WO2018117294A1 - Dispositif d'apprentissage et de reproduction pour engins de construction, et système d'apprentissage et de reproduction pour engins de construction incluant ledit dispositif - Google Patents

Dispositif d'apprentissage et de reproduction pour engins de construction, et système d'apprentissage et de reproduction pour engins de construction incluant ledit dispositif Download PDF

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Publication number
WO2018117294A1
WO2018117294A1 PCT/KR2016/015045 KR2016015045W WO2018117294A1 WO 2018117294 A1 WO2018117294 A1 WO 2018117294A1 KR 2016015045 W KR2016015045 W KR 2016015045W WO 2018117294 A1 WO2018117294 A1 WO 2018117294A1
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WO
WIPO (PCT)
Prior art keywords
teaching
joystick
playback
trajectory data
actuator
Prior art date
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PCT/KR2016/015045
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English (en)
Korean (ko)
Inventor
김용재
김지윤
Original Assignee
볼보 컨스트럭션 이큅먼트 에이비
김용재
김지윤
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.)
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Publication date
Application filed by 볼보 컨스트럭션 이큅먼트 에이비, 김용재, 김지윤 filed Critical 볼보 컨스트럭션 이큅먼트 에이비
Priority to PCT/KR2016/015045 priority Critical patent/WO2018117294A1/fr
Publication of WO2018117294A1 publication Critical patent/WO2018117294A1/fr

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/16—Control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
    • G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft

Definitions

  • the present invention relates to a teaching and playback device for construction machinery and a teaching and playback system for a construction machine including the same. More particularly, minimizing the deviation between the operation of the joystick when the teaching module is mounted and the joystick when the playback module is mounted.
  • the present invention relates to a teaching and playback device for a construction machine and a teaching and playback system for a construction machine including the same, which can improve reliability of a playback operation of the construction machine.
  • construction machinery such as excavators
  • work tools such as booms, arms and buckets
  • optional devices such as hammers, shears, rotators, etc.
  • swinging motors for swinging movements of upper swinging bodies
  • a prime mover and a hydraulic pump for supplying a pressure oil as a power source to each actuator for operating them and each actuator.
  • the pressurized oil discharged from the hydraulic pump is provided inside the main control valve (MCV) and is supplied to the corresponding actuator through spool valves that are switched by a joystick operation by the driver.
  • MCV main control valve
  • the driver repeats the joystick operation.
  • the driver is required to maintain a long concentration for a long time, there is a limit to maintain the concentration, it is difficult to continuously and repeatedly repeat the same highly skilled operation on the joystick. That is, when the joystick operation is repeated, a deviation may occur in the operation of the joystick according to the driver's operation.
  • the skill of the driver is insufficient, the work device is frequently deviated from a certain trajectory by the misoperation of the joystick.
  • joystick operation is the starting point of the hydraulic system for operating the work tool. Therefore, if repetitive work of the same work pattern is required, eliminating or minimizing the operating deviation of the joystick generated in each cycle is much more important than eliminating the other factors mentioned above. For this reason, a teaching and playback system has been proposed for implementing the same joystick operation in each cycle.
  • the conventional teaching and playback system is a method of obtaining teaching data from a sensor installed in an actuator.
  • the position information of the actuator used as the teaching data in the conventional teaching and playback system reflects all of the various factors which make it difficult to perform the same work pattern for each cycle. Therefore, when executing the playback operation based on such teaching data, it is virtually impossible to reproduce the actuator operation under the playback operation that is automatically implemented in the same manner as the actuator operation under the teaching operation implemented by the driver.
  • an object of the present invention is to minimize the deviation between the operation of the joystick when mounting the teaching module and the operation of the joystick when mounting the playback module, thereby
  • a teaching and playback device for a construction machine and a teaching and playback system for a construction machine including the same, which can improve reliability of a playback operation of a construction machine.
  • the teaching machine for construction machinery is installed in the joystick, the teaching module for obtaining the trajectory data of the joystick operated by the driver to operate the actuator and the trajectory data of the joystick obtained by the teaching module. It includes a controller to receive and store.
  • teaching module according to the present invention is characterized in that it comprises a joystick sensor interlocked with the operation of the joystick.
  • the controller according to the present invention is characterized in that it comprises a receiving unit for receiving the trajectory data of the joystick from the teaching module and a storage unit for storing the received trajectory data.
  • the teaching apparatus may further include a converting unit converting the trajectory data of the joystick received by the receiving unit into a command signal, and the storage unit stores the command signal.
  • the construction device playback apparatus is installed in the controller and the joystick outputting the trajectory data of the joystick is obtained from the teaching module and is configured to play the joystick as the trajectory data transmitted from the controller Contains a playback module.
  • the teaching and playback system for construction machinery is a teaching module for obtaining the trajectory data of the joystick operated by the driver to operate the actuator, the play to play the joystick according to the trajectory data obtained by the teaching module And a controller for receiving and storing the trajectory data of the joystick transmitted from the back module and the teaching module, and outputting the stored trajectory data.
  • the teaching module according to the present invention is characterized in that it comprises a joystick sensor installed in the joystick and interlocked with the operation of the joystick.
  • system according to the present invention further includes an actuator sensor installed in the actuator and interlocked with the operation of the actuator.
  • the controller receives the trajectory data of the joystick from the teaching module, the first trajectory data of the actuator obtained from the actuator sensor at the time of the teaching module operation, and the actuator obtained from the actuator sensor at the time of the playback module operation.
  • controller further includes a comparison control unit for comparing the first trajectory data of the actuator and the second trajectory data of the actuator received in the receiving unit.
  • the comparison controller may be configured to stop the operation of the playback module when the second trajectory data is out of an allowable deviation range set based on the first trajectory data.
  • controller is characterized in that it further comprises a storage unit for storing the command signal generated by the trajectory data or the conversion unit and for transmitting the stored command signal to the output unit.
  • a teaching module installed on the joystick, moving along the joystick and acquiring the trajectory data of the joystick, and a playback module for playing the joystick according to the trajectory data obtained from the teaching module.
  • the controller by including a function in the controller to stop the operation of the playback module when the actuator operation in the playback state from the allowable deviation range set based on the actuator operation in the teaching state, the construction, The safety of the playback operation of the machine can be secured.
  • the safety button connected to the hydraulic circuit for operating the playback module and the actuator respectively, inside or outside of the cab to enable direct and immediate operation of the driver. If an abnormality is detected in the operation, the safety button operation by the driver can cut off the supply of hydraulic oil to the actuator to directly stop the operation of the actuator, and at the same time stop the operation of the playback module to stop the joystick operation. You can stop it.
  • the present invention is provided with a controller for stopping the operation of the playback module and the safety module for directly stopping the operation of the playback module, as well as the operation of the work device or the upper swing body to be played back.
  • a controller for stopping the operation of the playback module and the safety module for directly stopping the operation of the playback module, as well as the operation of the work device or the upper swing body to be played back.
  • FIG. 1 is a block diagram showing a teaching and playback system for a construction machine according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram showing the configuration of a controller of a teaching and playback system for a construction machine according to a first embodiment of the present invention.
  • Figure 3 is a block diagram showing a teaching and playback system for construction machinery according to a second embodiment of the present invention.
  • FIG. 4 is a schematic diagram showing a hydraulic circuit connected to a safety button in the construction machine teaching and playback system according to a second embodiment of the present invention.
  • Figure 5 is a block diagram showing a teaching and playback system for construction machinery according to a third embodiment of the present invention.
  • the teaching and playback system for a construction machine is a system for controlling a construction machine, for example, an excavator in a teaching mode and a playback mode.
  • the teaching mode is a mode in which the operator teaches the work process of the excavator through the operation of the joystick 50 installed in the cab 21 to learn the work pattern.
  • the playback mode is a mode for automatically playing back the working pattern of the excavator learned in the teaching mode.
  • the division of the mode is intended to make the present invention more clear, and as described below, the mode change occurs naturally through the replacement of the module.
  • an excavator to which the teaching and playback system for construction machinery according to the first embodiment of the present invention is applied includes a lower traveling body 10, an upper swinging body 20, and a working device.
  • the lower traveling body 10 may be of a crawler type or a wheel type.
  • the upper swing body 20 is rotatably mounted on the lower travel body 10 and rotates to a desired position according to the driver's operation.
  • the cab 21 is installed in the upper pivot body 20.
  • the work device is mounted to the upper swing body 20. This work device consists of a boom 32, an arm 34 and a bucket 36.
  • the upper swing body 20, the boom 32, the arm 34 and the bucket 36 is a swing motor 37 driven by the hydraulic circuit 100 for controlling the flow rate and flow of the pressure oil discharged from the hydraulic pump ),
  • the boom cylinder 31, the arm cylinder 33 and the bucket cylinder 35, respectively, are operated by the corresponding actuator (30).
  • the teaching and playback system according to the first embodiment of the present invention applied to a construction machine such as an excavator is formed including a teaching module 110, a playback module 120, and a controller 130.
  • the teaching module 110 is a device for acquiring trajectory data of the joystick 50 operated by the driver to operate the actuator 30 when the excavator is switched to the teaching mode.
  • the teaching module 110 is installed in the joystick 50 to directly acquire the trajectory data of the joystick 50 operated by the driver's operation. Accordingly, when the joystick 50 moves, the teaching module 110 also moves along the joystick 50 to acquire trajectory data of the joystick 50. Moving along the joystick 50 and acquiring the trajectory data of the joystick 50 is the most reliable and accurate way of obtaining the actual motion of the joystick 50 than any other method.
  • the teaching and playback system for a construction machine is thus installed on the joystick 50 and moves along the joystick 50 to acquire the trajectory data of the joystick 50.
  • Joystick 50 automatically operated along the trajectory of the joystick 50 operated in the teaching mode when the excavator is in the teaching mode and when the excavator is in the playback mode.
  • the variation between the operations of 50 can be minimized, and as a result, the reliability of the excavator's playback mode can be improved.
  • the trajectory data of the joystick 50 obtained while moving along the joystick 50 is transferred to the controller 130 to implement a playback mode.
  • the teaching module 110 may be formed of a joystick sensor installed in the joystick 50 in the teaching mode and linked to the operation of the joystick 50. At this time, the joystick 50 operated by the driver has a combination of linear motion and rotational motion.
  • the joystick sensor constituting the teaching module 110 includes a linear variable differential transformer (LVDT) 111a and a rotary variable differential transformer (RVDT) 111b. It may include.
  • the teaching module 110 according to the first embodiment of the present invention is detachably installed in the joystick 50 in the teaching mode, and the excavator is replaced with the playback module 120 when the excavator is switched to the playback mode.
  • the construction machine teaching and playback system may include an actuator sensor (112).
  • the actuator sensor 112 is installed in the actuator 30.
  • the actuator sensor 112 is installed in the actuator sensor 112a installed in the boom cylinder 31, the actuator sensor 112b installed in the arm cylinder 33, and the bucket cylinder 35.
  • the actuator sensor 112c and the actuator sensor 112d installed in the swing motor 37 may be included.
  • the actuator sensor 112 moves along the actuator 30 and acquires trajectory data of the actuator 30 moving by the operation of the joystick 50. As such, the trajectory data of the actuator 30 obtained while moving along the actuator 30 is transmitted to the controller 130.
  • the actuator sensor 112 acquires the trajectory data of the actuator 30 not only in the teaching mode but also in the playback mode.
  • the first trajectory data of the actuator 30 acquired by the actuator sensor 112 in the teaching mode and the second trajectory data of the actuator 30 acquired by the actuator sensor 112 in the playback mode are the teaching mode and the playback. It is used to compare the degree of agreement between the operation of the work device implemented in the mode or the swinging operation of the upper swing body 20, which will be described in more detail below.
  • the playback module 120 is replaced with the teaching module 110 when the excavator is to be operated in the playback mode. That is, when the excavator is switched to the playback mode, the playback module 120 is installed on the joystick 50 in which the teaching module 110 is installed in the teaching mode.
  • the playback module 120 is a device that plays back the joystick 50 in accordance with the trajectory of the joystick 50 operated by the driver's manual operation in the teaching mode in the playback mode.
  • the playback module 120 according to the first embodiment of the present invention may be formed of a robot manipulator driven by a servomotor system.
  • the playback module 120 is driven according to a command signal for controlling the operation of the joystick 50 output from the controller 130 that receives the trajectory data of the joystick 50 from the teaching module 110.
  • the controller 130 receives the trajectory data of the joystick 50 transmitted from the teaching module 110 when the excavator is operated in the teaching mode, and receives the trajectory data of the received joystick 50 when the excavator is switched to the playback mode.
  • the locus data is converted into a command signal for driving the playback module 120 and output.
  • the controller 130 includes a receiver 131, a converter 132, and an output unit 133.
  • the receiver 131 receives the trajectory data of the joystick 50 obtained in the teaching mode from the teaching module 110.
  • the receiver 131 receives the first trajectory data of the actuator 30 acquired in the teaching mode from the actuator sensor 112.
  • the receiver 131 receives the second trajectory data of the actuator 30 acquired in the playback mode from the actuator sensor 112.
  • the converter 132 converts the trajectory data of the joystick 50 received by the receiver 131 into a command signal for driving the playback module 120.
  • the trajectory data of the joystick 50 acquired by the teaching module 110 in the teaching mode consists of a voltage V value.
  • the command signal output from the controller 130 to the playback module 120 may be a value for determining the rotational speed of the servomotor, for example, RPM. have. Accordingly, the conversion unit 132 converts the trajectory data of the joystick 50 having the voltage value into the rotation speed for driving the playback module 120.
  • the output unit 133 is a robot manipulator driven by the servo motor system to convert the command signal generated and converted to the rotational speed from the trajectory data of the joystick 50 having the voltage value in the conversion unit 132 to implement the playback mode. Output to the playback module 120 consisting of.
  • the controller 130 further includes a storage unit 135.
  • the storage unit 135 stores the command signal converted from the trajectory data of the joystick 50 in the converter 132, that is, the command signal for driving the playback module 120, or the trajectory data of the joystick 50. Save it.
  • the storage unit 135 transmits the stored trajectory data or the transform-generated command signal to the output unit 133 to enable the driving of the playback module 120. Therefore, when the storage unit 135 stores the trajectory data of the joystick 50, the conversion unit 132 converts and generates the command signal in the playback mode.
  • the conversion process through the conversion unit 132 may not be necessary in the playback mode. have.
  • the controller 130 further includes a comparison controller 134.
  • the comparison controller 134 compares the first trajectory data of the actuator 30 received by the receiver 131 in the teaching mode with the second trajectory data of the actuator 30 received by the receiver 131 in the playback mode.
  • the first trajectory data and the second trajectory data of the actuator 30 are the actuator sensor 112a installed in the boom cylinder 31, the actuator sensor 112b installed in the arm cylinder 33, and the bucket cylinder 35.
  • Actuator sensor 112d installed in the swing motor 37, including data on the position and angle of the boom 32, the arm 34, and the bucket 36 sensed from the actuator sensor 112c installed in the It includes data on the rotation direction and the degree of rotation of the upper swing body 20 sensed from.
  • the comparison control unit 134 may play.
  • the operation of the bag module 120 is stopped.
  • the comparison control unit 134 is the operation operation of the work device consisting of the boom 32, the arm 34 and the bucket 36 implemented in the teaching mode and the playback mode or the turning operation of the upper swing body 20, respectively. If it is determined that the degree of inconsistency between the predetermined deviation range is exceeded, the operation of the playback module 120 is stopped.
  • the teaching module 110 installed in the joystick 50 moves along the joystick 50 to acquire trajectory data of the joystick 50.
  • the trajectory data of the joystick 50 acquired by the teaching module 110 is transferred to the controller 130.
  • the teaching module 110 moves along the joystick 50 the trajectory data of the joystick 50 having high reliability that substantially matches the actual operation of the joystick 50 may be obtained.
  • the deviation between the operation of the joystick 50 manually operated by the driver in the teaching mode and the operation of the joystick 50 automatically implemented in the playback mode can be minimized, thereby improving the reliability of the excavator's playback mode. You can do it.
  • the hydraulic oil discharged from the hydraulic pump passes through the hydraulic circuit 100, the boom cylinder 31, the arm cylinder 33, the bucket cylinder 35 or the swing motor 37. And the boom 32, the arm 34 and the bucket 36 are operated or the upper pivot 20 is rotated.
  • the first trajectory data of the actuator 30 is obtained by the actuator sensors 112 installed in the actuators 30 as described above.
  • the first trajectory data of the actuator 30 acquired by the actuator sensor 112 is transmitted to the controller 130.
  • the trace data of the joystick 50 received by the receiving unit 131 of the controller 130 and converted by the converter 132 into a command signal for driving the playback module 120 is displayed in the playback module 120.
  • the playback module 120 including the robot manipulator driven by the servomotor system is driven to move the joystick 50 in the same manner as the trajectory of the joystick 50 operated in the teaching mode.
  • the joystick 50 is moved by the playback module 120 driven according to the command signal of the controller 130
  • the boom 32, the arm 34, and the bucket 36 are moved as in the teaching mode. It is operated or the upper pivot 20 is rotated.
  • the second trajectory data of the actuator 30 is obtained by the actuator sensor 112 provided in the actuators 30, respectively.
  • the second trajectory data of the actuator 30 acquired by the actuator sensor 112 is transmitted to the controller 130.
  • the comparison controller 134 of the controller 130 compares the first trajectory data of the actuator 30 received in the teaching mode with the second trajectory data of the actuator 30 received in the playback mode, and at this time, the actuator 30 When the second trajectory data of) is outside the allowable deviation range set based on the first trajectory data of the actuator 30 acquired in the teaching mode, the operation of the playback module 120 is stopped.
  • the excavator can be operated more safely.
  • FIG. 3 is a block diagram showing a construction machine teaching and playback system according to a second embodiment of the present invention
  • Figure 4 is a safety button in the construction machine teaching and playback system according to a second embodiment of the present invention
  • It is a schematic diagram showing the hydraulic circuit connected to the.
  • the teaching and playback system for a construction machine uses a teaching module 110, a playback module 120, a controller 130, and a safety button 140. It is formed to include.
  • the second embodiment of the present invention differs only in that the safety button is added, and therefore, the same reference numerals are assigned to the same components, and detailed descriptions thereof are given. The description will be omitted.
  • the safety button 140 is a safety device forcibly terminating the operation of the excavator when an emergency occurs, and is installed inside or outside the cab 21.
  • the safety button 140 is connected to the playback module 120, and is also connected to the hydraulic circuit 150 for operating the actuator (30).
  • the safety button 140 has a function of stopping the operation of the joystick 50 by stopping the operation of the playback module 120 during the operation by the driver. When the joystick 50 stops operating, the actuator 30 also stops operating.
  • the safety button 140 has a function of directly stopping the operation of the actuator 30 by blocking the supply of pressure oil to the actuator 30.
  • the hydraulic circuit 150 includes a spool valve 60 and a shutoff valve 70.
  • the spool valve 60 is switched by the pilot pressure oil applied through the operation of the joystick 50, so that the pressure oil which is discharged from the hydraulic pump P and returned to the tank T as it is supplied to the actuator 30 at the time of switching, Control the movement of the oil.
  • the shutoff valve 70 is installed in the pilot signal line 71 which provides a movement passage of the pilot pressure oil discharged from the pilot pump Pi. The shutoff valve 70 blocks the pilot pressure oil applied to the spool valve 60 at the time of switching.
  • the safety button 140 is electrically connected to the shutoff valve 70.
  • the shutoff valve 70 is switched, and as a result, the application of the pilot pressure oil to the spool valve 60 is blocked.
  • the spool valve 60 is not switched, and the pressure oil discharged from the hydraulic pump P cannot be supplied to the actuator 30.
  • the actuator 30 does not operate, and as a result, the work device stops operating or the upper swing body 20 stops turning.
  • the teaching and playback system for a construction machine stops the operation of the playback module 120 and indirectly stops the operation of the actuator 30 and the actuator 30.
  • the safety button 140 which simultaneously implements a function of directly stopping the operation of the work device, when an abnormality occurs in the operation of the work device or the upper swing body to be played back, it is possible to immediately and surely stop the operation thereof.
  • the teaching and playback system for a construction machine stops the operation of the actuator 30 with only one function even if a problem occurs in any one of the two functions of the safety button 140. As a result, the safety of the excavator can be further enhanced.
  • Figure 5 is a block diagram showing a teaching and playback system for construction machinery according to a third embodiment of the present invention.
  • the teaching and playback system for a construction machine includes a teaching-playback module 180, a mode change switch 190, and a controller 130. do.
  • the teaching-playback module 180 acquires the trajectory data of the joystick 50 operated by the driver to operate the actuator 30 in the teaching mode, and the joystick 50 according to the acquired trajectory data in the playback mode. Play).
  • the mode change switch 190 sets and changes the mode to one of the teaching mode and the playback mode in order to control the operation of the teaching-playback module 180.
  • the controller 130 receives the trajectory data of the joystick 50 transmitted from the teaching-playback module 180 through the receiving unit 131 and stores the trajectory data in the storage unit 135. At the time, the trajectory data stored in the storage unit 135 is output to drive the teaching-playback module 180.
  • the mode change switch 190 changes the mode without the need for replacement.
  • the teaching module 110 and the playback module 120 do not exist separately as in the first embodiment of the present invention. It is composed of one unit called the teaching-playback module 180 to perform both the teaching module 110 and the playback module 120.
  • the teaching-playback module 180 installed in the joystick 50 follows the joystick 50. It moves and acquires the trajectory data of the joystick 50.
  • the trajectory data of the joystick 50 acquired by the teaching-playback module 180 is transferred to the controller 130.
  • the teaching-playback module 110 moves along the joystick 50, the trajectory data of the joystick 50 with high reliability that substantially matches the actual operation of the joystick 50 may be obtained.
  • the deviation between the operation of the joystick 50 manually operated by the driver in the teaching mode and the operation of the joystick 50 automatically implemented in the playback mode can be minimized, thereby improving the reliability of the excavator's playback mode. You can do it.
  • the hydraulic oil discharged from the hydraulic pump passes through the hydraulic circuit 100, the boom cylinder 31, the arm cylinder 33, the bucket cylinder 35 or the swing motor 37. And the boom 32, the arm 34 and the bucket 36 are operated or the upper pivot 20 is rotated.
  • the first trajectory data of the actuator 30 is obtained by the actuator sensors 112 installed in the actuators 30 as described above.
  • the first trajectory data of the actuator 30 acquired by the actuator sensor 112 is transmitted to the controller 130.
  • the trajectory data of the joystick 50 received by the receiving unit 131 of the controller 130 and stored in the storage unit 135 in the teaching mode is converted to the conversion unit ( 132 is converted into a command signal for driving the teaching-playback module 180 and then output to the teaching-playback module 180 through the output unit 133.
  • the mode conversion switch 190 is operated to change to the playback mode
  • the teaching mode is received by the receiver 131 of the controller 130 in the teaching mode
  • the teaching-playback module 180 is operated by the converter 132.
  • the trajectory data of the joystick 50 stored in the storage unit 135 is output to the teaching-playback module 180 through the output unit 133.
  • the teaching-playback module 180 made of the robot manipulator driven by the servomotor system is driven to move the joystick 50 in the same manner as the trajectory of the joystick 50 operated in the teaching mode.
  • the joystick 50 is moved by the teaching-playback module 180 driven according to the command signal of the controller 130, the boom 32, the arm 34, and the bucket 36 are operated as in the teaching mode.
  • the upper pivot 20 is rotated.
  • the second trajectory data of the actuator 30 is obtained by the actuator sensor 112 provided in the actuators 30, respectively.
  • the second trajectory data of the actuator 30 acquired by the actuator sensor 112 is transmitted to the controller 130.
  • the comparison controller 134 of the controller 130 compares the first trajectory data of the actuator 30 received in the teaching mode with the second trajectory data of the actuator 30 received in the playback mode, and at this time, the actuator 30 When the second trajectory data of Equation 3) is outside the allowable deviation range set based on the first trajectory data of the actuator 30 acquired in the teaching mode, the teaching-playback module 180 is stopped.
  • the excavator can be operated more safely.
  • the mode conversion switch 190 is applied to the mode conversion switch 190.
  • the excavator can be more easily converted from teaching mode to playback mode or from playback mode to teaching mode, and as a result, Productivity can be improved.

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Abstract

La présente invention concerne : un dispositif d'apprentissage et de reproduction pour des engins de construction ; et un système d'apprentissage et de reproduction pour des engins de construction incluant ledit dispositif et, plus particulièrement : un dispositif d'apprentissage et de reproduction qui est destiné à des engins de construction et qui peut rendre minimal l'écart entre une opération d'une manette dans un mode d'apprentissage et une opération de manette dans un mode de reproduction, et peut ainsi augmenter la fiabilité du mode de reproduction des engins de construction ; et un système d'apprentissage et de reproduction pour des engins de construction incluant ledit dispositif. À cet effet, la présente invention concerne un système d'apprentissage et de reproduction pour des engins de construction, le système d'apprentissage et de reproduction comprenant : un module d'apprentissage qui, dans un mode d'apprentissage, obtient des données de trajectoire pour une manette manipulée par un opérateur pour faire fonctionner un actionneur ; un module de reproduction qui, dans un mode de reproduction, reproduit la manette le long de la trajectoire de la manette manipulée dans le mode d'apprentissage ; et un dispositif de commande qui convertit les données de trajectoire de la manette, transmises par le module d'apprentissage, en un signal de commande pour commander le module de reproduction et délivre en sortie le signal de commande.
PCT/KR2016/015045 2016-12-21 2016-12-21 Dispositif d'apprentissage et de reproduction pour engins de construction, et système d'apprentissage et de reproduction pour engins de construction incluant ledit dispositif WO2018117294A1 (fr)

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PCT/KR2016/015045 WO2018117294A1 (fr) 2016-12-21 2016-12-21 Dispositif d'apprentissage et de reproduction pour engins de construction, et système d'apprentissage et de reproduction pour engins de construction incluant ledit dispositif

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* Cited by examiner, † Cited by third party
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CN110364049A (zh) * 2019-07-17 2019-10-22 石虹 一种具有偏离度自动反馈数据闭环纠偏控制的专业技能实训辅助教学系统及辅助教学方法
CN110364049B (zh) * 2019-07-17 2021-03-30 石虹 一种具有偏离度自动反馈数据闭环纠偏控制的专业技能实训辅助教学系统及辅助教学方法

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