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  • 专利说明
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    • 专利摘要:
    The invention relates to a method of assisting a backhoe driver when loading a transport apparatus, especially a heavy vehicle, using the bucket of a backhoe, a loading strategy comprising the number loader loading cycles for loading the transport apparatus being provided to the backhoe operator by means of an assistance system and / or the current distribution of the load on the loading surface of the apparatus transport being made display. The invention also relates to an assistance system for implementing the aforementioned assistance method.
    公开号:FR3056610A1
    申请号:FR1758812
    申请日:2017-09-22
    公开日:2018-03-30
    发明作者:Jonathan Schmitt；Volker Gliniorz；Guillaume Bonnetot；Oliver Weiss
    申请人:Liebherr Mining Equipment Colmar SAS；
    IPC主号:
    专利说明:

    Holder (s): LIEBHERR-MINING EQUIPMENT COLMAR SAS Simplified joint-stock company.
    Extension request (s)
    Agent (s): CABINET WEINSTEIN.
    4 / ASSISTANCE SYSTEM AND METHOD FOR AN EXCAVATOR DRIVER.
    FR 3 056 610 - A1 (57 / The invention relates to a method of assisting an excavator operator when loading a transport device, in particular a heavy vehicle, using the bucket of a excavator, a loading strategy including the number of excavator loading cycles for loading the transport device being proposed to the excavator operator using an assistance system and / or the current load distribution on the loading surface of the transport device being displayed.
    The invention also relates to an assistance system for implementing the aforementioned assistance method.

    ASSISTANCE SYSTEM AND METHOD FOR A BACKHOE DRIVER [0001] The invention relates to a method of assistance for a backhoe driver when loading a mobile transport device, in particular of a heavy vehicle, using backhoe bucket.
    [0002] In surface mines with discontinuous extraction, the truck for very heavy loads (translation of the German term SKW; but hereinafter simply called "heavy weight") constitutes a suitable transport device for transporting the layers of cuttings. and the layers of raw material from the place of extraction to the place of processing or storage. Depending on the design of the surface mine, it may be necessary to travel very long routes. In this case, the truck's journey time is very long, compared to the time required to load it; this is why it is desirable to load the truck as precisely as possible up to its maximum authorized payload, in order to keep the operating costs of the surface mine as small as possible and to maintain the highest possible productivity. [0003] In surface mines with discontinuous extraction, either heavy cable excavators or hydraulic excavators or excavators are used as a loading tool. Both types of machinery are used to take up the material to be extracted using a shovel or bucket and to discharge it into the truck's bucket. The main task of the backhoe operator is to load the backhoe bucket to the optimum backhoe payload, by proper machine control, and to transport this payload with a backhoe loading cycle in the truck body . A backhoe loading cycle includes filling the bucket, moving the bucket onto the truck’s loading surface, unloading it into the truck’s bucket and returning the bucket to the excavation location. Depending on the maximum payload of the truck, the excavator operator must repeat several loading cycles to load the truck fully. In order to precisely reach the truck's maximum payload, the excavator operator must complete the last excavator loading cycle required so that the bucket is only filled as much as is necessary to reach the target payload heavy weight.
    In addition, the backhoe operator must unload the bucket in the truck's bucket so that the material is distributed evenly in the bucket. Above all, in the case of coarse and not yet crushed material, rocky blocks can cause a non-homogeneous resulting load in the bucket, which can cause a heavy inclination of the truck towards one of the sides, towards the front rearward. The backhoe operator must actively counter this effect by specifically discharging the backhoe payload. Uneven distribution on the truck's loading surface can lead to the following disadvantages:
    Driving behavior unstable / danger to the safety of the backhoe operator due to the danger of the truck tipping over
    Overloading of mechanical parts (chassis, load-bearing joints, axles, tires) and, consequently, fatigue or premature breakage
    Increase in the calculated transport time due to the overload of the heavy goods vehicle and influence on other heavy goods vehicles (traffic jam).
    The productivity and the operating costs of the surface mine depend, as regards the backhoe-truck loading cycle, mainly on the following characteristics:
    Backhoe load cycle time
    Coefficient of use of the excavator (the ratio between the payload actually reached by the truck and its maximum authorized payload must be as close as possible to one)
    HGV usage coefficient (the ratio between the effective mass actually reached by the HGV and its maximum authorized useful mass must be as close as possible to one)
    Number of backhoe loading cycles that are required to fully load the heavy weight
    Maintenance intervals required and associated maintenance costs of the machines - by correctly distributing the payload on the truck's loading surface, the wear of parts such as load-bearing joints and tires can be greatly reduced. By ceia, maintenance costs can be reduced or, respectively, the availability of heavy goods vehicles can be increased.
    The backhoe operator can therefore have an essential influence on the productivity and operating costs of the surface mine. Without technical assistance, he is dependent on his experience in operating the excavator and his ability to assess the loading condition of the truck. In particular, the backhoe operator must know the target payload of the truck and he must assess by his own visual perception, the distribution of the payload in the truck's bucket.
    The object of the invention is therefore to propose a method of assistance for a backhoe operator or an assistance system which is able to overcome the problems indicated above and which can ultimately bring an increase in the backhoe operating productivity.
    The object of the invention is achieved by a method.
    According to the invention, it is now proposed to offer the backhoe driver, using an assistance system, a loading strategy comprising the number of backhoe loading cycles for loading the transport device. Alternatively or additionally, using this method, the current distribution of the load on the loading surface of the transport device can be captured and can be displayed to the backhoe operator. Just providing one of the aforementioned information to the backhoe operator means a much simpler work flow. The active assistance of the backhoe operator makes a significant increase in productivity likely.
    Above all, the indication of the necessary number of loading cycles to be carried out in order to obtain an optimal loading of the transport device constitutes an additional motivation for the backhoe operator to achieve this goal really by optimal work actions. The indication of the payload distribution informs the excavator operator early on of an inappropriate loading, which allows the excavator operator to take countermeasures without any problem, ultimately ensuring a uniform load distribution on the device transport. The process not only allows optimal loading of the transport device but can indirectly limit the danger of premature wear and tear on the transport device.
    When it comes to the following, backhoe bucket, this is representative of any form of backhoe accessory, especially backhoe shovel and backhoe bucket, to excavate and lift earthy material.
    By the term backhoe loading cycle, it is preferably understood the action of receiving the material in the bucket, of lifting the material by lifting the bucket, of moving the bucket above the loading surface of the transport device, for example by moving the excavator or by rotating the upper structure, as well as returning the bucket to the excavation site.
    By distribution of the payload, we understand the distribution of the entire material discharged by the excavator on the loading surface of the transport device. The current distribution of the payload is characterized in principle by the current distribution on the undercarriage, of the weight of the loaded material and more particularly makes it possible to draw conclusions concerning a possible inclination of the transport device.
    According to an advantageous embodiment of the invention, the assistance system determines the number of excavator loading cycles for loading the loading surface of the transport device as a function of the payload to be reached . In addition, the theoretical payload of the bucket is determined and taken into account in order to determine and display the necessary number of excavator loading cycles. The target payload represents the desired amount of load from the transport device, it can correspond, for example, to the maximum authorized payload of the transport device and it can be adjusted manually by the backhoe operator. Ideally, a range of values can be configured within which the actual payload of the transport device must lie, so that a small difference from the target payload can be tolerated by the system.
    The theoretical payload of the bucket corresponds to a bucket payload provided by excavator loading cycle. To calculate this theoretical bucket payload, the physical size of the bucket and an average bucket filling rate are taken into account. This average filling rate can be set, for example, by the backhoe operator and designates the amount of predictable material that is likely to be loaded, per backhoe loading cycle, using the bucket and to be unloaded on the transport device. In addition, it is conceivable to take into account, in addition to the calculation of the theoretical payload of the bucket, the density of the material to be loaded, since this can have an influence on the weight load of material actually loaded by the bucket, in particular in the case of loose, coarse-grained granular material.
    It is conceivable that the assistance system gives the backhoe operator, for the next backhoe loading cycle to be carried out, a quantitative and / or qualitative instruction concerning the backhoe payload to be loaded into the bucket. This proposal is based on the predetermined loading strategy Taking into account the previous excavator loading cycles, the assistance system can always make an updated proposal concerning the payload with which the bucket should be loaded during the loading cycle of following backhoe in order to finally reach the goal of optimal loading of the transport device while respecting the loading strategy initially defined.
    It is also conceivable that the assistance system determines a loading trend and indicates this to the backhoe operator. By loading trend, it is necessary to understand by what value the current payload of the transport device, that is to say the quantity of material actually discharged on the loading surface of the truck, differs from a target payload according to the loading strategy, i.e. the target payload for the present excavator loading cycle. By this, it is possible to signal to the backhoe operator if it is within the set values according to the determined backhoe loading strategy or if there is a need for improvement or if there is even the possibility of shorten the expected loading time.
    The assistance system can determine the actual actual payload of the transport device, that is to say the quantity of material actually discharged onto the loading surface of the transport device, on the basis the number of backhoe loading cycles already performed. In this context, the actual backhoe payload is determined for each backhoe load cycle and is used to calculate the current payload of the transport device.
    The actual backhoe payload per backhoe loading cycle, i.e. the amount of material actually received in the bucket, can be calculated based on internal ratings of the backhoe. In this context, for example, the pressure level in the various actuators or cylinders of the excavator or of the excavator's working equipment is of particular importance. These pressure values obtained by sensors can be used by the assistance system to calculate the payload actually received. In addition, the geometry of the bucket or the positioning of certain components of the excavator such as, for example, the arm of the excavator, the boom, the upper structure, etc., may be of particular importance. Preferably, an inclination value of the boom and / or of the arm and / or of a deflection lever and / or of the upper structure is captured and taken into account for the calculation. This also applies to pressure values taken from the bottom side and / or the rod of a jack or the speed of rotation taken from the upper structure.
    At the same time, signals for controlling the backhoe can also be taken into account for the calculation of the backhoe payload actually loaded.
    What is decisive in determining the actual backhoe payload is the time in time of the measurements and of the calculation, respectively. It should be ensured, for example, that a calculation of the actual backhoe payload will not be made until after the excavation action of a backhoe load cycle has been completed. In addition, to accurately determine the actual backhoe payload, it is important to know whether this is done during a dynamic movement of the backhoe or during an almost stationary state of the backhoe. In other words, the moment for actually and automatically determining the excavator payload is determined by taking into account current movements of the excavator and / or its positions, preferably the moment to be located after an action of taking into account. finished load of a load, preferably during a movement phase, for example after the lifting of the bucket and during a movement of the upper structure or during a quasi-static state, for example after a prior lifting of the bucket. During a movement of the backhoe, especially the bucket, dynamic influences distort the calculated payload result. Here, in particular inertia and friction forces play a significant role. For this, it is better to determine the actual payload of the excavator while being almost stationary.
    Faced with this situation, it is reasonable for the assistance system to automatically determine the appropriate time to capture the values from the sensors or to calculate the actual excavator payload. In addition, it can be imagined that the payload is determined both during a movement phase of the backhoe and during an almost static state of a backhoe loading cycle.
    A dynamic state can be given, for example, when the upper structure of the excavator is turned, when the excavation action is completed, in the corresponding unloading position above the transport device. During this rotational movement, it is possible, for example, to perform a payload calculation. A quasi-stationary state is given, for example, when the bucket is first lifted, after an excavation action has ended, and the excavator remains temporarily stationary, for example since the transport device must be put in a new position or the backhoe operator takes a short break.
    Under optimized working conditions, it is rare to arrive at an almost stationary state. In this situation, it is reasonable to optimize the action of determining the payload during dynamic movement phases. If calculation results are available, for an individual loading cycle with an identical quantity of material received, obtained both during a dynamic state phase and during an almost stationary state phase of the excavator, there are the possibility of determining, on the basis of the actual calculated payload data, the influence of dynamic effects on the result (therefore on the action of determining the payload). The influence of these dynamic effects can be determined in particular by comparison of the results, i.e. the two payload values, and a correction value can be determined and recorded for subsequent excavator loading cycles. This correction value can be taken into account during the action of determining the backhoe payload during subsequent backhoe loading cycles.
    In addition, it is conceivable that an automatic calibration is carried out to determine the payload of the bucket of the excavator. Thus, the actual zero payload weight of the bucket may vary, either through wear effects or through residual material remaining in the bucket. In order to capture these effects and compensate for the following calculation of the backhoe payload, it is desirable to determine zero backhoe payloads cyclically or regularly. These calculations are carried out in particular at times when the assistance system recognizes an emptied bucket, for example when the bucket is emptied on the transport device, which can be recognized by means of the control signals of the backhoe control .
    Differences between different actions of determining a zero backhoe payload define, for example, a correction value for subsequent actions of determining the actual backhoe payload.
    To capture and determine the actual payload of the transport device, it is necessary for the assistance system to be able to differentiate between backhoe loading cycles with unloading of the backhoe payload on the transport device and backhoe load cycles without discharging the backhoe payload onto the transport device, for example, when the backhoe operator is only moving material already received or when checking settings by test laps. By automatic recognition of backhoe cycles which actually lead to a discharge on the transport device, it is ensured that, for the calculation of the current payload of the transport device, only backhoe load cycles followed of an unloading of the backhoe payload on the transport device being taken into account. Recognition can be made, for example, on the basis of movement profiles performed and / or the actual excavator payload and / or the current position of the excavator or of various components of the excavator.
    According to an advantageous mode of implementation of the method, the loading strategy is updated after each backhoe loading cycle carried out, in particular by taking into account the total backhoe payloads actually handled during the backhoe loading cycles previous. The loading strategy can be displayed to the backhoe operator.
    Besides the simple display of the load distribution on the transport device, one can also imagine that it is displayed to the backhoe operator, depending on the current distribution of the payload on the surface loading device, a suitable unloading position of the material that will be loaded during the next excavator loading cycle, on the loading surface of the transport device to compensate for an unfavorable distribution of the payload and if applicable, displays it to the backhoe operator.
    It is also conceivable that the assistance system automatically intervenes in the control of the excavator in order to assist the excavator operator when approaching the appropriate unloading position or to perform a partially or fully automatic approach to the unloading position.
    The distribution of the payload on the loading surface of the transport device can be calculated from measured pressures acting inside the undercarriage of the transport device. This is used in particular as indicators of the gas or oil pressures of the various shock absorbers on the undercarriage of the transport device. In addition or alternatively, an inclination sensor can be installed which calculates the inclination of the transport device relative to a longitudinal and / or transverse axis of the vehicle. On the basis of this sensor information, an unfavorable distribution of the payload on the loading surface can be recognized and, if necessary, an appropriate unloading position can be determined for the next excavator loading cycle.
    The recognition of an unfavorable distribution of the payload and the action of determining an unloading position for the following backhoe loading cycle can preferably be carried out in the transport device or, alternatively, at least partially on the backhoe. In this case, however, it is necessary that the necessary information, in particular the values of sensors entered, reach the excavator by a communication link between the two devices. We can think here of using a wired or wireless communication link, for example on the basis of WLAN, mobile telephony, Bluetooth or RFID or any other appropriate radio technology.
    According to another advantageous embodiment of the invention, it is desirable for the excavator to automatically recognize the transport device to be loaded, that it in particular receives information concerning the maximum authorized payload of the transport device . A corresponding recognition can also be made via a communication link between the two devices which are the transport device and the backhoe. The transport device can be marked by a corresponding electronic identification, preferably in the form of an RFID transponder which can be received automatically by the excavator when a direct approach of the transport device to the reception area of the backhoe. By determining the distance between the transmitting transport device and the backhoe, the assistance system can also recognize which of the transport devices present in the reception area is actually intended to be loaded by the backhoe.
    According to another additional characteristic, it is preferably recognized on the basis of the data received, if the transport device is positioned close to the excavator for loading.
    In addition, on the basis of the above information, in particular the payloads entered from the excavator and the transport device, one or more statistics concerning the productivity of the excavator can be established automatically. These can be deposited in the vehicle and can be stored to be requested later via an interface provided for this purpose. Such statistics relate more particularly to the actual backhoe payload per backhoe loading cycle and / or the actual payload of the transport device per loaded transport device and / or an arithmetic average of the sum of the actual payloads of the excavator per excavator operating hour and / or an arithmetic average of the number of excavator loading cycles to reach the target payload of a transport device and / or the number of transport devices loaded per operating hour of excavator and / or the sum of the effective payloads of excavator, In addition to the process of the invention, the present invention also relates to an assistance system which comprises the corresponding technical means for implementing the process according to the invention. 'invention. Thus, the assistance system has the same advantages and characteristics as those already presented above with regard to the process of the invention. For this reason, a new description, which would be repetitive, is not necessary. One can imagine that components of the assistance system are distributed entirely on the backhoe or on the transport device or, alternatively, on the two work devices. In this case, a communication link between the transport device and the backhoe is absolutely necessary.
    The invention also relates to a working device, in particular a backhoe, preferably a cable backhoe or a hydraulic backhoe, or a heavy goods vehicle, with an assistance system or components of the assistance system described above. .
    Other advantages and characteristics of the invention will be described below with reference to an embodiment shown in the figures. Is represented on:
    - Figure 1 a diagram of the distributed arrangement of the various components of the assistance system according to the invention inside a hydraulic excavator or a heavy vehicle in the form of a dump truck;
    - Figure 2 a block diagram for the realization of the assistance function for the distribution of the load on the truck body;
    - Figure 3 a block diagram to make clear the operation for an automatic calculation of the payload of the bucket of the excavator;
    - Figure 4 a graphical representation of the calculation principle for calculating the current payload of the bucket.
    In the following, the functions of an assistance system must be described in relation to their operating modes and their technical design. For this, Figure 1 shows machine parts which are likely to be used by the assistance system to assist the excavator operator. It may happen that, for an application case, the components are not all necessary, since the machine already has such components which are then used for the realization of this assistance system or since it is a question of only carry out part of the assistance system. Figure 1 also shows that the assistance system is based in part on components that are installed on the truck to be loaded by the excavator.
    The backhoe includes a tilt sensor 1 on the boom, a pressure sensor 2 on the bottom side of the cylinder, a tilt sensor 3 on the arm, another tilt sensor 4 on the return lever as well as a pressure sensor on the rod side of the cylinder. A rotational speed sensor 9 can measure the rotational speed of the upper structure, the inclination of the upper structure is sensed using a tilt sensor 11.
    For the implementation of the assistance software, a computer 6 is available on the backhoe. The information can be displayed to the excavator operator using a display device 7. For controlling the excavator, at least one control lever 8 is available. Via the radio module 10, a wireless link can be established to the truck.
    On the heavyweight side, a computer 12 is provided to implement part of the assistance functions. The radio module 13 constitutes the counterpart of the radio module 10 of the excavator. Pressure sensors 15 on the shock absorbers make it possible to measure the distribution of the load, which is supplemented by a tilt sensor 14 which measures an inclination of the loading surface or of the bucket relative to the horizontal. An RFID 16 marking is used to uniquely identify the truck. The RFID marking can be read using the radio module 10 of the excavator or by an additional receiving unit.
    In the following, different functions of the assistance system for a backhoe operator must be described in more detail.
    1. Function 1 - Automatically determine a loading strategy
    a) Description of the function:
    The assistance system can automatically establish a loading strategy for the heavy vehicle to be loaded and can inform the excavator driver, on the basis of this strategy, during the entire loading action, on an advance or a momentary delay compared to this loading strategy:
    The loading strategy can be expressed by the display
    i. the number of excavator loading cycles still required to achieve a complete and accurate loading of the truck relative to its maximum authorized payload, ii. a quantitative and qualitative instruction relating to the necessary payload of the excavator for the next loading cycle, in order to comply with the loading strategy, iii. of the loading trend, which represents the difference between the payload already unloaded in the truck body and the expected payload of the truck.
    The automatic determination of the loading strategy can be adapted again automatically, during a loading action of a heavy goods vehicle, after each excavator loading cycle carried out. In this case, the payloads actually processed from the previous excavator loading cycles can be taken into account. Finally, the modified loading strategy can be displayed again to the excavator operator. This continuous process is intended to assist the backhoe operator to perform the following backhoe load cycles so that the truck's maximum payload can be achieved with the fewest backhoe load cycles.
    b) Design for technical implementation:
    The assistance system may have software to determine the loading strategy, which software processes the following input information:
    i. Temporary truck payload: the assistance system can automatically calculate the truck's temporary payload. This calculation results from the backhoe bucket payloads that have been identified as productive backhoe loading sets (see explanation below for function 5).
    ii. Heavy truck target payload: The assistance system can receive and process data relating to the heavy truck's target payload. This data can be stored in the analysis system by manual entry during the first start-up. However, it can also happen that the heavy vehicle to be loaded sends this data via a radio link to the assistance system located on the excavator (see explanation below concerning function 5).
    iii. Margin for the truck's target payload: the user can enter, by manual input to the assistance system, the margin for the truck's target payload. This margin can be defined as a percentage value in relation to the truck's target payload. The assistance system can thus define from which loaded payload the truck must be recognized as fully loaded.
    iv. Backhoe bucket volume: by manual entry when the assistance system is put into service for the first time, the nominal excavator bucket volume can be saved in the assistance system.
    v. Filling rate of the backhoe bucket load: the user can save, by manual entry in the assistance system, an average value for the filling in percent of the backhoe bucket.
    vi. Material density: the user can save, by manual entry in the assistance system, an average value for the density of the material to be loaded.
    Based on this input information, the software to determine the loading strategy can calculate the following parameters:
    i. Number of backhoe loading sets remaining until truck is completely filled: based on input information for the truck's target payload, the truck's target payload margin, bucket size the excavator, the average fill rate of the excavator bucket and the density of the material to be loaded, the assistance system can determine beforehand how many excavator loading sets will be required to fill the truck fully.
    This number corresponds to an ideal theoretical sequence of the entire loading phase of the truck by the excavator.
    ii. The current deviation of the loading state of the truck from the ideal theoretical course of the entire phase of loading of the truck by the backhoe: as already described in point i., The assistance system can calculate beforehand the ideal theoretical course of the truck loading action. The assistance system can compare this preliminary calculation after each backhoe loading game performed, with the current momentary state of the truck's payload. From the result, the assistance system can determine the difference between what has been predicted as the heavyweight's payload and the current state of the heavyweight's payload. The numerical value of this difference can be displayed to the backhoe operator as an indicator to inform him about the momentary delay or advance compared to the ideal theoretical course of the truck loading action. This information may prompt the backhoe operator to catch up on possible delays with the following backhoe loading sets, in order to load the truck fully with the minimum number of backhoe loading sets.
    2. Function 2 - Automatic assistance for the distribution of the truck load
    a) Description of the function:
    The assistance system must automatically recognize that the heavy vehicle being loaded by the backhoe is strongly tilted because of the loaded payload. If this is the case, the assistance system must assist the excavator operator with an appropriate display in order to distribute the loads of the following excavator loading cycles in the truck body so that the truck is less inclined or more tilted.
    For this, the assistance system must receive and use information concerning the inclination of the truck due to its loading. This information can be based, for example, on the hydraulic pressures in the shock absorbers of the truck and / or on tilt measurements of the truck. The assistance system must receive the corresponding data from the truck via a data transmission radio link. The data exchange between the truck and the excavator must take place continuously during the entire loading operation of the truck, in order to guarantee that the excavator operator can receive the current tilt status at all times. or the place of unloading in the truck’s grab.
    If the case arises that the truck is tilted too much due to an unfavorable distribution of the payload in the bucket, the assistance system must indicate this to the backhoe operator and must indicate to him for the next cycles loading excavator at which positions in the truck’s bucket the bucket should be unloaded to distribute the truck’s loads more evenly.
    The “Automatic assistance for the distribution of the heavy vehicle load” function can also be designed so that the assistance system can intervene in the control of the excavator and can direct the excavator so that the bucket is placed in the appropriate unloading position above the truck's grab. This automatic backhoe control can be based on different control designs. It may happen that the backhoe operator must activate (steer) the levers for controlling the backhoe in the necessary directions in order to activate the movement of the backhoe. Once the activation has been made, a software algorithm of the assistance system can control the movements of the excavator (elevation, arm, bucket, rotation mechanism) to position the bucket. But it can also happen that only part of the movement sequence can take place automatically using the assistance system. It can happen, for example, that only the rotational movement, the lifting movement and the movement of the backhoe arm take place automatically, so that the assistance system automatically moves the bucket in the right direction. position above the truck body, but the bucket must be unloaded manually by the backhoe operator.
    This version of the “Automatic assistance for the distribution of the heavy vehicle load” function with automatic control of the excavator can thus prove to be particularly advantageous since, by automatic control of the bucket to reach the necessary position at- above the truck body, it can be ensured that this unloading position is really reached and that the tilt of the truck can actually be compensated accordingly. In addition, this function can offload the backhoe operator to control the machine, which can cause the operator to tire less or to concentrate already on the next backhoe load cycle. This function can also lead to the avoidance of collisions between the backhoe and the truck, whereby the risk of accident can be reduced and the safety of machine operators can be increased. It is also conceivable that the automatic bucket control is carried out in such a way that the movement sequence between the current position of the bucket and the desired position above the truck body is optimized in terms of time or energy. By this, it may happen that the time required for a loading cycle is reduced or that the fuel consumption of the excavator is reduced. In addition, the automatic bucket control can be used to automatically adjust the optimal height of the bucket relative to the truck’s bucket, so that unloading of bucket material into the bucket results in minimal damage. possible or no damage to the truck body. Depending on the application of the excavator, the advantages stated may lead individually or in combination to a reduction in the operating costs of the machine, an increase in the productivity of the machine or an increase in operator safety. machine.
    b) Design for technical implementation:
    Figure 2 shows a possible design for the implementation and architecture of the "Automatic assistance for the distribution of the heavyweight's load" function. This function is subject to the condition that both the heavy goods vehicle and the backhoe have partial assistance systems.
    Thus, the truck can be equipped with pressure sensors 15 which measure the oil or gas pressure present in each of the shock absorbers of the truck. These time measurement signals must be able to be received by input modules, in order to be filtered and conditioned accordingly. In addition, the truck must have an on-board computer 12. Appropriate software can calculate on the on-board computer 12 the "load distribution in the bucket" 17.
    Similarly, the truck can be equipped with a tilt sensor system 14. This tilt sensor system 14 can measure the absolute tilt of the truck. Using input modules, the signals from the tilt sensor system 14 can be received, filtered and conditioned. Appropriate software 18 can calculate on the computer 12 the current inclination of the heavy vehicle around its longitudinal and transverse axes. The results of software mechanisms 17 and 18, namely the current distribution of the load in the grab of the truck and the truck's current inclination around its longitudinal and transverse axes, can be used in another software algorithm 19 in order to automatically assess and decide whether the load in the truck's bucket is distributed by too inhomogeneous and if the excavator operator has to distribute the truck loads more evenly with the next bucket load.
    When the software algorithm 19 decides that the tilt of the truck is critical and that the loading of the truck is very inhomogeneous, another software algorithm 20 can calculate the position of the next bucket load, in order to counter this tilting of the truck with this next bucket load. The result of the software algorithm 20 or respectively the position of the next bucket load can be sent by the computer 12 to an on-board radio module 13. The on-board radio module 13 can be designed using different technologies radio. The radio module 13 can transmit data, for example, by a mobile telephone link (GSM, GPRS, UMTS, LTE or future technologies), by a local radio network (WLAN, Bluetooth, etc.) or by another technology radio. The radio module 13 can be provided with software 21 which makes it possible to obtain data from the computer 12 in order to then transmit them by the corresponding radio technology. Thus, the radio module 13 can obtain the information concerning the "position of the next bucket load" from the computer 12 and send it.
    The excavator which loads said truck, can also be equipped with a radio module 10. This radio module 10 can be designed according to different radio technologies, just like the radio module 13 of the truck. Thus, the radio module 10 can receive information concerning the "position of the next bucket load" and can send it to the on-board computer 6 of the excavator where it will be processed.
    On computer 6, software 22 can receive information concerning the "position of the next bucket load" and can process it in such a way that a display of this position can be based on the bucket of the weight heavy. This display can then be made on a screen 7 in the driving position of the excavator. Thus, if the truck is tilted too much due to an inhomogeneous distribution of the load in its bucket, it is possible to indicate to the excavator operator the zone of the bucket in which the next bucket load must be unloaded in order to distribute the loads evenly over the truck.
    In addition, software 24 on the computer 6 can receive information concerning the "position of the next bucket load" in order to calculate signals for the control of the backhoe. The software 24 can calculate, for example, the curve of the path of the bucket in order to come from the current position of the bucket in the desired position above the truck's bucket. Similarly, the software 24 can calculate the sequence of control signals which are necessary to control the excavator so that the curve of the path of the bucket can be performed. This sequence of control signals can be transferred by the software 24 to the backhoe control device 25 in the form of a command in order to effect the automatic movement of the backhoe.
    3. Function 3 - Automatic calculation of the bucket payload
    a) Description of the function:
    The assistance system must automatically calculate the effective payload of the material received in the bucket and must use it to fulfill function 1 and / or function 2 described above. To this end, the assistance system must include the following additional functions:
    i. Automatic recognition of the best time to calculate the bucket payload:
    Algorithms must analyze the work cycle of the excavator and must deduce that the bucket loading action (the excavation action) is complete and that the bucket is moved from the excavation location to the truck body (rotate the upper structure and lift the bucket). The automatic calculation of the bucket payload must be carried out, for example, during the action of rotating the upper structure and lifting the bucket, so that the calculation result is available before the material is unloaded into the bucket heavy weights. But it may also be that the automatic calculation of the bucket payload must be carried out during an almost static state of the excavator, which can be the case, for example, when the bucket has been lifted and the excavator is waiting for unloading of the bucket in a new heavyweight.
    ii. Automatic calculation of the bucket payload The assistance system must calculate the effective payload in the bucket on the basis of internal parameters of the excavator (position of the bucket in space, hydraulic pressures in the cylinders of the (backhoe working equipment and signals for backhoe control).
    iii. Evaluation of the results of the automatic bucket payload calculation under the aspect of the probable accuracy of the results and selection of the best calculation result:
    The automatic calculation of the bucket payload can be carried out during the selected phase of the excavator's working cycle, on different parts of the latter separated in time from each other. So different results can come out of it. Appropriate algorithms must evaluate the results obtained from the various calculation phases, to determine their importance for the calculation of the bucket payload and must select one. For example, the following cases may arise:
    - The calculation of the payload of the bucket can be carried out several times during a dynamic action of movement of the excavator (rotate the upper structure and lift the bucket): in this case, only the result of the last phase of calculation must be selected, since, at the end of this action of movement, the speeds of this action of movement have stabilized and the influence of the masses of inertia and frictions of the system on the result of calculation are minimal.
    - The calculation of the bucket payload can be performed during an action of movement of the excavator in a dynamic phase and then in a quasi-static movement phase: in this case, the result of the quasi-static movement phase must be selected, since, in the quasi static phase, the result of the calculation is not distorted by the masses of inertia of the backhoe equipment nor by the payload of the bucket. This example of a case can also include the possibility that the calculation of the bucket payload can be performed in several dynamic movement sequences and several static movement sequences. Since all the calculation phases relate to the same bucket loading cycle, the last static calculation phase must be selected.
    iv. Compensation of dynamic effects (inertial forces and friction forces):
    The automatic calculation of the bucket payload must be carried out independently of the dynamics of the excavator, during its working process. The course of the calculation or, respectively, the result of the calculation, must be able, as much as possible, independent of the speeds and accelerations of the excavator or of the equipment of the excavator; within defined precision limits, the calculation result must be the same, regardless of the dynamics of the backhoe loading cycle.
    When using the excavator and the heavyweight in surface mines, it is often the case that the excavator performs the first bucket loading before the heavyweight to be loaded is put in the position loading or while the truck is moving to the loading position. This is based on the necessary change from a loaded truck to an empty truck in front of the excavator. In this case, it often happens that the excavator operator performs an excavation action to fill the bucket, that he then moves the bucket to the unloading position and that he has to wait for the truck to take its loading position. correct.
    The assistance system must automatically recognize these sequences of actions and must carry out automatic calculations of the bucket payload both during sequences of dynamic movements of the excavator (for example rotating the upper structure and lifting the bucket) than in the almost static position of the excavator (waiting phase).
    Next, the assistance system must determine the difference from the results of the automatic calculation of the bucket payload and the static movement sequence. The assistance system must use this difference during the following excavator loading cycles as a correction value for the calculation of the actual excavator payload, in order to take into account, in the calculation of the bucket payload, all the dynamic influences (inertial forces, friction forces).
    The process for determining the correction value must be repeated each time that the conditions described are fulfilled (the results of bucket payload calculations are available for the same excavator loading cycle for dynamic excavator movements and for an almost static state of excavator). The assistance system must store the correction values for a defined period or must form the arithmetic mean of this series of correction values. Thus, for backhoe loading cycles with automatic bucket payload calculation, the arithmetic mean of the correction values should be used.
    b) Design for technical implementation:
    FIG. 3 represents a possible design for implementing the automatic calculation of the bucket payload. It turns out that the excavator can be equipped with the following sensor system:
    A tilt sensor 1 which determines the general tilt of the boom. Ge tilt sensor 1 can be designed either on the basis of an accelerometer or on the basis of the combination of an accelerometer and a speedometer.
    An inclination sensor 3 on the arm which determines the general inclination of the arm.
    A tilt sensor 4 on the return lever which determines the general inclination of the return lever. According to an alternative, this tilt sensor 4 can also be mounted on the connecting element between the return lever and the bucket. The inclination of the corresponding component makes it possible to deduce the inclination of the bucket.
    An inclination sensor 11 which determines the general inclination of the upper structure.
    A pressure sensor 2 which is mounted in the hydraulic duct on the bottom side of the jack and which measures the current hydraulic pressure on the bottom side of the jack.
    A pressure sensor 5 which is mounted in the hydraulic conduit on the side of the cylinder rod and which measures the current hydraulic pressure on the side of the cylinder rod.
    A speed sensor 9 on the upper structure, which is adapted to measure the momentary speed of rotation of the upper structure.
    A sensor system 8 which measures the deviation of the control lever for controlling the excavator. These signals from the two control handles provide information regarding the current control intention of the backhoe operator.
    In addition, the assistance system may have input modules which receive all the necessary signals from the sensors, condition them correspondingly, filter them and make them available to the computer 6 for a series of exploitation.
    On computer 6, software 26 may be present which first receives the processed signals from the tilt sensors 1, 3, 4 and 11 and calculates the general position of the bucket.
    In addition, on computer 6, software 27 may be present which uses the position of the bucket, calculated by software 26, as an input value and which also uses the current signals from sensors 2, 5, 9 and 8 to calculate the current payload of the bucket.
    The calculation of the current payload of the bucket can be based on the following principle. The calculation principle is shown in Figure 4 schematically. It is possible to establish a balance of the torques applied around the point of rotation 32 of the backhoe equipment. The torques applied to the point of rotation 32 can be assumed as follows:
    θ - T m esufé Tcharge T a ttachemerst sialique Tdynamiques
    Load corresponds to the torque that is generated due to the mass present in the bucket and the distance between the mass and the point of rotation 32. This torque makes it possible to deduce the mass present in the bucket.
    Static tattacheæent corresponds to the torque that is generated due to the mass of all the components of the work equipment. This torque can be calculated since we know the mass of the different components (boom, arm, bucket, cylinder, arm cylinder, bucket cylinder, etc.) and their center of gravity in space.
    Tdynamique corresponds to a couple which brings together all the forces resulting from dynamic movements of the work equipment. Thus, for example, in TDynamics, one can calculate a torque around the point of rotation 32 which is generated by the rotational movement of the upper structure around its axis of rotation. Due to this rotational movement of the upper structure, centrifugal forces act on the components of the work equipment, which act at the center of gravity of each individual component.
    In addition, in T dynaæique , couples can be taken into account which are generated by friction between moving parts of the work equipment. Such friction can occur, for example, in the cylinders when they are actuated.
    T measured corresponds to the torque that the actuator drive must generate in order to maintain in position or move the work equipment. This torque can be calculated from the momentary forces of the cylinder and the general position of the work equipment. The momentary forces of the cylinder can be calculated from the pressures measured on the bottom side and on the side of the cylinder rod.
    Because of the calculation principle, the mass of the payload present in the bucket can be extrapolated. Thus, the calculation software 27 can continuously provide a value for the momentary payload of the excavator.
    As Figure 3 shows, on computer 6, software 28 may be present which evaluates and selects the values calculated by software 27 concerning the payload in the bucket. The aim of the evaluation and selection is to provide the excavator operator and other assistance systems with a value which corresponds to the payload of one excavator loading set for the heavy vehicle currently being loaded and which is subject to great accuracy. Thus, the software 28 may have algorithms which analyze, for example, the control stick signals 8, the signals from the pressure sensors 2 and 5, the signal from the speed structure sensor 9 of rotation speed and the signals tilt sensors 1, 3, 4, 11. This analysis can assess whether the excavator is currently loading a heavy vehicle or if the excavator is doing other work. In addition, this analysis can assess whether the excavator has just carried out an excavation phase and is now in a work phase to lift the bucket and rotate the upper structure towards the truck. When the excavator is in such a working phase, the software 28 can decide that the current value relating to the "calculation of the current payload" 27 can be made available as a result of a weighing process.
    However, the software algorithm 28 can also select the current value concerning the "calculation of the current payload of the excavator" under the aspect of the value of the current payload which is probably the most accurate. To this end, the software algorithm 28 can analyze the signals from sensors 1, 2, 3, 4, 5, 8, 9 and 11 and can determine whether, in a work phase of the excavator which has been classified as relevant for the selection of a payload value, there is a moment in time which can be considered static. Can be considered "static" all periods in time during which the excavator does not perform dynamic movement. In this case, it appears that, in the calculation of the current payload according to the software algorithm 27, the term T dyn amic becomes "zero." Since the term T dynamic is composed of several components whose description in terms of mathematics can only be done in a very laborious way, it is necessary to start from the idea that this term causes derivations in the calculation of the current payload of the backhoe. The software algorithm 28 may therefore prefer values of the calculation of the payload which have been obtained under static conditions.
    Similarly, the software algorithm 28 can have a function which makes it possible to determine the difference between a payload value coming from a static work phase and a payload value coming from a phase dynamic work, I time that the two payload values were calculated during the same work phase of the excavator. This difference can then be made available to the calculation algorithm 27 by the calculation algorithm 28, in order to correct the part of the dynamic torque of the torque balance around the point of rotation 32 of the work equipment. By this, it is possible to increase the precision of the "calculation of the current payload of the excavator" 27.
    The module 28 transfers the current load from the backhoe to the module 29 for a calculation suite, which module also makes it possible to display the value using the display device 7.
    4. Function 4 - Automatic calibrations of the bucket payload calculation
    a) Description of the function;
    The assistance system must perform an automatic calibration of the bucket payload calculation, in order to correct various effects which, during the use of the excavator, can distort the automatic bucket payload calculation.
    For example:
    i. The use of the excavator necessarily leads to wear of the bucket, the bucket teeth and the protective lips by penetration into the material to be excavated. For this reason, the mass of the bucket changes over time of use. The assistance system must recognize this effect automatically and must correct the automatic calculation of the bucket payload using automatic calibration.
    ii. Material may remain stuck in or on the bucket. This happens especially often when used in frozen or icy soils. This effect also causes a change in the mass of the bucket. The assistance system must recognize this effect automatically and must correct the automatic calculation of the bucket payload using automatic calibration.
    iii. Long-term influences (fatigue, wear) acting on the sensor system can lead to variations in the calculation result. The assistance system must recognize these effects automatically and must correct the automatic calculation of the bucket payload using automatic calibration.
    b) Design for technical implementation:
    The functional diagram in FIG. 3 shows that the assistance system can have a software algorithm 30 which exploits the results of the algorithm 28. In each case, the algorithm 28 can perform an analysis of the movements of the excavator and the current condition of the excavator, which analysis provides information on whether the excavator is loading a heavyweight or performing other work. Likewise, algorithm 28 can find if the excavator is making movements or if it is stopped. The software algorithm 30 can thus combine the information concerning the state of movement of the excavator with the results of the continuous calculation of the payload of the excavator 27. From this information, the software algorithm 30 can deduce the following scenarios :
    Scenario 1
    i. The excavator has taken a static position and is not moved for a short time. This very often happens when the backhoe has to wait for the next truck.
    ii. The bucket is not filled with material.
    iii. The bucket was not placed on the ground.
    Scenario 2:
    i. The bucket is moved again, after an unloading action in the truck's bucket, towards the excavation site.
    ii. The bucket is not filled with material.
    iii. The bucket was not placed on the ground.
    iv. The work equipment has not been lowered.
    When one of these scenarios is recognized, the software algorithm must determine the difference between the continuous calculation of the current payload of the backhoe 27 and "zero". When there is a derivation from the calculation result of "zero", the difference from "zero" should be used as the correction value for subsequent calculations of the excavator's payload.
    5. Function 5 - Automatic identification of productive backhoe loading sets and non-productive work actions
    a) Description of the function:
    The assistance system must automatically recognize and distinguish whether the backhoe makes loading games or movements which are used to load a heavy vehicle or which are not used to load a heavy vehicle. Loading games which must be used to load a heavy vehicle, must be identified as "productive loading games" since it is only these working movements of the excavator that contribute to the direct productivity of the surface mine. All other working movements of the excavator are used for the preparation of the place where the excavator is to carry out the excavation or for other preparation or test tasks.
    Function 1 described above of the assistance system requires automatic recognition of productive loading games and non-productive work actions. Function 1 respectively makes it possible for the assistance system to automatically calculate the truck's payload, this calculation being made on the basis of backhoe payloads which can be associated with productive loading games.
    Function 5 can thus prevent the backhoe operator from having to manually introduce into the assistance system, during the implementation of backhoe loading games, information for associating the determined payloads of the backhoe , to the payload of the truck.
    b) Design for technical implementation:
    The block diagram in FIG. 3 shows that the assistance system may have a new software algorithm 28 which performs the "selection of the excavator payload".
    The software algorithm 28 can correspondingly analyze the results of the software algorithm 26 for the "calculation of the general position of the backhoe equipment"; in addition, the software algorithm 28 can analyze the results of the software algorithm 27 and, in addition, the software algorithm 28 can analyze the signals of the control lever for controlling the machine.
    Using these analyzes, the software algorithm 28 can identify, if the excavator performs productive excavator loading games or if it performs non-productive work actions. Correspondingly, the assistance system can automatically detect, on the basis of these analyzes, whether the excavator unloads its bucket in the bucket of a heavy vehicle or whether the excavator unloads its bucket elsewhere.
    Using the function of the software algorithm 28, the assistance system can:
    o unlock the bucket payload of the corresponding backhoe loading cycle to determine the momentary heavy truck payload, o calculate the momentary heavy truck payload, o finish calculating the bucket payload for this truck loading cycle excavator and put it back, o store a set of data concerning this excavator loading cycle, o continue the loading strategy according to point 1 and adapt it if necessary.
    6, Function 6 - Automatic identification of the heavy vehicle to be loaded
    a) Description of the function:
    The assistance system must automatically identify the heavy vehicle to be loaded and must use all the identification data necessary to perform function 1 and function 2. Correspondingly, the assistance system must have a technology which makes it possible to exchange information between the truck to be loaded and the excavator, information concerning the identity of the truck. This technology can be based on different radio data transmission technologies. The exchange of information must include at least data concerning the name, type and maximum payload of the truck.
    In the application of the backhoe, it may happen that several heavy goods vehicles are in the vicinity of the backhoe. In this case, the assistance system must be able to distinguish heavy goods vehicles which are not within an immediate loading distance and must therefore identify the heavy goods vehicle which is currently loaded by the excavator.
    b) Design for technical implementation:
    As Figure 1 shows, the backhoe can have a general radio module 10. This radio module 10 can be based on different radio technologies.
    Thus, for example, the radio module 10 can be designed on the basis of standardized WLAN technology and can receive or transmit data by a local network. Standard radio frequencies are standardized in the 802.11 standards of the Institute of Electrical and Electronics Engineers (IEEE). Most often, the 2.4 GHz or 5 GHz frequencies are used.
    In addition, the radio module 10 can be designed on the basis of RFID technology. Thus, the radio module 10 can emit radio waves which are received by an RFID transponder (tag), are modified and are returned as a response to the radio module 10. In the RFID radio module version, the radio module 10 can use different frequencies radio. For example, radio frequencies in the long wave range, radio frequencies in the short wave range, radio frequencies in the UHF range or others can be used.
    As Figure 1 shows, the truck can also be equipped with a radio module 13. The radio module 13 can have the same characteristics as the radio module on the excavator.
    But it is also possible that the truck is equipped with an RFID tag 16 which is suitable for the technical design of the radio module 10 as an RFID radio module.
    [00101] Thus, two design scenarios may exist which implement the assistance system function for Γ "Automatic identification of the heavy goods vehicle":
    i. Scenario 1:
    When the two types of machine (backhoe and heavy truck) have radio modules 10, 13 which can receive and transmit data on the basis of WLAN technology, a local network can be established between the backhoe and the heavy weight to be loaded, which is used to send information about the truck's type, maximum payload and other information to the excavator. In addition, the radio module 10 may have software algorithms which make it possible to establish local networks at the same time with wireless telecommunications stations suitable for WLAN. This function may be necessary when several heavy goods vehicles are in the vicinity of the excavator. To do this, the corresponding software algorithms can evaluate the signal strengths of the different radio networks established in order to estimate the distance between the different wireless telecommunication stations from each other. These software algorithms can therefore analyze which radio partner is the shortest distance from the excavator. From this analysis, the assistance system can determine which truck is at the shortest distance from the excavator and can assume that this truck is being loaded.
    Scenario 2:
    When the excavator has a radio module which is designed on the basis of RFID technology, the truck must be equipped with corresponding RFID tags 16. According to this scenario, the radio module (10) can stimulate around him, by radio waves, RFID tags 16 and can receive a response concerning the identity of the RFID tag. The information concerning the identity of the RFID tag can correspond to the essential data concerning the identity of the truck (for example type of truck, name of the truck, maximum payload of the truck). In addition, the radio module based on RFID technology may have software algorithms which analyze the signal strength of the radio responses of several RFID tags and exploit them with regard to the distance between the RFID tag and the radio module 10 This analysis may result in an RFID tag being at the shortest distance from the radio module 10. From this information, the assistance system can determine which truck is at the shortest distance from the backhoe and may assume that this truck is being loaded.
    7. Function 7 - Automatic compilation of statistics concerning the productivity of the backhoe [00102] The assistance system may have functions 1 to 6. It may happen that the assistance system includes all the functions described, but it may The assistance system may also include only parts of these functions 1 to 6. The various functions of the assistance system generate data which include information concerning the productivity of the excavator. This data can be made available by the various functions of the support system and can be stored for other analyzes.
    The assistance system can thus have software which makes it possible to analyze data essential for production, which have been generated and stored by functions 1 to 6, or to transform them into important information for rütilisatéur .
    The productivity of the backhoe can be expressed, for example, by the following characteristic values:
    o actual backhoe payload per backhoe loading cycle o effective truck payload per arithmetic mean loaded truckload of the sum of the actual backhoe payloads per operating hour of the arithmetic average backhoe the number of load cycles of backhoe which were carried out to load heavy goods vehicles number of heavy goods vehicles which were loaded, per operating hour of the backhoe sum of the actual backhoe payloads [00105] The assistance system can thus calculate among other things, by using software for automatic compilation of productivity statistics, the characteristic values stated above. Incidentally, the software may have the functionality that the user can have produced by the software the productivity statistics, which are to be established, for a period of time that he has chosen himself. In addition, the software can provide a function which allows the compilation of productivity statistics for defined defined time periods.
    权利要求:
    Claims (18)
    [1" id="c-fr-0001]
    1. Method for assisting a backhoe operator when loading a transport device, in particular a truck, using the bucket of a backhoe, a loading strategy comprising the number of loading cycles of excavator for loading the transport device being offered to the excavator operator using an assistance system and / or the current distribution of the load on the loading surface of the transport device being made pin up.
    [2" id="c-fr-0002]
    2. Method according to claim 1, characterized in that the assistance system determines the number of excavator loading cycles for loading the loading surface of the transport device as a function of the payload to be reached and in knowledge of the theoretical payload of the bucket, the excavator operator being able to configure a range of values within which the actual payload of the transport device must be located.
    [3" id="c-fr-0003]
    3. Method according to claim 2, characterized in that the theoretical payload of the bucket is determined by taking into account the physical size of the bucket and / or the average filling rate of the bucket and / or the density of the material to be loaded .
    [4" id="c-fr-0004]
    4. Method according to one of the preceding claims, characterized in that a quantitative and / or qualitative instruction concerning the payload of the excavator to be loaded into the bucket is given to the excavator operator for the following cycle of excavator loading to perform in order to comply with the predetermined loading strategy.
    [5" id="c-fr-0005]
    5. Method according to one of the preceding claims, characterized in that the assistance system indicates to the excavator operator a loading trend, in particular if and / or by what value the current payload of the transport device differs from '' a target payload for the excavator loading cycle present according to the initially predetermined loading strategy.
    [6" id="c-fr-0006]
    6. Method according to claim 5, characterized in that the current payload of the transport device is determined on the basis of the number of backhoe loading cycles already carried out and the actual backhoe payload determined for each cycle of backhoe loading
    [7" id="c-fr-0007]
    7. Method according to claim 6, characterized in that the actual backhoe payload per backhoe loading cycle is determined on the basis of internal nominal values of the backhoe, for example the geometrical position of the bucket in space and / or hydraulic pressures in the actuators / cylinders of the excavator working equipment and / or signals for the excavator control, the moment to actually and automatically determine the excavator payload being determined taking into account current movements of the excavator and / or of positions thereof, preferably, the moment to be located after an action of taking over of a load, preferably during a movement phase, for example after the lifting of the bucket and during a movement of the upper structure or during an almost static state, for example after a prior lifting of the bucket.
    [8" id="c-fr-0008]
    8. Method according to claim 7, characterized in that the payload is determined both during a movement phase of the backhoe as during an almost static state of a backhoe loading cycle and that the influence of dynamic effects , in particular inertia and friction forces, on the action of determining the payload is determined by comparison of results, a correction value for the compensation of dynamic effects during the action of determining the backhoe payload during subsequent excavator loading cycles being determined or used on this basis.
    [9" id="c-fr-0009]
    9. Method according to one of claims 6 to 8, characterized in that an automatic calibration is carried out to determine the backhoe payload by regularly determining a zero backhoe payload at times when the bucket is empty and that a difference between different actions of determining a zero backhoe payload is used as the correction value for regular subsequent actions of determining the backhoe payload.
    [10" id="c-fr-0010]
    10. Method according to one of claims 6 to 9, characterized in that the assistance system is capable of making the difference between backhoe loading cycles with unloading of the backhoe payload on the transport device and backhoe loading cycles without discharging the backhoe payload onto the transport device, preferably on the basis of movement profiles and / or the actual backhoe payload and / or the current position of the backhoe or different components of the excavator, for the calculation of the current payload of the transport device, only excavator loading cycles followed by unloading of the excavator payload on the transport device being taken into account account.
    [11" id="c-fr-0011]
    11. Method according to one of the preceding claims, characterized in that the loading strategy is updated and displayed to the backhoe operator automatically after each backhoe loading cycle carried out taking into account the backhoe payload actually handled during the cycles loading of previous excavator.
    [12" id="c-fr-0012]
    12. Method according to one of the preceding claims, characterized in that the assistance system determines, as a function of the current distribution of the payload on the loading surface of the transport device, an appropriate unloading position of the material that will be loaded during the next excavator loading cycle, on the loading surface of the transport device to compensate for an unfavorable distribution of the payload and displays it, if necessary, to the excavator operator.
    [13" id="c-fr-0013]
    13. Method according to claim 12, characterized in that the assistance system intervenes in the control of the excavator in order to assist the excavator operator when approaching the appropriate unloading position or to carry out an approach partially or fully automatic from the unloading position.
    [14" id="c-fr-0014]
    14. Method according to one of the preceding claims, characterized in that the distribution of the payload on the loading surface of the transport device is calculated from the measured pressures acting on the undercarriage of the transport device. transport, in particular from the gas or oil pressures of the various shock absorbers, and / or from a measured value of the inclination of the transport device relative to a longitudinal and / or transverse axis, on the basis from which an unfavorable distribution of the payload on the loading surface is recognized and, where appropriate, an appropriate unloading position is determined for the next excavator loading cycle, the recognition of an unfavorable distribution of the payload and the action of determining an unloading position being preferably carried out in the transport apparatus or, alternatively, at least partially s on the backhoe.
    [15" id="c-fr-0015]
    15. Method according to one of the preceding claims, characterized in that the excavator automatically recognizes the transport device to be loaded, that it in particular receives information concerning the maximum authorized payload of the transport device, for example via a communication link between the transport device and the backhoe, which is preferably recognized on the basis of the data received, if the transport device is positioned close to the backhoe for loading.
    5
    [16" id="c-fr-0016]
    16. Method according to one of the preceding claims, characterized in that the excavator establishes, and makes available, automatically, one or more statistics concerning the productivity of the excavator, in particular on the basis of the quantities determined beforehand, these statistics concerning more particularly the actual backhoe payload per backhoe loading cycle and / or the payload
    10 effective of the transport device per loaded transport device and / or an arithmetic average of the sum of the actual payload of the excavator per hour of excavator operation and / or an arithmetic average of the number of excavator load cycles for reach the target payload of a transport device and / or the number of transport devices loaded per operating hour of
    15 backhoe and / or the sum of the actual backhoe payloads.
    [17" id="c-fr-0017]
    17. Assistance system for implementing the method according to one of the preceding claims.
    [18" id="c-fr-0018]
    18. Work apparatus, in particular backhoe or heavy truck, with an assistance system according to claim 17.
    2/4
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    RU2017133100A|2019-03-22|
    US20180087240A1|2018-03-29|
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    DE102016011530A1|2018-03-29|
    JP2018048548A|2018-03-29|
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    法律状态:
    2018-09-24| PLFP| Fee payment|Year of fee payment: 2 |
    2019-09-25| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-19| PLSC| Search report ready|Effective date: 20200619 |
    2021-06-04| RX| Complete rejection|Effective date: 20210427 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016011530.0A|DE102016011530A1|2016-09-23|2016-09-23|Method for assisting a dredger when loading a transport device and assistance system|
    DE102016011530.0|2016-09-23|
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