A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
METHOD FOR MONITORING AND/OR PERFORMING A MOVEMENT OF A WORK DEVICE, WORK DEVICE AND COMPUTER PROGRAM
The invention relates to a method for monitoring and/or performing a movement of a working device, in particular an excavator, the working device comprising: a movement device having a tool for receiving a material, the movement device comprising at least two parts which are each movable by at least one actuator; and a control device by means of which the actuator of the movement device can be controlled and/or adjusted. The method according to the invention comprises the steps of: (i) acquiring state information at least relating to the current position and/or speed and/or acceleration of at least two components of the moving device, (ii) calculating a torque acting on the components on the basis of a current working device configuration, the state information of the components and component information being taken into account for this purpose, and (iii) calculating a torque acting on the components on the basis of the current working device configuration. (iii) acquiring a torque actually acting at the component, (iv) comparing the calculated torque with the acquired torque and calculating a force vector actually acting at a defined point of action of the working device as a function of the comparison, and (v) taking action as a function of the calculated force vector. The invention further relates to a working device for carrying out the method and to a computer program product.
本发明涉及一种用于监控和/或进行工作设备、尤其是挖掘机的运动的方法，其中，工作设备包括：具有用于接收物料的工具的运动装置，运动装置包括可各自通过至少一个致动器运动的至少两个部件；以及控制装置，借助于控制装置可控制和/或调节运动装置的致动器。根据本发明的方法包括步骤：(i)获取至少关于运动装置的至少两个部件的当前位置和/或速度和/或加速度的状态信息，(ii)计算基于当前的工作设备配置作用在部件处的扭矩，其中，为此考虑部件的所述状态信息以及构件信息，(iii)获取在部件处实际作用的扭矩，(iv)将计算的扭矩与获取的扭矩进行比较，并且根据所述比较算出在工作设备的定义的作用点处实际作用的力矢量，以及(v)根据所计算的力矢量采取行动。此外，本发明涉及一种用于执行该方法的工作设备以及计算机程序产品。
METHOD FOR MONITORING AND/OR PERFORMING A MOVEMENT OF A WORK DEVICE, WORK DEVICE AND COMPUTER PROGRAM
The invention relates to a method for monitoring and/or performing a movement of a working device, in particular an excavator, the working device comprising: a movement device having a tool for receiving a material, the movement device comprising at least two parts which are each movable by at least one actuator; and a control device by means of which the actuator of the movement device can be controlled and/or adjusted. The method according to the invention comprises the steps of: (i) acquiring state information at least relating to the current position and/or speed and/or acceleration of at least two components of the moving device, (ii) calculating a torque acting on the components on the basis of a current working device configuration, the state information of the components and component information being taken into account for this purpose, and (iii) calculating a torque acting on the components on the basis of the current working device configuration. (iii) acquiring a torque actually acting at the component, (iv) comparing the calculated torque with the acquired torque and calculating a force vector actually acting at a defined point of action of the working device as a function of the comparison, and (v) taking action as a function of the calculated force vector. The invention further relates to a working device for carrying out the method and to a computer program product.
本发明涉及一种用于监控和/或进行工作设备、尤其是挖掘机的运动的方法，其中，工作设备包括：具有用于接收物料的工具的运动装置，运动装置包括可各自通过至少一个致动器运动的至少两个部件；以及控制装置，借助于控制装置可控制和/或调节运动装置的致动器。根据本发明的方法包括步骤：(i)获取至少关于运动装置的至少两个部件的当前位置和/或速度和/或加速度的状态信息，(ii)计算基于当前的工作设备配置作用在部件处的扭矩，其中，为此考虑部件的所述状态信息以及构件信息，(iii)获取在部件处实际作用的扭矩，(iv)将计算的扭矩与获取的扭矩进行比较，并且根据所述比较算出在工作设备的定义的作用点处实际作用的力矢量，以及(v)根据所计算的力矢量采取行动。此外，本发明涉及一种用于执行该方法的工作设备以及计算机程序产品。
METHOD FOR MONITORING AND/OR PERFORMING A MOVEMENT OF A WORK DEVICE, WORK DEVICE AND COMPUTER PROGRAM
用于监控和/或执行工作设备的运动的方法以及工作设备和计算机程序产品
REINER ANDREAS (author) / WIND HANNES (author) / SAWODNY OLIVER (author)
2023-02-03
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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