JP2008524480A - Position detection system - Google Patents

Position detection system Download PDF

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JP2008524480A
JP2008524480A JP2007547311A JP2007547311A JP2008524480A JP 2008524480 A JP2008524480 A JP 2008524480A JP 2007547311 A JP2007547311 A JP 2007547311A JP 2007547311 A JP2007547311 A JP 2007547311A JP 2008524480 A JP2008524480 A JP 2008524480A
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sensor
transceiver
actuating
signal
amplifying device
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マルクス・クリフケン
ソルン・シュトル
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ボッシュ レックスロス アクチエンゲゼルシャフト
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    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Manipulator (AREA)

Abstract

【要約書】
【課題】本発明は、可動装置・ツール（１）の作動アーム（２）上に配置された作動機構（３）システムの位置決定及び位置調節に関する。
【解決手段】本システムは、少なくとも１つのセンサ（４）と送受信機（５）を有する。少なくとも１つのセンサ（４）と送受信機（５）間の作動機構の座標（ｘ，ｙ）の位置、及び／又は（３）の勾配（φ）の決定及び送信を非接触で行う。
【選択図】図１
[Summary]
The present invention relates to position determination and position adjustment of an actuating mechanism (3) system arranged on an actuating arm (2) of a movable device / tool (1).
The system includes at least one sensor (4) and a transceiver (5). The position of the coordinate (x, y) of the operating mechanism between the at least one sensor (4) and the transceiver (5) and / or the gradient (φ) of (3) is determined and transmitted in a contactless manner.
[Selection] Figure 1

Description

本発明は、請求項１の前提部に記載の可動装置の作動アームの位置検出・制御システムに関する。   The present invention relates to a position detection / control system for an operating arm of a movable device according to the premise of claim 1.

可動装置における位置制御された作動アームの場合、前記作動機構の位置は、通常、油圧システムのシリンダ内の長さセンサ又は角度センサにより間接的に検出される。角度センサによる位置検出の一例は、特許文献１に公知である。特許文献１には、作動機構の位置により決まる面と重力方向との間の角度を計測する計測器と、作動機構の位置により決まる面と重力方向との間の角度を規定する角度トランスミッタと、作動機構の面と重力方向との間の角度を制御して、計測角度を規定角度に対応させる制御装置とを具備する、可動装置の作動機構に対する位置制御装置が記載されている。   In the case of a position-controlled actuating arm in a mobile device, the position of the actuating mechanism is usually detected indirectly by a length sensor or an angle sensor in a cylinder of the hydraulic system. An example of position detection by an angle sensor is known in Patent Document 1. In Patent Document 1, a measuring instrument that measures an angle between a surface determined by the position of the operating mechanism and the direction of gravity, an angle transmitter that defines an angle between the surface determined by the position of the operating mechanism and the direction of gravity, A position control device is described for a movable device actuating mechanism, comprising a control device that controls the angle between the surface of the actuating mechanism and the gravitational direction so that the measured angle corresponds to a specified angle.

特に、この種のシステムは、障害及び誤差を検出する能力が非常に限られ不利であるため、最大出力に調節する能力も同様に制限されている。   In particular, this type of system has a very limited and disadvantageous ability to detect faults and errors, so the ability to adjust to maximum power is similarly limited.

測位システム（例えば、ＧＰＳ、全地球測位システム）により、地上の可動装置の位置を検出できることが更に知られている。この種の検出システムを備えた作動装置は、例えば、特許文献２に記載されている。   It is further known that the position of a movable device on the ground can be detected by a positioning system (for example, GPS, global positioning system). An actuation device provided with this type of detection system is described in Patent Document 2, for example.

この種の位置検出システムは、特に、価格面及び精度において不利である。本目的への適用に好適な送受信機はコストが高く、しかも手間がかかる。   This type of position detection system is particularly disadvantageous in terms of price and accuracy. A transceiver suitable for application to this purpose is expensive and laborious.

独国特許第１００００７７１Ａ１号明細書German Patent No. 10000771A1 国際公開第９５／３０７９９号パンフレットInternational Publication No. 95/30799 Pamphlet

したがって、本発明は、作動アーム上に設けられた作動機構の簡易、経済的、且つ正確な位置測定及び再配置を可能にする、可動装置の作動アームの位置検出・制御システムを提供することを目的とする。   Accordingly, the present invention provides a position detection and control system for an actuating arm of a movable device that enables simple, economical and accurate position measurement and relocation of the actuating mechanism provided on the actuating arm. Objective.

前記目的は、請求項１の特徴により達成される。   The object is achieved by the features of claim 1.

少なくとも１つのセンサと１つの送受信機の間の作動機構の座標及び／又は勾配の送信又は位置決定は、電磁波で信号を送信することで、非接触で有利に達成される。   The transmission or position determination of the coordinate and / or gradient of the actuation mechanism between at least one sensor and one transceiver is advantageously achieved in a non-contact manner by transmitting a signal with electromagnetic waves.

下位概念クレームは、本発明の有利な発展を含む。   The subordinate concept claims contain advantageous developments of the invention.

本発明の形態の利点を、図を参照して概略的に示す。図１及び図２は以下に示す。   The advantages of the embodiments of the invention are schematically illustrated with reference to the figures. 1 and 2 are shown below.

図１に、可動装置１の作動アーム２の位置検出及び位置制御を行うために本発明に基づいて構成されたシステムの一実施形態を概略的に示す。該実施形態に記載される装置１は、作動アーム２に配置された作動機構３を有する掘削機、該形態の掘削バケット等の土木装置である。しかし、本発明は、前記装置に限定されることなく、クレーン、コンクリートポンプ、テレハンドラー等、他の用途にも応用できる。   FIG. 1 schematically shows an embodiment of a system constructed according to the present invention for detecting the position and controlling the position of the operating arm 2 of the movable device 1. The apparatus 1 described in the embodiment is a civil engineering apparatus such as an excavator having an operation mechanism 3 disposed on an operation arm 2 and an excavation bucket of the form. However, the present invention is not limited to the above apparatus, and can be applied to other uses such as a crane, a concrete pump, and a telehandler.

作動機構３の位置検出は、好ましくは、マイクロ波、又は高周波電磁波による無線信号に基づいて、非接触センサ４により本発明に従って行われる。センサ４は、どの位置の検出を行う場合でも、作動アーム２又は作動機構３上に配置される。図１に示す第１の形態において、一つのセンサ４を、作動アーム２上に配置された作動機構３に配置し、更に一つのセンサ４を作動アーム２の油圧装置６に配置している。   The position detection of the actuation mechanism 3 is preferably performed according to the present invention by the non-contact sensor 4 based on a radio signal by microwaves or high frequency electromagnetic waves. The sensor 4 is disposed on the operating arm 2 or the operating mechanism 3 when detecting any position. In the first embodiment shown in FIG. 1, one sensor 4 is arranged in the actuation mechanism 3 arranged on the actuation arm 2, and one more sensor 4 is arranged in the hydraulic device 6 of the actuation arm 2.

能動センサ、特に有利には受動センサ４が、センサ４として好適である。能動センサ４は、例えば、バッテリーにより電源供給され、結果的に数年間のメンテナンスフリーが達成できる。必要に応じて、環境エネルギーを充電に使用することができる。受動センサ４を使用する場合、送受信機５を可動装置１に設置する。送受信機５により送信される信号は、受動センサ４に変換されて入力され、コード化されて戻される。この種のシステムの計測精度は、現在のマイクロ波技術の場合、数センチであり、応用範囲は無限である。他の種類のセンサ４、例えば、圧力センサからの信号送信は、同様の技術により実施できる。   An active sensor, particularly preferably a passive sensor 4, is suitable as the sensor 4. The active sensor 4 is powered by, for example, a battery, and as a result, maintenance-free for several years can be achieved. If necessary, environmental energy can be used for charging. When using the passive sensor 4, the transceiver 5 is installed in the movable device 1. The signal transmitted by the transceiver 5 is converted into the passive sensor 4 and input, and is encoded and returned. The measurement accuracy of this type of system is several centimeters in the case of current microwave technology, and the application range is infinite. Signal transmission from other types of sensors 4, such as pressure sensors, can be implemented by similar techniques.

作動機構３の位置及び方位は、センサ４と送受信機５が協同して測定される。作動機構３に配置された第１センサ４は、例えば、作動機構３の位置決定に対しては変数ｘ、ｙ、作動機構３の勾配決定に対しては変数φという形で、作動機構３の位置と方位を感知し、送受信機５に非接触で信号を送信する。基準システム、即ち、装置１の絶対位置及び絶対方位は、ＧＰＳ（全地球測位システム）センサ、勾配センサ、又は加速度センサにより決定できる。同様に、例えば、油圧装置６の圧力信号、或いは作動機構３の速度若しくは加速度、流体の温度、及びシステム内の流量等の他の物理的変数も更に、非接触で送信可能である。図１では、例として油圧装置６内の圧力センサ４を示す。   The position and orientation of the operating mechanism 3 are measured in cooperation with the sensor 4 and the transceiver 5. The first sensor 4 arranged in the operating mechanism 3 is, for example, in the form of variables x and y for determining the position of the operating mechanism 3 and variable φ for determining the gradient of the operating mechanism 3. The position and orientation are sensed and a signal is transmitted to the transceiver 5 in a non-contact manner. The absolute position and orientation of the reference system, ie the device 1, can be determined by a GPS (Global Positioning System) sensor, a gradient sensor or an acceleration sensor. Similarly, other physical variables such as, for example, the pressure signal of the hydraulic device 6, or the speed or acceleration of the actuation mechanism 3, the temperature of the fluid, and the flow rate in the system can also be transmitted in a non-contact manner. In FIG. 1, the pressure sensor 4 in the hydraulic device 6 is shown as an example.

送受信機５は、操縦者が装置１を操作するための、例えば、制御装置９及び制御レバー１０等の更なる装置１の構成部品と通信する。制御レバー１０を介して操縦者により行われる動作は、制御装置９により、対応する信号及び作動機構３の動作へと変換される。   The transceiver 5 communicates with further components of the device 1 such as the control device 9 and the control lever 10 for the operator to operate the device 1. Operations performed by the pilot via the control lever 10 are converted by the control device 9 into corresponding signals and operations of the actuation mechanism 3.

したがって、作動機構３の位置及び方位決定に対する信号は、装置の個々の部品間の動作時間の測定値に基づいて、作動機構３内の少なくとも１つのセンサ４により決定される。圧力、速度、加速度、温度、及び流量等の他の物理変数の信号は、送受信機５に直接送信可能である。   Thus, the signal for determining the position and orientation of the actuation mechanism 3 is determined by at least one sensor 4 in the actuation mechanism 3 based on measurements of operating time between individual parts of the device. Signals of other physical variables such as pressure, speed, acceleration, temperature, and flow rate can be transmitted directly to the transceiver 5.

しかしながら、センサ４と送受信機５の通信は、図２に示した、例えば、障壁７のような障害物によって、困難または不可能となる可能性がある。   However, communication between the sensor 4 and the transmitter / receiver 5 may be difficult or impossible due to an obstacle such as the barrier 7 shown in FIG.

これを防ぐため、図２の第２の実施形態で示したように、センサ４と装置１の実際の送受信機５との間の通信を支援する増幅装置８により、図１のシステムを有利に提供することができる。作動機構３の位置及び方位を決定するためには、増幅装置８から両方の装置が直接見えるように増幅装置８を配置する。図２の実施形態に示すように、増幅装置８は、装置１の作動アーム上２に、又は装置１の外部の適切な位置に配置される。したがって、増幅装置８は、メインシステムと同一の技術によって、例えば位置情報等の別のデータを更に感知し、送受信機５に送信するように設計できる。該データは、制御、又は操縦者支援の目的に使用できる。   To prevent this, as shown in the second embodiment of FIG. 2, the system of FIG. 1 is advantageously provided by an amplifying device 8 that supports communication between the sensor 4 and the actual transceiver 5 of the device 1. Can be provided. In order to determine the position and orientation of the actuating mechanism 3, the amplifying device 8 is arranged so that both devices can be seen directly from the amplifying device 8. As shown in the embodiment of FIG. 2, the amplifying device 8 is arranged on the working arm 2 of the device 1 or at a suitable position outside the device 1. Therefore, the amplifying apparatus 8 can be designed to further sense other data such as position information and transmit it to the transceiver 5 by the same technique as the main system. The data can be used for control or pilot assistance purposes.

本発明は、上記実施形態に限定されることなく、様々な作動機構３に対して様々なセンサ４を用いた任意の装置１に適用可能である。本発明の特徴は、任意の方法で組合せることができる。   The present invention is not limited to the above-described embodiment, and can be applied to any device 1 that uses various sensors 4 for various actuation mechanisms 3. The features of the present invention can be combined in any manner.

図１は、可動装置の可動式作動アームの位置検出及び位置制御を行うための本発明の第１の実施形態のシステムの概略図である。FIG. 1 is a schematic diagram of a system according to a first embodiment of the present invention for performing position detection and position control of a movable operating arm of a movable device. 図２は、本発明の第２の実施形態のシステムの概略図である。FIG. 2 is a schematic diagram of a system according to the second embodiment of the present invention.

符号の説明Explanation of symbols

１ 可動装置
２ 作動アーム
３ 作動機構
４ センサ
５ 送受信機
６ 油圧装置
７ 障壁
８ 増幅装置
９ 制御装置
１０ 制御レバー DESCRIPTION OF SYMBOLS 1 Movable device 2 Actuating arm 3 Actuating mechanism 4 Sensor 5 Transmitter / receiver 6 Hydraulic device 7 Barrier 8 Amplifying device 9 Control device 10 Control lever

Claims (14)

少なくとも１つのセンサ（４）及び送受信機（５）を有する、可動装置（１）の作動アーム（２）上に配置された作動機構（３）の検出・制御システムであって、
前記少なくとも１つのセンサ（４）と前記送受信機（５）と間の前記作動機構（３）の座標軸（ｘ，ｙ）及び／又は勾配（φ）の検出及び送信が、非接触で行われることを特徴とする作動機構（３）の検出・制御システム。 A detection and control system for an actuating mechanism (3) arranged on an actuating arm (2) of a mobile device (1) having at least one sensor (4) and a transceiver (5),
Detection and transmission of the coordinate axes (x, y) and / or gradients (φ) of the operating mechanism (3) between the at least one sensor (4) and the transceiver (5) are performed in a non-contact manner. A detection / control system for an operation mechanism (3) characterized by the above. 前記少なくとも１つのセンサ（４）が、能動センサ（４）として構成される請求項１に記載のシステム。   The system according to claim 1, wherein the at least one sensor (4) is configured as an active sensor (4). 前記少なくとも１つのセンサ（４）が、受動センサ（４）として構成される請求項１に記載のシステム。   The system according to claim 1, wherein the at least one sensor (4) is configured as a passive sensor (4). 前記少なくとも１つのセンサ（４）が、前記作動機構（３）内に配置される請求項１〜３のいずれかに記載のシステム。   The system according to any of the preceding claims, wherein the at least one sensor (4) is arranged in the actuation mechanism (3). 前記装置（１）の制御レバー（１０）を介して発信された信号が、前記送受信機（５）及び前記少なくとも１つのセンサ（４）によって前記作動機構（３）に送信可能である請求項４に記載のシステム。   The signal transmitted via the control lever (10) of the device (1) can be transmitted to the actuating mechanism (3) by the transceiver (5) and the at least one sensor (4). The system described in. 少なくとも１つの更なるセンサ（４）が、前記作動アーム２の油圧装置（６）内に配置される請求項１〜５のいずれかに記載のシステム。   System according to any of the preceding claims, wherein at least one further sensor (4) is arranged in the hydraulic device (6) of the actuating arm 2. 前記油圧装置（６）内に配置された前記センサ（４）が、圧力信号（ｐ）を発信する請求項６に記載のシステム。   System according to claim 6, wherein the sensor (4) arranged in the hydraulic device (6) emits a pressure signal (p). 増幅装置（８）を有する請求項１〜７のいずれかに記載のシステム。   System according to any of the preceding claims, comprising an amplifying device (8). 前記増幅装置（８）が、少なくとも１つの送受信機（５）の形態で構成される請求項８に記載のシステム。   System according to claim 8, wherein the amplifying device (8) is configured in the form of at least one transceiver (5). 前記増幅装置（８）が、前記装置（１）の前記作動アーム（２）上に配置される請求項８または９に記載のシステム。   System according to claim 8 or 9, wherein the amplifying device (8) is arranged on the actuating arm (2) of the device (1). 前記増幅装置（８）が、前記装置（１）から離間して配置される請求項８または９に記載のシステム。   System according to claim 8 or 9, wherein the amplifying device (8) is spaced apart from the device (1). 前記増幅装置（８）が、前記少なくとも１つのセンサ（４）及び前記送受信機（５）と視覚的に直接接触する請求項８〜１１のいずれかに記載のシステム。   The system according to any of claims 8 to 11, wherein the amplifying device (8) is in direct visual contact with the at least one sensor (4) and the transceiver (5). 前記信号の送信が、無線信号、特にはマイクロ波によって行われる請求項１〜１２のいずれかに記載のシステム。   The system according to claim 1, wherein the transmission of the signal is performed by a radio signal, in particular by a microwave. 更なる物理変数（ｐ）が、前記システムを介して前記送受信機（５）に送信可能である請求項１〜１３のいずれかに記載のシステム。   14. System according to any of the preceding claims, wherein further physical variables (p) can be transmitted to the transceiver (5) via the system.
JP2007547311A 2004-12-21 2005-12-19 Position detection system Pending JP2008524480A (en)

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DE102004061560 2004-12-21
DE102005024676A DE102005024676A1 (en) 2004-12-21 2005-05-30 System for position detection and control for working arms of mobile working machines
PCT/EP2005/013676 WO2006066853A1 (en) 2004-12-21 2005-12-19 Position determination system

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