WO2011162561A2 - 건설기계의 작업궤적 제어 장치 및 그 방법 - Google Patents
건설기계의 작업궤적 제어 장치 및 그 방법 Download PDFInfo
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- WO2011162561A2 WO2011162561A2 PCT/KR2011/004604 KR2011004604W WO2011162561A2 WO 2011162561 A2 WO2011162561 A2 WO 2011162561A2 KR 2011004604 W KR2011004604 W KR 2011004604W WO 2011162561 A2 WO2011162561 A2 WO 2011162561A2
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- work
- work device
- trajectory
- driving
- posture
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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
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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
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
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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
- 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
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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
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- 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
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- 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)
Definitions
- the present invention relates to an apparatus and a method for controlling a work trajectory of a construction machine, and more particularly, to a trajectory control apparatus and a method for a construction machine capable of automatically working with the most appropriate work trajectory at a selection point in selecting an automatic work.
- excavators are each work device (e.g., boom, arm and bucket), boom cylinders, arm cylinders and bucket cylinders for driving each work device, swing motors for pivoting the excavator body, and each cylinder It is composed of a prime mover and a hydraulic pump for supplying a pressurized oil as a power source.
- Excavators are hydraulic construction machines that perform a variety of tasks, such as excavation, excavation and grading.
- the flow rate and hydraulic pressure supplied to the boom cylinder, the arm cylinder, and the bucket cylinder are controlled by a control valve switched according to the operation of the joystick, so that the actuator, that is, the boom, By operating the arm and bucket, etc., the operator can do the work he wants.
- Intelligent excavators reduce labor costs and reduce the risk of accidents by automatically performing simple repetitive excavation work, rather than by manpower. As part of this, it is essential for the operator to receive information about the excavation environment in real time through various sensors for automated excavation work.
- the present invention has been made to solve the above problems, and an object of the present invention is to provide a trajectory control device and method for a construction machine capable of automatically working with the most appropriate work trajectory at the time of selection at the time of automatic work selection.
- the present invention when the automatic excavation selection, considering the current bucket attitude, the construction machine using a database, which can automatically perform the work trajectory at the point after the posture correction of the bucket, not the work trajectory at the selection point
- An object of the present invention is to provide a trajectory control device and a method thereof.
- an object of the present invention is to provide an apparatus and method for controlling the operation trajectory of a construction machine using teaching and playback that can minimize the position error when the automatic operation is made to follow the teaching trajectory specified by the operator.
- An apparatus is a work trajectory control device for a construction machine including at least one work device and a drive unit for driving the work device, the control unit for generating a joystick signal by the operator's operation ;
- a data storage unit storing driving trajectory data of the work device to be followed by the work device to be driven at the start of the automatic work;
- a driving controller configured to read the trajectory data of the work device stored in the data storage unit at the start of the automatic work, and to control the drive unit to drive the work device following the read drive trajectory data.
- the driving control unit may include, when the automatic job is selected, a position at which an actual position of the work device starts driving of the work device stored in the data storage unit and a position at which driving of a preset work device starts within a reference error. If there is a difference, the automatic driving is controlled to be started at the position at the time of automatic operation selection, but the driving unit is controlled to follow the pre-stored driving trajectory as the time of the automatic driving progresses.
- the work trajectory control of the construction machine including at least one work device, a drive unit for driving the work device and an operation unit for generating a joystick signal corresponding to the operation of the operator CLAIMS 1.
- a method comprising: checking whether an automatic task is selected; And comparing the actual position of the work device with a preset reference error by comparing the actual position of the work device with a preset reference error when selecting the automatic work, wherein the actual position of the work device is set to the preset position. If the difference from the automatic work start position is smaller than the reference error, the track data of the preset work device is read, the track data for the automatic work starting from the actual position of the work device is generated, and the automatic work is started. However, the new trajectory data is generated to follow the trajectory data of the preset work device as time passes.
- the present invention is capable of automatic work considering the current work device posture at the time of automatic work selection, thereby preventing the automatic work from being inefficiently progressed by the posture of the poor work device at the start of the automatic work.
- the present invention by compensating for the position error in the playback selection to follow the teaching trajectory, it is possible to drive the work device to the trajectory desired by the operator.
- FIG. 1 is a configuration diagram of an embodiment of a work trajectory control apparatus for a construction machine according to the present invention
- FIG. 2 is an exemplary view illustrating a work trajectory control of a construction machine using a database according to the present invention
- FIG. 3 is a detailed configuration diagram of an embodiment of a work trajectory control device in a playback mode according to the present invention.
- FIG. 4 is a flowchart illustrating a method for controlling a work trajectory of a construction machine using a database according to the present invention
- FIG. 5 is a flowchart illustrating a work trace control method in a teaching mode according to the present invention.
- FIG. 6 is a flowchart illustrating a work trace control method in a playback mode according to the present invention.
- FIG. 1 is a configuration of an embodiment of a work trajectory control apparatus for a construction machine according to the present invention.
- the apparatus for controlling a job trajectory 100 includes an operation unit 110, a drive controller 120, a gravity compensator 130, a driver 140, and a data storage 150.
- the work trajectory control device 100 controls the work trajectory of the construction machine, and includes at least one work device and a driving unit 140 for driving the work device.
- the work trajectory control device for a construction machine according to the present invention will be described by dividing the position of the work device into a case where the position error is larger than the preset reference value and smaller than the preset reference value, and operates as a work trajectory control device for the construction machine using a database.
- the case of operating as a work trajectory control device for construction machinery using teaching and playback will be described.
- an example in which the present invention is applied to an excavator among working devices will be described.
- the data storage unit 150 stores driving trajectory data of a preset work device to automatically start work at a corresponding position of each work device. That is, the data storage unit 150 constructs and stores the drive trajectory data for each location coordinate of the excavator bucket end as a database.
- the drive trajectory data includes joystick data and cylinder length data or angle data of each link of the boom, arm and bucket.
- the present invention is not limited thereto, and may generate trajectory data based on various working devices such as a boom and an arm.
- the data storage unit 150 stores the drive trajectory data for each position coordinate that can be started based on the position coordinates of the excavator bucket end, and the drive trajectory at all points where the bucket end can be located. May contain data.
- the drive trajectory data is stored in a database based on a bucket angle desirable for performing a job.
- the driving trajectory data related to the excavation can be databased for each point.
- the drive trajectory data according to this position may be set by the following example. First, the area where the end of the bucket is driven for work is divided into areas of a predetermined size. In the posture where the tip of the bucket is located at the center of each region, the trajectory data is stored in advance in anticipation of excavation, planar compaction, and trenching.
- the operation unit 110 outputs, to the driving controller 120, information on whether or not to start automatic work and position information of the work device at the time when the automatic work starts according to the operator's operation.
- the operation unit 110 may be provided with a joystick or an automatic operation start button provided.
- a joystick signal or an automatic operation button signal is output according to the operator's operation.
- the drive control unit 120 reads the drive trace data corresponding to the current position of the work device from the data storage unit 150 when the automatic job is selected, and the work device reads the drive trace data read from the data storage unit 150.
- the driving unit 140 is controlled to follow and drive.
- the drive control unit 120 checks the attitude of the work device when the automatic work is selected. As a result of the posture check, when the posture of the work device is a posture in which the designated work cannot be performed immediately, the driving controller 120 controls the drive unit 140 to be changed to a posture in which the work device can perform the designated work. On the other hand, if the posture of the work device is a posture capable of performing a specified task immediately, the driving controller 120 checks whether the new position of the work device by the posture change is changed larger than the preset reference value.
- the driving controller 120 reads the new driving trajectory data corresponding to the new position changed by the change of the attitude from the data storage unit 150 and then drives the new driving.
- the driving unit 140 is controlled to follow the trajectory data so that the work device is driven.
- the driving controller 120 controls the driving unit 140 to drive the work device by following the driving trace data corresponding to the initially selected position.
- the drive control unit 120 checks the bucket posture at the start of the automatic operation. As a result of the posture check, if the posture of the bucket is similar to the reference posture, the driving unit 140 is controlled to follow the drive trajectory data at the time selected by the operator. On the other hand, if the attitude of the bucket is much different from the reference attitude, the drive control unit 120 changes the attitude of the bucket. The driving controller 120 changes the bucket angle to a reference bucket angle at a point selected by the operator in consideration of the current bucket angle.
- the driving controller 120 checks the position change by changing the attitude of the bucket.
- the excavator includes a bucket, and the drive controller 120 determines whether the excavator's posture is changed based on the posture of the bucket.
- the driving controller 120 controls the driving unit 140 to finally follow the initially selected trajectory data.
- the driving controller 120 controls the driving unit 140 to read new driving trajectory data corresponding to the changed position from the data storage unit 150 and then follow the new driving trajectory data. do.
- whether to read the new drive trajectory data is selected in response to the change of the position of the bucket corresponding to the change in the attitude of the bucket.
- the drive control unit 120 is equipped with a variety of sensors, when it is detected that the change of attitude of the bucket is hindered by obstacles such as the ground, the bucket is automatically driven to the optimized trajectory to other work devices such as boom / arm You can change your posture.
- the driving controller 120 may automatically set a preset bucket angle (for example, 10 °, etc.) and the current bucket angle at the time of automatic excavation. Compare the and, if more than the predetermined angle by moving the bucket cylinder to control the drive unit 140 so that the bucket angle is within the predetermined angle. If it is determined that the bucket is stuck to the ground or difficult to drive, the driving controller 120 controls the driving unit 140 to adjust the bucket angle by operating the boom, the arm and the bucket cylinder together to adjust the bucket angle.
- a preset bucket angle for example, 10 °, etc.
- the driving controller 120 After adjusting the bucket angle, if the position of the end of the bucket is changed, the driving controller 120 reads out new driving trace data from the data storage unit 150 at the changed position.
- the driving controller 120 controls the work start point and the trajectory following to compensate for the position error according to the driving trajectory data stored in the storage unit 150 in order to perform the automatic excavation work, and adjusts the position error of the bucket end of the excavator.
- the driving of the excavator can be controlled by compensating the gravity caused by the change of posture to minimize.
- the driving controller 120 may apply the gravity compensation value calculated by the gravity compensation unit 130 to the driving control.
- Each cylinder length data of the excavator can be replaced by the angle data of each link in the boom, arm and bucket.
- the driving controller 120 stops the automatic operation and follows the generated new joystick signal to control the driving unit 140.
- the driving controller 120 imports driving trajectory data (eg, joystick data (Joy_ref data) and cylinder length data (Cyl_ref data)) stored in the data storage unit 150.
- the driving controller 120 adds the joystick signal O_Joy, the position error signal O_PI1, and the gravity compensation value Ga, and outputs the driving control signal Com_out to the driving unit 140.
- the driving controller 120 obtains the joystick signal O_Joy from the joystick data Joy_ref data. In addition, the drive controller 120 obtains an error signal Er by subtracting the cylinder length signal and the currently measured signal from the cylinder length data Cyl_ref data. In addition, the driving controller 120 calculates the position error signal O_PI1 using the error signal Er through the PI controller.
- the gravity compensator 130 calculates a gravity compensation value Ga by obtaining a mass moment of inertia caused by a change in posture of the current excavator. This is to minimize the position error of the bucket end by the change in the attitude of the excavator.
- the driving controller 120 calculates the driving output value O_joy + O_PI1 + Ga, which is obtained by adding the joystick signal O_Joy, the position error signal O_PI1 and the gravity compensation value Ga. do.
- the driving controller 120 converts the sum of the driving output values O_joy + O_PI1 + Ga into a driving control signal Com_out and outputs the driving control signal Com_out to the driving unit 140.
- a new joystick signal is generated from the operation unit 110 for a predetermined time (for example, 0.3 sec.)
- the driving control unit 120 considers the emergency situation to stop the automatic operation and the operation unit 110.
- the driving unit 140 is controlled by following the joystick signal generated from the control unit.
- FIG. 2 is an exemplary view illustrating a work trajectory control of a construction machine using a database according to the present invention.
- the data storage unit 150 constructs and stores driving trajectory data at a coordinate 211 at which the bucket end is located as a database.
- the data storage unit 150 designates the excavable bucket position as a position coordinate value, and stores driving trajectory data corresponding to the designated position coordinate value in a database.
- the global position coordinates 210 are represented by (0, 0) to (x, y) in the database.
- x and y represent the position coordinate which displayed the excavable position in a basic length unit. For example, it shows the maximum position coordinate which can be excavated among the areas which an excavator works.
- the data storage unit 150 stores the driving trajectory data at the position coordinates 211 of the selected point.
- the driving controller 120 requests the driving trajectory data for the corresponding position coordinates 211
- the data storage unit 150 transmits the driving trajectory data for the corresponding position coordinates 211 to the driving control unit 120.
- the driving trajectory data may include joystick data and cylinder length data transmitted from the driving controller 120 or angle data of each link of the boom, the arm and the bucket.
- the present invention stores a track in which a worker rides on a work device (for example, an excavator and a wheel loader, etc.) and performs a certain operation in the work device (hereinafter, this work is called teaching), and a stored track (for example, The present invention relates to a work track control device for a construction machine capable of minimizing a position error when selecting a playback in which a work device is automatically driven by following a bucket end position).
- a work track control device for a construction machine capable of minimizing a position error when selecting a playback in which a work device is automatically driven by following a bucket end position.
- the work trace control apparatus 100 may operate in a teaching mode or a playback mode.
- the operation unit 110 generates a joystick signal by the operator's operation, the operator can select the teaching mode and playback mode.
- the teaching mode refers to a mode in which a worker teaches a work process of an excavator to learn a work process.
- the work trace control apparatus 100 stores the joystick signal according to the joystick operation and each cylinder length data (hereinafter, referred to as 'drive data') of the driving unit 140.
- the operator may start or end the teaching mode through the teaching start and end buttons provided in the operation unit 110 of the excavator.
- the operation unit 110 transmits a joystick signal generated according to the operator's joystick operation to the driving controller 120 while the teaching mode is in operation.
- the driving controller 120 receives the joystick signal from the operation unit 110 and controls the driving unit 140.
- the driving controller 120 stores the driving data of the work device corresponding to the operator's operation and the trajectory data generated by processing the joystick signal in the data storage 150. That is, the driving controller 120 stores the joystick signal transmitted from the manipulation unit 110 as the joystick data in the data storage unit 150.
- the driving controller 120 stores the cylinder length data of the boom, the arm and the bucket driven by the driving unit 140 or the angle data of each link in the boom, the arm and the bucket in the data storage unit 150.
- the driving unit 140 drives the cylinders of the boom, the arm and the bucket according to the driving control of the driving control unit 120.
- the playback mode refers to a mode in which the work trace control device 100 automatically plays back a stored work process in the teaching mode.
- the data storage unit 150 stores trajectory data (eg, joystick data and cylinder length data) learned in the teaching mode.
- the data storage unit 150 may store the joystick data and the angle data of each link of the boom, the arm, and the bucket as the trajectory data.
- the driving controller 120 controls the driving unit 140 to automatically drive the work device by following the trajectory data stored in the teaching mode in the data storage unit 150.
- the position of the work device is compared with the start position of the work device stored in the data storage unit 150.
- the driving controller 120 controls the automatic driving to be started at the position at the time when the playback mode is selected.
- This position error can be measured using any of the working tools.
- a control method in which the position of the bucket, which can be said to be the center of the work by being in direct contact with the work surface during the operation of the excavation or the like, will be described as an example.
- the playback mode can be controlled by comparing the position difference between the current position of the bucket end and the initial position of the preset bucket end.
- the driving controller 120 controls the driving unit 140 to follow the previously stored driving trajectory as the time of automatic driving progresses. This is to allow the operation of the initially entered working range over time, even if the automatic drive is started at a point not desired by the driver. Meanwhile, the driving controller 120 compensates for a position error with the trajectory data stored in the data storage unit 150 while the driving device is automatically driven.
- the driving of the excavator is controlled by compensating gravity corresponding to the posture of the working device to minimize the position error of the bucket end of the excavator.
- the driving controller 120 updates the trajectory data by applying the gravity compensation value calculated by the gravity compensator 130, and controls the driving unit 140 based on the updated trajectory data.
- each cylinder length data of the excavator can be replaced by the angle data of each link in the boom, arm and bucket.
- the gravity compensator 130 calculates a gravity compensation value by obtaining a mass moment of inertia caused by a change in posture of the current excavator. This is to minimize the position error of the bucket end by the change in the attitude of the excavator.
- This gravity compensation result is used to compensate for the discharge flow rate of the pump or the switching amount of the control valve, thereby enabling the operator to follow the drive speed of the initially intended work tool.
- the operator may be configured to control the start / end of the playback mode through a playback start and end button provided in the operation unit 110.
- the control method described above has been described as an example in which the operator needs to move the work device to the initial position of the desired work again when the playback mode is desired after the playback mode is completed.
- the playback mode described above is not necessarily limited thereto. In other words, the case where the playback mode is selected to be automatically repeated is also applicable.
- the control can be performed to automatically rework a portion that has not been performed at the start of the first playback mode as described above. This is done by having the work device automatically move from the teaching mode to the initial position of the stored work when the second iteration is repeated, and then resume the playback mode. According to this, even if the work device starts playback at an incorrect position due to immature operation of the work, when the repetitive work is progressed, there is an effect that the worker can work on the intended work area.
- the work tool may be automatically set so that the bucket is located at the start point of the playback mode stored in the teaching mode. Control methods are also available.
- the driving control unit 120 stops the playback mode and generates a new joystick signal generated by the operation unit 110.
- the drive unit 140 By controlling the drive unit 140 according to it is preferable to be prepared in case of emergency.
- FIG. 3 is a detailed configuration diagram of an apparatus for controlling a job trajectory in the playback mode according to the present invention.
- the driving controller 120 controls the work start point and the trajectory estimation to compensate for the position error of the bucket when the playback button is selected, and minimizes the position error to compensate for the gravity caused by the change in posture of the work device.
- the driving controller 120 measures the distance between the current position of the end of the bucket and the position of the end of the bucket where the teaching mode is started at the start of playback, and the difference value between the current position of the bucket end and the initial position of the preset bucket end. Is compared with a predetermined reference error (eg, 10 cm).
- a predetermined reference error eg, 10 cm.
- the operator starts the playback operation after placing the work device in the intended position.
- the posture / position of the work device where the playback is started is different from the previously stored playback initial position. This is due to the fact that you have to.
- the work device starts immediately at the position where the operator is operated, but is controlled to approach the taught driving trajectory as time passes. In this case, some of the work area intended by the operator may be unworked at the beginning of playback. In this case, if the playback is repeatedly performed, the work device is automatically positioned at the initial position taught during the next playback operation. This can be solved. On the other hand, if the posture / position of the work device where playback starts differs significantly from the previously stored playback initial position, it indicates that the playback operation is disabled and waits for an additional operator's operation, or moves the work device to the initial playback position. There is a method of automatically positioning and following the taught trajectory to proceed with the work. In this embodiment, for example, the playback operation is performed after moving the work device.
- the driving controller 120 imports the pre-teached joystick data Joy_ref data and cylinder length data Cyl_ref data.
- the driving controller 120 adds the joystick signal O_Joy, the position error signal O_PI1, and the gravity compensation value Ga, and outputs the driving control signal Com_out to the driving unit 140.
- the driving controller 120 obtains the joystick signal O_Joy from the joystick data Joy_ref data. In addition, the drive controller 120 obtains an error signal Er by subtracting the cylinder length signal and the currently measured signal from the cylinder length data Cyl_ref data. In addition, the driving controller 120 calculates the position error signal O_PI1 using the error signal Er through the PI controller.
- the gravity compensator 130 calculates a gravity compensation value Ga by obtaining a mass moment of inertia from a current posture of the work device.
- the driving controller 120 calculates the driving output value O_joy + O_PI1 + Ga, which is obtained by adding the joystick signal O_Joy, the position error signal O_PI1 and the gravity compensation value Ga. do.
- the driving controller 120 converts the sum of the driving output values O_joy + O_PI1 + Ga into a driving control signal Com_out and outputs the driving control signal Com_out to the driving unit 140.
- the driving controller 120 If the joystick signal is generated more than a predetermined time (for example, 0.3 sec.) During the playback on the operation unit 110, the driving controller 120 considers the emergency situation and according to the joystick signal generated by the operation unit 110. The driving unit 140 controls the driving.
- a predetermined time for example, 0.3 sec.
- a work trajectory control method for a construction machine will be described by dividing it into a work trajectory control method for a construction machine using a database and a work trajectory control method in a teaching mode.
- a work trajectory control method for a construction machine using a database will be described.
- FIG. 4 is a flowchart illustrating a method for controlling a work trajectory of a construction machine using a database according to the present invention.
- the operator places the work device at a desired position through a joystick or the like provided in the operation unit 110. And when the operator selects the automatic job start through the automatic job selection button provided in the operation unit 110, the automatic job of the working device is selected.
- the work trajectory control apparatus 100 calculates a current position of the bucket and retrieves driving trajectory data at the position coordinates from a database (DB) (402).
- DB database
- the work trace control apparatus 100 compares the current attitude of the bucket with a preset reference attitude so that a difference between the current bucket angle and the bucket angle in the database at the current bucket position is determined to be a specific angle (eg, 10 °, etc.). It is checked whether or not (404).
- a specific angle eg, 10 °, etc.
- the work trajectory control device 100 changes the posture of the work device to the reference posture.
- the work trajectory control device 100 is the current bucket angle to the initial bucket angle Move (406).
- the angle of the initial bucket may be preset or set by an operator at an angle of the bucket desired to perform the excavation work. If the bucket is stuck to the ground or difficult to drive, the trajectory control device 100 may move the bucket by operating the boom, the arm and the bucket cylinder to adjust the bucket angle.
- Such a non-moving state of the bucket can be determined by monitoring the change in the hydraulic pressure and posture change of each work device, and in this embodiment, various sensors for this purpose are installed in each hydraulic line and the joint part.
- the work trajectory control apparatus 100 controls the driving of the work apparatus so that the work apparatus is automatically driven by importing trajectory data corresponding to the changed position of the work apparatus according to the change of posture from the database and following the read trajectory data. do.
- the work trajectory control device 100 calculates the changed position of the bucket to drive the drive trajectory data of the position coordinates where the bucket end is located from the database. Recall (408).
- the work trajectory control device 100 performs from the "410" process.
- the work trajectory control apparatus 100 starts automatic excavation using the drive trajectory data at the current position according to the database loaded in the process “402” or “408” (410).
- the work trace control apparatus 100 outputs one joystick signal stored every 10 ms at 10 ms intervals (412).
- the work trace control apparatus 100 checks whether the error between the cylinder length stored for each cylinder and the currently measured cylinder length is equal to or greater than a preset cylinder length error value (for example, 5 cm, etc.) even in one cylinder among three cylinders. (416).
- a preset cylinder length error value for example, 5 cm, etc.
- the work trace control device 100 displays a job incapacity message to the worker And the trajectory control ends (418).
- the work trajectory control device 100 calculates a compensation value Ga by obtaining a mass moment of inertia from the current posture of the work device, and adds the position error signal O_PI1 calculated in step 420 to compensate for gravity according to the posture.
- the work trajectory control apparatus 100 adds the gravity compensation value Ga corresponding to the gravity compensation to the position error signal O_PI1 calculated in the process of 420, thereby providing more output. It is to let go.
- the work trace control device 100 checks whether the execution length matches the buffer length stored in the data storage unit 150 (426).
- the work trace control apparatus 100 outputs the driving output value calculated in step 424, and executes the process again from step 412. On the other hand, if the execution length coincides with the buffer length, the work trajectory control device 100 ends the trajectory control together with the operation completion message.
- the task trajectory control device 100 regards the emergency situation and stops the automatic operation, and the new joystick signal stand To control the work tool.
- FIG. 5 is a flowchart illustrating a work trace control method in the teaching mode according to the present invention.
- the work trajectory control method includes at least one work device, a driving unit 140 for driving the work device, and an operation unit 110 for generating a joystick signal corresponding to an operator's operation, and a teaching mode and It is applied to the work trajectory control device 100 of the construction machine capable of selecting and operating the playback mode.
- the work trajectory control apparatus 100 checks whether a start button signal for notifying teaching start is input by an operator (502).
- the work trajectory control apparatus 100 stores the joystick signal generated by the operator's operation and driving data of the work apparatus as the trajectory data when the teaching mode is selected. That is, when the check result 502, the start button signal is input, the work trajectory control device 100 stores the angle at which the joystick is moved by the operator after the start button signal in a predetermined time unit (for example, 10 ms, etc.) The length of each cylinder of the boom, the arm and the bucket is sensed and stored (504). For example, the work trace control apparatus 100 may store the angle and the cylinder length of the joystick in units of 10 ms. Alternatively, the work trace control apparatus 100 may sense and store angles of each link of the boom, the arm, and the bucket.
- a predetermined time unit for example, 10 ms, etc.
- the work trajectory control device 100 can calculate the position of the bucket end kinematically by calculating the cylinder length of the boom, the arm and the bucket or the angle of each link. On the other hand, when the check result 502, the start button signal is not input, the work trajectory control device 100 continuously monitors whether the start button signal is input.
- the work trace control apparatus 100 checks whether a completion button signal for instructing the teaching is input (506).
- the work trajectory control device 100 stores the angle of the joystick and the cylinder length of the boom, the arm and the bucket stored to date as one trajectory data.
- the completion button signal is not input, the work trajectory control apparatus 100 performs the process again from the "504" process of storing the trajectory data.
- FIG. 6 is a flowchart illustrating a work trace control method in a playback mode according to the present invention.
- the work trajectory control apparatus 100 checks whether a playback start button signal for informing the start of playback is input by an operator (602).
- the work trajectory control device 100 measures the distance between the position of the current bucket end and the position of the bucket end where the teaching is started, and thus the current of the bucket end. It is checked whether the difference value between the position and the initial position of the preset bucket end exceeds a predetermined reference error (eg, 10 cm, etc.) (604). On the other hand, if the playback start button signal is not input by the operator, the work trajectory control device 100 performs the process "602" until the playback start button signal is input.
- a predetermined reference error eg, 10 cm, etc.
- the work trajectory control apparatus 100 controls the bucket to return the current position of the bucket end to the preset initial position. Move (606).
- the work trajectory control apparatus 100 controls each actuator to move the bucket so that the position difference value of the bucket end is within 10 cm.
- the difference in position is greater than the reference error
- the work trajectory control device 100 returns to the position where the teaching mode is started after the first automatic work. Control the automatic operation after the return.
- the work trajectory control device 100 at the current position The playback signal is output every 10ms so that the work device is automatically driven and used as the reference playback signal.
- the initial position of the work device differs from the taught position by using the position compensation method as described below, once the playback operation is performed, the data is compensated to follow the taught trajectory as soon as possible and the work device is driven. We use for.
- the work trace control apparatus 100 may bring the prestored joystick signal O_joy every 10 ms (608).
- the work trace control apparatus 100 checks whether the error between the cylinder length stored for each cylinder and the currently measured cylinder length is equal to or greater than a preset cylinder length error value (for example, 5 cm, etc.) even in one cylinder among three cylinders. (612).
- a preset cylinder length error value for example, 5 cm, etc.
- the work trace control device 100 displays a job incapacity message to the worker The trajectory control is terminated (614).
- the work trajectory control apparatus 100 calculates a compensation value Ga by obtaining a mass moment of inertia at the current posture, and in addition to the position error signal O_PI1 calculated in step 416, PI to which gravity compensation according to posture is applied.
- the control signal O_PI O_PI1 + Ga is obtained (618).
- excavators are heavy on booms, arms, and buckets, so the booms, arms, and buckets are all unfolded and the pressure required to move them all together is different. Therefore, the trajectory control device 100 compensates for the different states of gravity of the boom, the arm and the bucket to control more quickly and accurately.
- the work trajectory control apparatus 100 adds the gravity compensation value Ga corresponding to the gravity compensation to the position error signal O_PI1 calculated in the “616” process, thereby providing more output. It is to let go.
- the work trace control apparatus 100 may output the joystick output signal O_joy obtained in the process “608”, the position error signal O_PI1 in step 616 and the PI control signal O_PI calculated in the process “618” as the final output.
- the work trace control apparatus 100 checks whether the execution length matches the buffer length stored in the data storage unit 150 (622).
- the work trace control apparatus 100 outputs the driving output value calculated in step “622” and performs the process again from step “408”. On the other hand, if the execution length coincides with the buffer length, the work trajectory control device 100 ends the trajectory control together with the operation completion message.
- the work trajectory control apparatus 100 controls the work apparatus to be driven by following the previously stored trajectory data when the playback mode is selected.
- the work trajectory control device 100 compares the difference between the position of the work device at the time of selecting the playback mode and the start position at which the teaching mode is started, and is selected by the operator when the difference in position is smaller than the preset reference error.
- An automatic operation of following the trajectory data is performed at the selected point of the playback mode, and the control is performed to follow the stored trajectory data as time passes.
- the work trajectory control device 100 regards the emergency situation and performs driving control according to the joystick signal.
- the present invention has an effect that the automatic operation can be performed by the operation trajectory at the point after the posture correction of the bucket, not the operation trajectory at the selection point in consideration of the current bucket attitude when selecting the automatic excavation.
- the present invention can control the work start point and trajectory following to compensate for the position error when selecting the playback to follow the teaching trajectory, and can minimize the position error by compensating the gravity caused by the posture change of the work device.
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Abstract
Description
Claims (16)
- 적어도 하나의 작업장치와, 상기 작업장치를 구동시키기 위한 구동부를 포함하는 건설기계의 작업궤적 제어 장치에 있어서,작업자의 조작에 의한 조이스틱 신호를 발생시키는 조작부;자동작업의 시작시 구동될 상기 작업장치가 추종할 상기 작업장치의 구동궤적 데이터가 저장된 데이터 저장부; 및상기 자동작업의 시작시, 상기 데이터 저장부에 저장된 상기 작업장치의 궤적 데이터를 독출하고, 상기 작업장치가 상기 독출된 구동궤적 데이터를 추종하여 구동되도록 상기 구동부를 제어하는 구동 제어부;를 포함하며,상기 구동 제어부는,상기 자동작업의 선택시, 상기 작업장치의 실체 위치가 상기 데이터 저장부에 저장된 작업장치의 구동이 시작되는 위치와 기 설정된 작업장치의 구동이 시작되는 위치가 기준 오차 이내의 차이가 나는 경우, 상기 자동작업 선택 시점에서의 위치에서 자동 구동이 시작되도록 제어하되 상기 자동 구동이 진행되는 시간이 경과될수록 상기 기 저장된 구동 궤적을 추종하도록 상기 구동부를 제어하는 것이 특징으로 하는 건설기계의 작업궤적 제어 장치.
- 제 1 항에 있어서,상기 데이터 저장부는 상기 작업장치의 각 위치별로 자동작업시 구동될 상기 작업장치의 구동궤적 데이터가 저장되고,상기 구동 제어부는, 상기 자동작업의 선택시 상기 작업장치의 자세가 곧바로 지정된 작업을 수행할 수 없는 자세인 경우, 상기 작업장치가 상기 지정된 작업을 수행할 수 있는 자세로 변경되도록 제어하고, 상기 자세 변경에 의한 상기 작업장치의 새로운 위치가 기 설정된 위치가 기 설정된 기준 오차보다 큰 경우, 상기 새로운 위치에 대응되는 새로운 구동궤적 데이터를 독출한 후 상기 새로운 구동궤적 데이터를 추종하여 상기 작업장치가 구동되도록 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 2 항에 있어서,상기 작업장치는 버킷을 포함하며, 상기 구동 제어부는 상기 버킷의 자세를 기준으로 상기 작업장치의 자세 변경 여부를 판단하고, 상기 새로운 구동궤적 데이터의 독출 여부는 상기 버킷의 자세 변경에 대응되는 상기 버킷의 위치 변경량에 대응하여 선택되는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 1 항에 있어서,상기 구동 제어부는, 상기 자동작업의 선택시 상기 작업장치의 자세가 곧바로 지정된 작업을 수행할 수 없는 자세인 경우, 상기 작업장치가 상기 지정된 작업을 수행할 수 있는 자세로 변경되도록 제어하고, 상기 자세 변경에 의한 상기 작업장치의 새로운 위치가 기 설정된 위치가 기 설정된 기준 오차보다 큰 경우, 상기 작업장치의 구동이 시작되는 위치로 상기 작업장치의 위치를 변경시킨 후 상기 기 저장된 구동 궤적을 추종하도록 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 1 항 내지 제 4 항 중 어느 한 항에 있어서,상기 작업장치는 버킷을 포함하며, 상기 구동 제어부는 상기 버킷의 위치를 기준으로 상기 작업장치의 상기 기 설정된 구동궤적 데이터를 독출하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 1 항 내지 제 4 항 중 어느 한 항에 있어서,상기 구동 제어부는, 상기 자동작업 진행 중 상기 조작부로부터 새로운 조이스틱 신호가 소정의 시간 동안 발생되면, 상기 자동작업을 중단하고 상기 발생된 새로운 조이스틱 신호를 추종하여 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 1 항 내지 제 4 항 중 어느 한 항에 있어서,상기 구동 제어부는 상기 작업장치의 자세에 의한 중력 보상값을 계산하기 위한 중력 보상부;를 더 포함하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 1 항에 있어서,상기 조작부는, 티칭모드 및 플레이백 모드의 선택조작이 더 가능하며,상기 구동제어부는, 상기 티칭 모드의 선택시 상기 작업자의 조작에 대응되는 상기 궤적 데이터를 상기 데이터 저장부에 저장하고, 상기 플레이백 모드의 선택시 상기 데이터 저장부에 저장된 상기 작업장치의 궤적 데이터를 추종하여 상기 작업장치가 자동으로 구동되도록 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 8 항에 있어서,상기 작업자의 플레이백 모드 선택시, 상기 작업장치의 버킷 끝단의 현재 위치와 기설정된 버킷 끝단의 초기위치 간의 위치 차이를 비교하여 상기 버킷의 끝단을 상기 기설정된 초기위치로 이동시킨 후 기 저장된 구동 궤적을 추종하여 자동 작업이 되도록 상기 구동부를 제어하는 건설기계의 작업궤적 제어 장치.
- 제 8 항 또는 제 9 항에 있어서,상기 구동 제어부는, 상기 자동작업 진행 중 상기 조작부로부터 새로운 조이스틱 신호가 소정의 시간 동안 발생되면, 상기 자동작업을 중단하고 상기 발생된 새로운 조이스틱 신호를 추종하여 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어장치.
- 제 8 항 또는 제 9 항에 있어서,상기 작업장치의 자세에 대응되는 중력 보상값을 산출하는 중력 보상부;를 더 포함하며,상기 구동 제어부는 상기 중력 보상값을 적용하여 상기 궤적 데이터를 갱신하여 상기 갱신된 궤적 데이터를 기준으로 상기 구동부를 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어 장치.
- 적어도 하나의 작업장치와, 상기 작업장치를 구동시키기 위한 구동부 및 작업자의 조작에 대응하는 조이스틱 신호를 발생시키는 조작부를 포함하는 건설기계의 작업궤적 제어 방법에 있어서,자동작업의 선택여부를 확인하는 단계;상기 자동작업 선택시 상기 작업장치의 실제 위치를 기 설정된 자동작업 시작 위치를 비교하여 그 차이를 기 설정된 기준 오차와 비교하는 단계;를 포함하며,상기 비교결과 상기 작업장치의 실제 위치가 상기 기 설정된 자동작업 시작 위치와의 차이가 상기 기준 오차보다 작은 경우, 기 설정된 작업장치의 궤적 데이터를 독출하고, 상기 작업장치의 실체 위치부터 시작되는 자동작업을 위한 궤적 데이터를 생성시킨 후 상기 자동작업을 시작하되, 상기 새로운 궤적 데이터는 시간이 경과될수록 상기 기 설정된 작업장치의 궤적 데이터를 추종하도록 생성되는 것을 특징으로 하는 건설기계의 작업궤적 제어 방법.
- 제 12 항에 있어서,상기 기준 오차와 비교하는 단계는,복수의 작업장치 중 적어도 하나의 현재 자세와 기 설정된 기준 자세를 비교하는 자세 비교 단계; 및상기 비교 결과에 따라 상기 작업장치의 자세를 상기 기준 자세로 변경시키는 자세 변경 단계;를 더 포함하며,상기 작업장치의 실체 위치는 상기 자세의 변경에 따른 상기 작업장치의 변경 위치로 수정되는 것을 특징으로 하는 건설기계의 작업궤적 제어 방법.
- 제 13 항에 있어서,상기 작업장치의 위치 변경의 판단은, 상기 작업장치가 작업을 위해 구동가능한 가상의 영역을 복수의 영역으로 나눈 후, 상기 작업장치가 자세의 변경에 의해 최초에 위치한 영역에서 다른 영역으로의 이동여부를 기준으로 판단하며,상기 구동궤적 데이터들은 상기 복수의 영역 각각에 대응되게 상기 데이터 베이스에 저장되어 있는 것을 특징으로 하는 건설기계의 작업궤적 제어 방법.
- 제 14 항에 있어서,상기 건설기계는 운전자의 조작에 의해 티칭 모드 및 플레이백 모드의 선택이 가능하며,상기 자동작업 선택여부를 확인하는 단계는,상기 작업자의 조작에 의해 발생되는 조이스틱 신호 및 상기 작업장치의 구동 데이터를 궤적 데이터로 저장하는 상기 티칭 모드 선택 단계와, 상기 티칭 모드 선택 단계에서 저장된 상기 궤적 데이터를 추정하여 상기 자동 작업이 시작되도록 선택하는 플레이백 단계 선택 단계를 포함하는 것을 특징으로 하는 건설기계의 작업궤적 제어 방법.
- 제 12 항 내지 제 15 항 중 어느 한 항에 있어서,상기 궤적 플레이백 단계에서, 상기 작업장치의 자세 변환에 따른 중력 변화를 이용한 중력 보상값을 계산하고, 상기 계산된 중력 보상값을 적용하여 상기 작업장치가 상기 티칭 모드에서 저장된 궤적 데이터에 포함된 작업장치의 구동속도를 추종하도록 제어하는 것을 특징으로 하는 건설기계의 작업궤적 제어 방법.
Priority Applications (3)
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CN201180030686.3A CN102947513B (zh) | 2010-06-23 | 2011-06-23 | 建筑机械的作业轨迹控制装置及其方法 |
US13/805,558 US20130103247A1 (en) | 2010-06-23 | 2011-06-23 | Apparatus and Method for Controlling Work Trajectory of Construction Equipment |
EP11798396.5A EP2586918A4 (en) | 2010-06-23 | 2011-06-23 | APPARATUS AND METHOD FOR CONTROLLING A WORKING TRACK OF A CONSTRUCTION MACHINE |
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KR10-2010-0059363 | 2010-06-23 | ||
KR10-2010-0059364 | 2010-06-23 | ||
KR1020100059364A KR101715940B1 (ko) | 2010-06-23 | 2010-06-23 | 티칭 및 플레이백을 이용한 건설기계의 작업궤적 제어 장치 및 그 방법 |
KR1020100059363A KR101716499B1 (ko) | 2010-06-23 | 2010-06-23 | 데이터 베이스를 이용한 건설기계의 작업궤적 제어 장치 및 그 방법 |
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WO2011162561A2 true WO2011162561A2 (ko) | 2011-12-29 |
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EP (1) | EP2586918A4 (ko) |
CN (1) | CN102947513B (ko) |
WO (1) | WO2011162561A2 (ko) |
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JP5707313B2 (ja) | 2011-12-19 | 2015-04-30 | 日立建機株式会社 | 作業車両 |
US9043098B2 (en) * | 2012-10-05 | 2015-05-26 | Komatsu Ltd. | Display system of excavating machine and excavating machine |
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US9234329B2 (en) * | 2014-02-21 | 2016-01-12 | Caterpillar Inc. | Adaptive control system and method for machine implements |
JP5856685B1 (ja) * | 2014-06-02 | 2016-02-10 | 株式会社小松製作所 | 建設機械の制御システム、建設機械、及び建設機械の制御方法 |
CN104619921B (zh) | 2014-09-10 | 2016-10-12 | 株式会社小松制作所 | 作业车辆及作业车辆的控制方法 |
EP3168373B1 (en) * | 2014-11-14 | 2019-07-10 | Caterpillar Inc. | A machine with a system for improving safety |
AR104232A1 (es) * | 2015-04-13 | 2017-07-05 | Leica Geosystems Pty Ltd | Compensación dinámica del movimiento en maquinarias |
JP6618072B2 (ja) * | 2015-08-28 | 2019-12-11 | キャタピラー エス エー アール エル | 作業機械 |
JP6666142B2 (ja) * | 2015-12-25 | 2020-03-13 | 株式会社小松製作所 | 作業車両および作業車両の制御方法 |
JP6740025B2 (ja) * | 2016-06-17 | 2020-08-12 | 住友重機械工業株式会社 | ショベル |
CN106836364B (zh) * | 2017-01-17 | 2019-02-12 | 大连理工大学 | 智能挖掘机的自动控制系统及最优轨迹规划方法 |
CN107527074B (zh) | 2017-09-05 | 2020-04-07 | 百度在线网络技术(北京)有限公司 | 用于车辆的图像处理方法和装置 |
CN107882103B (zh) * | 2017-10-26 | 2019-09-10 | 南京工业大学 | 一种挖掘机三维姿态显示及远程自动控制系统 |
WO2019123511A1 (ja) * | 2017-12-18 | 2019-06-27 | 住友重機械工業株式会社 | ショベル |
WO2019189624A1 (ja) * | 2018-03-30 | 2019-10-03 | 住友建機株式会社 | ショベル |
EP3561183B1 (en) * | 2018-04-26 | 2022-04-06 | Komatsu Ltd. | Hydraulic control system, work machine and method for controlling operation of a work attachment |
DE102018208642A1 (de) * | 2018-05-30 | 2019-12-05 | Robert Bosch Gmbh | Verfahren zur automatisierten Steuerung eines Baggers |
CN108643275A (zh) * | 2018-06-06 | 2018-10-12 | 马鞍山松鹤信息科技有限公司 | 一种挖掘机轨迹规划与控制系统 |
JP7188940B2 (ja) * | 2018-08-31 | 2022-12-13 | 株式会社小松製作所 | 制御装置、積込機械、および制御方法 |
CN109811822B (zh) | 2019-01-25 | 2021-08-03 | 北京百度网讯科技有限公司 | 用于控制挖掘机的方法和装置 |
CN109782767B (zh) | 2019-01-25 | 2022-06-07 | 北京百度网讯科技有限公司 | 用于输出信息的方法和装置 |
CN110409546B (zh) * | 2019-07-25 | 2021-12-14 | 中国航空工业集团公司西安飞行自动控制研究所 | 一种挖掘机的电控系统及正流量系统挖掘机 |
CN110725359B (zh) * | 2019-10-28 | 2022-03-01 | 上海三一重机股份有限公司 | 一种轨迹控制方法及挖掘机 |
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CN113006185B (zh) * | 2021-02-08 | 2023-01-31 | 南京工程学院 | 一种挖掘机自动导航作业方法及系统 |
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- 2011-06-23 CN CN201180030686.3A patent/CN102947513B/zh active Active
- 2011-06-23 US US13/805,558 patent/US20130103247A1/en not_active Abandoned
- 2011-06-23 EP EP11798396.5A patent/EP2586918A4/en not_active Withdrawn
- 2011-06-23 WO PCT/KR2011/004604 patent/WO2011162561A2/ko active Application Filing
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KR20170056560A (ko) * | 2014-09-18 | 2017-05-23 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
KR102406097B1 (ko) | 2014-09-18 | 2022-06-07 | 스미토모 겐키 가부시키가이샤 | 쇼벨 |
Also Published As
Publication number | Publication date |
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WO2011162561A3 (ko) | 2012-05-03 |
CN102947513A (zh) | 2013-02-27 |
CN102947513B (zh) | 2015-07-08 |
EP2586918A2 (en) | 2013-05-01 |
EP2586918A4 (en) | 2014-10-29 |
US20130103247A1 (en) | 2013-04-25 |
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