WO2013051737A1 - 굴삭기를 이용한 평탄화 작업 제어시스템 - Google Patents
굴삭기를 이용한 평탄화 작업 제어시스템 Download PDFInfo
- Publication number
- WO2013051737A1 WO2013051737A1 PCT/KR2011/007341 KR2011007341W WO2013051737A1 WO 2013051737 A1 WO2013051737 A1 WO 2013051737A1 KR 2011007341 W KR2011007341 W KR 2011007341W WO 2013051737 A1 WO2013051737 A1 WO 2013051737A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- pressure
- joystick
- control system
- work
- Prior art date
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Classifications
-
- 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
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
- E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
- E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
-
- 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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2278—Hydraulic circuits
- E02F9/2296—Systems with a variable displacement pump
Definitions
- the present invention relates to a flattening operation control system using an excavator, and more particularly, when performing a stop operation to flatten the ground by operating the boom operating lever and the arm operating lever, the estimated position of the working device and the joystick by the driver
- the present invention relates to a flattening operation control system using an excavator that combines an operation signal to determine and control an operation amount (named a boom and an arm).
- the non-skilled person smoothly performs the flat stop work to smooth the ground, the skilled person flattening work control system using an excavator that can reduce the fatigue caused by repeated stop work and improve the work efficiency Is associated with.
- a variable displacement hydraulic pump at least one hydraulic actuator connected to the hydraulic pump, a working device including a boom and an arm driven by the actuator, and a flow path between the hydraulic pump and the actuator are installed to drive the actuator at the time of switching.
- a control valve at least one electric joystick, pressure detecting means for detecting pressure generated in the actuator, means for setting a working mode, and a controller for outputting a control signal to switch the control valve
- a controller for outputting a control signal to switch the control valve
- the operation amount of the boom and the arm is calculated by combining the estimated arm posture and the control signal value according to the joystick operation by the driver, and the steps proceeding to the initial stage are repeated.
- a pressure sensor for detecting the pressure generated in the arm cylinder and transmitting the detection signal to the controller is used as the pressure detecting means described above.
- a pressure switch that turns on and off when a supply side pressure of the arm cylinder reaches a set pressure is used to generate a signal.
- a switch provided in the joystick is used.
- a switch provided in the cab is used.
- a monitor provided in the cab is used.
- the operation of the boom and the arm is controlled by combining the estimated posture of the working device and the joystick operation signal by the driver.
- the simplicity can improve workability while reducing fatigue caused by repeated stop operations.
- FIG. 2 is a view showing the magnitude and direction of gravity acting on the arm cylinder during the flattening operation in the flattening operation control system using an excavator according to an embodiment of the present invention
- FIG. 3 is a view showing a correlation between the gravity of the joystick operation by the driver and the force acting on the arm cylinder in the flattening operation control system using an excavator according to an embodiment of the present invention
- FIG. 4 is a flowchart illustrating a planarization work control system using an excavator according to an embodiment of the present invention.
- Variable displacement hydraulic pump 10 (hereinafter referred to as "hydraulic pump"), at least one hydraulic actuator (11, 12) (referred to as an example hydraulic cylinder) connected to the hydraulic pump 10, and the actuator (
- the working device 15 including the boom 13, the arm 14, etc., driven by the 11 and 12, and the flow path between the hydraulic pump 10 and the actuators 11 and 12, and the actuator at the time of switching Detects the pressure generated in the control valves 16, 17 for driving 11, 12, at least one electric joystick 18 for outputting an electric control signal corresponding to the amount of manipulation by the driver, and the actuators 11, 12.
- the operation amount of the boom 13 and the arm 14 is calculated by combining the estimated posture of the arm 14 and the control signal values according to the operation of the joystick 18 by the driver, and the process proceeds to an initial step S100. It is made to repeat (S600).
- a pressure sensor for detecting the pressure generated in the arm cylinder 11 by the pressure detecting means 19 and transmitting the detection signal to the controller 20 is used.
- a switch provided in the joystick 18 is used.
- a switch provided in the cab (not shown) is used.
- the monitor 21 provided in the cab (not shown) is used as a means for setting the above-described working mode.
- the control valves 16 and 17 are controlled by the electric control signals from the controller 20. Switch.
- the hydraulic oil discharged from the hydraulic pump 10 is supplied to the hydraulic cylinders 11 and 12 via the control valves 16 and 17, and at the same time, the hydraulic oil returned from the hydraulic cylinders 11 and 12 is the hydraulic tank. Since it is drained (not shown), the hydraulic cylinders 11 and 121 can be stretched and driven.
- the detection signal for the pressure generated in the hydraulic cylinders 11 and 12 detected by the pressure detecting means 19 is transmitted to the controller 20.
- control signal value according to the joystick 18 operation by the driver, the pressure value of the cylinder 11 detected by the pressure detecting means 19, and whether the operation mode is set are input.
- the external force applied to the work device (referring to the arm cylinder as an example) 15 is calculated by the pressure value generated in the arm cylinder 11.
- the external force P applied to the work device 15 is calculated by the following equation.
- Pa and Pb denote head and rod side pressures of the arm cylinder 11 detected by the pressure detecting means 19, and Aa and Ab denote head and rod side effective cross-sectional areas of the arm cylinder 11. Means.
- the pose of the arm 14 is estimated by the calculated external force P value.
- the posture of the arm 14 is estimated by assuming that the external force of the arm cylinder 11 is a force acting by gravity force ("F").
- F gravity force
- the arm cylinder 11 is extended and driven, and the tip of the arm 14 maintains a vertical direction.
- gravity F> external force is applied to the arm cylinder 11 which is an arm in driving state, and the tip of the arm 14 is as close as possible to the boom 13.
- the operation amount or speed command value of the boom 13 and the arm 14 is correlated according to the attitude of the arm 14 during the flattening operation.
- the posture of the arm 14 is filtered to perform signal processing.
- the operation amount of the boom 13 and the arm 14 is calculated by combining the estimated posture of the arm 14 and the control signal values according to the operation of the joystick 18 by the driver, and the initial step (S100). Repeat step 1).
- the manipulation amount of the arm 14 and the boom 13 is defined according to a predefined table value on the basis of the estimated arm 14 posture and the joystick 18 manipulation signal.
- the hydraulic cylinder 11 is operated by the pressure detecting means 19.
- the position of the arm 14 is estimated using the detected pressure, and based on this, the amount of operation of the boom 13 and the arm 14 is compensated or determined. Therefore, the driver can easily perform the flattening operation by linearly controlling the trajectory of the end of the bucket 22 with a simple operation.
- the flattening operation control system using an excavator according to an embodiment of the present invention as described above, the operation of combining the estimated posture of the working device and the joystick operation signal by the driver during the stop operation for leveling the ground using the excavator As the device is controlled, the flattening operation is easily performed while securing the operability of the driver according to the joystick operation. This provides convenience for the inexperienced and improves workability for the skilled worker while reducing the fatigue caused by repeated stopping operations.
Abstract
Description
Claims (6)
- 가변용량형 유압펌프와, 상기 유압펌프에 연결되는 적어도 하나 이상의 유압액츄에이터와, 상기 액츄에이터에 의해 구동되는 붐,아암을 포함하는 작업장치와, 상기 유압펌프와 액츄에이터사이의 유로에 설치되며 절환시 액츄에이터를 구동시키는 제어밸브와, 적어도 하나 이상의 전기식 조이스틱과, 상기 액츄에이터에 발생되는 압력을 검출하는 압력 검출수단과, 작업모드를 설정하는 수단과, 상기 제어밸브를 절환시키도록 제어신호를 출력하는 제어기를 구비하는 굴삭기를 이용한 평탄화 작업 제어시스템에 있어서:상기 조이스틱 조작에 의한 제어신호값과, 상기 압력 검출수단에 의해 검출되는 아암실린더의 압력값과, 작업모드 설정여부를 입력받는 단계와,평탄화 작업모드가 설정되는 경우, 아암실린더에 발생되는 압력값에 의해 작업장치에 가해지는 외력을 계산하는 단계와,계산된 외력값에 의해 아암의 자세를 추정하는 단계와,상기 아암의 자세를 필터링하여 신호처리하는 단계와,추정되는 아암의 자세와 운전자에 의한 상기 조이스틱 조작에 따른 제어신호값을 조합하여 붐 및 아암의 조작량을 계산하고, 초기단계로 진행하는 단계를 반복하도록 이뤄지는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
- 제1항에 있어서, 상기 압력 검출수단으로 상기 아암실린더에 발생되는 압력을 검출하여 검출신호를 상기 제어기에 전송하는 압력센서가 사용되는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
- 제1항에 있어서, 상기 압력 검출수단으로 상기 아암실린더의 공급측 압력이 설정된 압력에 도달할 경우 온,오프되어 신호를 발생시키는 압력 스위치가 사용되는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
- 제1항에 있어서, 상기 작업모드를 설정하는 수단으로 상기 조이스틱에 구비된 스위치가 사용되는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
- 제1항에 있어서, 상기 작업모드를 설정하는 수단으로 운전실캡 내에 구비되는 스위치가 사용되는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
- 제1항에 있어서, 상기 작업모드를 설정하는 수단으로 운전실캡 내에 구비되는 모니터가 사용되는 것을 특징으로 하는 굴삭기를 이용한 평탄화 작업 제어시스템.
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP11873686.7A EP2765240A4 (en) | 2011-10-05 | 2011-10-05 | SYSTEM FOR CONTROLLING LEVELING WORK WITH A BAGGER |
JP2014534448A JP5903165B2 (ja) | 2011-10-05 | 2011-10-05 | 掘削機を利用した平坦化整地作業制御システム |
US14/347,545 US9145657B2 (en) | 2011-10-05 | 2011-10-05 | System for controlling land leveling work which uses an excavator |
KR20147007558A KR20140071376A (ko) | 2011-10-05 | 2011-10-05 | 굴삭기를 이용한 평탄화 작업 제어시스템 |
PCT/KR2011/007341 WO2013051737A1 (ko) | 2011-10-05 | 2011-10-05 | 굴삭기를 이용한 평탄화 작업 제어시스템 |
CN201180073745.5A CN103857844B (zh) | 2011-10-05 | 2011-10-05 | 用于控制使用挖掘机的土地平整工作的系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2011/007341 WO2013051737A1 (ko) | 2011-10-05 | 2011-10-05 | 굴삭기를 이용한 평탄화 작업 제어시스템 |
Publications (1)
Publication Number | Publication Date |
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WO2013051737A1 true WO2013051737A1 (ko) | 2013-04-11 |
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Family Applications (1)
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PCT/KR2011/007341 WO2013051737A1 (ko) | 2011-10-05 | 2011-10-05 | 굴삭기를 이용한 평탄화 작업 제어시스템 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9145657B2 (ko) |
EP (1) | EP2765240A4 (ko) |
JP (1) | JP5903165B2 (ko) |
KR (1) | KR20140071376A (ko) |
CN (1) | CN103857844B (ko) |
WO (1) | WO2013051737A1 (ko) |
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CN105940356A (zh) * | 2014-01-27 | 2016-09-14 | 沃尔沃建造设备有限公司 | 用于控制工程机械的再生流量的装置及其控制方法 |
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KR101770732B1 (ko) * | 2012-06-04 | 2017-08-23 | 볼보 컨스트럭션 이큅먼트 에이비 | 건설기계의 주행 제어방법 |
US9725882B2 (en) | 2013-01-24 | 2017-08-08 | Volvo Construction Equipment Ab | Device and method for controlling flow rate in construction machinery |
JP6242919B2 (ja) * | 2015-08-07 | 2017-12-06 | 株式会社小松製作所 | 作業車両 |
CN105544627B (zh) * | 2016-02-01 | 2018-10-16 | 潍柴动力股份有限公司 | 一种基于循迹模式的挖掘机及其自动控制方法 |
JP6485391B2 (ja) * | 2016-03-11 | 2019-03-20 | 株式会社豊田自動織機 | 荷役車両 |
CA2978389A1 (en) | 2016-09-08 | 2018-03-08 | Harnischfeger Technologies, Inc. | System and method for semi-autonomous control of an industrial machine |
JP6718399B2 (ja) * | 2017-02-21 | 2020-07-08 | 日立建機株式会社 | 作業機械 |
CN111108249A (zh) * | 2017-12-27 | 2020-05-05 | 住友建机株式会社 | 挖土机 |
CN110984267A (zh) * | 2019-06-29 | 2020-04-10 | 三一重机有限公司 | 挖掘机的压力控制方法、装置、控制器及可读存储介质 |
CN113737885A (zh) * | 2021-09-15 | 2021-12-03 | 北京拓疆者智能科技有限公司 | 挖掘机控制方法、装置、挖掘机及存储介质 |
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- 2011-10-05 US US14/347,545 patent/US9145657B2/en not_active Expired - Fee Related
- 2011-10-05 KR KR20147007558A patent/KR20140071376A/ko active IP Right Grant
- 2011-10-05 CN CN201180073745.5A patent/CN103857844B/zh not_active Expired - Fee Related
- 2011-10-05 WO PCT/KR2011/007341 patent/WO2013051737A1/ko active Application Filing
- 2011-10-05 EP EP11873686.7A patent/EP2765240A4/en not_active Withdrawn
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Publication number | Priority date | Publication date | Assignee | Title |
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CN105940356A (zh) * | 2014-01-27 | 2016-09-14 | 沃尔沃建造设备有限公司 | 用于控制工程机械的再生流量的装置及其控制方法 |
EP3101506A4 (en) * | 2014-01-27 | 2018-02-21 | Volvo Construction Equipment AB | Device for controlling regenerated flow rate for construction machine and method for controlling same |
Also Published As
Publication number | Publication date |
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CN103857844B (zh) | 2016-11-23 |
EP2765240A4 (en) | 2015-10-28 |
EP2765240A1 (en) | 2014-08-13 |
US9145657B2 (en) | 2015-09-29 |
KR20140071376A (ko) | 2014-06-11 |
CN103857844A (zh) | 2014-06-11 |
US20140244118A1 (en) | 2014-08-28 |
JP5903165B2 (ja) | 2016-04-13 |
JP2014528528A (ja) | 2014-10-27 |
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