and a measurement of the relative boom angles.
  • the relative boom angles are determined from transducers that produce electrical signals
  • the Bachmann system utilises a pair of inclinometer sensors on the boom and dipper stick of a digging machine to
  • inclinometer sensors are pendulous mechanical devices that fail in the
  • the invention resides in a monitoring arrangement for a multi-element
  • boom comprising : an essentially fixed, reference inclinometer for providing a reference
  • the inclinometers are micromachined semiconductor accelerometers providing output signals proportional to the angle of the accelerometer from the horizontal.
  • the accelerometers suitably provide an output signal proportional to the sine of the angle of the accelerometer from
  • the reference inclinometer, processor means and display means may suitably be incorporated in a control unit.
  • the display unit displays the position of the end of the multi-element boom in terms of displacement and slope.
  • the processor means suitably includes analogue to digital conversion
  • the monitoring arrangement for a multi-element boom may further comprise input means for setting a desired displacement and slope.
  • means suitably alerts an operator when the set displacement and slope are
  • the control unit may also include memory means associated with the
  • the memory means may store boom element length data
  • the storage means may also
  • the invention resides in a method of monitoring the
  • determining in a processor means the displacement and slope of the
  • multi-element boom is suitably performed by reference to a look-up table.
  • the step may be performed by calculation of functions defining
  • the method may further include the steps of :
  • FIG 1 is a schematic of a typical digging machine fitted with the
  • FIG 2 is a schematic of a sensor unit
  • FIG 3 is a schematic of a control unit
  • FIG 4 depicts the front of the control unit of FIG 3
  • FIG 5 is a vector diagram of the digging machine of FIG 1 ;
  • FIG 6 is a flowchart of the operation of the monitoring arrangement. DETAILED DESCRIPTION OF THE DRAWINGS In the drawings, like reference numerals refer to like parts.
  • FIG 1 there is shown a schematic of a digging machine, generally indicated as 1.
  • the digging machine is of the type having a body
  • a multi-element boom 4 extends
  • the near arm 5 is pivotable with respect to the body 2 at pivot 8.
  • the far arm 6 is pivotable with respect to the near arm 5 at pivot 9.
  • the bucket 7 is pivotable with respect to the far arm 6 at pivot 10. It will be
  • the digging machine described is just one version of a class of machines that employ multi-element booms.
  • the invention can be
  • Each element 5, 6, 7 has a respective sensor unit 11 , 12, 13 mounted
  • a fourth sensor unit 14 is mounted on the body 2 inside a control
  • Each sensor unit 11 , 12, 13, 14 has the same structure.
  • Sensor unit 11 comprises an accelerometer 16 and conditioning element 17.
  • the accelerometer 16 is a micromachined semiconductor device, such as Analog Devices ADXL05JH,
  • Signal line 18 carries the analog signal to the control unit 15 for
  • the accelerometer is very robust and can withstand prolonged
  • the conditioning element 17 includes power supply regulation, DC
  • the control unit 15 is mounted on the body 2. In diggers having a
  • control unit 15 is mounted so as to be
  • control unit 15 consists of a processor means 21 , such as a microcontroller,
  • a power supply 22 a display means 23, associated memory means 24 and
  • an accelerometer 14 is mounted in the
  • control unit 15 to provide an absolute reference point on the machine 1
  • An input means 25 is provided for the operator to interface with the control
  • a reset switch 26 may optionally be
  • the memory means 24 is used to store calculated data from the
  • processor means 21 It can also be used to store standard boom element
  • the monitoring arrangement can be easily installed on a multi-element boom by selecting the appropriate pre-stored setup information.
  • Cable 27 provides power to the accelerometers 11 , 12 ,13 and carries
  • processor means 21 includes a multiplexed analogue to digital converter that
  • processor means to be processed by a microprocessor in the processor means.
  • the display means 23 is a multi-element display providing a read-out of the
  • the depth and slope are calculated from a
  • the digger is manoeuvred and the bucket is positioned
  • control unit by working switch 25a and the processor means 21 sequentially
  • the displayed depth is changed with change switch 25c.
  • the set switch 25b is worked and the display steps to a
  • control unit 15 is again worked and the control unit 15 enters an operation mode in
  • a suitable alert can be displayed when the set position is reached.
  • the display may flash or an audible alarm may sound.
  • FIG 5 provides a vector diagram of the
  • the near arm 5 has a length of R 1 and makes an angle X with the
  • far arm 6 is at a distance L, and a height H., from the pivot point 8 and are
  • the far arm 6 has a length of R 2 and makes an angle of Y with the
  • the end of the bucket 7 can be calculated by :
  • the end of the bucket can then be easily calculated as being at a
  • the pivot point 8 to the end of the bucket can be calculated as tan "1 S.
  • the look-up table is stored in
  • memory means 24 is programmed for each specific machine to which
  • the monitoring arrangement is applied.
  • ADXL05JH facilitates the use of look-up tables because the sine of
  • micro-controller thereby adding significantly to the computing power
  • the accelerometer 14 provides an absolute value
  • the reference signal R can be recorded and subtracted from the
  • the pivot 8 may get lower as the digging machine 1 sinks
  • the unit is switched on by the switch 25a at the control unit 15.
  • the display 23 of the control unit 15 shows the set
  • the processor means 21 then loops through a programme to read each sensor in turn and calculate
  • the main purpose of an operator is to
  • monitoring arrangement can be interfaced with a control system to remove the necessity of the operator.
  • the monitoring arrangement can therefore be

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

L'invention concerne un dispositif de contrôle d'une flèche à plusieurs éléments (4). Le dispositif comprend un inclinomètre fixe (14) qui émet un signal de référence et d'autres inclinomètres (11 à 13) associés à chaque élément (5 à 7) de la flèche (4). Les autres inclinomètres émettent des signaux proportionnels à l'angle de l'élément de flèche par rapport au plan horizontal. Un moyen à processeur utilise la longueur de chaque élément de flèche et les signaux émis par les inclinomètres pour calculer la position de l'extrémité de la flèche (7). Ce dispositif est utile dans une application associée à une pelle rétrocaveuse et lorsque le moyen à processeur et l'inclinomètre fixe sont installés dans la cabine. Un écran de visualisation indique en permanence à l'opérateur la position du godet de la rétrocaveuse.
PCT/AU1999/000009 1998-01-12 1999-01-12 Dispositif de controle d'une fleche a plusieurs elements WO1999035462A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU21427/99A AU2142799A (en) 1998-01-12 1999-01-12 Monitoring arrangement for a multi-element boom

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPP1304A AUPP130498A0 (en) 1998-01-12 1998-01-12 Monitoring arrangement for a multi-element boom
AUPP1304 1998-01-12

Publications (1)

Publication Number Publication Date
WO1999035462A1 true WO1999035462A1 (fr) 1999-07-15

Family

ID=3805585

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1999/000009 WO1999035462A1 (fr) 1998-01-12 1999-01-12 Dispositif de controle d'une fleche a plusieurs elements

Country Status (2)

Country Link
AU (1) AUPP130498A0 (fr)
WO (1) WO1999035462A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2808817A1 (fr) * 2000-05-15 2001-11-16 Groupe Mecalac Engin de travaux publics
WO2010121713A1 (fr) * 2009-04-20 2010-10-28 Robert Bosch Gmbh Engin de chantier mobile équipé d'un dispositif de régulation de position d'un bras de travail et procédé pour réguler la position d'un bras de travail d'un engin de chantier mobile
WO2011020561A1 (fr) * 2009-08-18 2011-02-24 Robert Bosch Gmbh Engin de travail mobile équipé d'un dispositif de réglage et d'un bras de travail et procédé de réglage ponctuel de travail d'un bras de travail d'un engin de travail mobile
WO2011131195A1 (fr) * 2010-04-18 2011-10-27 Mikrofyn A/S Appareil de mesure pour équipement d'excavation et analogue
CN110260760A (zh) * 2019-07-29 2019-09-20 广西玉柴机器股份有限公司 一种可以同时测量气缸体斜油孔深度和角度的方法和检具
EP3666980A4 (fr) * 2017-08-09 2020-11-04 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Pelle, dispositif d'affichage de pelle, et procédé d'affichage de pelle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3997071A (en) * 1975-08-14 1976-12-14 Laserplane Corporation Method and apparatus for indicating effective digging depth of a backhoe
WO1981002904A1 (fr) * 1980-04-11 1981-10-15 Digger Meter Corp Systemes de controle de profondeur
GB2197848A (en) * 1986-11-26 1988-06-02 B & A Engineering Co Ltd Load lifting apparatus
US5235237A (en) * 1990-02-14 1993-08-10 Endevco Corporation Surface-mount piezoceramic accelerometer and method for making
US5243861A (en) * 1990-09-07 1993-09-14 Hitachi, Ltd. Capacitive type semiconductor accelerometer

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3997071A (en) * 1975-08-14 1976-12-14 Laserplane Corporation Method and apparatus for indicating effective digging depth of a backhoe
WO1981002904A1 (fr) * 1980-04-11 1981-10-15 Digger Meter Corp Systemes de controle de profondeur
GB2197848A (en) * 1986-11-26 1988-06-02 B & A Engineering Co Ltd Load lifting apparatus
US5235237A (en) * 1990-02-14 1993-08-10 Endevco Corporation Surface-mount piezoceramic accelerometer and method for making
US5243861A (en) * 1990-09-07 1993-09-14 Hitachi, Ltd. Capacitive type semiconductor accelerometer

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1156162A1 (fr) * 2000-05-15 2001-11-21 Groupe Mecalac Engins de travaux publics
FR2808817A1 (fr) * 2000-05-15 2001-11-16 Groupe Mecalac Engin de travaux publics
US9151013B2 (en) 2009-04-20 2015-10-06 Robert Bosch Gmbh Mobile working machine comprising a position control device of a working arm, and method for controlling the position of a working arm of a mobile working machine
WO2010121713A1 (fr) * 2009-04-20 2010-10-28 Robert Bosch Gmbh Engin de chantier mobile équipé d'un dispositif de régulation de position d'un bras de travail et procédé pour réguler la position d'un bras de travail d'un engin de chantier mobile
CN102459766A (zh) * 2009-04-20 2012-05-16 罗伯特·博世有限公司 具有工作臂的位置控制装置的移动工作机械和用于控制移动工作机械的工作臂的位置的方法
JP2012524192A (ja) * 2009-04-20 2012-10-11 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツング 作業アームの位置制御装置を備えた移動作業機械および移動作業機械の作業アームを位置制御する方法
WO2011020561A1 (fr) * 2009-08-18 2011-02-24 Robert Bosch Gmbh Engin de travail mobile équipé d'un dispositif de réglage et d'un bras de travail et procédé de réglage ponctuel de travail d'un bras de travail d'un engin de travail mobile
DE102009037880B4 (de) 2009-08-18 2021-12-30 Robert Bosch Gmbh Mobile Arbeitsmaschine mit einer Regelvorrichtung mit einem Arbeitsarm und Verfahren zur Arbeitspunktregelung eines Arbeitsarms einer mobilen Arbeitsmaschine
US8620534B2 (en) 2009-08-18 2013-12-31 Robert Bosch Gmbh Mobile working machine with a control device, comprising a working arm and methods for controlling the operating point of a working arm of a mobile working machine
WO2011131195A1 (fr) * 2010-04-18 2011-10-27 Mikrofyn A/S Appareil de mesure pour équipement d'excavation et analogue
CN102918209B (zh) * 2010-04-18 2015-02-04 米克洛夫伊恩股份公司 挖掘测量装置及其使用方法
US8654608B2 (en) 2010-04-18 2014-02-18 Mikrofyn A/S Positioning apparatus for excavating and similar equipment
EP2563977A4 (fr) * 2010-04-18 2016-01-06 Mikrofyn As Appareil de mesure pour équipement d'excavation et analogue
CN102918209A (zh) * 2010-04-18 2013-02-06 米克洛夫伊恩股份公司 挖掘测量装置及类似设备
EP3666980A4 (fr) * 2017-08-09 2020-11-04 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Pelle, dispositif d'affichage de pelle, et procédé d'affichage de pelle
US11473272B2 (en) 2017-08-09 2022-10-18 Sumitomo Construction Machinery Co., Ltd. Shovel, display device for shovel, and display method for shovel
CN110260760A (zh) * 2019-07-29 2019-09-20 广西玉柴机器股份有限公司 一种可以同时测量气缸体斜油孔深度和角度的方法和检具
CN110260760B (zh) * 2019-07-29 2023-12-19 广西玉柴机器股份有限公司 一种可以同时测量气缸体斜油孔深度和角度的方法和检具

Also Published As

Publication number Publication date
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