WO2006066853A1 - Système de détermination de position - Google Patents

Système de détermination de position Download PDF

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Publication number
WO2006066853A1
WO2006066853A1 PCT/EP2005/013676 EP2005013676W WO2006066853A1 WO 2006066853 A1 WO2006066853 A1 WO 2006066853A1 EP 2005013676 W EP2005013676 W EP 2005013676W WO 2006066853 A1 WO2006066853 A1 WO 2006066853A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
working
transmitting
receiving unit
amplifier unit
Prior art date
Application number
PCT/EP2005/013676
Other languages
German (de)
English (en)
Inventor
Markus Kliffken
Sorn Stoll
Original Assignee
Bosch Rexroth Ag
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 Bosch Rexroth Ag filed Critical Bosch Rexroth Ag
Priority to EP05849245A priority Critical patent/EP1828491A1/fr
Priority to US11/793,567 priority patent/US20080134547A1/en
Priority to JP2007547311A priority patent/JP2008524480A/ja
Publication of WO2006066853A1 publication Critical patent/WO2006066853A1/fr

Links

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
    • 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

Definitions

  • the invention relates to a system for position detection and control for working arms of mobile machines according to the preamble of claim 1.
  • the position of the working devices is usually detected indirectly by means of length sensors in cylinders of the hydraulic system or by angle sensors.
  • An example of the position detection by angle sensors is known from DE 100 00 771 Al.
  • the document describes a device for attitude control for working equipment mobile machines, which comprises a measuring device for measuring an angle which is formed between a determined by the position of the working device level and the direction of the gravitational force, an angle sensor for specifying an angle which between a through the position of the working means is formed at a certain plane and the direction of gravitational force, and a control means for controlling the angle between the plane of the working means and the direction of gravitational force so that the measured angle is made coincident with the predetermined angle.
  • a disadvantage of such systems is in particular the very limited possibility of detecting disturbances and inaccuracies, so that the possibilities for adjustment are also limited.
  • a equipped with such a detection system eg GPS, Global Positioning System.
  • a equipped with such a detection system eg GPS, Global Positioning System.
  • the transmission or detection of position coordinates and / or 'an inclination of the working device between at least one sensor and a transmitter / receiver unit is performed by a contact-free transmission of the signals by electromagnetic waves.
  • Fig. 1 is a schematic representation of a first
  • Fig. 2 is a schematic representation of a second
  • Fig. 1 shows in a highly schematic representation of an embodiment of an inventively designed system for position detection and position control for a working arm 2 of a mobile machine 1.
  • the working machine 1 in the presently described embodiment is an earthmoving device such.
  • the invention is, however, not limited thereto, but also for other applications such. B. for cranes, concrete pumps, telehandlers etc. applicable.
  • the position detection of the working device 3 via non-contact sensors 4 preferably based on radio signals with microwave technology or higher frequency electromagnetic waves.
  • the sensors 4 are positioned there on the working arm 2 or on the working device 3, where the position is to be detected.
  • one of the sensors 4 is arranged in the working device 3 arranged on the working arm 2 and a further sensor 4 is arranged in a hydraulic 6 of the working arm 2.
  • sensors 4 active and particularly advantageous passive sensors 4 are suitable. Active sensors 4 are z. B. powered by a battery, which can be achieved for several years maintenance-free. If necessary, ambient energy can be used for charging.
  • a transmitting / receiving unit 5 is installed on the mobile work machine 1. The signals transmitted by the transmitting / receiving unit 5 are converted in the passive sensor 4 and returned in coded form. The measurement accuracy of such systems is current microwave technology at a few centimeters, the range is unlimited in terms of application. The transmission of signals from other types of sensors 4, for example from pressure sensors, can be carried out with comparable technology.
  • the position and orientation of the working device 3 is determined by the interaction of the sensors 4 and the transmitting / receiving unit 5.
  • the first, arranged on the working device 3 sensor 4 takes on the position and orientation, for example in the form of the variables x and y for the location and ⁇ for the tilt determination of the working device 3 and passes the signals without contact to the transmitting / receiving unit 5 on.
  • Reference system i. e. the working machine 1
  • Reference system i. e. the working machine 1
  • Acceleration sensors are determined. Likewise, for example, pressure signals of the hydraulic 6 or other physical variables such.
  • B. Speed or acceleration of the working device 3 and the temperature of the fluid and the flow rate are passed through the system without contact.
  • a pressure sensor 4 in the hydraulic system 6 is shown by way of example.
  • the transmitting / receiving unit 5 is in the working machine 1 with other components such as. a control unit 9 and a shift lever 10 for operation by the operator of the work machine 1 in conjunction.
  • a control unit 9 and a shift lever 10 for operation by the operator of the work machine 1 in conjunction.
  • By the operator via the shift lever 10 executed movements are by the control unit 9 in the corresponding signals and movements of the working device
  • the signals for determining the position and orientation of the working device 3 are thereby from at least one sensor
  • the amplifier unit 8 is arranged so that it has a direct visual connection to both units. It can, as shown in the embodiment of FIG. 2, be arranged on the working arm 2 of the working machine 1 or at a suitable position outside the working machine 1.
  • the amplifier unit 8 can be designed so that it additionally based on the same technology as the main system records its own data such as the location information and passes it to the transmitting / receiving unit 5. The data can be used for control or for operator assistance.
  • the invention is not limited to the illustrated embodiments, but can also be applied to any work machines 1 using different sensors 4 for different working equipment 3.
  • the features of the invention can be combined as desired.

Landscapes

  • 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

L'invention concerne un système de détermination et de réglage de position destiné à des organes de travail (3) disposés sur des bras de travail (2) d'engins de travaux mobiles (1), ce système comprenant au moins un capteur (4) et une unité d'émission/réception (5). Selon l'invention, la détermination et la transmission de coordonnées de position (x, y) et/ou d'une inclinaison (f) de l'organe de travail (3) entre le ou les capteurs (4) et l'unité d'émission/réception (5) sont réalisées sans contact.
PCT/EP2005/013676 2004-12-21 2005-12-19 Système de détermination de position WO2006066853A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP05849245A EP1828491A1 (fr) 2004-12-21 2005-12-19 Système de détermination de position
US11/793,567 US20080134547A1 (en) 2004-12-21 2005-12-19 System For Position Detection
JP2007547311A JP2008524480A (ja) 2004-12-21 2005-12-19 位置検出システム

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102004061560.8 2004-12-21
DE102004061560 2004-12-21
DE102005024676.1 2005-05-30
DE102005024676A DE102005024676A1 (de) 2004-12-21 2005-05-30 System zur Lageerfassung und -regelung für Arbeitsarme mobiler Arbeitsmaschinen

Publications (1)

Publication Number Publication Date
WO2006066853A1 true WO2006066853A1 (fr) 2006-06-29

Family

ID=36019811

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/013676 WO2006066853A1 (fr) 2004-12-21 2005-12-19 Système de détermination de position

Country Status (5)

Country Link
US (1) US20080134547A1 (fr)
EP (1) EP1828491A1 (fr)
JP (1) JP2008524480A (fr)
DE (1) DE102005024676A1 (fr)
WO (1) WO2006066853A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3132091A3 (fr) * 2022-01-27 2023-07-28 Manitou Bf Machine de manutention comprenant un dispositif de manutention

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007045846A1 (de) * 2007-09-26 2009-04-02 Deere & Company, Moline Landwirtschaftliche Maschine und Verfahren zur Positionsbestimmung
DE202010016283U1 (de) * 2010-12-07 2012-03-15 Liebherr-Werk Ehingen Gmbh Baumaschine mit mobiler Bedieneinheit und mobile Bedieneinheit
US20120315120A1 (en) * 2011-06-08 2012-12-13 Hyder Jarrod Work machine
US8620533B2 (en) * 2011-08-30 2013-12-31 Harnischfeger Technologies, Inc. Systems, methods, and devices for controlling a movement of a dipper
US9041595B2 (en) * 2011-12-19 2015-05-26 Trimble Navigation Limited Determining the location of a load for a tower crane
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US9415976B2 (en) * 2012-05-10 2016-08-16 Trimble Navigation Limited Crane collision avoidance
DE102012208635A1 (de) * 2012-05-23 2013-11-28 Hirschmann Automation And Control Gmbh Messung der Auslegerlänge eines Kranes mittels Laufzeitmessung
DE102013014626B4 (de) * 2013-09-04 2022-09-08 Schwing Gmbh Bestimmung der Position eines verlagerbaren Messpunktes an einer Maschine
US20150098786A1 (en) * 2013-10-03 2015-04-09 Caterpillar Inc. Work tool position sensing assembly
JP6710493B2 (ja) * 2014-06-18 2020-06-17 住友建機株式会社 建設機械及びショベル
US10962360B2 (en) * 2018-06-11 2021-03-30 Deere & Company Smartphone calibration of a grade control system for a work machine

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5065326A (en) * 1989-08-17 1991-11-12 Caterpillar, Inc. Automatic excavation control system and method
US5438771A (en) * 1994-05-10 1995-08-08 Caterpillar Inc. Method and apparatus for determining the location and orientation of a work machine
US5446980A (en) * 1994-03-23 1995-09-05 Caterpillar Inc. Automatic excavation control system and method
EP0866177A2 (fr) * 1997-03-10 1998-09-23 Clark Equipment Company Accessoire pour un outil à moteur
US5826483A (en) * 1996-07-26 1998-10-27 Kabushiki Kaisha F.F.C. Hydraulic heavy equipment
US20030147727A1 (en) * 2001-06-20 2003-08-07 Kazuo Fujishima Remote control system and remote setting system for construction machinery
US20040083628A1 (en) * 2002-10-31 2004-05-06 Deere & Company, A Delaware Corporation Automatic loader bucket orientation control

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2700710B2 (ja) * 1990-06-21 1998-01-21 新キャタピラー三菱株式会社 建設機械の警報装置
US6263595B1 (en) * 1999-04-26 2001-07-24 Apache Technologies, Inc. Laser receiver and angle sensor mounted on an excavator
DE19940404C2 (de) * 1999-08-25 2001-07-12 Moba Mobile Automation Gmbh Verfahren und Vorrichtung zum dreidimensionalen Steuern einer Baumaschine
DE10000771C2 (de) * 2000-01-11 2003-06-12 Brueninghaus Hydromatik Gmbh Vorrichtung und Verfahren zur Lageregelung für Arbeitseinrichtungen mobiler Arbeitsmaschinen
WO2002040783A1 (fr) * 2000-11-17 2002-05-23 Hitachi Construction Machinery Co., Ltd. Dispositif d'affichage et controleur d'affichage pour materiel de construction
US6865464B2 (en) * 2002-12-17 2005-03-08 Caterpillar Inc. System for determining an implement arm position
US6691437B1 (en) * 2003-03-24 2004-02-17 Trimble Navigation Limited Laser reference system for excavating machine
US6836982B1 (en) * 2003-08-14 2005-01-04 Caterpillar Inc Tactile feedback system for a remotely controlled work machine
US20080047170A1 (en) * 2006-08-24 2008-02-28 Trimble Navigation Ltd. Excavator 3D integrated laser and radio positioning guidance system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5065326A (en) * 1989-08-17 1991-11-12 Caterpillar, Inc. Automatic excavation control system and method
US5446980A (en) * 1994-03-23 1995-09-05 Caterpillar Inc. Automatic excavation control system and method
US5438771A (en) * 1994-05-10 1995-08-08 Caterpillar Inc. Method and apparatus for determining the location and orientation of a work machine
US5826483A (en) * 1996-07-26 1998-10-27 Kabushiki Kaisha F.F.C. Hydraulic heavy equipment
EP0866177A2 (fr) * 1997-03-10 1998-09-23 Clark Equipment Company Accessoire pour un outil à moteur
US20030147727A1 (en) * 2001-06-20 2003-08-07 Kazuo Fujishima Remote control system and remote setting system for construction machinery
US20040083628A1 (en) * 2002-10-31 2004-05-06 Deere & Company, A Delaware Corporation Automatic loader bucket orientation control

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3132091A3 (fr) * 2022-01-27 2023-07-28 Manitou Bf Machine de manutention comprenant un dispositif de manutention

Also Published As

Publication number Publication date
EP1828491A1 (fr) 2007-09-05
JP2008524480A (ja) 2008-07-10
US20080134547A1 (en) 2008-06-12
DE102005024676A1 (de) 2006-07-06

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