EP3440273A1 - Method for controlling the movement of an articulated hose carrier of a suction excavator - Google Patents
Method for controlling the movement of an articulated hose carrier of a suction excavatorInfo
- Publication number
- EP3440273A1 EP3440273A1 EP17716474.6A EP17716474A EP3440273A1 EP 3440273 A1 EP3440273 A1 EP 3440273A1 EP 17716474 A EP17716474 A EP 17716474A EP 3440273 A1 EP3440273 A1 EP 3440273A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- suction
- members
- angular
- articulated
- determining
- 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.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 42
- 239000013598 vector Substances 0.000 claims abstract description 25
- 230000008859 change Effects 0.000 claims abstract description 14
- 239000000463 material Substances 0.000 claims description 18
- 230000004913 activation Effects 0.000 abstract description 5
- 238000001994 activation Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 239000002689 soil Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 241001474791 Proboscis Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000004091 panning Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010802 sludge Substances 0.000 description 1
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- 238000011144 upstream manufacturing Methods 0.000 description 1
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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/907—Measuring or control devices, e.g. control units, detection means or sensors
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/8816—Mobile land installations
- E02F3/8825—Mobile land installations wherein at least a part of the soil-shifting equipment is mounted on a dipper-arm, backhoes or the like
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/905—Manipulating or supporting suction pipes or ladders; Mechanical supports or floaters therefor; pipe joints for suction pipes
-
- 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
- E02F3/301—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 with more than two arms (boom included), e.g. two-part boom with additional dipper-arm
-
- 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
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
- E02F3/94—Apparatus for separating stones from the dredged material, i.e. separating or treating dredged material
Definitions
- the present invention relates to a method for controlling the movement of a flexible tube carrier, which the
- Suction hose of a suction dredger carries and positions.
- Such a flexible tube carrier has at least n> 2 members, between each of which by means of an associated drive an angular change can be effected.
- the invention also relates to a suction dredger with a controller, the
- a suction dredger is a vehicle with a vehicle frame, which is a preferably tiltable
- such a suction dredger has a telescoping device, which has two telescopic arms whose container-side end is arranged in each case on a tilting axis about which the material collecting container is rotatable, wherein the frame-side end of each telescopic arm is respectively arranged on the vehicle frame.
- a suction dredger comprising a pneumatic suction proboscis, a collecting container for the sucked soil into which opens the proboscis and in which the soil is separated from the suction air stream, and a suction fan connected to the collecting container for generating the suction air stream.
- Components of suction dredgers include guide elements for the
- the DE 198 51 111 Cl describes a suction dredger with a collecting container in the direction of travel arranged in the front collection chamber and in the direction of travel behind lying filter.
- Trunk of a suction dredge which comprises a relative to the trunk rotatably drivable tool.
- the tool is upstream of the suction opening of the trunk and stored on the trunk.
- the telescopic hose carrier leads the
- the flexible tube carrier also referred to as a power arm, guide arm or articulated arm, preferred. It offers the advantage of complete hydraulic guidance and good
- the suction head can be controlled by means of hydraulic pressure cylinders by remote control in a desired suction position.
- pneumatic suction turbine for generating a suction air stream, which is connected to a collecting container, in which a suction hose opens.
- the suction hose is arranged on a guide arm in the manner of a flexible hose carrier, which is attached to a vertical axis of rotation to the
- EP 1 939 134 A2 discloses an intelligent control for a swivel arm mounted on a rotating platform is attached described. The control allows the activation of several actuators depending on
- the object of the invention is based on the
- EP 1 939 134 A2 an improved method for controlling such a flexible tube carrier, which carries the suction hose of a suction dredger, ready to provide. Another object of the invention is seen to provide a suction dredger by means of such
- Control method facilitates the usability of the articulated hose carrier and designed safer. These and other tasks are covered by a procedure for
- Suction dredger includes n members, where n> 2 and the number of hinges coupling the members is n-1. Adjacent members are each pivotally connected to each other via a common hinge in a plane. Each of these joints is associated with a drive, preferably a hydraulic cylinder, with which the angular position of the adjacent to the joint members (support sections) can be changed to each other to stretch the articulated tube support or the
- Suction nozzle occupies a certain position at the free end of the suction hose.
- the articulated tube carrier has five joints. The inventive method works in principle
- the inventive method ultimately serves to move the last member (also called suction crown or suction nozzle) of the articulated hose carrier to a predetermined position (X, Y).
- the method uses u.a. Sensors, which can detect the inclination and preferably also the angular velocity of the respective member as sensor measured values, wherein a
- the following steps are initially carried out:
- the starting position of the n members is determined by means of sensors determined. It should be noted that not all members of the hose carrier need to be included in the control, although this is preferred. According to the invention, three or more members are automatically controlled by the controller.
- at least one direction vector and one speed parameter are read in. Direction vector and speed parameters are preferred from a
- the following is a cylinder coordinate system describing the movement space, wherein the X-axis is horizontal, the Y-axis is vertical, and the position of the X-Y plane in space is defined by a rotation angle ⁇ around the Y axis.
- Speed parameter determines a target position, which is to take the suction at the free end of the suction hose.
- the suction nozzle should descend the predetermined by the direction vector linear path with the through the
- Speed parameter predetermined speed In the simplest case, the speed parameter is a fixed predetermined value. Preferably, the operator gives at the
- the target position can be with the expert known methods from the direction vector and the speed can be determined.
- Angle changes can be determined in different ways, for example by using mathematical
- Suction nozzle should always travel along a straight trajectory to the target position.
- Target position is approached along the direction vector.
- Activation of the actuators takes place substantially simultaneously to ensure the aforementioned condition of the linear movement of the suction nozzle during the movement. In a final step, it is checked if the
- Target position has already been reached, i. the direction vector is zero or the target position is the same as the current one
- Speed parameter is set to zero and the previously determined target position has been approached. If the user instead specifies, e.g. by continuing deflection of the joystick on the operating unit further forward a direction vector, the said method steps are cyclically repeated and the movement of the articulated hose carrier continues. The next target position is then determined.
- the steps in which the target positions are redetermined can be defined as
- Direction vector e.g. in the X direction.
- the deflection corresponds to the desired speed.
- the control according to the invention now takes over the control of all of the n joints of the flexible tube carrier and causes a linear, continuous movement of the suction nozzle in the X direction. This allows, for example, with only one
- the predeterminable direction vector lies in a vertically spanned X-Y plane.
- the direction vector is made of two one-dimensional ones
- Target position is thereby within the vertical
- the operating unit of the suction dredger for a second operating lever (joystick), which is deflectable in the second direction.
- a joystick can be used, which can be deflected in two directions (X, Y) (two-axis oystick).
- Control according to the invention makes it possible, using the same steps for the second direction of movement, that the
- Suction pipe is moved along a straight trajectory in the X-Y plane. If the operator specifies the direction vector exclusively in the Y direction, the machine moves
- Suction nozzle vertically downwards or upwards (Y-direction), without manual adjustment of individual joint drives being necessary.
- the suction nozzle can therefore be easily retracted into narrow holes, without the risk of abutting the side walls.
- the motion in X-plane can be detected with a movement in Y-axis.
- the suction crown can also be moved along an example, rising or falling line in the X-Y plane.
- a biaxial, proportional joystick can be used for this purpose.
- a further condition is specified for determining the n angle changes, which must be observed.
- a form of the hose carrier which comes as close as possible to a curved shape with a constant radius, can be regarded as being statically optimal. Furthermore, an embodiment is particularly advantageous in which the following additional condition is observed when determining the angle changes: the sum of all angular changes at the n-1 joints becomes minimal. This ensures that the transition to the following target position is achieved with only small adjustment paths of the individual drives on the n-1 joints. Especially when using
- the controller can also be used for automatic departure of predetermined movement cycles. These are examples of predetermined movement cycles.
- Work starting position can thus be automated, without the operator having to re-enter the sequence of movements each time.
- n angular velocities are additionally determined for controlling the drives of the n joints, with which angle changes at the joints are then carried out.
- a further modified embodiment is characterized in that a rotational angle is read in which defines the desired angular position of the vertically spanned XY plane about an axis of rotation of the articulated tube carrier, and that the articulated tube carrier is driven by a rotary drive in this angular position.
- the articulated tube carrier comprises in a preferred embodiment
- Embodiment a plurality of structural elements, preferably five or six members (also referred to as support sections), hydraulic cylinders for driving the individual support sections, and a receptacle on the frame of the suction dredger.
- support sections also referred to as support sections
- hydraulic cylinders for driving the individual support sections
- a receptacle on the frame of the suction dredger.
- a pivot drive is advantageously provided for generating the working radius.
- An inventive suction dredger is characterized in that it comprises a control unit for controlling the movement of the articulated hose carrier, which is configured to carry out the method according to the invention.
- a material collection container is attached to the suction dredger so that it can be dumped.
- a dumping of the material collection container is made possible on both sides of the vehicle.
- an elevated position of the tilting axis is provided in order to allow emptying of the material collection container ⁇ to different heights, such as an adjacent vehicle.
- a suction dredge performing the described method of controlling the movement of the articulated tube carrier or its suction crown is characterized by assigning to each limb of the articulated tube carrier a sensor that is directly or indirectly suitable for determining the angle that will occur when two adjacent ones
- Evaluation electronics takes place in such a way that adjusting
- Suction crown can be moved freely at least in an X-Y plane.
- a default on the control for a change in the position of the suction crown is preferably carried out in one
- Fig. 1 is a simplified sectional side view of a
- Suction dredgers 2 shows the suction dredger in a view from behind with a retracted for transport and arranged at the rear of the suction dredger tube carrier. 3 shows the suction dredger in a perspective view with a fully extended articulated tube carrier;
- FIG. 4 shows the articulated tube carrier extended on the suction excavator in a view from the rear;
- FIG. 5 is a schematic diagram of the articulated hose carrier;
- Fig. 6 is a block diagram of a control for carrying out the method according to the invention.
- Fig. 1 shows a simplified, partially sectioned side view of a suction dredge Ol, the first in conven ⁇ Licher way, a vehicle frame 02 and a plurality
- Vehicle wheels 03 includes. Furthermore, the suction dredger comprises a material collection container 05, which is mounted on the vehicle frame 02 or a subframe. At the rear side of the material collection container 05 is a suction port 06th
- a suction nozzle 20 At the free end of the suction hose 20, a suction nozzle
- the suction flow 21 runs first in the upper region of the collecting material ⁇ container 05 in an upper air conduit 27 to a baffle plate 22 and is directed there into a collection chamber 23.
- a filter unit 25 in which smaller particles that are still in the suction flow, are filtered out.
- the suction dredger oil also carries a suction fan 26, which generates the air flow to form the suction flow 21 and positioned in the direction of travel in front of the material collection container 05.
- Fig. 2 shows a rear view of the suction dredge 01, which carries at its rear a flexible tube carrier 40 in the retracted state.
- the suction hose is not shown, but which is usually on
- Articular tube carrier 40 is fixed and is moved by this, to be brought into the desired working position. In particular, for transport of the flexible tube carrier 40 must be brought into this transport position on the suction dredger.
- this transport position on the suction dredger.
- the angle between the last two links is greater than 90 ° so that the last link can be hung on a retaining hook 44.
- the flexible tube carrier is rotatably attached to a bracket 41 which is connected to the vehicle frame 02.
- a pivot drive 42 allows pivoting of the entire articulated tube carrier 40 by about 180 ° about a Y-axis when the articulated tube carrier has been extended.
- the pivot drive 42 preferably comprises a ball slewing connection with integrated worm gear.
- FIG. 3 shows a perspective view of the suction dredge 01 with the tubular tube carrier 40 fully extended
- the flexible tube carrier 40 must first work out of the
- Transport position (Fig. 2) are brought into a workable position. Because this movement of the operator a high degree would require dexterity and a misuse can cause relatively large damage, this is done
- Suction crown 43 the reference point for the position of the free end of the suction hose or the suction nozzle connected thereto in a straight line.
- Fig. 3 are also movement arrows
- Angle of rotation ⁇ which is caused by activation of the pivot drive 42. This describes a cylindrical coordinate system.
- FIG. 4 shows, in a simplified view from the rear, the suction dredger oil with fully extended flexible tube carrier 40.
- the flexible tube carrier comprises six carrier sections or members 45a-45f. Between the links 45 is in each case a joint 46a-46e. The angular position of the adjacent members to each other by each associated drives, in the example shown
- Hydraulic cylinders 47a-47e are changed.
- the members adjacent to the joints 46c and 46d have taken an angular position of 180 ° with each other, with fully extended hydraulic cylinders 47c, 47d.
- Fig. 2 have the same members to each other an angular position of 90 °.
- a system for positioning is arranged. In a preferred variant, this will be
- Tilt sensors 48 are used. Also a use of
- the flexible tube carrier 40 is controlled according to the invention by means of a controller which is the inventive
- Each sensor 48 which is also at a different location on
- each member can be placed, allows the
- tilt sensors prove to be particularly suitable for the pertinent data acquisition. These inclination sensors are used for precise, fast and long-term stable detection of the actual inclinations or inclination angles of the links in two axes X, Y.
- the inclination sensors as sensors 48 are based on a multi-sensor system that records the measured values of six degrees of freedom. Subsequently, the acquired measurement data are digitized and made available to a CAN fieldbus system via a so-called CANopen protocol for further processing by evaluation electronics.
- the inclination measured value detection of the respective sensor 48 takes place via an acceleration value detection in three axes with respect to the earth's gravity field, and the
- Angular velocities for the individual limbs are recorded via a so-called gyroscope in three axes.
- the last member 45f, to which the suction nozzle is attached, is always aligned parallel to the Y-axis, to a to achieve optimal work results.
- Data processing program can run, determined from the position signals supplied by the sensors 48 of the
- Hydraulic cylinders are determined to adjust the required angle changes at the n joints.
- FIG. 5 the articulated tube carrier is very simplified in the cylindrical coordinate system used
- the articulated tube carrier has n> 2 links; between adjacent links associated hydraulic cylinders are present as drives to the
- each link has a position sensor, preferably a tilt sensor
- each tilt sensor outputs the absolute angle with respect to the horizon and forwards it, for example, via a CAN bus to a central control unit;
- Ii corresponds to the first member 45a, 1 2 to the second member 45b and so on.
- the first member Ii is pivotable at its lower end via the pivot drive 42 within the coordinate system X, Y.
- each hinge 46 is considered a spring with rigidity and held in place
- the divisions are to carry out at any time, because
- a regulator for carrying out the described method, a regulator can be used, which is shown in principle in FIG.
- the input variables for the controlled system are:
- controller can be adapted, for example, if certain limits with
- each member 45 has its own controller, which is based on desired and actual size of the hydraulic cylinder 47th (Drive) sets so that the target angle and the target angular velocity set on the limb.
- Drive hydraulic cylinder 47th
- the articulated tube carrier 40 is preferably always aligned in the optimal static kinematic position. Because the
- Movement of the reference point 43 should be as straight as possible, a complex superposition of the movements of the individual members of the articulated hose carrier is necessary.
- a downstream position control can permanently smooth the movements initiated by the control. It can additionally
- Movement range can be restricted. This concerns, for example, the area in which the vehicle is located in order to avoid collisions of the articulated hose carrier with the other vehicle parts.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Operation Control Of Excavators (AREA)
- Earth Drilling (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102016106427.0A DE102016106427B3 (en) | 2016-04-08 | 2016-04-08 | Method for controlling the movement of a flexible hose carrier of a suction dredger |
PCT/EP2017/056729 WO2017174350A1 (en) | 2016-04-08 | 2017-03-21 | Method for controlling the movement of an articulated hose carrier of a suction excavator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3440273A1 true EP3440273A1 (en) | 2019-02-13 |
EP3440273B1 EP3440273B1 (en) | 2024-01-03 |
Family
ID=58224979
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17716474.6A Active EP3440273B1 (en) | 2016-04-08 | 2017-03-21 | Method for controlling the movement of an articulated hose carrier of a suction excavator |
Country Status (9)
Country | Link |
---|---|
US (1) | US11142886B2 (en) |
EP (1) | EP3440273B1 (en) |
CN (1) | CN109072578B (en) |
CA (1) | CA3020352C (en) |
DE (1) | DE102016106427B3 (en) |
DK (1) | DK3440273T3 (en) |
HK (1) | HK1259185A1 (en) |
PL (1) | PL3440273T3 (en) |
WO (1) | WO2017174350A1 (en) |
Families Citing this family (8)
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DE102018104491A1 (en) * | 2018-02-27 | 2019-08-29 | Putzmeister Engineering Gmbh | Grand manipulator with vibration damper |
DE102018004334A1 (en) | 2018-05-30 | 2019-12-24 | Dominic Hurm | Saugbagger |
CN109469139A (en) * | 2018-11-08 | 2019-03-15 | 马鞍山沐及信息科技有限公司 | A kind of dredger |
CN109469141A (en) * | 2018-11-08 | 2019-03-15 | 马鞍山沐及信息科技有限公司 | A kind of dredger mud-sucking device |
JP7247703B2 (en) * | 2019-03-27 | 2023-03-29 | 株式会社タダノ | Crane control method and crane |
DE102019129810A1 (en) * | 2019-11-05 | 2021-05-06 | Putzmeister Engineering Gmbh | Method, control device, system, concrete placing boom and computer program for controlling the movement of an end hose |
DE102022121226A1 (en) | 2022-08-23 | 2024-02-29 | Rsp Gmbh | Material pickup device for a suction excavator and suction excavator with this material pickup device |
DE102022127966A1 (en) | 2022-10-23 | 2024-04-25 | Rsp Gmbh & Co. Kg | Method for controlling an articulated arm with a mobile remote control unit spatially remote from the arm and suction dredger |
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NL7704643A (en) * | 1977-04-28 | 1978-10-31 | Bos Kalis Westminster | SUCTION TUBE SETTING. |
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-
2016
- 2016-04-08 DE DE102016106427.0A patent/DE102016106427B3/en active Active
-
2017
- 2017-03-21 DK DK17716474.6T patent/DK3440273T3/en active
- 2017-03-21 PL PL17716474.6T patent/PL3440273T3/en unknown
- 2017-03-21 US US16/092,423 patent/US11142886B2/en active Active
- 2017-03-21 WO PCT/EP2017/056729 patent/WO2017174350A1/en active Application Filing
- 2017-03-21 CN CN201780028409.6A patent/CN109072578B/en active Active
- 2017-03-21 EP EP17716474.6A patent/EP3440273B1/en active Active
- 2017-03-21 CA CA3020352A patent/CA3020352C/en active Active
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2019
- 2019-01-24 HK HK19101238.9A patent/HK1259185A1/en unknown
Also Published As
Publication number | Publication date |
---|---|
DK3440273T3 (en) | 2024-02-26 |
HK1259185A1 (en) | 2019-11-29 |
US11142886B2 (en) | 2021-10-12 |
CA3020352C (en) | 2024-01-02 |
US20200217043A1 (en) | 2020-07-09 |
CA3020352A1 (en) | 2017-10-12 |
DE102016106427B3 (en) | 2017-03-23 |
PL3440273T3 (en) | 2024-06-17 |
WO2017174350A1 (en) | 2017-10-12 |
CN109072578A (en) | 2018-12-21 |
CN109072578B (en) | 2021-07-02 |
EP3440273B1 (en) | 2024-01-03 |
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