EP2586918A4 - Apparatus and method for controlling work trajectory of construction equipment - Google Patents

Apparatus and method for controlling work trajectory of construction equipment

Info

Publication number
EP2586918A4
EP2586918A4 EP11798396.5A EP11798396A EP2586918A4 EP 2586918 A4 EP2586918 A4 EP 2586918A4 EP 11798396 A EP11798396 A EP 11798396A EP 2586918 A4 EP2586918 A4 EP 2586918A4
Authority
EP
European Patent Office
Prior art keywords
construction equipment
controlling work
work trajectory
trajectory
controlling
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.)
Withdrawn
Application number
EP11798396.5A
Other languages
German (de)
French (fr)
Other versions
EP2586918A2 (en
Inventor
Ki Yong Kim
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.)
Hyundai Doosan Infracore Co Ltd
Original Assignee
Doosan Infracore 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
Priority claimed from KR1020100059363A external-priority patent/KR101716499B1/en
Priority claimed from KR1020100059364A external-priority patent/KR101715940B1/en
Application filed by Doosan Infracore Co Ltd filed Critical Doosan Infracore Co Ltd
Publication of EP2586918A2 publication Critical patent/EP2586918A2/en
Publication of EP2586918A4 publication Critical patent/EP2586918A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • 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
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • 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
    • 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
    • E02F3/438—Memorising movements for repetition, e.g. play-back capability
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • 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)
EP11798396.5A 2010-06-23 2011-06-23 Apparatus and method for controlling work trajectory of construction equipment Withdrawn EP2586918A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR1020100059363A KR101716499B1 (en) 2010-06-23 2010-06-23 Controlling trace apparatus and method for construction equipment using database
KR1020100059364A KR101715940B1 (en) 2010-06-23 2010-06-23 Controlling trace apparatus and method for construction equipments using teaching and playback
PCT/KR2011/004604 WO2011162561A2 (en) 2010-06-23 2011-06-23 Apparatus and method for controlling work trajectory of construction equipment

Publications (2)

Publication Number Publication Date
EP2586918A2 EP2586918A2 (en) 2013-05-01
EP2586918A4 true EP2586918A4 (en) 2014-10-29

Family

ID=45371969

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11798396.5A Withdrawn EP2586918A4 (en) 2010-06-23 2011-06-23 Apparatus and method for controlling work trajectory of construction equipment

Country Status (4)

Country Link
US (1) US20130103247A1 (en)
EP (1) EP2586918A4 (en)
CN (1) CN102947513B (en)
WO (1) WO2011162561A2 (en)

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AU2012202213B2 (en) * 2011-04-14 2014-11-27 Joy Global Surface Mining Inc Swing automation for rope shovel
JP5707313B2 (en) * 2011-12-19 2015-04-30 日立建機株式会社 Work vehicle
US9043098B2 (en) * 2012-10-05 2015-05-26 Komatsu Ltd. Display system of excavating machine and excavating machine
KR20150054566A (en) * 2013-11-12 2015-05-20 삼성에스디아이 주식회사 Apparatus and method for setting password
US9234329B2 (en) * 2014-02-21 2016-01-12 Caterpillar Inc. Adaptive control system and method for machine implements
KR101777935B1 (en) 2014-06-02 2017-09-12 가부시키가이샤 고마쓰 세이사쿠쇼 Construction machinery control system, construction machinery, and construction machinery control method
KR101658326B1 (en) 2014-09-10 2016-09-22 가부시키가이샤 고마쓰 세이사쿠쇼 Work vehicle and method of controlling work vehicle
KR102406097B1 (en) * 2014-09-18 2022-06-07 스미토모 겐키 가부시키가이샤 Shovel
EP3168373B1 (en) * 2014-11-14 2019-07-10 Caterpillar Inc. A machine with a system for improving safety
AR104232A1 (en) 2015-04-13 2017-07-05 Leica Geosystems Pty Ltd DYNAMIC MOVEMENT COMPENSATION IN MACHINERY
JP6618072B2 (en) * 2015-08-28 2019-12-11 キャタピラー エス エー アール エル Work machine
JP6666142B2 (en) * 2015-12-25 2020-03-13 株式会社小松製作所 Work vehicle and work vehicle control method
JP6740025B2 (en) * 2016-06-17 2020-08-12 住友重機械工業株式会社 Excavator
CN106836364B (en) * 2017-01-17 2019-02-12 大连理工大学 The automatic control system and optimal trajectory planning method of intelligent excavator
CN107527074B (en) 2017-09-05 2020-04-07 百度在线网络技术（北京）有限公司 Image processing method and device for vehicle
CN107882103B (en) * 2017-10-26 2019-09-10 南京工业大学 A kind of excavator 3 d pose is shown and Remote Automatic Control System
WO2019123511A1 (en) * 2017-12-18 2019-06-27 住友重機械工業株式会社 Shovel machine
EP3779053A4 (en) * 2018-03-30 2021-05-05 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Excavator
EP3561183B1 (en) * 2018-04-26 2022-04-06 Komatsu Ltd. Hydraulic control system, work machine and method for controlling operation of a work attachment
DE102018208642A1 (en) * 2018-05-30 2019-12-05 Robert Bosch Gmbh Method for the automated control of an excavator
CN108643275A (en) * 2018-06-06 2018-10-12 马鞍山松鹤信息科技有限公司 A kind of excavator trajectory planning and control system
JP7188940B2 (en) * 2018-08-31 2022-12-13 株式会社小松製作所 Control device, loading machine and control method
CN109782767B (en) * 2019-01-25 2022-06-07 北京百度网讯科技有限公司 Method and apparatus for outputting information
CN109811822B (en) * 2019-01-25 2021-08-03 北京百度网讯科技有限公司 Method and device for controlling excavator
CN110409546B (en) * 2019-07-25 2021-12-14 中国航空工业集团公司西安飞行自动控制研究所 Electric control system of excavator and positive flow system excavator
CN110725359B (en) * 2019-10-28 2022-03-01 上海三一重机股份有限公司 Trajectory control method and excavator
EP3872023A1 (en) * 2020-02-28 2021-09-01 MOBA Mobile Automation AG Control unit for recording motion sequences of a mobile construction and working machine
US11898321B2 (en) * 2020-12-17 2024-02-13 Topcon Positioning Systems, Inc. Input shaping for error detection and recovery in dynamically agile grading machines
CN113006185B (en) * 2021-02-08 2023-01-31 南京工程学院 Automatic navigation operation method and system for excavator

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
JPH05118056A (en) * 1991-10-29 1993-05-14 Komatsu Ltd Selection of automatic operation mode of work machine
US5359517A (en) * 1989-12-12 1994-10-25 Kabushiki Kaisha Komatsu Seisakusho Method and device for automating operation of construction machine
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
US5629849A (en) * 1993-06-30 1997-05-13 Samsung Heavy Industries Co., Ltd. Method for controlling operation of repeated work of excavator vehicle
CN1651666A (en) * 2005-03-28 2005-08-10 广西柳工机械股份有限公司 Path control system used for hydraulic digger operating device and its method
US20070168100A1 (en) * 2006-01-18 2007-07-19 George Danko Coordinated joint motion control system with position error correction

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2912986B2 (en) * 1991-10-24 1999-06-28 日立建機株式会社 Work machine trajectory control device
KR0168992B1 (en) * 1995-10-31 1999-02-18 유상부 Control method for an excavator
KR100231757B1 (en) * 1996-02-21 1999-11-15 사쿠마 하지메 Method and device for controlling attachment of construction machine
JP3258891B2 (en) * 1996-02-21 2002-02-18 新キャタピラー三菱株式会社 Work machine control method and device for construction machine
JP3145027B2 (en) * 1996-03-22 2001-03-12 新キャタピラー三菱株式会社 Automatic control device for hydraulic excavator
JP5752350B2 (en) * 2009-11-02 2015-07-22 住友重機械工業株式会社 Construction machine working method and construction machine

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
US5359517A (en) * 1989-12-12 1994-10-25 Kabushiki Kaisha Komatsu Seisakusho Method and device for automating operation of construction machine
JPH05118056A (en) * 1991-10-29 1993-05-14 Komatsu Ltd Selection of automatic operation mode of work machine
US5629849A (en) * 1993-06-30 1997-05-13 Samsung Heavy Industries Co., Ltd. Method for controlling operation of repeated work of excavator vehicle
US5493798A (en) * 1994-06-15 1996-02-27 Caterpillar Inc. Teaching automatic excavation control system and method
CN1651666A (en) * 2005-03-28 2005-08-10 广西柳工机械股份有限公司 Path control system used for hydraulic digger operating device and its method
US20070168100A1 (en) * 2006-01-18 2007-07-19 George Danko Coordinated joint motion control system with position error correction

Also Published As

Publication number Publication date
EP2586918A2 (en) 2013-05-01
CN102947513A (en) 2013-02-27
CN102947513B (en) 2015-07-08
WO2011162561A3 (en) 2012-05-03
WO2011162561A2 (en) 2011-12-29
US20130103247A1 (en) 2013-04-25

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Inventor name: KIM, KI YONG

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