EP4269705A1 - A method for improving the levelling angle control of a working machine - Google Patents
A method for improving the levelling angle control of a working machine Download PDFInfo
- Publication number
- EP4269705A1 EP4269705A1 EP23169142.9A EP23169142A EP4269705A1 EP 4269705 A1 EP4269705 A1 EP 4269705A1 EP 23169142 A EP23169142 A EP 23169142A EP 4269705 A1 EP4269705 A1 EP 4269705A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- boom
- movement
- holding element
- main body
- target
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 238000005303 weighing Methods 0.000 claims description 5
- 230000001419 dependent effect Effects 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
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
- E02F3/30—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
- E02F3/28—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
- E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
-
- 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
- E02F3/425—Drive systems for dipper-arms, 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
- E02F3/28—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
-
- 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
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
Definitions
- the invention relates to a method for controlling a work machine, which makes it possible to keep an inclination of a holding element constant while at least one boom element is moved.
- the purpose of the “Bucket Retain” assistance function is to regulate a set leveling angle of a work machine.
- the leveling angle describes the angle of the bucket in relation to the external, higher-level coordinate system and is dependent on the boom, stick and bucket angles in their respective coordinate systems.
- the "Bucket Retain” function adjusts the bucket angle in a controlled manner to maintain a desired leveling angle. The boom and stick can still be adjusted by the vehicle driver.
- control accuracy and control speed of this function is not particularly high due to the different weight of the attached holding element (e.g. load in a spoon) and the associated dynamics.
- the purpose of the invention is to improve the existing function.
- the present invention is particularly advantageous because this function particularly increases the accuracy of the "bucket retain" function.
- testing the function and measurements on the excavator have shown that there is a huge improvement in the control when the load is taken into account.
- a linear controller is used for all operating points, without taking the load into account.
- the inventor observed that the dynamics of the system strongly depend on orientation and charge of the spoon.
- optimal control parameters when the spoon is full differ greatly from those when the spoon is empty. If the current load is not taken into account, only one set of control parameters (as a compromise of the different operating points) can be used.
- such a solution causes enormous inaccuracies, such as oscillations and long-term control deviations, when compared to the accuracy that a method according to the present invention enables.
- FIG. 1 shows an excavator 1 as an example of a work machine.
- the excavator 1 has a main body 2 and a moving device 3 connected to the main body 2 of the work machine 1.
- the movement device is configured to receive loads and move them with respect to the main body 2.
- the movement device 1 has a boom, which in turn has a plurality of boom elements in order to move a holding element 6.
- the boom elements here are, for example, a lifting arm 4 (or simply as “Boom”) and an arm 5 (or also known as “stick”), which are rotatably or pivotally connected to each other or to the main body 2 of the excavator 1.
- the in Figure 1 excavator shown has a bucket 6 which is arranged at an end portion of the arm 5.
- the boom elements 4, 5 and the bucket can be moved by means of actuators 7, 8, 9, ie the rotation or pivoting movement about the axes is caused by a movement of the actuators.
- a first actuator 7 is provided for the lifting arm 4, which causes the movement or rotation of the lifting arm 4 relative to the main body 2.
- a second actuator 8 is provided for the arm 5, which causes the movement or rotation of the arm 4 relative to the lifting arm 4.
- a third actuator 9 is provided for the spoon, which moves or rotates (tilts) the spoon (or also called “shovel").
- the actuators 7, 8, 9 can be controlled by a controller, with directional control valves being provided in the case of hydraulic cylinders, which control the flow of hydraulic fluid to the hydraulic cylinders.
- Force data is data or measurement data that characterizes or displays the forces applied by the actuators.
- pressure sensors can be used for this purpose, for example the pressure on both sides of the piston can be measured on the hydraulic cylinders, in which case the force applied by the hydraulic cylinder is characterized by the pressure difference.
- Position data are data or measurement data that characterize or display the position (eg angle) of the cantilever elements, in particular their relative position or their position relative to the cantilever support (in particular also relative angles).
- angle sensors in particular can be provided, or sensors that determine the deflection of the hydraulic cylinders.
- status data or sensors are discussed. These are preferred examples of status data or sensors; in general, status data from other sensors can also be acquired in addition or alternatively, for example to capture pressure data, torque data, torque data, speed data, acceleration data and / or voltage data (which, as noted, in principle can also be understood as force and/or position data).
- the weight or mass of a picked up load can be calculated or estimated from the force and position data.
- a so-called weighing function is used, the implementation of which is known to those skilled in the art.
- the time or period at which the force and position data is collected, based on which the load carried is calculated, is referred to as the weighing time or period.
- the angle ⁇ a corresponds to the inclination of the lifting arm 4 with respect to a horizontal plane
- the angle ⁇ b corresponds to the inclination of the arm 5 with respect to the axis of the lifting arm 4
- the angle ⁇ c corresponds to the inclination of the bucket 6 with respect to the axis of the arm 5.
- the angle ⁇ corresponds to the inclination of the bucket 6 with respect to a horizontal plane.
- the angle ⁇ is represented in a coordinate system that is independent of the other cantilever elements 4, 5.
- the aim of the present invention is therefore to automatically keep the angle ⁇ constant while changing the other angles ⁇ a and ⁇ b.
- the leveling angle ⁇ is therefore automatically kept constant by the third actuator 9 (if the "Bucket Retain" function is active).
- Figure 2 shows schematically a method for the "bucket retain" function according to an embodiment of the present invention.
- the information about a target leveling angle ⁇ is obtained using an input device (e.g. a joystick or a button).
- This information 108 can either be a value of the target leveling angle ⁇ or the command to keep the current leveling angle ⁇ constant.
- sensor data 109 is collected to detect the position of the boom 4, 5 and the bucket 6.
- the weight 110 calculated during the weighing time is also recorded.
- a bus system 107 records all the information 108, 109 and 110 and transmits it to a control unit 103, which is responsible for controlling the third actuator 9.
- the control unit 103 can control the position 106 of the third actuator by means of a pump 104 and a main control valve 105.
- the control takes place in the loop 100, 101, 102, 103.
- the target inclination ⁇ of the holding element 6 is recorded 100 during the movement of the at least one cantilever element 4, 5 and compared with the actual inclination ⁇ of the holding element 6 and the difference 101 is communicated to the control unit 103.
- the control unit 103 will then use the information 101 and the information acquired from the bus system 107 to generate a control signal for the main control valve 105.
- the signal is therefore calculated taking into account the weight of the load received by the holding element 6.
- the information about the weight can be used, for example, as a control parameter in gain scheduling or in model-based control.
- Control parameters can also be selected depending on the positioning (e.g. the angle) of the boom 4, 5. I.e. different control parameters when moving the spoon close to the main body 2 than when moving further away from the main body 2.
- the estimated charge mass can also be used in other functions where variable dynamics play a role. E.g. in the workspace limitation assistance function.
- the core of the present invention is therefore that a further assistance function is used to estimate the current load mass in order to take this information into account in the control of the leveling angle.
- This can be done in the form of operating point-dependent control methods, such as gain scheduling, or a general, model-based approach. By combining the two functions, better control behavior that is independent of the operating point is expected.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Die Erfindung betrifft ein Verfahren zum Steuern einer Arbeitsmaschine (1), die einen Hauptkörper (2) und eine Bewegungsvorrichtung (3) umfasst, die an dem Hauptkörper (2) der Arbeitsmaschine (1) angeschlossen ist und die konfiguriert ist Lasten aufzunehmen und bezüglich des Hauptkörpers (2) zu bewegen, wobei die Bewegungsvorrichtung einen Ausleger mit einem oder mehreren Auslegerelementen (4, 5) und ein an einem Endabschnitt des Auslegers angeordnetes Halteelement (6) zur Aufnahme von Last aufweist, wobei die Auslegerelemente (4, 5) und das Halteelement (6) durch einen oder mehrere unabhängig voneinander wirkende Aktuatoren (7, 8, 9) bewegbar sind, wobei Sensoren vorgesehen sind, die eingerichtet sind, Zustandsdaten der Bewegungsvorrichtung (3) zu erfassen, wobei das Verfahren folgende Schritte umfasst:a. Erfassen einer Bewegung mindestens eines Auslegerelements (4, 5);b. Erfassen eines Befehls, eine Soll-Neigung (ϕ) des Halteelements (6) während der Bewegung des mindestens einen Auslegerelements (4, 5) konstant zu behalten, wobei die Soll-Neigung (ϕ) einen Soll-Winkel des Halteelements (6) relativ zu dem Hauptkörper (2) der Arbeitsmaschine (1) beschreibt;c. Berechnen eines Gewichts einer von dem Halteelement (6) aufgenommenen Last;d. Berechnen einer Soll-Bewegung eines der Aktuatoren (9), der für die Bewegung des Halteelements (6) zuständig ist, sodass die Soll-Neigung (ϕ) des Halteelements (6) während der Bewegung des mindestens einen Auslegerelements (4, 5) konstant bleibt, wobei die Berechnung unter Berücksichtigung des im Schritt c. berechneten Gewichts und der erfassten Bewegung des mindestens einen Auslegerelements (4, 5) erfolgt.e. Regeln des Aktuators (9), der für die Bewegung des Halteelements zuständig ist, auf Basis der im Schritt d. berechneten Soll-Bewegung..The invention relates to a method for controlling a work machine (1), which comprises a main body (2) and a movement device (3), which is connected to the main body (2) of the work machine (1) and which is configured to accommodate loads and with respect to the To move the main body (2), the movement device having a boom with one or more boom elements (4, 5) and a holding element (6) arranged on an end section of the boom for receiving load, the boom elements (4, 5) and that Holding element (6) can be moved by one or more independently acting actuators (7, 8, 9), sensors being provided which are set up to record status data of the movement device (3), the method comprising the following steps:a. Detecting a movement of at least one boom element (4, 5);b. Detecting a command to keep a target inclination (ϕ) of the holding element (6) constant during the movement of the at least one boom element (4, 5), the target inclination (ϕ) relative to a target angle of the holding element (6). to the main body (2) of the work machine (1);c. Calculating a weight of a load received by the holding element (6);d. Calculating a target movement of one of the actuators (9), which is responsible for the movement of the holding element (6), so that the target inclination (ϕ) of the holding element (6) remains constant during the movement of the at least one boom element (4, 5). remains, the calculation taking into account the in step c. calculated weight and the detected movement of the at least one boom element (4, 5).e. Control of the actuator (9), which is responsible for the movement of the holding element, based on the steps in step d. calculated target movement.
Description
Die Erfindung betrifft ein Verfahren zum Steuern einer Arbeitsmaschine, das ermöglicht, eine Neigung eines Halteelements konstant zu behalten, während mindestens ein Auslegerelement bewegt wird .The invention relates to a method for controlling a work machine, which makes it possible to keep an inclination of a holding element constant while at least one boom element is moved.
Mobile Arbeitsmaschinen mit Assistenzfunktion "Bucket Retain" sind weltweit benutzt. Eine solche Funktion ist in der Patentanmeldung
Eine solche Funktion kann Anwendungen bei verschiedenen Arten von Maschinen finden. In der Tat können Bagger (Standard, Mini, Midi, Mining, Mobil), Radlader, Telehandler, Forstmaschinen mit entsprechender Funktionalität auf dem Markt gefunden werden. In der vorliegenden Erfindung wird deswegen mit dem Wortlaut "Arbeitsmaschine" eine beliebige von dieser oder anderen aus dem Stand der Technik bekannten Maschine gemeint.Such a feature can find applications in various types of machines. In fact, excavators (standard, mini, midi, mining, mobile), wheel loaders, telehandlers, forestry machines with appropriate functionality can be found on the market. In the present invention, therefore, the word "work machine" means any of these or other machines known from the prior art.
Die Regelgenauigkeit und Regelgeschwindigkeit dieser Funktion ist aufgrund des unterschiedlichen Gewichtes des angebrachten Halteelements (zum Beispiel Zuladung in einem Löffel) und der damit verbundenen Dynamik allerdings nicht besonders hoch. Aus diesem Grund ist Zweck der Erfindung, die vorhandene Funktion zu verbessern.However, the control accuracy and control speed of this function is not particularly high due to the different weight of the attached holding element (e.g. load in a spoon) and the associated dynamics. For this reason, the purpose of the invention is to improve the existing function.
Gemäß einer Ausführungsform der vorliegenden Erfindung wird ein Verfahren zum Steuern einer Arbeitsmaschine bereitgestellt, die einen Hauptkörper und eine Bewegungsvorrichtung umfasst, die an dem Hauptkörper der Arbeitsmaschine angeschlossen ist und die konfiguriert ist Lasten aufzunehmen und bezüglich des Hauptkörpers zu bewegen, wobei die Bewegungsvorrichtung einen Ausleger mit einem oder mehreren Auslegerelementen und ein an einem Endabschnitt des Auslegers angeordnetes Halteelement zur Aufnahme von Last aufweist, wobei die Auslegerelemente und das Halteelement durch einen oder mehrere unabhängig voneinander wirkende Aktuatoren bewegbar sind, wobei Sensoren vorgesehen sind, die eingerichtet sind, Zustandsdaten der Bewegungsvorrichtung zu erfassen, wobei das Verfahren folgende Schritte umfasst:
- a. Erfassen einer Bewegung mindestens eines Auslegerelements;
- b. Erfassen eines Befehls, eine Soll-Neigung des Halteelements während der Bewegung des mindestens einen Auslegerelements konstant zu behalten, wobei die Soll-Neigung einen Soll-Winkel des Halteelements in einem Koordinatensystem, das unabhängig von dem mindestens einen Auslegerelement ist, beschreibt;
- c. Berechnen eines Gewichts einer von dem Halteelement aufgenommenen Last;
- d. Berechnen einer Soll-Bewegung eines der Aktuatoren, der für die Bewegung des Halteelements zuständig ist, sodass die Soll-Neigung des Halteelements während der Bewegung des mindestens einen Auslegerelements konstant bleibt, wobei die Berechnung unter Berücksichtigung des im Schritt c. berechneten Gewichts und der erfassten Bewegung des mindestens einen Auslegerelements erfolgt;
- e. Regeln des Aktuators, der für die Bewegung des Halteelements zuständig ist, auf Basis der im Schritt d. berechneten Soll-Bewegung.
- a. Detecting a movement of at least one boom element;
- b. Detecting a command to keep a target inclination of the holding element constant during movement of the at least one boom element, the target inclination describing a target angle of the holding element in a coordinate system that is independent of the at least one boom element;
- c. Calculating a weight of a load received by the holding element;
- d. Calculating a target movement of one of the actuators that is responsible for the movement of the holding element, so that the target inclination of the holding element remains constant during the movement of the at least one boom element, the calculation taking into account the in step c. calculated weight and the detected movement of the at least one boom element;
- e. Rules of the actuator, which is responsible for the movement of the holding element, based on the steps in step d. calculated target movement.
Die vorliegende Erfindung ist besonders vorteilhaft, da durch diese Funktion die Genauigkeit der "Bucket Retain" Funktion besonders erhört wird. Insbesondere haben das Testen der Funktion und Messungen am Bagger gezeigt, dass eine Verbesserung der Regelung bei Berücksichtigung der Last enorm ist. In derzeitiger Umsetzung wird ein linearer Regler für alle Arbeitspunkte, ohne Berücksichtigung der Last verwendet. Der Erfinder hat allerdings beobachtet, dass die Dynamik des Systems stark abhängig von Orientierung und Ladung des Löffels ist. Insbesondere hat der Erfinder beobachtet, dass optimale Regelparameter bei vollem Löffel stark von denen bei leerem Löffel abweichen. Wenn die aktuelle Ladung nicht berücksichtigt wird, kann lediglich ein Set an Regelparameter (als Kompromiss der verschiedenen Arbeitspunkte) verwendet werden. Eine solche Lösung verursacht allerdings enorme Ungenauigkeit, wie Schwingen und langzeitige Regelabweichungen, wenn verglichen mit der Genauigkeit, die ein Verfahren nach der vorliegenden Erfindung ermöglicht.The present invention is particularly advantageous because this function particularly increases the accuracy of the "bucket retain" function. In particular, testing the function and measurements on the excavator have shown that there is a huge improvement in the control when the load is taken into account. In the current implementation, a linear controller is used for all operating points, without taking the load into account. However, the inventor observed that the dynamics of the system strongly depend on orientation and charge of the spoon. In particular, the inventor observed that optimal control parameters when the spoon is full differ greatly from those when the spoon is empty. If the current load is not taken into account, only one set of control parameters (as a compromise of the different operating points) can be used. However, such a solution causes enormous inaccuracies, such as oscillations and long-term control deviations, when compared to the accuracy that a method according to the present invention enables.
Die vorliegende Erfindung wird unter Bezugnahme auf die beigefügten Figuren beschrieben, wobei sich gleiche Bezugszeichen auf gleiche Teile und / oder auf ähnliche Teile und / oder auf entsprechende Teile des Systems beziehen. Zu den Figuren:
-
zeigt schematisch eine Arbeitsmaschine mit beweglichen Elementen;Figur 1 -
zeigt schematisch ein Verfahren nach einer Ausführungsform der vorliegenden Erfindung.Figur 2
-
Figure 1 shows schematically a work machine with moving elements; -
Figure 2 shows schematically a method according to an embodiment of the present invention.
Im Folgenden wird die vorliegende Erfindung unter Bezugnahme auf bestimmte Ausführungsformen beschrieben, wie sie in den beigefügten Figuren gezeigt sind. Nichtsdestotrotz ist die vorliegende Erfindung nicht auf die besonderen Ausführungsformen beschränkt, die in der folgenden detaillierten Beschreibung beschrieben und in den Figuren gezeigt sind, sondern die beschriebenen Ausführungsformen veranschaulichen lediglich einige Aspekte der vorliegenden Erfindung, deren Schutzbereich durch die Ansprüche definiert ist.The present invention will be described below with reference to certain embodiments as shown in the accompanying figures. Nevertheless, the present invention is not limited to the particular embodiments described in the following detailed description and shown in the figures, but the described embodiments merely illustrate some aspects of the present invention, the scope of which is defined by the claims.
Weitere Änderungen und Variationen der vorliegenden Erfindung sind für den Fachmann klar. Die vorliegende Beschreibung umfasst somit alle Änderungen und / oder Variationen der vorliegenden Erfindung, deren Schutzbereich durch die Ansprüche definiert ist.Other modifications and variations of the present invention will be apparent to those skilled in the art. The present description therefore includes all modifications and/or variations of the present invention, the scope of which is defined by the claims.
Es ist ein erster Aktuator 7 für den Hubarm 4 vorgesehen, der die Bewegung bzw. Drehung des Hubarms 4 relativ zum Hauptkörper 2 bewirkt. Ebenso ist ein zweiter Aktuator 8 für den Arm 5 vorgesehen, der die Bewegung bzw. Drehung des Arms 4 relativ zum Hubarm 4 bewirkt. Ebenso ist ein dritter Aktuator 9 für den Löffel vorgesehen, der den Löffel (oder auch "Schaufel" genannt) bewegt bzw. dreht (kippt).A first actuator 7 is provided for the lifting arm 4, which causes the movement or rotation of the lifting arm 4 relative to the
Die Aktuatoren 7, 8, 9 können durch eine Steuerung angesteuert werden, wobei im Falle von Hydraulikzylindern Wegeventile vorgesehen sind, die den Fluss von Hydraulikflüssigkeit zu den Hydraulikzylindern steuern.The
Es sind Sensoren vorgesehen (in
Es wird insbesondere auf Kräftedaten und Positionsdaten und entsprechende Sensoren eingegangen. Dies sind bevorzugte Beispiele für Zustandsdaten bzw. Sensoren, im Allgemeinen können zusätzlich bzw. alternativ auch Zustandsdaten von anderen Sensoren erfasst werden, um beispielsweise Druckdaten, Momentdaten, Drehmomentdaten, Geschwindigkeitsdaten, Beschleunigungsdaten und/oder Spannungsdaten zu erfassen (die, wie angemerkt, im Prinzip auch als Kräfte- und/oder Positionsdaten aufgefasst werden können).In particular, force data and position data and corresponding sensors are discussed. These are preferred examples of status data or sensors; in general, status data from other sensors can also be acquired in addition or alternatively, for example to capture pressure data, torque data, torque data, speed data, acceleration data and / or voltage data (which, as noted, in principle can also be understood as force and/or position data).
Da die geometrischen Verhältnisse der Auslegerelemente und deren Gewichte bzw. Massen bekannt sind, kann aus den Kräfte- und Positionsdaten das Gewicht bzw. die Masse einer aufgenommenen Last berechnet bzw. geschätzt werden. Dazu wird eine sogenannte Wiegefunktion verwendet, deren Implementierung dem Fachmann an sich bekannt ist. Der Zeitpunkt oder Zeitraum, an bzw. in dem die Kräfte- und Positionsdaten erfasst werden, basierend auf denen die aufgenommene Last berechnet wird, wird als Wiegezeitpunkt bzw. Wiegezeitraum bezeichnet.Since the geometric relationships of the boom elements and their weights or masses are known, the weight or mass of a picked up load can be calculated or estimated from the force and position data. For this purpose, a so-called weighing function is used, the implementation of which is known to those skilled in the art. The time or period at which the force and position data is collected, based on which the load carried is calculated, is referred to as the weighing time or period.
Ein Beispiel einer Wiegefunktion ist in der Patendanmeldung
Wie in
Das Ziel der vorliegenden Erfindung ist daher, den Winkel ϕ automatisch konstant zu behalten, während die anderen Winkeln θa und θb geändert werden. Der Planierwinkel ϕ wird deswegen (wenn die Funktion "Bucket Retain" aktiv ist) automatisch durch den dritten Aktuator 9 konstant gehalten.The aim of the present invention is therefore to automatically keep the angle φ constant while changing the other angles θa and θb. The leveling angle ϕ is therefore automatically kept constant by the third actuator 9 (if the "Bucket Retain" function is active).
In einem ersten Schritt werden die Informationen über einen Soll Planierwinkel ϕ mittels einer Eingabevorrichtung (z.B. ein Joystick oder ein Knopf) erhalten. Diese Information 108 kann entweder ein Wert von dem Soll Planierwinkel ϕ oder der Befehl, den aktuellen ist Planierwinkel ϕ konstant zu behalten, sein. Darüber hinaus werden Sensordaten 109 erfasst, um die Position des Auslegers 4, 5 und des Löffels 6 zu erfassen. In dem ersten Schritt wird auch das während dem Wiegezeitpunkt berechnete Gewicht 110 erfasst. Ein Bus System 107 erfasst alle die Informationen 108, 109 und 110 und überträgt diese an eine Steuereinheit 103, die für die Regelung des dritten Aktuators 9 zuständig ist. Die Steuereinheit 103 kann mittels einer Pumpe 104 und eine Hauptsteuerventil 105 die Position 106 des dritten Aktuators steuern.In a first step, the information about a target leveling angle φ is obtained using an input device (e.g. a joystick or a button). This
Die Regelung erfolgt in dem Loop 100, 101, 102, 103. In einem ersten Schritt wird die Soll-Neigung ϕ des Halteelements 6 während der Bewegung des mindestens einen Auslegerelements 4, 5 erfasst 100 und mit der Ist-Neigung ϕ des Halteelements 6 verglichen und der Unterschied 101 wird an die Steuereinheit 103 mitgeteilt.The control takes place in the
Die Steuereinheit 103 wird dann die Information 101 und die von dem Bus System 107 erfassten Informationen benutzen, um ein Steuerungssignal für den Hauptsteuerventil 105 zu erzeugen.The
Das Signal wird deswegen unter Berücksichtigung des Gewichts der von dem Halteelement 6 aufgenommenen Last berechnet. Die Information über das Gewicht kann zum Beispiel als Regelparameter in einem Gain-Scheduling oder in einem Modellbasierte Regelung verwendet werden.The signal is therefore calculated taking into account the weight of the load received by the holding element 6. The information about the weight can be used, for example, as a control parameter in gain scheduling or in model-based control.
Regelparameter können zusätzlich von der Positionierung (z.B. von dem Winkel) von dem Ausleger 4, 5 abhängig gewählt werden. D.h. unterschiedliche Regelparameter bei Führen des Löffels nahe an dem Hauptkörper 2 als bei Bewegung weiter von dem Hauptkörper 2 entfernt.Control parameters can also be selected depending on the positioning (e.g. the angle) of the boom 4, 5. I.e. different control parameters when moving the spoon close to the
Die geschätzte Ladungsmasse kann ebenfalls in anderen Funktionen genutzt werden, in denen die variable Dynamik eine Rolle spielen. Z.B. in der Assistenzfunktion Arbeitsraumbegrenzung.The estimated charge mass can also be used in other functions where variable dynamics play a role. E.g. in the workspace limitation assistance function.
Der Kern der vorliegenden Erfindung besteht deswegen darin, dass eine weitere Assistenzfunktion, zum Schätzen der aktuellen Ladungsmasse, verwendet wird, um diese Information in der Regelung des Planierwinkels zu berücksichtigen. Dies kann in Form von arbeitspunktabhängigen Regelverfahren, wie z.B. Gain-Scheduling, oder einem allgemeinen, modellbasiertem Ansatz geschehen. Durch Kombination der beiden Funktionen wird ein besseres und arbeitspunktunabhängiges Regelverhalten erwartet.The core of the present invention is therefore that a further assistance function is used to estimate the current load mass in order to take this information into account in the control of the leveling angle. This can be done in the form of operating point-dependent control methods, such as gain scheduling, or a general, model-based approach. By combining the two functions, better control behavior that is independent of the operating point is expected.
Claims (9)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102022203960.2A DE102022203960A1 (en) | 2022-04-25 | 2022-04-25 | Method for improving the leveling angle control of a work machine |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4269705A1 true EP4269705A1 (en) | 2023-11-01 |
Family
ID=86142693
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP23169142.9A Pending EP4269705A1 (en) | 2022-04-25 | 2023-04-21 | A method for improving the levelling angle control of a working machine |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP4269705A1 (en) |
JP (1) | JP2023161577A (en) |
CN (1) | CN116950155A (en) |
DE (1) | DE102022203960A1 (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10183669A (en) * | 1996-12-20 | 1998-07-14 | Shin Caterpillar Mitsubishi Ltd | Control device for construction machine |
JPH10259619A (en) * | 1997-03-18 | 1998-09-29 | Shin Caterpillar Mitsubishi Ltd | Control device for construction machine |
DE112017000130T5 (en) | 2017-01-10 | 2018-09-13 | Komatsu Ltd. | Work vehicle and method for controlling the same |
US20200087893A1 (en) * | 2018-09-14 | 2020-03-19 | Deere & Company | Controlling a work machine based on sensed variables |
US20200362530A1 (en) * | 2018-03-30 | 2020-11-19 | Komatsu Ltd. | Work machine control device and work machine control method |
JP7009600B1 (en) * | 2020-12-07 | 2022-01-25 | 日立建機株式会社 | Work machine |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4030954C2 (en) | 1990-09-29 | 1994-08-04 | Danfoss As | Method for controlling the movement of a hydraulically movable implement and path control device for carrying out the method |
JP3441886B2 (en) | 1996-06-18 | 2003-09-02 | 日立建機株式会社 | Automatic trajectory control device for hydraulic construction machinery |
JP3608900B2 (en) | 1997-03-10 | 2005-01-12 | 新キャタピラー三菱株式会社 | Method and apparatus for controlling construction machine |
DE19939796C1 (en) | 1999-08-21 | 2000-11-23 | Orenstein & Koppel Ag | Earthworking machine e.g. hydraulic excavator, has weight of excavator arm and shovel compensated during excavator arm movement by variable compensation pressure |
WO2017086488A1 (en) | 2016-11-29 | 2017-05-26 | 株式会社小松製作所 | Control device for construction equipment and control method for construction equipment |
KR102532283B1 (en) | 2017-11-10 | 2023-05-11 | 스미토모 겐키 가부시키가이샤 | shovel |
JP7141894B2 (en) | 2018-09-05 | 2022-09-26 | 日立建機株式会社 | working machine |
NL2022360B1 (en) | 2019-01-10 | 2020-08-13 | Hudson I P B V | Mobile device |
DE102020212490A1 (en) | 2020-10-02 | 2022-04-07 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for determining the weight of a load on a mobile working machine, learning method for a data-based model and mobile working machine |
DE102021205407A1 (en) | 2021-05-27 | 2022-12-01 | Robert Bosch Gesellschaft mit beschränkter Haftung | Procedure for load estimation of work machines |
-
2022
- 2022-04-25 DE DE102022203960.2A patent/DE102022203960A1/en active Pending
-
2023
- 2023-04-21 EP EP23169142.9A patent/EP4269705A1/en active Pending
- 2023-04-23 CN CN202310443955.3A patent/CN116950155A/en active Pending
- 2023-04-24 JP JP2023070862A patent/JP2023161577A/en active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH10183669A (en) * | 1996-12-20 | 1998-07-14 | Shin Caterpillar Mitsubishi Ltd | Control device for construction machine |
JPH10259619A (en) * | 1997-03-18 | 1998-09-29 | Shin Caterpillar Mitsubishi Ltd | Control device for construction machine |
DE112017000130T5 (en) | 2017-01-10 | 2018-09-13 | Komatsu Ltd. | Work vehicle and method for controlling the same |
US20200362530A1 (en) * | 2018-03-30 | 2020-11-19 | Komatsu Ltd. | Work machine control device and work machine control method |
US20200087893A1 (en) * | 2018-09-14 | 2020-03-19 | Deere & Company | Controlling a work machine based on sensed variables |
JP7009600B1 (en) * | 2020-12-07 | 2022-01-25 | 日立建機株式会社 | Work machine |
Also Published As
Publication number | Publication date |
---|---|
JP2023161577A (en) | 2023-11-07 |
CN116950155A (en) | 2023-10-27 |
DE102022203960A1 (en) | 2023-10-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2422018B1 (en) | Mobile working machine comprising a position control device of a working arm and method for controlling the position of a working arm of a mobile working machine | |
AT514115B1 (en) | Electrohydraulic control circuit | |
DE112009000522T5 (en) | Adapted payload monitoring system | |
DE102009037880B4 (en) | Mobile working machine with a control device with a working arm and method for working point control of a working arm of a mobile working machine | |
EP2736833B1 (en) | Control device | |
EP2843378B1 (en) | Working machine with lifting device and weighing device | |
EP3650179A1 (en) | System and method for determining the mass of a payload moved by a working device | |
DE112008003243T5 (en) | Payload system with compensation of rotational forces | |
DE102017109939A1 (en) | Identification of the operation of a work machine | |
DE112016000090T5 (en) | CONSTRUCTION MACHINE CONTROL SYSTEM, CONSTRUCTION MACHINE AND CONSTRUCTION MACHINE CONTROL PROCESS | |
AT514116A1 (en) | A control system and method for controlling the orientation of a segment of a manipulator | |
EP3556967B1 (en) | Large manipulator, especially for concrete pumps | |
DE10000771C2 (en) | Device and method for position control for work equipment of mobile work machines | |
EP3439834A1 (en) | Cartesian control of a boom tip of a large manipulator, in particular a concrete pump | |
WO2022069467A1 (en) | Method for determining the weight of a load of a mobile work machine, learning method for a data-based model, and mobile work machine | |
EP4148193B1 (en) | Method for invoking a weighing function of a working machine and working machine | |
DE102021205025A1 (en) | EXCAVATOR WITH IMPROVED MOTION DETECTION | |
EP4269705A1 (en) | A method for improving the levelling angle control of a working machine | |
DE102021205407A1 (en) | Procedure for load estimation of work machines | |
EP4130394A1 (en) | Method for monitoring and / or carrying out a movement of a working device and tool and computer program product | |
EP3969673B1 (en) | Method for calculating an excavation volume | |
DE112022000038T5 (en) | Method for estimating a moment of a working implement | |
WO2021239680A2 (en) | Method for operating a mobile work machine | |
DE102021205386A1 (en) | Method for operating a hydraulic cylinder of a working machine | |
EP4269707A1 (en) | Method for estimating the position of a working kinematic of a working machine and working machine |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20240502 |
|
RBV | Designated contracting states (corrected) |
Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR |