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WO2006066853A1 - Position determination system - Google Patents

Position determination system Download PDF

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Publication number
WO2006066853A1
WO2006066853A1 PCT/EP2005/013676 EP2005013676W WO2006066853A1 WO 2006066853 A1 WO2006066853 A1 WO 2006066853A1 EP 2005013676 W EP2005013676 W EP 2005013676W WO 2006066853 A1 WO2006066853 A1 WO 2006066853A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
working
transmitting
receiving unit
amplifier unit
Prior art date
Application number
PCT/EP2005/013676
Other languages
German (de)
French (fr)
Inventor
Markus Kliffken
Sorn Stoll
Original Assignee
Bosch Rexroth Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bosch Rexroth Ag filed Critical Bosch Rexroth Ag
Priority to JP2007547311A priority Critical patent/JP2008524480A/en
Priority to US11/793,567 priority patent/US20080134547A1/en
Priority to EP05849245A priority patent/EP1828491A1/en
Publication of WO2006066853A1 publication Critical patent/WO2006066853A1/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool

Definitions

  • the invention relates to a system for position detection and control for working arms of mobile machines according to the preamble of claim 1.
  • the position of the working devices is usually detected indirectly by means of length sensors in cylinders of the hydraulic system or by angle sensors.
  • An example of the position detection by angle sensors is known from DE 100 00 771 Al.
  • the document describes a device for attitude control for working equipment mobile machines, which comprises a measuring device for measuring an angle which is formed between a determined by the position of the working device level and the direction of the gravitational force, an angle sensor for specifying an angle which between a through the position of the working means is formed at a certain plane and the direction of gravitational force, and a control means for controlling the angle between the plane of the working means and the direction of gravitational force so that the measured angle is made coincident with the predetermined angle.
  • a disadvantage of such systems is in particular the very limited possibility of detecting disturbances and inaccuracies, so that the possibilities for adjustment are also limited.
  • a equipped with such a detection system eg GPS, Global Positioning System.
  • a equipped with such a detection system eg GPS, Global Positioning System.
  • the transmission or detection of position coordinates and / or 'an inclination of the working device between at least one sensor and a transmitter / receiver unit is performed by a contact-free transmission of the signals by electromagnetic waves.
  • Fig. 1 is a schematic representation of a first
  • Fig. 2 is a schematic representation of a second
  • Fig. 1 shows in a highly schematic representation of an embodiment of an inventively designed system for position detection and position control for a working arm 2 of a mobile machine 1.
  • the working machine 1 in the presently described embodiment is an earthmoving device such.
  • the invention is, however, not limited thereto, but also for other applications such. B. for cranes, concrete pumps, telehandlers etc. applicable.
  • the position detection of the working device 3 via non-contact sensors 4 preferably based on radio signals with microwave technology or higher frequency electromagnetic waves.
  • the sensors 4 are positioned there on the working arm 2 or on the working device 3, where the position is to be detected.
  • one of the sensors 4 is arranged in the working device 3 arranged on the working arm 2 and a further sensor 4 is arranged in a hydraulic 6 of the working arm 2.
  • sensors 4 active and particularly advantageous passive sensors 4 are suitable. Active sensors 4 are z. B. powered by a battery, which can be achieved for several years maintenance-free. If necessary, ambient energy can be used for charging.
  • a transmitting / receiving unit 5 is installed on the mobile work machine 1. The signals transmitted by the transmitting / receiving unit 5 are converted in the passive sensor 4 and returned in coded form. The measurement accuracy of such systems is current microwave technology at a few centimeters, the range is unlimited in terms of application. The transmission of signals from other types of sensors 4, for example from pressure sensors, can be carried out with comparable technology.
  • the position and orientation of the working device 3 is determined by the interaction of the sensors 4 and the transmitting / receiving unit 5.
  • the first, arranged on the working device 3 sensor 4 takes on the position and orientation, for example in the form of the variables x and y for the location and ⁇ for the tilt determination of the working device 3 and passes the signals without contact to the transmitting / receiving unit 5 on.
  • Reference system i. e. the working machine 1
  • Reference system i. e. the working machine 1
  • Acceleration sensors are determined. Likewise, for example, pressure signals of the hydraulic 6 or other physical variables such.
  • B. Speed or acceleration of the working device 3 and the temperature of the fluid and the flow rate are passed through the system without contact.
  • a pressure sensor 4 in the hydraulic system 6 is shown by way of example.
  • the transmitting / receiving unit 5 is in the working machine 1 with other components such as. a control unit 9 and a shift lever 10 for operation by the operator of the work machine 1 in conjunction.
  • a control unit 9 and a shift lever 10 for operation by the operator of the work machine 1 in conjunction.
  • By the operator via the shift lever 10 executed movements are by the control unit 9 in the corresponding signals and movements of the working device
  • the signals for determining the position and orientation of the working device 3 are thereby from at least one sensor
  • the amplifier unit 8 is arranged so that it has a direct visual connection to both units. It can, as shown in the embodiment of FIG. 2, be arranged on the working arm 2 of the working machine 1 or at a suitable position outside the working machine 1.
  • the amplifier unit 8 can be designed so that it additionally based on the same technology as the main system records its own data such as the location information and passes it to the transmitting / receiving unit 5. The data can be used for control or for operator assistance.
  • the invention is not limited to the illustrated embodiments, but can also be applied to any work machines 1 using different sensors 4 for different working equipment 3.
  • the features of the invention can be combined as desired.

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  • 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)
  • Manipulator (AREA)
  • Component Parts Of Construction Machinery (AREA)

Abstract

The invention relates to a position determination and regulation system for working devices (3) arranged on the working arms (2) of mobile machine-tools (1). Said system comprises at least one sensor (4) and an emission/reception unit (5). The determination and transmission of position co-ordinates (x, y) and/or an incline (φ) of the working device (3) between the at least one sensor (4) and the emission/reception unit (5) are carried out in a contact-free manner.

Description

SYSTEM ZUR LAGEERFASSUNG SYSTEM FOR POSITION DETECTION
Die Erfindung betrifft ein System zur Lageerfassung und -regelung für Arbeitsarme mobiler Arbeitsmaschinen gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a system for position detection and control for working arms of mobile machines according to the preamble of claim 1.
Bei lagegeregelten Arbeitsarmen mobiler Arbeitsmaschinen wird die Lage der Arbeitseinrichtungen gewöhnlich indirekt durch Längensensoren in Zylindern des hydraulischen Systems oder durch Winkelsensoren erfaßt . Ein Beispiel für die Lageerfassung durch Winkelsensoren ist aus der DE 100 00 771 Al bekannt . Die Druckschrift beschreibt eine Vorrichtung zur Lageregelung für Arbeitseinrichtungen mobiler Arbeitsmaschinen, welche eine Meßeinrichtung zur Messung eines Winkels umfaßt , welcher zwischen einer durch die Lage der Arbeitseinrichtung bestimmten Ebene und der Richtung der Gravitationskraft gebildet ist, einen Winkelgeber zur Vorgabe eines Winkels , welcher zwischen einer durch die Lage der Arbeitseinrichtung bestimmten Ebene und der Richtung der Gravitationskraft gebildet ist , und eine Regeleinrichtung zum Regeln des Winkels zwischen der Ebene der Arbeitseinrichtung und der Richtung der Gravitationskraft , so daß der gemessene Winkel mit dem vorgegebenen Winkel in Übereinstimmung gebracht wird.In the case of position-controlled working arms of mobile working machines, the position of the working devices is usually detected indirectly by means of length sensors in cylinders of the hydraulic system or by angle sensors. An example of the position detection by angle sensors is known from DE 100 00 771 Al. The document describes a device for attitude control for working equipment mobile machines, which comprises a measuring device for measuring an angle which is formed between a determined by the position of the working device level and the direction of the gravitational force, an angle sensor for specifying an angle which between a through the position of the working means is formed at a certain plane and the direction of gravitational force, and a control means for controlling the angle between the plane of the working means and the direction of gravitational force so that the measured angle is made coincident with the predetermined angle.
Nachteilig an derartigen Systemen ist insbesondere die nur sehr begrenzte Möglichkeit der Erfassung von Störungen und Ungenauigkeiten, so daß die Möglichkeiten zur Ausregelung ebenfalls eingeschränkt sind.A disadvantage of such systems is in particular the very limited possibility of detecting disturbances and inaccuracies, so that the possibilities for adjustment are also limited.
Weiterhin ist es bekannt , die Position mobilerFurthermore, it is known the position of mobile
Arbeitsmaschinen im Gelände mittels PositionierungssystemenWork machines in the field by means of positioning systems
( z . B . GPS , Global Positioning System) zu erfassen . Ein mit einem derartigen Erfassungssystem ausgestattetes(eg GPS, Global Positioning System). A equipped with such a detection system
Arbeitsgerät geht beispielsweise aus der WO 95 /30799 hervor . Nachteilig an derartigen Positionserfassungssystemen ist dabei insbesondere der Kostenfaktor und die Genauigkeit . Ein zur Anwendung hierfür geeigneter Sender/Empfänger ist kosten- und wartungsintensiv.Working tool, for example, from WO 95/30799. A disadvantage of such position detection systems is in particular the cost factor and the accuracy. A suitable transmitter / receiver for this purpose is cost and maintenance intensive.
Eine Aufgabe der vorliegenden Erfindung besteht somit darin, ein System zur Lageerfassung und -regelung für Arbeitsarme mobiler Arbeitsmaschinen bereitzustellen, welches eine einfache, kostengünstige und genaue Lagemessung und Neupositionierung der an dem Arbeitsarm bereitgestellten Arbeitseinrichtung ermöglicht .It is therefore an object of the present invention to provide a mobile work machine working position detecting and control system which enables a simple, inexpensive and accurate position measurement and repositioning of the work equipment provided on the work arm.
Die Aufgabe wird durch die kennzeichnenden Merkmale des Anspruchs 1 gelöst .The object is solved by the characterizing features of claim 1.
Vorteilhafterweise erfolgt die Übermittlung bzw. Erfassung von Lagekoordinaten und/oder ' einer Neigung der Arbeitseinrichtung zwischen zumindest einem Sensor und einer Sende-/ Empfangseinheit berührungsfrei durch Übertragung der Signale durch elektromagnetische Wellen .Advantageously, the transmission or detection of position coordinates and / or 'an inclination of the working device between at least one sensor and a transmitter / receiver unit is performed by a contact-free transmission of the signals by electromagnetic waves.
Die Unteransprüche beinhalten vorteilhafte Weiterbildungen der Erfindung .The subclaims contain advantageous developments of the invention.
Nachfolgend werden anhand der Figuren vorteilhafte Ausführungsbeispiele der Erfindung schematisch dargestellt . In der Zeichnung zeigen :Hereinafter, advantageous embodiments of the invention will be shown schematically with reference to FIGS. In the drawing show:
Fig . 1 eine schematische Darstellung eines erstenFig. 1 is a schematic representation of a first
Ausführungsbeispiels des erfindungsgemäßen Systems zur Lageerfassung und Lageregelung beweglicher Arbeitsarme mobiler Arbeitsmaschinen; undEmbodiment of the system according to the invention for position detection and position control of mobile working arms of mobile machines; and
Fig . 2 eine schematische Darstellung eines zweitenFig. 2 is a schematic representation of a second
Ausführungsbeispiels des er findungs gemäßenEmbodiment of he inventive proper
Systems . Fig . 1 zeigt in einer stark Schematischen Darstellung ein Ausführungsbeispiel eines erfindungsgemäß ausgestalteten Systems zur Lageerfassung und Lageregelung für einen Arbeitsarm 2 einer mobilen Arbeitsmaschine 1. Die Arbeitsmaschine 1 im vorliegend beschriebenen Ausführungsbeispiel ist dabei ein Erdbewegungsgerät, wie z . B . ein Bagger, mit einer an dem Arbeitsarin 2 angeordneten Arbeitseinrichtung 3 , im Ausführungsbeispiel einer Grabschaufel . Die Erfindung ist j edoch nicht darauf beschränkt , sondern auch für andere Anwendungen wie z . B . für Kräne, Betonpumpen, Telehändler etc . anwendbar .Systems. Fig. 1 shows in a highly schematic representation of an embodiment of an inventively designed system for position detection and position control for a working arm 2 of a mobile machine 1. The working machine 1 in the presently described embodiment is an earthmoving device such. B. an excavator, with a arranged on the Arbeitsarin 2 working device 3, in the embodiment of a grab bucket. The invention is, however, not limited thereto, but also for other applications such. B. for cranes, concrete pumps, telehandlers etc. applicable.
Die Lageerfassung der Arbeitseinrichtung 3 erfolgt erfindungsgemäß über berührungsfreie Sensoren 4 vorzugsweise auf Basis von Funksignalen mit Mikrowellentechnik oder höherfrequenter elektromagnetischer Wellen . Die Sensoren 4 werden dort an dem Arbeitsarm 2 bzw. an der Arbeitseinrichtung 3 positioniert, wo die Lage erfaßt werden soll . In dem in Fig . 1 dargestellten ersten Ausführungsbeispiel ist einer der Sensoren 4 in der an dem Arbeitsarm 2 angeordneten Arbeitseinrichtung 3 und ein weiterer Sensor 4 in einer Hydraulik 6 des Arbeitsarms 2 angeordnet .The position detection of the working device 3 according to the invention via non-contact sensors 4 preferably based on radio signals with microwave technology or higher frequency electromagnetic waves. The sensors 4 are positioned there on the working arm 2 or on the working device 3, where the position is to be detected. In the in Fig. 1, one of the sensors 4 is arranged in the working device 3 arranged on the working arm 2 and a further sensor 4 is arranged in a hydraulic 6 of the working arm 2.
Als Sensoren 4 sind aktive und besonders vorteilhaft passive Sensoren 4 geeignet . Aktive Sensoren 4 werden dabei z . B . von einer Batterie gespeist, wodurch mehrere Jahre Wartungsfreiheit erzielt werden können . Gegebenenfalls kann Umgebungsenergie zum Aufladen herangezogen werden . Bei Verwendung passiver Sensoren 4 wird an der mobilen Arbeitsmaschine 1 eine Sende- /Empfangseinheit 5 installiert . Die durch die Sende-/Empfangseinheit 5 gesendeten Signale werden in dem passiven Sensor 4 umgewandelt und in codierter Form zurückgegeben. Die Meßgenauigkeit derartiger Systeme liegt bei aktueller Mikrowellentechnik bei wenigen Zentimetern, die Reichweite ist im Sinne der Anwendung unbegrenzt . Die Übertragung von Signalen aus anderen Arten von Sensoren 4 , beispielsweise aus Drucksensoren, kann mit vergleichbarer Technik durchgeführt werden . Die Lage und Orientierung der Arbeitseinrichtung 3 wird durch das Zusammenwirken der Sensoren 4 sowie der Sende- / Empfangseinheit 5 ermittelt . Der erste, an der Arbeitseinrichtung 3 angeordnete Sensor 4 nimmt dabei die Lage und Orientierung beispielsweise in Form der Variablen x und y für die Ortsbestimmung und φ für die Neigungsbestimmung der Arbeitseinrichtung 3 auf und leitet die Signale berührungsfrei an die Sende-/Empfangseinheit 5 weiter . Die absolute Position und Orientierung desAs sensors 4 active and particularly advantageous passive sensors 4 are suitable. Active sensors 4 are z. B. powered by a battery, which can be achieved for several years maintenance-free. If necessary, ambient energy can be used for charging. When using passive sensors 4, a transmitting / receiving unit 5 is installed on the mobile work machine 1. The signals transmitted by the transmitting / receiving unit 5 are converted in the passive sensor 4 and returned in coded form. The measurement accuracy of such systems is current microwave technology at a few centimeters, the range is unlimited in terms of application. The transmission of signals from other types of sensors 4, for example from pressure sensors, can be carried out with comparable technology. The position and orientation of the working device 3 is determined by the interaction of the sensors 4 and the transmitting / receiving unit 5. The first, arranged on the working device 3 sensor 4 takes on the position and orientation, for example in the form of the variables x and y for the location and φ for the tilt determination of the working device 3 and passes the signals without contact to the transmitting / receiving unit 5 on. The absolute position and orientation of the
Bezugssystems , i . e . der Arbeitsmaschine 1 , kann durch GPSReference system, i. e. the working machine 1, can by GPS
(Global Positioning System) , Neigungs- oder(Global Positioning System), tilt or
Beschleunigungssensoren ermittelt werden . Ebenso können beispielsweise Drucksignale der Hydraulik 6 oder andere physikalische Größen wie z . B . Geschwindigkeit bzw. Beschleunigung der Arbeitseinrichtung 3 sowie die Temperatur des Fluids und der Volumenstrom durch das System berührungsfrei weitergegeben werden . In Fig . 1 ist beispielhaft ein Drucksensor 4 in der Hydraulik 6 dargestellt .Acceleration sensors are determined. Likewise, for example, pressure signals of the hydraulic 6 or other physical variables such. B. Speed or acceleration of the working device 3 and the temperature of the fluid and the flow rate are passed through the system without contact. In Fig. 1, a pressure sensor 4 in the hydraulic system 6 is shown by way of example.
Die Sende- /Empfangseinheit 5 steht in der Arbeitsmaschine 1 mit weiteren Bauteilen wie z .B . einer Steuerungseinheit 9 und einem Schalthebel 10 zur Bedienung durch den Maschinenführer der Arbeitsmaschine 1 in Verbindung . Durch den Maschinenführer über den Schalthebel 10 ausgeführte Bewegungen werden durch die Steuerungseinheit 9 in entsprechende Signale und Bewegungen der ArbeitseinrichtungThe transmitting / receiving unit 5 is in the working machine 1 with other components such as. a control unit 9 and a shift lever 10 for operation by the operator of the work machine 1 in conjunction. By the operator via the shift lever 10 executed movements are by the control unit 9 in the corresponding signals and movements of the working device
3 umgesetzt .3 implemented.
Die Signale zur Ermittlung der Lage und Orientierung der Arbeitseinrichtung 3 werden dabei von zumindest einem SensorThe signals for determining the position and orientation of the working device 3 are thereby from at least one sensor
4 in der Arbeitseinrichtung 3 auf Basis von Laufzeitmessungen zwischen den einzelnen Teilen der Vorrichtung ermittelt . Die Signale der weiteren physikalischen Größen wie z . B . Druck, Geschwindigkeit , Beschleunigung, Temperatur und Volumenstrom können direkt an die Sende-/Empfangseinheit 5 übermittelt werden . Die Kommunikation der Sensoren 4 mit der Sende-/ Empfangseinheit 5 kann j edoch durch Hindernisse wie beispielsweise eine in Fig. 2 dargestellte Mauer 7 erschwert oder unmöglich gemacht werden .4 determined in the working device 3 on the basis of transit time measurements between the individual parts of the device. The signals of other physical variables such. B. Pressure, speed, acceleration, temperature and volume flow can be transmitted directly to the transmitting / receiving unit 5. However, the communication of the sensors 4 with the transmitting / receiving unit 5 can be made difficult or impossible by obstacles such as a wall 7 shown in FIG. 2.
Um dem zu begegnen, kann das System gemäß Fig . 1 , wie in einem zweiten Ausführungsbeispiel in Fig . 2 dargestellt, vorteilhafterweise mit einer Verstärkereinheit 8 versehen sein, welche die Kommunikation zwischen den Sensoren 4 und der eigentlichen Sende-/Empfangseinheit 5 an der Arbeitsmaschine 1 unterstützt . Zur Ermittlung der Lage und Orientierung des Arbeitsgerätes 3 ist die Verstärkereinheit 8 so angeordnet, daß sie eine direkte Sichtverbindung zu beiden Einheiten hat . Sie kann, wie im Ausführungsbeispiel gemäß Fig. 2 dargestellt, am Arbeitsarm 2 der Arbeitsmaschine 1 oder auch an einer geeigneten Position außerhalb der Arbeitsmaschine 1 angeordnet sein . Die Verstärkereinheit 8 kann dabei so konzipiert sein, daß sie auf Basis der gleichen Technologie wie das Hauptsystem zusätzlich eigene Daten wie beispielsweise die Lageinformationen aufnimmt und an die Sende-/Empfangseinheit 5 weitergibt . Die Daten können zur Regelung oder für die Bedienerunterstützung eingesetzt werden .To counter this, the system according to FIG. 1, as in a second embodiment in FIG. 2, advantageously be provided with an amplifier unit 8, which supports the communication between the sensors 4 and the actual transmitting / receiving unit 5 on the working machine 1. To determine the position and orientation of the working device 3, the amplifier unit 8 is arranged so that it has a direct visual connection to both units. It can, as shown in the embodiment of FIG. 2, be arranged on the working arm 2 of the working machine 1 or at a suitable position outside the working machine 1. The amplifier unit 8 can be designed so that it additionally based on the same technology as the main system records its own data such as the location information and passes it to the transmitting / receiving unit 5. The data can be used for control or for operator assistance.
Die Erfindung ist nicht auf die dargestellten Ausführungsbeispiele beschränkt , sondern kann auch bei beliebigen Arbeitsmaschinen 1 unter Verwendung unterschiedlicher Sensoren 4 für verschiedene Arbeitseinrichtungen 3 angewandt werden. Die Merkmale der Erfindung sind dabei beliebig kombinierbar . The invention is not limited to the illustrated embodiments, but can also be applied to any work machines 1 using different sensors 4 for different working equipment 3. The features of the invention can be combined as desired.

Claims

Ansprüche claims
1. System zur Lageerfassung und -regelung für an Arbeitsarmen (2 ) mobiler Arbeitsmaschinen ( 1 ) angeordnete Arbeitseinrichtungen (3 ) , umfassend zumindest einen Sensor1. System for position detection and control for on working arms (2) mobile work machines (1) arranged working devices (3), comprising at least one sensor
( 4 ) und eine Sende-/Empfangseinheit ( 5 ) , dadurch gekennzeichnet, daß die Übermittlung und Erfassung von Lagekoordinaten (x, y) und/oder einer Neigung (φ) der Arbeitseinrichtung (3 ) zwischen dem zumindest einen Sensor (4 ) und der Sende-/ Empfangseinheit (5 ) berührungsfrei erfolgt .(4) and a transmitting / receiving unit (5), characterized in that the transmission and detection of position coordinates (x, y) and / or an inclination (φ) of the working device (3) between the at least one sensor (4) and the transmitting / receiving unit (5) takes place without contact.
2. System nach Anspruch 1 , dadurch gekennzeichnet, daß der zumindest eine Sensor ( 4) als aktiver Sensor (4 ) ausgebildet ist .2. System according to claim 1, characterized in that the at least one sensor (4) is designed as an active sensor (4).
3. System nach Anspruch 1 , dadurch gekennzeichnet, daß der zumindest eine Sensor (4 ) als passiver Sensor ( 4) ausgebildet ist .3. System according to claim 1, characterized in that the at least one sensor (4) is designed as a passive sensor (4).
4. System nach einem der Ansprüche 1 bis 3 , dadurch gekennzeichnet, daß der zumindest eine Sensor (4 ) in der Arbeitseinrichtung (3 ) angeordnet ist .4. System according to one of claims 1 to 3, characterized in that the at least one sensor (4) in the working device (3) is arranged.
5. System nach Anspruch 4 , dadurch gekennzeichnet, daß über einen Schalthebel ( 10 ) der Arbeitsmaschine ( 1) ausgegebene Signale durch die Sende-/Empfangseinheit (5 ) und den zumindest einen Sensor ( 4 ) an die Arbeitseinrichtung (3 ) übermittelbar sind.5. System according to claim 4, characterized in that via a shift lever (10) of the work machine (1) output signals through the transmitting / receiving unit (5) and the at least one sensor (4) to the working device (3) can be transmitted.
6. System nach einem der Ansprüche 1 bis 5 , dadurch gekennzeichnet, daß zumindest ein weiterer Sensor ( 4 ) in einer Hydraulik ( 6 ) des Arbeitsarms (2 ) angeordnet ist .6. System according to one of claims 1 to 5, characterized in that at least one further sensor (4) is arranged in a hydraulic system (6) of the working arm (2).
7. System nach Anspruch 6 , dadurch gekennzeichnet, daß der in der Hydraulik ( 6) angeordnete Sensor ( 4 ) ein Drucksignal (p) übermittelt .7. System according to claim 6, characterized in that in the hydraulic (6) arranged sensor (4) transmits a pressure signal (p).
8. System nach einem der Ansprüche 1 bis 7 , dadurch gekennzeichnet, daß das System eine Verstärkereinheit ( 8 ) aufweist .8. System according to any one of claims 1 to 7, characterized in that the system comprises an amplifier unit (8).
9. System nach Anspruch 8 , dadurch gekennzeichnet, daß die Verstärkereinheit ( 8 ) in Form von zumindest einer Sende- /Empfangseinheit (5 ) ausgebildet ist .9. System according to claim 8, characterized in that the amplifier unit (8) in the form of at least one transmitting / receiving unit (5) is formed.
10. System nach Anspruch 8 oder 9 , dadurch gekennzeichnet, daß die Verstärkereinheit ( 8 ) an dem Arbeitsarm (2 ) der Arbeitsmaschine ( 1) angeordnet ist .10. System according to claim 8 or 9, characterized in that the amplifier unit (8) on the working arm (2) of the working machine (1) is arranged.
11. System nach Anspruch 8 oder 9 , dadurch gekennzeichnet, daß die Verstärkereinheit ( 8 ) getrennt von der Arbeitsmaschine ( 1 ) angeordnet ist .11. System according to claim 8 or 9, characterized in that the amplifier unit (8) is arranged separately from the working machine (1).
12. System nach einem der Ansprüche 8 bis 11 , dadurch gekennzeichnet, daß die Verstärkereinheit ( 8 ) in direktem Blickkontakt zu dem zumindest einen Sensor (4 ) und der Sende-/ Empfangseinheit ( 5 ) steht .12. System according to any one of claims 8 to 11, characterized in that the amplifier unit (8) in direct eye contact with the at least one sensor (4) and the transmitting / receiving unit (5).
13. System nach einem der Ansprüche 1 bis 12 , dadurch gekennzeichnet, daß die Übermittlung der Signale auf Basis eines Funksignals , insbesondere auf der Basis von Mikrowellen erfolgt . 13. System according to any one of claims 1 to 12, characterized in that the transmission of the signals on the basis of a radio signal, in particular based on microwaves.
14. System nach einem der Ansprüche 1 bis 13 , dadurch gekennzeichnet, dass zusätzlich physikalische Größen (p) über das System zu der Sende- / Empfangseinheit ( 5 ) übertragbar sind. 14. System according to any one of claims 1 to 13, characterized in that in addition physical quantities (p) via the system to the transmitting / receiving unit (5) are transferable.
PCT/EP2005/013676 2004-12-21 2005-12-19 Position determination system WO2006066853A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2007547311A JP2008524480A (en) 2004-12-21 2005-12-19 Position detection system
US11/793,567 US20080134547A1 (en) 2004-12-21 2005-12-19 System For Position Detection
EP05849245A EP1828491A1 (en) 2004-12-21 2005-12-19 Position determination system

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102004061560 2004-12-21
DE102004061560.8 2004-12-21
DE102005024676A DE102005024676A1 (en) 2004-12-21 2005-05-30 System for position detection and control for working arms of mobile working machines
DE102005024676.1 2005-05-30

Publications (1)

Publication Number Publication Date
WO2006066853A1 true WO2006066853A1 (en) 2006-06-29

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DE102005024676A1 (en) 2006-07-06
US20080134547A1 (en) 2008-06-12
EP1828491A1 (en) 2007-09-05

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