EP0790355A4 - Appareil de definition d'une zone a excaver permettant de controler l'excavation d'une zone limitee par une machine de construction - Google Patents

Appareil de definition d'une zone a excaver permettant de controler l'excavation d'une zone limitee par une machine de construction

Info

Publication number
EP0790355A4
EP0790355A4 EP96926605A EP96926605A EP0790355A4 EP 0790355 A4 EP0790355 A4 EP 0790355A4 EP 96926605 A EP96926605 A EP 96926605A EP 96926605 A EP96926605 A EP 96926605A EP 0790355 A4 EP0790355 A4 EP 0790355A4
Authority
EP
European Patent Office
Prior art keywords
excavation
boundary
excavation region
basis
vehicle body
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
Application number
EP96926605A
Other languages
German (de)
English (en)
Other versions
EP0790355B1 (fr
EP0790355A1 (fr
Inventor
Hiroshi Watanabe
Toichi Hirata
Masakazu Haga
Kazuo Fujishima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of EP0790355A1 publication Critical patent/EP0790355A1/fr
Publication of EP0790355A4 publication Critical patent/EP0790355A4/fr
Application granted granted Critical
Publication of EP0790355B1 publication Critical patent/EP0790355B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • 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
    • E02F9/20—Drives; Control devices
    • 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
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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

Landscapes

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

Abstract

Cette invention concerne un appareil de définition d'une zone à excaver permettant de contrôler l'excavation d'une zone limitée par une machine de construction. Cet appareil va calculer un vecteur de vitesse de cible Vc permettant de contrôler une unité avant (1A) montée sur la base du corps d'un véhicule (1B), il va limiter la vitesse de déplacement de l'unité avant lorsqu'elle se déplace en direction d'une limite de la zone d'excavation prédéterminée et se rapproche de celle-ci en corrigeant le vecteur de vitesse de cible, puis il va déplacer l'unité avant le long de ladite limite. Une référence externe (80) est tout d'abord déterminée dans le sens horizontal en une position située hors du corps du godet hydraulique. Une profondeur hr est ensuite déterminée entre la référence externe et la limite de la zone d'excavation à l'aide d'une unité de définition (7), ceci afin de déterminer la zone d'excavation. L'unité avant (1A) est ensuite déplacée et, lorsque la position d'une référence avant (70) correspond à celle de la référence externe, on enclenche un commutateur (71) de définition de référence externe. L'unité de commande (9) va ainsi calculer la hauteur hf entre un point de référence O du corps du véhicule et la référence externe, puis la hauteur hs d'une surface limite de la zone d'excavation par rapport au point de référence O du corps du véhicule, ceci à partir de ladite hauteur hr et en utilisant la hauteur hf comme valeur de correction. L'unité de commande va ensuite déterminer la zone d'excavation à partir du corps du véhicule (1B), ce qui permettra de calculer le vecteur de vitesse de cible Vc. Ce système permet de définir une zone d'excavation en vue d'une opération de contrôle d'excavation dans laquelle les calculs sont effectués en s'appuyant sur la référence à établir du véhicule, et permet également d'effectuer des opérations de contrôle d'une grande fiabilité.
EP96926605A 1995-08-14 1996-08-08 Appareil de definition d'une zone a excaver permettant de controler l'excavation d'une zone limitee par une machine de construction Expired - Lifetime EP0790355B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP20702395A JP3609164B2 (ja) 1995-08-14 1995-08-14 建設機械の領域制限掘削制御の掘削領域設定装置
JP207023/95 1995-08-14
PCT/JP1996/002251 WO1997007296A1 (fr) 1995-08-14 1996-08-08 Appareil de definition d'une zone a excaver permettant de controler l'excavation d'une zone limitee par une machine de construction

Publications (3)

Publication Number Publication Date
EP0790355A1 EP0790355A1 (fr) 1997-08-20
EP0790355A4 true EP0790355A4 (fr) 1999-09-15
EP0790355B1 EP0790355B1 (fr) 2006-08-30

Family

ID=16532932

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96926605A Expired - Lifetime EP0790355B1 (fr) 1995-08-14 1996-08-08 Appareil de definition d'une zone a excaver permettant de controler l'excavation d'une zone limitee par une machine de construction

Country Status (6)

Country Link
EP (1) EP0790355B1 (fr)
JP (1) JP3609164B2 (fr)
KR (1) KR100191392B1 (fr)
CN (1) CN1064426C (fr)
DE (1) DE69636494T2 (fr)
WO (1) WO1997007296A1 (fr)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3571142B2 (ja) * 1996-04-26 2004-09-29 日立建機株式会社 建設機械の軌跡制御装置
KR100452101B1 (ko) 1999-10-01 2004-10-08 히다치 겡키 가부시키 가이샤 굴삭기계의 목표굴삭면 설정장치, 그 기록매체 및 표시장치
US6418364B1 (en) * 2000-12-13 2002-07-09 Caterpillar Inc. Method for determining a position and heading of a work machine
FI121243B (fi) * 2001-01-24 2010-08-31 Sandvik Mining & Constr Oy Lastauskone
KR100532664B1 (ko) * 2002-09-09 2005-12-02 주식회사 바이오메드랩 클라미디아 트라코마티스 탐지용 프로브, 이를 포함하는 클라미디아 트라코마티스 탐지용 키트, 및 이를 이용한 클라미디아 트라코마티스의 탐지방법
US8406963B2 (en) * 2009-08-18 2013-03-26 Caterpillar Inc. Implement control system for a machine
US8401746B2 (en) 2009-12-18 2013-03-19 Trimble Navigation Limited Excavator control using ranging radios
JP5237409B2 (ja) * 2011-03-24 2013-07-17 株式会社小松製作所 油圧ショベルの較正装置及び油圧ショベルの較正方法
KR101757366B1 (ko) * 2011-03-24 2017-07-12 가부시키가이샤 고마쓰 세이사쿠쇼 굴삭 제어 시스템
CL2012000933A1 (es) * 2011-04-14 2014-07-25 Harnischfeger Tech Inc Un metodo y una pala de cable para la generacion de un trayecto ideal, comprende: un motor de oscilacion, un motor de izaje, un motor de avance, un cucharon para excavar y vaciar materiales y, posicionar la pala por medio de la operacion del motor de izaje, el motor de avance y el motor de oscilacion y; un controlador que incluye un modulo generador de un trayecto ideal.
JP5952244B2 (ja) * 2013-09-12 2016-07-13 日立建機株式会社 掘削領域制限制御の基礎情報の演算装置及び建設機械
US9540793B2 (en) 2014-05-30 2017-01-10 Komatsu Ltd. Work machine control system, work machine, and work machine control method
JP6666209B2 (ja) * 2016-07-06 2020-03-13 日立建機株式会社 作業機械
EP3663465A4 (fr) * 2017-08-01 2020-08-12 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Dispositif de finition d'asphalte
EP3680395B1 (fr) * 2017-09-06 2022-08-03 Hitachi Construction Machinery Co., Ltd. Engin de chantier
JP7275498B2 (ja) 2018-08-23 2023-05-18 コベルコ建機株式会社 作業機械
US11377813B2 (en) * 2018-09-20 2022-07-05 Hitachi Construction Machinery Co., Ltd. Work machine with semi-automatic excavation and shaping
JP7283910B2 (ja) 2019-02-01 2023-05-30 株式会社小松製作所 建設機械の制御システム、建設機械、及び建設機械の制御方法
JP7146701B2 (ja) * 2019-06-27 2022-10-04 日立建機株式会社 油圧ショベル
US20230383500A1 (en) * 2020-09-28 2023-11-30 Kobelco Construction Machinery Co., Ltd. Working area setting system and operation target detection system
CN120273401B (zh) * 2025-06-12 2025-08-01 山西鸿海工程设计有限公司 一种水利工程护坡施工装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4829418A (en) * 1987-04-24 1989-05-09 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
WO1993023628A1 (fr) * 1992-05-19 1993-11-25 Kabushiki Kaisha Komatsu Seisakusho Appareil limitant le rayon d'action d'un engin de chantier
GB2272204A (en) * 1992-11-09 1994-05-11 Kubota Kk Contact prevention system for a backhoe
EP0707118A1 (fr) * 1994-04-28 1996-04-17 Hitachi Construction Machinery Co., Ltd. Dispositif de commande d'excavation a limitation de surface de travail pour engin de terrassement
EP0735202A1 (fr) * 1995-03-30 1996-10-02 Laser Alignment, Inc. Commande et procédé de commande pour une machine hydraulique de travail

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0633618B2 (ja) * 1987-03-09 1994-05-02 日立建機株式会社 建設機械
JPH0794735B2 (ja) * 1990-09-27 1995-10-11 株式会社小松製作所 掘削作業機の作業領域制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4829418A (en) * 1987-04-24 1989-05-09 Laser Alignment, Inc. Apparatus and method for controlling a hydraulic excavator
WO1993023628A1 (fr) * 1992-05-19 1993-11-25 Kabushiki Kaisha Komatsu Seisakusho Appareil limitant le rayon d'action d'un engin de chantier
US5490081A (en) * 1992-05-19 1996-02-06 Kabushiki Kaisha Komatsu Seisakusho Working tool operation range limiting apparatus
GB2272204A (en) * 1992-11-09 1994-05-11 Kubota Kk Contact prevention system for a backhoe
EP0707118A1 (fr) * 1994-04-28 1996-04-17 Hitachi Construction Machinery Co., Ltd. Dispositif de commande d'excavation a limitation de surface de travail pour engin de terrassement
EP0735202A1 (fr) * 1995-03-30 1996-10-02 Laser Alignment, Inc. Commande et procédé de commande pour une machine hydraulique de travail

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO9707296A1 *

Also Published As

Publication number Publication date
EP0790355B1 (fr) 2006-08-30
WO1997007296A1 (fr) 1997-02-27
CN1157020A (zh) 1997-08-13
EP0790355A1 (fr) 1997-08-20
KR100191392B1 (ko) 1999-06-15
CN1064426C (zh) 2001-04-11
JPH0953253A (ja) 1997-02-25
DE69636494D1 (de) 2006-10-12
DE69636494T2 (de) 2007-02-15
KR970705678A (ko) 1997-10-09
JP3609164B2 (ja) 2005-01-12

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