WO2022196776A1 - ショベル - Google Patents

ショベル Download PDF

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Publication number
WO2022196776A1
WO2022196776A1 PCT/JP2022/012421 JP2022012421W WO2022196776A1 WO 2022196776 A1 WO2022196776 A1 WO 2022196776A1 JP 2022012421 W JP2022012421 W JP 2022012421W WO 2022196776 A1 WO2022196776 A1 WO 2022196776A1
Authority
WO
WIPO (PCT)
Prior art keywords
controller
sand
earth
bucket
hole
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/012421
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
春男 呉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Priority to JP2023507188A priority Critical patent/JP7843747B2/ja
Priority to CN202280021816.5A priority patent/CN116997698A/zh
Priority to DE112022001571.3T priority patent/DE112022001571T5/de
Publication of WO2022196776A1 publication Critical patent/WO2022196776A1/ja
Priority to US18/466,256 priority patent/US20230417024A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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Classifications

    • 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
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • 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
    • E02F3/30—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—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 with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • 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
    • E02F3/439—Automatic repositioning of the implement, e.g. automatic dumping, auto-return
    • 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
    • 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
    • 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
    • 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
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. 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
    • E02F9/26—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)
    • 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
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E02F9/2282—Systems using center bypass type changeover valves
    • 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
    • E02F9/2285—Pilot-operated systems
    • 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
    • E02F9/2292—Systems with two or more pumps
    • 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 undercarriage 1 of the excavator 100 includes a crawler 1C.
  • the crawler 1 ⁇ /b>C is driven by a traveling hydraulic motor 2 ⁇ /b>M mounted on the lower traveling body 1 .
  • the crawler 1C includes a left crawler 1CL and a right crawler 1CR.
  • the left crawler 1CL is driven by a left traveling hydraulic motor 2ML
  • the right crawler 1CR is driven by a right traveling hydraulic motor 2MR.
  • the object detection device 70 is configured to detect objects existing around the excavator 100 .
  • Objects are, for example, people, animals, vehicles, construction machines, buildings, walls, fences, or holes.
  • the object detection device 70 is, for example, an ultrasonic sensor, millimeter wave radar, stereo camera, LIDAR, distance image sensor, infrared sensor, or the like.
  • the object detection device 70 includes a front sensor 70F attached to the front end of the upper surface of the cabin 10, a rear sensor 70B attached to the rear end of the upper surface of the upper revolving structure 3, and a left end of the upper surface of the upper revolving structure 3. and a right sensor 70R attached to the right end of the upper surface of the upper revolving body 3 .
  • Each sensor consists of LIDAR.
  • the controller 30 increases the discharge amount of the left main pump 14L, causes a sufficient amount of hydraulic oil to flow into the hydraulic actuator to be operated, and ensures the driving of the hydraulic actuator to be operated. Note that the controller 30 similarly controls the discharge amount of the right main pump 14R.
  • the controller 30 supplies hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL in response to the arm closing operation by the operator. can.
  • the controller 30 supplies hydraulic oil discharged from the pilot pump 15 to the right pilot port of the control valve 176L and the left pilot port of the control valve 176R via the proportional valve 31AL, regardless of the arm closing operation by the operator. can. That is, the controller 30 can close the arm 5 according to the arm closing operation by the operator or regardless of the arm closing operation by the operator.
  • the operation pressure sensor 29LB detects the content of the operator's operation of the left operation lever 26L in the horizontal direction, and outputs the detected value to the controller 30.
  • the controller 30 determines the three-dimensional coordinates (Xer, Yer , Zer).
  • the three-dimensional coordinates (Xer, Yer, Zer) of the control reference point after the elapse of the unit time are, for example, the coordinates on the target trajectory.
  • the unit time is, for example, time corresponding to an integral multiple of the control period.
  • the controller 30 feeds back the boom angle ⁇ 1 detected by the boom angle sensor S1 as the current value of the boom angle ⁇ 1 used when generating the boom cylinder pilot pressure command.
  • the bucket control mechanism 31C is configured to apply a pilot pressure corresponding to the control current corresponding to the bucket cylinder pilot pressure command to the control valve 174 as a bucket control valve.
  • Bucket control mechanism 31C may be, for example, proportional valve 31CL and proportional valve 31CR in FIG. 3C.
  • the swing control mechanism 31D is configured to apply a pilot pressure corresponding to a control current corresponding to a swing hydraulic motor pilot pressure command to the control valve 173 as a swing control valve.
  • the swivel control mechanism 31D may be, for example, the proportional valve 31DL and the proportional valve 31DR in FIG. 3D.
  • the controller 30 performs one control of calculation of the three-dimensional coordinates (Xer, Yer, Zer), generation of the command values ⁇ 1r , ⁇ 2r , ⁇ 3r and ⁇ 1r , and determination of the discharge amount of the main pump 14. Autonomous control is executed by repeating this control cycle. Further, the controller 30 improves the accuracy of autonomous control by feedback-controlling the control reference point based on the respective outputs of the boom angle sensor S1, the arm angle sensor S2, the bucket angle sensor S3, and the turning angular velocity sensor S5. can be done. Specifically, the controller 30 improves the accuracy of the autonomous control by feedback-controlling the flow rate of hydraulic oil flowing into each of the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, and the turning hydraulic motor 2A. can be done.
  • the target trajectory TL3 which is part of the target trajectory TL for the first push-away operation, is represented by a dashed line.
  • a solid line represents the state of the bucket 6 when the first pushing operation is completed, and a broken line represents the position of the bucket 6 when the first pushing operation is started.
  • FIG. 11 shows the earth and sand F13T pushed into the hole HL by the first push-away operation among the earth and sand forming the earth and sand pile F13, and the first earth and sand forming the earth and sand pile F10.
  • the solid line represents the soil F13B that remains after the pushing operation is performed.
  • a mound of earth and sand existing within a range of a predetermined distance from the hole HL is a mound of earth and sand that is pushed into the hole HL by a pushing action, and is hereinafter referred to as an "adjacent mound of earth and sand.”
  • the controller 30 recognizes that the mound F14 exists as an adjacent mound on the -X side of the hole HL (the side closer to the excavator 100). Therefore, the controller 30 calculates the volume of the earth and sand forming the earth and sand heap F14.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Operation Control Of Excavators (AREA)
PCT/JP2022/012421 2021-03-17 2022-03-17 ショベル Ceased WO2022196776A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2023507188A JP7843747B2 (ja) 2021-03-17 2022-03-17 ショベル
CN202280021816.5A CN116997698A (zh) 2021-03-17 2022-03-17 挖土机
DE112022001571.3T DE112022001571T5 (de) 2021-03-17 2022-03-17 Bagger
US18/466,256 US20230417024A1 (en) 2021-03-17 2023-09-13 Shovel

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-044182 2021-03-17
JP2021044182 2021-03-17

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/466,256 Continuation US20230417024A1 (en) 2021-03-17 2023-09-13 Shovel

Publications (1)

Publication Number Publication Date
WO2022196776A1 true WO2022196776A1 (ja) 2022-09-22

Family

ID=83321105

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/012421 Ceased WO2022196776A1 (ja) 2021-03-17 2022-03-17 ショベル

Country Status (5)

Country Link
US (1) US20230417024A1 (https=)
JP (1) JP7843747B2 (https=)
CN (1) CN116997698A (https=)
DE (1) DE112022001571T5 (https=)
WO (1) WO2022196776A1 (https=)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024057971A (ja) * 2022-10-13 2024-04-25 住友重機械工業株式会社 ショベル
JP2024073207A (ja) * 2022-11-17 2024-05-29 住友重機械工業株式会社 ショベル、ショベルの制御装置、及び機械学習装置

Citations (4)

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US20180245308A1 (en) * 2017-01-23 2018-08-30 Built Robotics Inc. Excavating earth from a dig site using an excavation vehicle
WO2020166673A1 (ja) * 2019-02-15 2020-08-20 住友重機械工業株式会社 ショベル
JP2021008776A (ja) * 2019-07-02 2021-01-28 住友建機株式会社 ショベル

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JPS595655U (ja) * 1982-07-01 1984-01-14 株式会社クボタ 掘削作業車
US20180245308A1 (en) * 2017-01-23 2018-08-30 Built Robotics Inc. Excavating earth from a dig site using an excavation vehicle
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2024057971A (ja) * 2022-10-13 2024-04-25 住友重機械工業株式会社 ショベル
JP2024073207A (ja) * 2022-11-17 2024-05-29 住友重機械工業株式会社 ショベル、ショベルの制御装置、及び機械学習装置
US12612760B2 (en) 2022-11-17 2026-04-28 Sumitomo Heavy Industries, Ltd. Shovel, shovel control device, and machine learning device

Also Published As

Publication number Publication date
US20230417024A1 (en) 2023-12-28
CN116997698A (zh) 2023-11-03
JPWO2022196776A1 (https=) 2022-09-22
JP7843747B2 (ja) 2026-04-10
DE112022001571T5 (de) 2024-02-08

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