US20080134547A1 - System For Position Detection - Google Patents

System For Position Detection Download PDF

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Publication number
US20080134547A1
US20080134547A1 US11/793,567 US79356705A US2008134547A1 US 20080134547 A1 US20080134547 A1 US 20080134547A1 US 79356705 A US79356705 A US 79356705A US 2008134547 A1 US2008134547 A1 US 2008134547A1
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United States
Prior art keywords
sensor
transmitting
receiving unit
disposed
operating
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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.)
Abandoned
Application number
US11/793,567
Inventor
Markus Kliffken
Sorn Stoll
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.)
Bosch Rexroth AG
Original Assignee
Bosch Rexroth AG
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Filing date
Publication date
Application filed by Bosch Rexroth AG filed Critical Bosch Rexroth AG
Assigned to BOSCH REXROTH AG reassignment BOSCH REXROTH AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: STOLL, SORN, KLIFFKEN, MARKUS
Assigned to BOSCH REXROTH AG reassignment BOSCH REXROTH AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: STOLL, SORN, KLIFFKEN, MARKUS
Publication of US20080134547A1 publication Critical patent/US20080134547A1/en
Abandoned legal-status Critical Current

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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 of operating arms of mobile machines according to the preamble of claim 1 .
  • the position of the operating mechanisms is usually detected indirectly by length sensors in cylinders of the hydraulic system or by angle sensors.
  • An example of position detection by angle sensors is known from DE 100 00 771 A1.
  • the publication describes a device for position control for operating mechanisms of mobile machines which comprises a measuring device for measuring an angle which is formed between a plane determined by the position of the operating mechanism and the direction of the gravitational force, an angle transmitter for prescribing an angle which is formed between a plane determined by the position of the operating mechanism and the direction of the gravitational force, and a control device for controlling the angle between the plane of the operating mechanism and the direction of the gravitational force so that the measured angle comes to correspond with the prescribed angle.
  • a transmitter/receiver which is suitable for application for this purpose is cost-intensive and high-maintenance.
  • An object of the present invention hence resides in providing a system for position detection and control for operating arms of mobile machines, which enables simple, economical and accurate position measurement and repositioning of the operating mechanism provided on the operating arm.
  • the transmission or determination of position coordinates and/or inclination of the operating mechanism between at least one sensor and one transmitting/receiving unit is advantageously effected without contact by transmitting signals by means of electromagnetic waves.
  • FIG. 1 a schematic representation of a first embodiment of the system according to the invention for position detection and position control of movable operating arms of mobile machines;
  • FIG. 2 a schematic representation of a second embodiment of the system according to the invention.
  • FIG. 1 shows, in a greatly schematic representation, an embodiment of a system which is configured according to the invention for position detection and position control for an operating arm 2 of a mobile machine 1 .
  • the machine 1 in the presently described embodiment is thereby an earth-moving device, such as e.g. a digger, having an operating mechanism 3 disposed on the operating arm 2 , a digger bucket in the embodiment.
  • an earth-moving device such as e.g. a digger
  • the invention is not restricted thereto but can be applied also for other applications, such as e.g. for cranes, concrete pumps, telehandlers etc.
  • the position detection of the operating mechanism 3 is effected according to the invention via contact-free sensors 4 , preferably based on radio signals with microwave technology or high-frequency electromagnetic waves.
  • the sensors 4 are positioned on the operating arm 2 or on the operating mechanism 3 wherever the position is intended to be detected.
  • one of the sensors 4 is disposed in the operating mechanism 3 disposed on the operating arm 2 and a further sensor 4 is disposed in a hydraulics unit 6 of the operating arm 2 .
  • Active and particularly advantageously passive sensors 4 are suitable as sensors 4 .
  • Active sensors 4 are thereby supplied for example by a battery, as a result of which several years of freedom from maintenance can be achieved. If necessary, environmental energy can be used for charging.
  • a transmitting/receiving unit 5 is installed on the mobile machine 1 .
  • the signals transmitted by the transmitting/receiving unit 5 are converted in the passive sensor 4 and returned in coded form.
  • the measuring accuracy of systems of this type is, in the case of current microwave technology, a few centimetres, the range in the sense of the application is unlimited. Transmission of signals from other types of sensors 4 , for example from pressure sensors, can be implemented with comparable technology.
  • the position and orientation of the operating mechanism 3 is determined by the cooperation of the sensors 4 and of the transmitting/receiving unit 5 .
  • the first sensor 4 disposed on the operating mechanism 3 thereby picks up the position and orientation for example in the form of variables x and y for the position determination and ⁇ for the inclination determination of the operating mechanism 3 and conveys the signals without contact to the transmitting/receiving unit 5 .
  • the absolute position and orientation of the reference system i.e. of the machine 1 , can be determined by GPS (global positioning system), inclination or acceleration sensors. Equally, for example pressure signals of the hydraulics unit 6 or other physical variables, such as e.g. speed or acceleration of the operating mechanism 3 and the temperature of the fluid and the volume flow through the system can be conveyed further without contact.
  • a pressure sensor 4 is illustrated by way of example in the hydraulics unit 6 .
  • the transmitting/receiving unit 5 is in communication in the machine 1 with further components, such as e.g. a control unit 9 and a control lever 10 for operating by the machine driver of the machine 1 . Movements carried out by the machine driver via the control lever 10 are converted by the control unit 9 into corresponding signals and movements of the operating mechanism 3 .
  • the signals for determining the position and orientation of the operating mechanism 3 are thereby determined by at least one sensor 4 in the operating mechanism 3 on the basis of running time measurements between the individual parts of the device.
  • the signals of the further physical variables such as e.g. pressure, speed, acceleration, temperature and volume flow, can be transmitted directly to the transmitting/receiving unit 5 .
  • the communication of the sensors 4 with the transmitting/receiving unit 5 can however be made difficult or impossible by obstacles, such as for example a wall 7 , illustrated in FIG. 2 .
  • the system according to FIG. 1 can be provided advantageously with an amplifier unit 8 which assists communication between the sensors 4 and the actual transmitting/receiving unit 5 on the machine 1 .
  • the amplifier unit 8 is disposed such that it has a direct visual connection to both units. As represented in the embodiment according to FIG. 2 , it can be disposed on the operating arm 2 of the machine 1 or also at a suitable position outside the machine 1 .
  • the amplifier unit 8 can thereby be designed such that, on the basis of the same technology as the main system, it picks up in addition separate data, such as for example position information and transmits it to the transmitting/receiving unit 5 .
  • the data can be used for control or for operator assistance.
  • the invention is not restricted to the illustrated embodiments but can be applied with any machine 1 using different sensors 4 for different operating mechanisms 3 .
  • the features of the invention can thereby be combined in any manner.

Abstract

The invention relates to a position determination and regulation system for working devices arranged on the working arms of mobile machine-tools. Said system comprises at least one sensor and an emission/reception unit. The determination and transmission of position co-ordinates (x, y) and/or an incline (φ) of the working device between the at least one sensor and the emission/reception unit are carried out in a contact-free manner.

Description

  • The invention relates to a system for position detection and control of operating arms of mobile machines according to the preamble of claim 1.
  • In the case of position-controlled operating arms of mobile machines, the position of the operating mechanisms is usually detected indirectly by length sensors in cylinders of the hydraulic system or by angle sensors. An example of position detection by angle sensors is known from DE 100 00 771 A1. The publication describes a device for position control for operating mechanisms of mobile machines which comprises a measuring device for measuring an angle which is formed between a plane determined by the position of the operating mechanism and the direction of the gravitational force, an angle transmitter for prescribing an angle which is formed between a plane determined by the position of the operating mechanism and the direction of the gravitational force, and a control device for controlling the angle between the plane of the operating mechanism and the direction of the gravitational force so that the measured angle comes to correspond with the prescribed angle.
  • In particular, the merely very limited possibility for detecting interferences and inaccuracies is disadvantageous in systems of this type, so that the possibility of adjustment to maximum power is likewise restricted.
  • It is known furthermore to detect the position of mobile machines on the ground by means of positioning systems (e.g. GPS, global positioning system). An operating device equipped with a detection system of this type emerges for example from WO 95/30799.
  • In particular the cost factor and the precision are thereby disadvantageous in position detection systems of this type. A transmitter/receiver which is suitable for application for this purpose is cost-intensive and high-maintenance.
  • An object of the present invention hence resides in providing a system for position detection and control for operating arms of mobile machines, which enables simple, economical and accurate position measurement and repositioning of the operating mechanism provided on the operating arm.
  • The object is achieved by the characterising features of claim 1.
  • The transmission or determination of position coordinates and/or inclination of the operating mechanism between at least one sensor and one transmitting/receiving unit is advantageously effected without contact by transmitting signals by means of electromagnetic waves.
  • The sub-claims include advantageous developments of the invention.
  • Advantageous embodiments of the invention are represented schematically subsequently with reference to the Figures. There are shown in the drawings:
  • FIG. 1 a schematic representation of a first embodiment of the system according to the invention for position detection and position control of movable operating arms of mobile machines; and
  • FIG. 2 a schematic representation of a second embodiment of the system according to the invention.
    •
  • FIG. 1 shows, in a greatly schematic representation, an embodiment of a system which is configured according to the invention for position detection and position control for an operating arm 2 of a mobile machine 1. The machine 1 in the presently described embodiment is thereby an earth-moving device, such as e.g. a digger, having an operating mechanism 3 disposed on the operating arm 2, a digger bucket in the embodiment. However the invention is not restricted thereto but can be applied also for other applications, such as e.g. for cranes, concrete pumps, telehandlers etc.
  • The position detection of the operating mechanism 3 is effected according to the invention via contact-free sensors 4, preferably based on radio signals with microwave technology or high-frequency electromagnetic waves. The sensors 4 are positioned on the operating arm 2 or on the operating mechanism 3 wherever the position is intended to be detected. In the first embodiment represented in FIG. 1, one of the sensors 4 is disposed in the operating mechanism 3 disposed on the operating arm 2 and a further sensor 4 is disposed in a hydraulics unit 6 of the operating arm 2.
  • Active and particularly advantageously passive sensors 4 are suitable as sensors 4. Active sensors 4 are thereby supplied for example by a battery, as a result of which several years of freedom from maintenance can be achieved. If necessary, environmental energy can be used for charging. When using passive sensors 4, a transmitting/receiving unit 5 is installed on the mobile machine 1. The signals transmitted by the transmitting/receiving unit 5 are converted in the passive sensor 4 and returned in coded form. The measuring accuracy of systems of this type is, in the case of current microwave technology, a few centimetres, the range in the sense of the application is unlimited. Transmission of signals from other types of sensors 4, for example from pressure sensors, can be implemented with comparable technology.
  • The position and orientation of the operating mechanism 3 is determined by the cooperation of the sensors 4 and of the transmitting/receiving unit 5. The first sensor 4 disposed on the operating mechanism 3 thereby picks up the position and orientation for example in the form of variables x and y for the position determination and φ for the inclination determination of the operating mechanism 3 and conveys the signals without contact to the transmitting/receiving unit 5. The absolute position and orientation of the reference system, i.e. of the machine 1, can be determined by GPS (global positioning system), inclination or acceleration sensors. Equally, for example pressure signals of the hydraulics unit 6 or other physical variables, such as e.g. speed or acceleration of the operating mechanism 3 and the temperature of the fluid and the volume flow through the system can be conveyed further without contact. In FIG. 1, a pressure sensor 4 is illustrated by way of example in the hydraulics unit 6.
  • The transmitting/receiving unit 5 is in communication in the machine 1 with further components, such as e.g. a control unit 9 and a control lever 10 for operating by the machine driver of the machine 1. Movements carried out by the machine driver via the control lever 10 are converted by the control unit 9 into corresponding signals and movements of the operating mechanism 3.
  • The signals for determining the position and orientation of the operating mechanism 3 are thereby determined by at least one sensor 4 in the operating mechanism 3 on the basis of running time measurements between the individual parts of the device. The signals of the further physical variables, such as e.g. pressure, speed, acceleration, temperature and volume flow, can be transmitted directly to the transmitting/receiving unit 5.
  • The communication of the sensors 4 with the transmitting/receiving unit 5 can however be made difficult or impossible by obstacles, such as for example a wall 7, illustrated in FIG. 2.
  • In order to counteract this, the system according to FIG. 1, as represented in a second embodiment in FIG. 2, can be provided advantageously with an amplifier unit 8 which assists communication between the sensors 4 and the actual transmitting/receiving unit 5 on the machine 1. In order to determine the position and orientation of the operating mechanism 3, the amplifier unit 8 is disposed such that it has a direct visual connection to both units. As represented in the embodiment according to FIG. 2, it can be disposed on the operating arm 2 of the machine 1 or also at a suitable position outside the machine 1. The amplifier unit 8 can thereby be designed such that, on the basis of the same technology as the main system, it picks up in addition separate data, such as for example position information and transmits it to the transmitting/receiving unit 5. The data can be used for control or for operator assistance.
  • The invention is not restricted to the illustrated embodiments but can be applied with any machine 1 using different sensors 4 for different operating mechanisms 3. The features of the invention can thereby be combined in any manner.

Claims (14)

1. System for detection and control of operating mechanisms (3) disposed on operating arms (2) of mobile machines (1), comprising at least one sensor (4) and a transmitting/receiving unit (5),
characterised in that
the transmission and detection of position coordinates (x, y) and/or of an inclination (φ) of the operating mechanism (3) between the at least one sensor (4) and the transmitting/receiving unit (5) is effected without contact.
2. System according to claim 1,
characterised in that
the at least one sensor (4) is configured as an active sensor (4).
3. System according to claim 1,
characterised in that
the at least one sensor (4) is configured as a passive sensor (4).
4. System according to one of the claims 1 to 3,
characterised in that
the at least one sensor (4) is disposed in the operating mechanism (3).
5. System according to claim 4,
characterised in that
signals emitted via a control lever (10) of the machine (1) can be transmitted by the transmitting/receiving unit (5) and the at least one sensor (4) to the operating mechanism (3).
6. System according to one of the claims 1 to 5,
characterised in that
at least one further sensor (4) is disposed in a hydraulics unit (6) of the operating arm (2).
7. System according to claim 6,
characterised in that
the sensor (4) disposed in the hydraulics unit (6) transmits a pressure signal (p).
8. System according to one of the claims 1 to 7,
characterised in that
the system has an amplifier unit (8).
9. System according to claim 8,
characterised in that
the amplifier unit (8) is configured in the form of at least one transmitting/receiving unit (5).
10. System according to claim 8 or 9,
characterised in that
the amplifier unit (8) is disposed on the operating arm (2) of the machine (1).
11. System according to claim 8 or 9,
characterised in that
the amplifier unit (8) is disposed separately from the machine (1).
12. System according to one of the claims 8 to 11,
characterised in that
the amplifier unit (8) is in direct visual contact with the at least one sensor (4) and the transmitting/receiving unit (5).
13. System according to one of the claims 1 to 12,
characterised in that
the transmission of the signals is effected on the basis of a radio signal, in particular on the basis of microwaves.
14. System according to one of the claims 1 to 13,
characterised in that
in addition physical variables (p) can be transmitted via the system to the transmitting/receiving unit (5).
US11/793,567 2004-12-21 2005-12-19 System For Position Detection Abandoned US20080134547A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102004061560 2004-12-21
DE102004061560.8 2004-12-21
DE102005024676.1 2005-05-30
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

Publications (1)

Publication Number Publication Date
US20080134547A1 true US20080134547A1 (en) 2008-06-12

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US11/793,567 Abandoned US20080134547A1 (en) 2004-12-21 2005-12-19 System For Position Detection

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US (1) US20080134547A1 (en)
EP (1) EP1828491A1 (en)
JP (1) JP2008524480A (en)
DE (1) DE102005024676A1 (en)
WO (1) WO2006066853A1 (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090082930A1 (en) * 2007-09-26 2009-03-26 Ole Peters Implement lift apparaturs control system position sensing
US20120143445A1 (en) * 2010-12-07 2012-06-07 Liebherr-Werk Ehingen Gmbh Construction machine having a mobile operating unit and mobile operation unit
US20120315120A1 (en) * 2011-06-08 2012-12-13 Hyder Jarrod Work machine
CN102966133A (en) * 2011-08-30 2013-03-13 哈尼施费格尔技术公司 Systems, methods, and devices for controlling a movement of a dipper
US20130154869A1 (en) * 2011-12-19 2013-06-20 John F. Cameron Determining the location of a load for a tower crane
US20150077283A1 (en) * 2012-05-23 2015-03-19 Robert Tordy Measuring jib length of a crane
US20150098786A1 (en) * 2013-10-03 2015-04-09 Caterpillar Inc. Work tool position sensing assembly
US20160223313A1 (en) * 2013-09-04 2016-08-04 Schwing Gmbh Determining the position of a movable measurement point on a machine
US9415976B2 (en) * 2012-05-10 2016-08-16 Trimble Navigation Limited Crane collision avoidance
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US10962360B2 (en) * 2018-06-11 2021-03-30 Deere & Company Smartphone calibration of a grade control system for a work machine

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Publication number Priority date Publication date Assignee Title
JP6710493B2 (en) * 2014-06-18 2020-06-17 住友建機株式会社 Construction machinery and excavators
FR3132091B3 (en) * 2022-01-27 2024-03-01 Manitou Bf HANDLING MACHINE COMPRISING A HANDLING DEVICE

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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
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US20030147727A1 (en) * 2001-06-20 2003-08-07 Kazuo Fujishima Remote control system and remote setting system for construction machinery
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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8155844B2 (en) * 2007-09-26 2012-04-10 Deere & Company Implement lift apparatus control system position sensing
US20090082930A1 (en) * 2007-09-26 2009-03-26 Ole Peters Implement lift apparaturs control system position sensing
US20120143445A1 (en) * 2010-12-07 2012-06-07 Liebherr-Werk Ehingen Gmbh Construction machine having a mobile operating unit and mobile operation unit
CN102530728A (en) * 2010-12-07 2012-07-04 利勃海尔-韦尔克爱茵根有限公司 Construction machine having mobile operating unit and mobile operation unit
US20120315120A1 (en) * 2011-06-08 2012-12-13 Hyder Jarrod Work machine
CN102966133A (en) * 2011-08-30 2013-03-13 哈尼施费格尔技术公司 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
US20130154869A1 (en) * 2011-12-19 2013-06-20 John F. Cameron Determining the location of a load for a tower crane
US9745721B2 (en) 2012-03-16 2017-08-29 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel
US10655301B2 (en) 2012-03-16 2020-05-19 Joy Global Surface Mining Inc Automated control of dipper swing for a shovel
US11761172B2 (en) 2012-03-16 2023-09-19 Joy Global Surface Mining Inc Automated control of dipper swing for a shovel
US9415976B2 (en) * 2012-05-10 2016-08-16 Trimble Navigation Limited Crane collision avoidance
US20150077283A1 (en) * 2012-05-23 2015-03-19 Robert Tordy Measuring jib length of a crane
US9856119B2 (en) * 2012-05-23 2018-01-02 Hirschmann Automation And Control Gmbh Measuring jib length of a crane
US20160223313A1 (en) * 2013-09-04 2016-08-04 Schwing Gmbh Determining the position of a movable measurement point on a machine
US20150098786A1 (en) * 2013-10-03 2015-04-09 Caterpillar Inc. Work tool position sensing assembly
US10962360B2 (en) * 2018-06-11 2021-03-30 Deere & Company Smartphone calibration of a grade control system for a work machine

Also Published As

Publication number Publication date
EP1828491A1 (en) 2007-09-05
DE102005024676A1 (en) 2006-07-06
JP2008524480A (en) 2008-07-10
WO2006066853A1 (en) 2006-06-29

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