CN109680740A - Excavate machine automatic drive system and control method - Google Patents
Excavate machine automatic drive system and control method Download PDFInfo
- Publication number
- CN109680740A CN109680740A CN201811618029.0A CN201811618029A CN109680740A CN 109680740 A CN109680740 A CN 109680740A CN 201811618029 A CN201811618029 A CN 201811618029A CN 109680740 A CN109680740 A CN 109680740A
- Authority
- CN
- China
- Prior art keywords
- pilot pressure
- solenoid valve
- dipper
- scraper bowl
- attitude
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000009412 basement excavation Methods 0.000 claims abstract description 44
- 238000010276 construction Methods 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000007423 decrease Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 5
- 238000005065 mining Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 description 5
- 238000011897 real-time detection Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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
-
- 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
- E02F9/26—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)
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)
Abstract
The invention discloses a kind of excavation machine automatic drive system and control methods, belong to work machine control system field.Excavating machine automatic drive system includes: the attitude transducer for being separately mounted to swing arm, dipper, scraper bowl, the pivoting support rotary angle transmitter being mounted on pivoting support, it is separately mounted between control crank and main control valve in each guide's oil circuit for controlling pilot pressure sensor, the pilot pressure solenoid valve of driving main control valve, controller, each sensor is connect with the controller input terminal, and each solenoid valve is connect with the controller control terminal；The invention discloses the specific workflows for excavating machine automatic drive system control method simultaneously.It is provided by the invention to excavate machine automatic drive system and control method, it can be achieved that the Function for Automatic Pilot of excavator wins the time of having a rest for driver, guarantee working efficiency and construction safety so that substituting driver completes most of repeated labor.
Description
Technical field
The invention belongs to a kind of control system of engineering machinery and control methods, specifically, more particularly to a kind of excavation
Machine automatic drive system and control method.
Background technique
Excavator is one of most important type of engineering machinery field, copes with various operating conditions, is completed a plurality of types of
Construction requirement.Wherein most important work progress is: excavation → boom arm lift+revolution → unloading → swing arm decline+revolution returns
→ excavate, this process moves in circles, and realizes the purpose that material is transported to other positions from some position.The working cycles are
Excavator driving person, which passes through, constantly manipulates what left and right handle was realized.Therefore, within the time up to a few hours, driver is needed
It repeats identical operation and cannot rest, be particularly easy to cause driver fatigue, to influence working efficiency and construction peace
Entirely.
Summary of the invention
It is an object of the present invention to provide a kind of excavation machine automatic drive system of Function for Automatic Pilot for realizing excavator and controls
Method processed be easy to cause lacking for driver fatigue to overcome driver in the prior art to need to repeat identical operation for a long time
It falls into.
Realization that the present invention adopts the following technical solutions:
Excavation machine automatic drive system of the present invention, comprising:
It is separately mounted to swing arm, dipper, scraper bowl, the swing arm attitude transducer on pivoting support, dipper attitude transducer, shovel
Struggle against attitude transducer, pivoting support rotary angle transmitter,
It is separately mounted to the boom arm lift pilot pressure sensor between control crank and main control valve in each guide's oil circuit, moves
Arm promotes pilot pressure solenoid valve, swing arm decline pilot pressure sensor, swing arm and declines pilot pressure solenoid valve, and scraper bowl turns up elder generation
Pilot force snesor, scraper bowl turn up, and pilot pressure solenoid valve, scraper bowl excavate pilot pressure sensor, scraper bowl excavates pilot pressure electricity
Magnet valve, dipper excavate pilot pressure sensor, dipper excavates pilot pressure solenoid valve, dipper turns up pilot pressure sensor, bucket
Bar turns up pilot pressure solenoid valve, right-hand rotation pilot pressure sensor, right-hand rotation pilot pressure solenoid valve, Zuo Huizhuan pilot pressure
Sensor, Zuo Huizhuan pilot pressure solenoid valve,
Controller, above-mentioned each sensor are connect with the controller input terminal, above-mentioned each solenoid valve and the control
The connection of device control terminal.
Further, the swing arm attitude transducer includes boom rotation angle sensor and boom cylinder displacement sensor.
Further, the dipper attitude transducer includes arm rotation angle sensor and bucket arm cylinder displacement sensor.
Further, the scraper bowl attitude transducer includes bucket rotation angle sensor 3 and bucket cylinder displacement sensor.
The control method of the present invention for excavating machine automatic drive system, including following work step:
(1) driver operates excavator normal construction, and controller acquires swing arm, dipper, scraper bowl and revolving support in real time
Posture calculates the average excavating depth under the operating condition, every circulation excavates offset and unloading offset；
(2) start Function for Automatic Pilot, definition mining starting point a and excavation terminal b, in conjunction with average excavating depth H-shaped at digging
Range solid fence is dug, definition unloading starting point c and unloading terminal d form unloading range fence, while determining and excavating initial attitude
With termination posture, unloading initial attitude and termination posture；
(3) whether detection swing arm posture reaches excavation initial attitude, if swing arm real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to swing arm decline pilot pressure solenoid-driven swing arm decline and excavates initial attitude until reaching, if swing arm is real
When posture lower than excavate initial attitude, controller output current to boom arm lift pilot pressure solenoid-driven swing arm rise until
It reaches and excavates initial attitude；
(4) whether detection dipper posture reaches excavation initial attitude, if dipper real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to dipper and excavates the excavation of pilot pressure solenoid-driven dipper until excavation initial attitude is reached, if dipper is real
When posture lower than excavate initial attitude, controller output current to dipper turn up pilot pressure solenoid-driven dipper turn up until
It reaches and excavates initial attitude；
(5) whether detection scraper bowl posture reaches excavation initial attitude, if scraper bowl real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to scraper bowl and excavates the excavation of pilot pressure solenoid-driven scraper bowl until excavation initial attitude is reached, if scraper bowl is real
When posture lower than excavate initial attitude, controller output current to scraper bowl turn up pilot pressure solenoid-driven scraper bowl turn up until
It reaches and excavates initial attitude；
(6) whether detection revolution real-time attitude reaches excavation initial attitude, if revolution real-time attitude is to the right, controller output
Electric current to left revolution pilot pressure solenoid-driven turns round to the left until reaching and excavates initial attitude, if revolution real-time attitude is inclined
A left side, controller output current to right-hand rotation pilot pressure solenoid-driven and excavate initial attitude until reaching to right-hand rotation；
(7) if swing arm, dipper, scraper bowl and revolution, which reach, excavates initial attitude, controller outputs current to dipper excavation
Pilot pressure solenoid valve and scraper bowl excavate pilot pressure solenoid valve and start to excavate material until dipper and scraper bowl real-time attitude reach
It excavates and terminates posture；
(8) if dipper and scraper bowl reach excavation and terminate posture, controller outputs current to boom arm lift pilot pressure electricity
Magnet valve and left revolution pilot pressure solenoid valve or right-hand rotation pilot pressure solenoid valve start handling material up to swing arm and are turned back to
Up to unloading initial attitude；
(9) if swing arm and revolution reach unloading initial attitude, controller output current to dipper turn up pilot pressure electricity
Magnet valve and scraper bowl the pilot pressure solenoid valve that turns up start unloading materials until dipper and scraper bowl reach unloading and terminate posture；
(10) offset and unloading offset are excavated according to every circulation, calculates subsequent cycle and excavates in range solid fence
It excavates initial attitude and terminates unloading initial attitude in posture and unloading range fence and terminate posture.
(11) step (3)~step (10) are repeated, starts subsequent work circulation.
Compared with prior art, the beneficial effects of the present invention are:
It is provided by the invention excavate machine automatic drive system and control method, it can be achieved that excavator Function for Automatic Pilot,
Most of repeated labor is completed to substitute driver, the time of having a rest is won for driver, guarantees working efficiency and construction peace
Entirely.
Detailed description of the invention
Fig. 1 is hydraulic principle schematic diagram of the invention；
Fig. 2 is electrical principle block diagram of the invention；
Fig. 3 is control flow chart of the invention；
Fig. 4 is excavation range schematic diagram of the invention；
Fig. 5 is unloading range schematic diagram of the invention.
In figure: 1, boom rotation angle sensor；2, boom cylinder displacement sensor；3, arm rotation angle sensor；4, dipper oil
Cylinder displacement sensor；5, bucket rotation angle sensor；6, bucket cylinder displacement sensor；7, pivoting support rotary angle transmitter；8, it moves
Arm promotes pilot pressure sensor；9, scraper bowl turns up pilot pressure sensor；10, swing arm declines pilot pressure sensor；11, it shovels
Bucket excavates pilot pressure sensor；12, dipper excavates pilot pressure sensor；13, right-hand rotation pilot pressure sensor；14, it struggles against
Bar turns up pilot pressure sensor；15, Zuo Huizhuan pilot pressure sensor；16, boom arm lift pilot pressure solenoid valve；17, it shovels
Struggle against the pilot pressure solenoid valve that turns up；18, swing arm declines pilot pressure solenoid valve；19, scraper bowl excavates pilot pressure solenoid valve；20,
Dipper excavates pilot pressure solenoid valve；21, right-hand rotation pilot pressure solenoid valve；22, dipper turns up pilot pressure solenoid valve；23,
Left revolution pilot pressure solenoid valve.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
As depicted in figs. 1 and 2, a kind of excavation machine automatic drive system of the present invention, comprising: swing arm posture sensing
Device, dipper attitude transducer, scraper bowl attitude transducer, pivoting support rotary angle transmitter 7, boom arm lift pilot pressure sensor 8,
Boom arm lift pilot pressure solenoid valve 16, swing arm decline pilot pressure sensor 10, swing arm decline pilot pressure solenoid valve 18, shovel
Bucket turn up pilot pressure sensor 9, scraper bowl turn up pilot pressure solenoid valve 17, scraper bowl excavate pilot pressure sensor 11, scraper bowl
Excavate pilot pressure solenoid valve 19, dipper excavates pilot pressure sensor 12, dipper excavates pilot pressure solenoid valve 20, outside dipper
Turn over pilot pressure sensor 14, dipper turns up pilot pressure solenoid valve 22, right-hand rotation pilot pressure sensor 13, right-hand rotation guide
Pressure solenoid valve 21, Zuo Huizhuan pilot pressure sensor 15, Zuo Huizhuan pilot pressure solenoid valve 23 and controller, each sensor
It is connect with the controller input terminal, each solenoid valve is connect with the controller control terminal.
Swing arm attitude transducer includes boom rotation angle sensor 1 and boom cylinder displacement sensor 2；Dipper attitude transducer
Including arm rotation angle sensor 3 and bucket arm cylinder displacement sensor 4；Scraper bowl attitude transducer includes 5 He of bucket rotation angle sensor
Bucket cylinder displacement sensor 6.
When implementation, it is dynamic to real-time detection that boom rotation angle sensor 1 and boom cylinder displacement sensor 2 are installed on swing arm
The posture of arm installs the appearance of arm rotation angle sensor 3 and bucket arm cylinder displacement sensor 4 to real-time detection dipper on dipper
State installs the posture of bucket rotation angle sensor 5 or bucket cylinder displacement sensor 6 to real-time detection scraper bowl on scraper bowl,
Pivoting support rotary angle transmitter 7 is installed on pivoting support and turns round posture to real-time detection.Between control crank and main control valve
Each guide's oil circuit on installed under boom arm lift pilot pressure sensor 8, boom arm lift pilot pressure solenoid valve 16, swing arm respectively
Drop pilot pressure sensor 10, swing arm decline pilot pressure solenoid valve 18, scraper bowl turns up, and pilot pressure sensor 9, scraper bowl turn up
Pilot pressure solenoid valve 17, scraper bowl excavate pilot pressure sensor 11, scraper bowl excavates pilot pressure solenoid valve 19, dipper excavates first
Pilot force snesor 12, dipper excavate turn up pilot pressure sensor 14, dipper of pilot pressure solenoid valve 20, dipper and turn up guide
Pressure solenoid valve 22, right-hand rotation pilot pressure sensor 13, right-hand rotation pilot pressure solenoid valve 21, Zuo Huizhuan pilot pressure sensing
Device 15, Zuo Huizhuan pilot pressure solenoid valve 23；Controller can real-time detection swing arm, dipper, scraper bowl and pivoting support posture and
Each pilot pressure signal can issue electric current to each pilot pressure electromagnetic proportional valve to drive main control valve as needed.
Fig. 3 is control method flow chart of the invention, the control method of the present invention for excavating machine automatic drive system
Specific step is as follows:
(1) driver operates excavator normal construction, and controller acquires swing arm, dipper, scraper bowl and revolving support in real time
Posture calculates the average excavating depth under the operating condition, every circulation excavates offset and unloading offset；
(2) start Function for Automatic Pilot, definition mining starting point a and excavation terminal b, in conjunction with average excavating depth H-shaped at digging
Range solid fence is dug, definition unloading starting point c and unloading terminal d form unloading range fence, while determining and excavating initial attitude
With terminate posture, unloading initial attitude and terminate posture, referring to fig. 4, Fig. 5；
(3) whether detection swing arm posture reaches excavation initial attitude, if swing arm real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to swing arm decline pilot pressure solenoid valve 18 and swing arm decline is driven to excavate initial attitude until reaching, if swing arm
Real-time attitude outputs current to boom arm lift pilot pressure solenoid valve 16 and swing arm is driven to rise lower than initial attitude, controller is excavated
Initial attitude is excavated until reaching；
(4) whether detection dipper posture reaches excavation initial attitude, if dipper real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to dipper and excavates the driving dipper excavation of pilot pressure solenoid valve 20 until initial attitude is excavated in arrival, if dipper
Real-time attitude lower than excavate initial attitude, controller output current to dipper turn up pilot pressure solenoid valve 22 drive dipper turn up
Initial attitude is excavated until reaching；
(5) whether detection scraper bowl posture reaches excavation initial attitude, if scraper bowl real-time attitude, which is higher than, excavates initial attitude, control
Device processed outputs current to scraper bowl and excavates the driving scraper bowl excavation of pilot pressure solenoid valve 19 until initial attitude is excavated in arrival, if scraper bowl
Real-time attitude lower than excavate initial attitude, controller output current to scraper bowl turn up pilot pressure solenoid valve 17 drive scraper bowl turn up
Initial attitude is excavated until reaching；
(6) whether detection revolution real-time attitude reaches excavation initial attitude, if revolution real-time attitude is to the right, controller output
Electric current to left revolution pilot pressure solenoid valve 23 drives revolution to the left to excavate initial attitude until reaching, if revolution real-time attitude is inclined
A left side, controller output current to right-hand rotation pilot pressure solenoid valve 21 and drive to right-hand rotation until reaching excavation initial attitude；
(7) if swing arm, dipper, scraper bowl and revolution, which reach, excavates initial attitude, controller outputs current to dipper excavation
Pilot pressure solenoid valve 20 and scraper bowl excavate pilot pressure solenoid valve 19 and start to excavate material until dipper and scraper bowl real-time attitude
It reaches to excavate and terminates posture；
(8) if dipper and scraper bowl reach excavation and terminate posture, controller outputs current to boom arm lift pilot pressure electricity
Magnet valve 16 and left revolution pilot pressure solenoid valve 23 or right-hand rotation pilot pressure solenoid valve 21 start handling material until swing arm and
Revolution reaches unloading initial attitude；
(9) if swing arm and revolution reach unloading initial attitude, controller output current to dipper turn up pilot pressure electricity
Magnet valve 22 and scraper bowl turn up the beginning unloading materials of pilot pressure solenoid valve 17 until dipper and scraper bowl reach unloading termination posture；
(10) offset and unloading offset are excavated according to every circulation, calculates subsequent cycle and excavates in range solid fence
It excavates initial attitude and terminates unloading initial attitude in posture and unloading range fence and terminate posture.
(11) step (3)~step (10) are repeated, starts subsequent work circulation.
It is recycled by above-mentioned a series of actions, excavator can be automatically completed the transfer of material.
Claims (5)
1. a kind of excavation machine automatic drive system, it is characterised in that: include:
It is separately mounted to swing arm, dipper, scraper bowl, the swing arm attitude transducer on pivoting support, dipper attitude transducer, scraper bowl appearance
State sensor, pivoting support rotary angle transmitter (7),
It is separately mounted to the boom arm lift pilot pressure sensor (8) between control crank and main control valve in each guide's oil circuit, moves
Arm promotes pilot pressure solenoid valve (16), swing arm decline pilot pressure sensor (10), swing arm decline pilot pressure solenoid valve
(18), scraper bowl turn up pilot pressure sensor (9), scraper bowl turn up pilot pressure solenoid valve (17), scraper bowl excavate pilot pressure pass
Sensor (11), scraper bowl excavate pilot pressure solenoid valve (19), dipper excavates pilot pressure sensor (12), dipper excavates first pilot
Turn up pilot pressure sensor (14), dipper of power solenoid valve (20), dipper turns up pilot pressure solenoid valve (22), right-hand rotation guide
Pressure sensor (13), right-hand rotation pilot pressure solenoid valve (21), Zuo Huizhuan pilot pressure sensor (15), the first pilot of left revolution
Power solenoid valve (23),
Controller, above-mentioned each sensor are connect with the controller input terminal, above-mentioned each solenoid valve and the controller control
End connection processed.
2. excavation machine automatic drive system according to claim 1, it is characterised in that: the swing arm attitude transducer includes
Boom rotation angle sensor (1) and boom cylinder displacement sensor (2).
3. excavation machine automatic drive system according to claim 1, it is characterised in that: the dipper attitude transducer includes
Arm rotation angle sensor (3) and bucket arm cylinder displacement sensor (4).
4. excavation machine automatic drive system according to claim 1, it is characterised in that: the scraper bowl attitude transducer includes
Bucket rotation angle sensor (5) and bucket cylinder displacement sensor (6).
5. a kind of control method for excavating machine automatic drive system, it is characterised in that: including following work step:
(1) driver operates excavator normal construction, and controller acquires the posture of swing arm, dipper, scraper bowl and revolving support in real time,
Calculate the average excavating depth under the operating condition, every circulation excavates offset and unloading offset；
(2) start Function for Automatic Pilot, definition mining starting point a and excavation terminal b, in conjunction with average excavating depth H-shaped at excavation model
Three-dimensional fence is enclosed, definition unloading starting point c and unloading terminal d form unloading range fence, while determining and excavating initial attitude and end
Only posture, unloading initial attitude and termination posture；
(3) whether detection swing arm posture reaches excavation initial attitude, if swing arm real-time attitude, which is higher than, excavates initial attitude, controller
It outputs current to swing arm decline pilot pressure solenoid valve (18) driving swing arm decline and excavates initial attitude until reaching, if swing arm is real
When posture lower than excavate initial attitude, controller output current to boom arm lift pilot pressure solenoid valve (16) driving swing arm rise
Initial attitude is excavated until reaching；
(4) whether detection dipper posture reaches excavation initial attitude, if dipper real-time attitude, which is higher than, excavates initial attitude, controller
It outputs current to dipper and excavates the excavation of pilot pressure solenoid valve (20) driving dipper until initial attitude is excavated in arrival, if dipper is real
When posture lower than excavate initial attitude, controller output current to dipper turn up pilot pressure solenoid valve (22) driving dipper turn up
Initial attitude is excavated until reaching；
(5) whether detection scraper bowl posture reaches excavation initial attitude, if scraper bowl real-time attitude, which is higher than, excavates initial attitude, controller
It outputs current to scraper bowl and excavates the excavation of pilot pressure solenoid valve (19) driving scraper bowl until initial attitude is excavated in arrival, if scraper bowl is real
When posture lower than excavate initial attitude, controller output current to scraper bowl turn up pilot pressure solenoid valve (17) driving scraper bowl turn up
Initial attitude is excavated until reaching；
(6) whether detection revolution real-time attitude reaches excavation initial attitude, if revolution real-time attitude is to the right, controller exports electric current
Initial attitude is excavated to left revolution pilot pressure solenoid valve (23) driving revolution to the left until reaching, if revolution real-time attitude is inclined
A left side, controller output current to right-hand rotation pilot pressure solenoid valve (21) and drive to right-hand rotation until reaching excavation initial attitude；
(7) if swing arm, dipper, scraper bowl and revolution, which reach, excavates initial attitude, controller outputs current to dipper and excavates guide
Pressure solenoid valve (20) and scraper bowl excavate pilot pressure solenoid valve (19) and start to excavate material until dipper and scraper bowl real-time attitude
It reaches to excavate and terminates posture；
(8) if dipper and scraper bowl reach excavation and terminate posture, controller outputs current to boom arm lift pilot pressure solenoid valve
(16) and left revolution pilot pressure solenoid valve (23) or right-hand rotation pilot pressure solenoid valve (21) start handling material until swing arm
Unloading initial attitude is reached with revolution；
(9) if swing arm and revolution reach unloading initial attitude, controller outputs current to dipper and turns up pilot pressure solenoid valve
(22) and scraper bowl turns up pilot pressure solenoid valve (17) beginning unloading materials until dipper and scraper bowl reach unloading termination posture；
(10) offset and unloading offset are excavated according to every circulation, calculates the excavation in subsequent cycle excavation range solid fence
Unloading initial attitude and termination posture in initial attitude and termination posture and unloading range fence.
(11) step (3)~step (10) are repeated, starts subsequent work circulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618029.0A CN109680740A (en) | 2018-12-28 | 2018-12-28 | Excavate machine automatic drive system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811618029.0A CN109680740A (en) | 2018-12-28 | 2018-12-28 | Excavate machine automatic drive system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109680740A true CN109680740A (en) | 2019-04-26 |
Family
ID=66190761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811618029.0A Pending CN109680740A (en) | 2018-12-28 | 2018-12-28 | Excavate machine automatic drive system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109680740A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113006185A (en) * | 2021-02-08 | 2021-06-22 | 南京工程学院 | Automatic navigation operation method and system for excavator |
| CN115030244A (en) * | 2022-05-23 | 2022-09-09 | 中联重科土方机械有限公司 | Positive flow excavator and control method, control device and controller thereof |
| CN115404928A (en) * | 2022-09-02 | 2022-11-29 | 潍柴动力股份有限公司 | Excavator action identification method, device and system |
| CN116356912A (en) * | 2023-03-27 | 2023-06-30 | 中联重科土方机械有限公司 | Control method and control device for rotation brake of excavator and excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10212740A (en) * | 1997-01-30 | 1998-08-11 | Komatsu Ltd | Automatic excavating method for hydraulic shovel |
| US20080162004A1 (en) * | 2006-12-27 | 2008-07-03 | Price Robert J | Machine control system and method |
| CN105317071A (en) * | 2014-07-02 | 2016-02-10 | J.C.班福德挖掘机有限公司 | material processor |
| CN105378186A (en) * | 2014-06-02 | 2016-03-02 | 株式会社小松制作所 | Construction machinery control system, construction machinery, and construction machinery control method |
| CN107740448A (en) * | 2017-11-30 | 2018-02-27 | 南京工业大学 | Unmanned automatic excavator intelligent construction system |
| CN108286272A (en) * | 2017-12-27 | 2018-07-17 | 青岛雷沃工程机械有限公司 | It is semi-automatic to repair slope excavator |
-
2018
- 2018-12-28 CN CN201811618029.0A patent/CN109680740A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10212740A (en) * | 1997-01-30 | 1998-08-11 | Komatsu Ltd | Automatic excavating method for hydraulic shovel |
| US20080162004A1 (en) * | 2006-12-27 | 2008-07-03 | Price Robert J | Machine control system and method |
| CN105378186A (en) * | 2014-06-02 | 2016-03-02 | 株式会社小松制作所 | Construction machinery control system, construction machinery, and construction machinery control method |
| CN105317071A (en) * | 2014-07-02 | 2016-02-10 | J.C.班福德挖掘机有限公司 | material processor |
| CN107740448A (en) * | 2017-11-30 | 2018-02-27 | 南京工业大学 | Unmanned automatic excavator intelligent construction system |
| CN108286272A (en) * | 2017-12-27 | 2018-07-17 | 青岛雷沃工程机械有限公司 | It is semi-automatic to repair slope excavator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113006185A (en) * | 2021-02-08 | 2021-06-22 | 南京工程学院 | Automatic navigation operation method and system for excavator |
| CN115030244A (en) * | 2022-05-23 | 2022-09-09 | 中联重科土方机械有限公司 | Positive flow excavator and control method, control device and controller thereof |
| CN115030244B (en) * | 2022-05-23 | 2024-02-27 | 中联重科土方机械有限公司 | Positive flow excavator, control method, control device and controller thereof |
| CN115404928A (en) * | 2022-09-02 | 2022-11-29 | 潍柴动力股份有限公司 | Excavator action identification method, device and system |
| CN116356912A (en) * | 2023-03-27 | 2023-06-30 | 中联重科土方机械有限公司 | Control method and control device for rotation brake of excavator and excavator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109680740A (en) | Excavate machine automatic drive system and control method | |
| US9587369B2 (en) | Excavation system having adaptive dig control | |
| CN105714873B (en) | excavator hydraulic control system and control method | |
| JP6314105B2 (en) | Trajectory generator and work machine | |
| EP3159455B1 (en) | Shovel and method for controlling same | |
| CN102041824B (en) | Automatic control system and control method of working device of excavator | |
| US8160783B2 (en) | Digging control system | |
| EP2532793B1 (en) | Shovel and method of controlling shovel | |
| CN103857844B (en) | For controlling the system that the prepartion of land of usage mining machine works | |
| CN103781972B (en) | Excavator and the control method of excavator | |
| CN113228139A (en) | Construction machine with learning function | |
| US8024095B2 (en) | Adaptive work cycle control system | |
| WO2008051327A2 (en) | Velocity based control process for a machine digging cycle | |
| CN108678049A (en) | Excavator boom excavating resistance optimal control method and control system | |
| CN105040768B (en) | The excavation for controlling industrial machinery is out of control | |
| US9506221B2 (en) | System and method of vector drive control for a mining machine | |
| CN107882080A (en) | Excavator fine work control method, system and excavator | |
| CN107806123B (en) | System and method for semi-automatic control of industrial machines | |
| CN110382785A (en) | Work machine | |
| CN108603359A (en) | Excavator | |
| CN107882100A (en) | excavator hydraulic control method and control system | |
| CN105317071A (en) | material processor | |
| CN110352279A (en) | Work machine | |
| CN106703110A (en) | Intelligent shock absorption hydraulic control method and control system of excavator | |
| CN107208397A (en) | The rotation control device and its control method of Architectural Equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190426 |
|
| RJ01 | Rejection of invention patent application after publication |