Technical Field
[0001] Embodiments of the present disclosure relate to an excavator, and more particularly,
to an excavator capable of performing a precise work and a method for controlling
the excavator.
Discussion of Related Art
[0002] In general, excavators are a construction machine to perform works such as excavation
works for digging the ground, loading works for transporting soil, shredding works
for dismantling buildings, and grading works for clearing the ground at civil engineering,
building, and construction sites.
<Prior art literature>
DETAILED DESCRIPTION OF THE INVENTION
TECHNICAL OBJECTIVES
[0004] Embodiments of the present disclosure may be directed to an excavator capable of
performing precise works and a method of controlling the excavator.
TECHNICAL SOLUTION TO THE PROBLEM
[0005] According to an embodiment, an excavator includes: an excavator equipped with a bucket
including at least two bucket ends; a sensor capable of measuring an angle of a working
portion of the excavator; a pop-up window for selecting one of the at least two bucket
ends; and a controller configured to detect a distance between a working surface and
the selected bucket end based on a size of the bucket and an angle between the working
surface and an imaginary straight line connecting the bucket ends.
[0006] In some embodiments, the bucket may include a plurality of bucket tips, and the controller
may be configured to detect a distance between the working surface and the plurality
of bucket tips.
[0007] In some embodiments, the excavator may provide a pop-up window for selecting from
among the plurality of bucket tips.
[0008] In some embodiments, the excavator may further include a means for inputting the
size of the bucket.
[0009] In some embodiments, the excavator may further include a display means for displaying
the distance, wherein the display means may display the detected distance.
[0010] In some embodiments, the excavator may be characterized in that the selected bucket
end is displayed on the display means.
[0011] In some embodiments, the excavator may be characterized in that the displayed bucket
end is a bucket tip.
[0012] In some embodiments, the excavator may further include: a first joint pin connecting
a swing body and a first joint of a boom; a second joint pin connecting a second joint
of the boom and a first joint of an arm; a third joint pin connecting a second joint
of the arm and a joint of the bucket; a boom cylinder connected to a cylinder connector
of the boom and a first cylinder connector of the arm; an arm cylinder connected to
a second cylinder connector of the arm and the cylinder connector of the bucket; a
bucket link connected to the cylinder connector of the bucket and a third joint of
the arm; a boom cylinder pin connecting the cylinder connector of the boom and the
boom cylinder; a first arm cylinder pin connecting the first cylinder connector of
the arm and the boom cylinder; a second arm cylinder pin connecting the second cylinder
connector of the arm and the arm cylinder; and a bucket pin connecting the arm cylinder,
the bucket link, and the cylinder connector of the bucket.
[0013] In some embodiments, the controller may detect a height of a center tip based on
the height of the center tip, a height of the third joint pin, a length of a line
segment connecting the third joint pin and the center tip, and an angle between an
imaginary vertical line and the line segment, the imaginary vertical line representing
a line parallel to a direction of gravity; the controller may detect a height of a
first edge tip based on the height of the first edge tip, the height of the center
tip, a width of the bucket, and the angle between the imaginary straight line and
the working surface, and the controller may detect a height of a second edge tip based
on the height of the second edge tip, the height of the center tip, the width of the
bucket, and the angle between the imaginary straight line and the working surface.
[0014] According to an embodiment, a method for controlling an excavator includes: detecting
a size of a bucket and an angle between a working surface and an imaginary straight
line connecting bucket ends of the bucket; and detecting respective distances between
the working surface and at least two bucket ends based on the size of the bucket and
the detected angle.
[0015] In some embodiments, the bucket may include at least two bucket tips, and distances
between the working surface and the at least two bucket tips may include at least
two of a distance between the working surface and a center tip of the bucket tips
located at a center portion of the bucket, a distance between the working surface
and a first edge tip of the bucket tips located at one edge of the bucket, and a distance
between the working surface and a second edge tip of the bucket tips located at another
edge of the bucket.
[0016] In some embodiments, the distance between the working surface and the center tip
may be smaller than the distance between the working surface and the first edge tip
and greater than the distance between the working surface and the second edge tip.
EFFECTS OF THE INVENTION
[0017] According to one or more embodiements of the present disclosure, an excavator and
a method of controlling the excavator may perform precise works.
[0018] The foregoing is illustrative only and is not intended to be in any way limiting.
In addition to the illustrative aspects, embodiments and features described above,
further aspects, embodiments and features will become apparent by reference to the
drawings and the following detailed description.
BRIEF DESCRIPTION OF THE DRAWINGS
[0019] A more complete appreciation of the present disclosure will become more apparent
by describing in detail embodiments thereof with reference to the accompanying drawings,
wherein:
FIG. 1 is a view illustrating an excavator according to an embodiment of the present
disclosure.
FIG. 2 is a view for explaining a method of measuring a height of a boom cylinder
pin of FIG. 1.
FIG. 3 is a view for explaining a method of measuring a height of a first arm cylinder
pin of FIG. 1.
FIG. 4 is a view for explaining a method of measuring a height of a second arm cylinder
pin of FIG. 1.
FIG. 5 is a view for explaining a method of measuring a height of a bucket pin of
FIG. 1.
FIG. 6 is a view for explaining a method of measuring a height of a bucket back of
FIG. 1.
FIG. 7 is a view for explaining a method of measuring a height of a bucket tip of
FIG. 1.
FIGS. 8 to 10 are views for explaining an operation of the excavator of FIG. 1.
FIG. 11 is a view for explaining an operation method of the excavator of the present
disclosure.
DETAILED DESCRIPTION
[0020] Embodiments will now be described more fully hereinafter with reference to the accompanying
drawings. Although the invention may be modified in various manners and have several
embodiments, embodiments are illustrated in the accompanying drawings and will be
mainly described in the specification. However, the scope of the present disclosure
is not limited to the embodiments and should be construed as including all the changes,
equivalents and substitutions included in the spirit and scope of the present disclosure.
[0021] In the drawings, thicknesses of a plurality of layers and areas are illustrated in
an enlarged manner for clarity and ease of description thereof. Throughout the specification,
when an element is referred to as being "connected" to another element, the element
is "directly connected" to another element, or "electrically connected" to another
element with one or more intervening elements interposed therebetween. It will be
further understood that the terms "comprises," "comprising," "includes" and/or "including,"
when used in this specification, specify the presence of stated features, integers,
steps, operations, elements, and/or components, but do not preclude the presence or
addition of one or more other features, integers, steps, operations, elements, components,
and/or groups thereof.
[0022] It will be understood that, although the terms "first," "second," "third," and the
like may be used herein to describe various elements, these elements should not be
limited by these terms. These terms are only used to distinguish one element from
another element. Thus, "a first element" discussed below could be termed "a second
element" or "a third element," and "a second element" and "a third element" may be
termed likewise without departing from the teachings herein.
[0023] "About" or "approximately" as used herein is inclusive of the stated value and refers
to within an acceptable range of deviation for the particular value as determined
by one of ordinary skill in the art, considering the measurement in question and the
error associated with measurement of the particular quantity (i.e., the limitations
of the measurement system). For example, "about" may mean within one or more standard
deviations, or within ± 30%, 20%, 10%, 5% of the stated value.
[0024] Unless otherwise defined, all terms used herein (including technical and scientific
terms) have the same meaning as commonly understood by those skilled in the art to
which this invention pertains. It will be further understood that terms, such as those
defined in commonly used dictionaries, should be interpreted as having a meaning that
is consistent with their meaning in the context of the relevant art and will not be
interpreted in an ideal or excessively formal sense unless clearly defined at the
present specification. Some of the parts which are not associated with the description
may not be provided in order to specifically describe embodiments of the present disclosure
and like reference numerals refer to like elements throughout the specification.
[0025] Hereinafter, an excavator and a method of controlling the excavator according to
the present disclosure will be described in detail with reference to FIGS. 1 to 10.
[0026] FIG. 1 is a view illustrating an excavator according to an embodiment of the present
disclosure.
[0027] An excavator according to an embodiment of the present disclosure may include, as
illustrated in FIG. 1, a swing body 520, a traveling body 510, a vehicle connector
530, a boom 100, an arm 200, a bucket 300, a boom cylinder 150, an arm cylinder 250,
a boom cylinder pin 120, a first arm cylinder pin 221, a second arm cylinder pin 222,
a bucket link 400, a first joint pin 11, a second joint pin 22, a third joint pin
33, a bucket pin 44, a first angle sensor 701, a second angle sensor 702, a third
angle sensor 703, and a controller 600. In such an embodiment, the bucket 300 may
include a plurality of bucket tips 340.
[0028] The vehicle connector 530 connects the traveling body 510 and the swing body 520.
The swing body 520 is rotatably connected to the vehicle connector 530. For example,
the swing body 520 may rotate 360 degrees around the vehicle connector 530.
[0029] A first joint 101 of the boom 100 is rotatably connected to the swing body 520. A
second joint 102 of the boom 100 is rotatably connected to a first joint 201 of the
arm 200. The first joint 101 of the boom 100 may be disposed at one end of the boom
100, and the second joint 102 of the boom 100 may be disposed at another end of the
boom 100. The swing body 520 and the first joint 101 of the boom 100 may be connected
in a hinge manner by the first joint pin 11, and the second joint 102 of the boom
100 and the first joint 201 of the arm 200 may be connected in a hinge manner by the
second joint pin 22.
[0030] The first joint 201 of the arm 200 is rotatably connected to the second joint 102
of the boom 100. A second joint 202 of the arm 200 is connected to a joint 301 of
the bucket 300. The first joint 201 of the arm 200 may be disposed at one end of the
arm 200, and the second joint 202 of the arm 200 may be disposed at another end of
the arm 200. The second joint 202 of the arm 200 and the joint 301 of the bucket 300
may be connected in a hinge manner by the third joint pin 33.
[0031] The joint 301 of the bucket 300 is rotatably connected to the second joint 202 of
the arm 200. The joint 301 of the bucket 300 may be disposed at one end of the bucket
300. In an embodiment, the plurality of bucket tips 340 may be disposed at another
end of the bucket 300.
[0032] One end of the boom cylinder 150 is connected to a cylinder connector 110 of the
boom 100. In such an embodiment, one end of the boom cylinder 150 is connected to
the cylinder connector 110 of the boom 100 through the boom cylinder pin 120. One
end of the boom cylinder 150 is rotatably connected to the cylinder connector 110
of the boom 100.
[0033] Another end of the boom cylinder 150 is connected to a first cylinder connector 211
of the arm 200. In such an embodiment, another end of the boom cylinder 150 is connected
to the first cylinder connector 211 of the arm 200 through the first arm cylinder
pin 221. Another end of the boom cylinder 150 is rotatably connected to the first
cylinder connector 211 of the arm 200.
[0034] One end of the arm cylinder 250 is connected to a second cylinder connector 212 of
the arm 200. In such an embodiment, one end of the arm cylinder 250 is connected to
the second cylinder connector 212 of the arm 200 through the second arm cylinder pin
222. One end of the arm cylinder 250 is rotatably connected to the second cylinder
connector 212 of the arm 200.
[0035] Another end of the arm cylinder 250 is connected to the bucket link 400. In such
an embodiment, another end of the arm cylinder 250 is connected to a cylinder connector
410 of the bucket link 400 and the bucket 300 through the bucket pin 44. Another end
of the arm cylinder 250 is rotatably connected to the cylinder connector 410 of the
bucket link 400 and the bucket 300.
[0036] One end of the bucket link 400 is rotatably connected to a third joint 203 of the
arm 200, and another end of the bucket link 400 is rotatably connected to another
end of the arm cylinder 250 and the cylinder connector 410 of the bucket 300.
[0037] The first angle sensor 701 may be disposed at the boom 100. The first angle sensor
701 detects an angle of the boom 100.
[0038] The second angle sensor 702 may be disposed at the arm 200. The second angle sensor
702 detects an angle of the arm 200.
[0039] The third angle sensor 703 may be disposed at the bucket 300. The third angle sensor
703 detects an angle of the bucket 300.
[0040] The controller 600 may calculate heights of the boom cylinder pin 120, the first
arm cylinder pin 221, the second arm cylinder pin 222, the bucket pin 44, a bucket
back 380, and the bucket tip 340 from the ground 900.
[0041] FIG. 2 is a view for explaining a method of measuring the height of the boom cylinder
pin 120 of FIG. 1.
[0042] A height H1 of the boom cylinder pin 120 may be calculated by the above-described
controller 600.
[0043] The height H1 of the boom cylinder pin 120 refers to a height H1 from the ground
900 to the boom cylinder pin 120 in a vertical direction. The height H1 of the boom
cylinder pin 120 may be calculated by Equation 1 below.

[0044] In Equation 1 above, Y
BoomCylinderPin represents the height H1 of the boom cylinder pin 120, Y
JointPin1 represents a height h1 of the first joint pin 11, L
Boom represents a length of an imaginary first line segment L1 connecting the first joint
pin 11 and the boom cylinder pin 120, θ
Boom represents an angle between an imaginary horizontal line HL and an imaginary second
line segment L2, and θ
BoomCylinder represents an angle between the first line segment L1 and the second line segment
L2. In such an embodiment, the height h1 of the first joint pin 11 refers to a distance
from the ground 900 to the first joint pin 11 in the vertical direction, the imaginary
horizontal line HL refers to a line extending from the first joint pin 11 toward a
front surface of the swing body 520 and being perpendicular to the direction of gravity,
and the second line segment L2 refers to a straight line connecting the first joint
pin 11 and the second joint pin 22. In such an embodiment, Y
JointPin1, L
Boom, and θ
Boomcylinder are fixed values. However, Y
JointPin1, L
Boom and θ
BoomCylinder may vary depending on the model of the excavator. In an embodiment, θ
Boom may be detected by the above-described first angle sensor 701.
[0045] "LBoom * sin(θ
Boom+ θ
Boom" in Equation 1 above means a height h1' from the horizontal line HL to the boom cylinder
pin 120 in the vertical direction. Accordingly, the height H1 from the ground 900
to the boom cylinder pin 120 in the vertical direction may be calculated by Equation
1 above. In an example as illustrated in FIG. 2, "θ
Boom+ θ
Boom" is smaller than 90 degrees counterclockwise with respect to the horizontal line
HL, so "sin(θ
Boom+ θ
Boom)" has a positive value. Accordingly, Equation 1 represents a size obtained by adding
the value of "sin(θ
Boom+θ
Boom)" to the height of the first joint pin 11.
[0046] FIG. 3 is a view for explaining a method of measuring the height of the first arm
cylinder pin 221 of FIG. 1.
[0047] A height H2 of the first arm cylinder pin 221 may be calculated by the above-described
controller 600.
[0048] The height H2 of the first arm cylinder pin 221 refers to a height H2 from the ground
900 to the first arm cylinder pin 221 in the vertical direction. The height H2 of
the first arm cylinder pin 221 may be calculated by Equation 2 below.

[0049] In Equation 2 above, Y
ArmCylinderPin1 represents the height H2 of the first arm cylinder pin 221, Y
JointPin2 represents a height h2 of the second joint pin 22, L
Arm1 represents a length of an imaginary third line segment L3 connecting the second joint
pin 22 and the first arm cylinder pin 221, θ
Arm represents an angle between an imaginary vertical line VL and an imaginary fourth
line segment L4, and θ
ArmCylinder1 represents an angle between the fourth line segment L4 and the third line segment
L3. In such an embodiment, the height h2 of the second joint pin 22 refers to a distance
from the ground 900 to the second joint pin 22 in the vertical direction, the imaginary
vertical line VL refers to a line parallel to the direction of gravity, the third
line segment L3 refers to a straight line connecting the second joint pin 22 and the
first arm cylinder pin 221, and the fourth line segment L4 refers to a straight line
connecting the second joint pin 22 and the third joint pin 33. In such an embodiment,
L
Arm1 is a fixed value. However, L
Arm1 may vary depending on the model of the excavator. In an embodiment, θ
Arm may be detected by the above-described second angle sensor 702.
[0050] "L
Arm1 * cos(θ
Arm+ θ
ArmCylinder1)" in Equation 2 above means a height h2' from the second joint pin 22 to the first
arm cylinder pin 221 in the vertical direction. Accordingly, the height H2 from the
ground 900 to the first arm cylinder pin 221 in the vertical direction may be calculated
by Equation 2 above. In an example as illustrated in FIG. 3, "(θ
Arm+ θ
ArmCylinder1)" is greater than 90 degrees counterclockwise with respect to the vertical line VL,
so "cos(θ
Arm+ θ
ArmCylinder1)" has a negative value. Accordingly, Equation 2 represents a size obtained by adding
the value of "cos(θ
Arm+θ
ArmCylinder1)" to the height of the second joint pin 22.
[0051] In an embodiment, Y
JointPin2 in Equation 2 may be defined as Equation 3 below.

[0052] FIG. 4 is a view for explaining a method of measuring the height of the second arm
cylinder pin 222 of FIG. 1.
[0053] A height H3 of the second arm cylinder pin 222 may be calculated by the above-described
controller 600.
[0054] The height H3 of the second arm cylinder pin 222 refers to a height H3 from the ground
900 to the second arm cylinder pin 222 in the vertical direction. The height H3 of
the second arm cylinder pin 222 may be calculated by Equation 4 below.

[0055] In Equation 4 above, Y
ArmCylinderPin2 represents the height H3 of the second arm cylinder pin 222, Y
JointPin2 represents a height h3 of the second joint pin 22, L
Arm2 represents a length of an imaginary fifth line segment L5 connecting the second joint
pin 22 and the second arm cylinder pin 222, θ
Arm represents an angle between the imaginary vertical line VL and the imaginary fourth
line segment L4, and θ
ArmCylinder2 represents an angle between the fourth line segment L4 and the fifth line segment
L5. In such an embodiment, the height h3 of the second joint pin 22 refers to a distance
from the ground 900 to the second joint pin 22 in the vertical direction, the imaginary
vertical line VL refers to a line parallel to the direction of gravity, the fifth
line segment L5 refers to a straight line connecting the second joint pin 22 and the
second arm cylinder pin 222, and the fourth line segment L4 refers to a straight line
connecting the second joint pin 22 and the third joint pin 33. In such an embodiment,
L
Arm2 is a fixed value. However, L
Arm2 may vary depending on the model of the excavator. In an embodiment, θ
Arm may be detected by the above-described second angle sensor 702.
[0056] "L
Arm2 * cos(θ
Arm+ θ
ArmCylinder2)" in Equation 4 above means a height h3' from the second joint pin 22 to the second
arm cylinder pin 222 in the vertical direction. Accordingly, the height H3 from the
ground 900 to the second arm cylinder pin 222 in the vertical direction may be calculated
by Equation 4 above. In an example as illustrated in FIG. 4, "(θ
Arm+ θ
ArmCylinder2)" is greater than 90 degrees counterclockwise with respect to the vertical line VL,
so "cos(θ
Arm+ θ
ArmCylinder2)" has a negative value. Accordingly, Equation 4 represents a size obtained by adding
the value of "cos(θ
Arm+θ
ArmCylinder2)" to the height of the second joint pin 22.
[0057] In an embodiment, Y
JointPin2 of Equation 4 may be defined by Equation 3 described above.
[0058] FIG. 5 is a view for explaining a method of measuring the height of the bucket pin
44 of FIG. 1.
[0059] A height H4 of the bucket pin 44 may be calculated by the above-described controller
600.
[0060] The height H4 of the bucket pin 44 refers to a height H4 from the ground 900 to the
bucket pin 44 in the vertical direction. The height H4 of the bucket pin 44 may be
calculated by Equation 5 below.

[0061] In Equation 5 above, Y
BucketPin represents the height H4 of the bucket pin 44, Y
JointPin3 represents a height h4 of the third joint pin 33, L
BucketLink represents a length of an imaginary sixth line segment L6 connecting the third joint
pin 33 and the bucket pin 44, θ
Bucket represents an angle between the imaginary vertical line VL and an imaginary seventh
line segment L7, and θ
BucketLink represents an angle between the sixth line segment L6 and the seventh line segments
L7. In such an embodiment, the height h4 of the third joint pin 33 refers to a distance
from the ground 900 to the third joint pin 33 in the vertical direction, the imaginary
vertical line VL refers to a line parallel to the direction of gravity, the sixth
line segment L6 refers to a straight line connecting the third joint pin 33 and the
bucket pin 44, and the seventh line segment L7 refers to a straight line connecting
the third joint pin 33 and the bucket tip 340. In such an embodiment, L
BucketLink is a fixed value. However, L
BucketLink may vary depending on the model of the excavator. In an embodiment, θ
Bucket may be detected by the third angle sensor 703 described above.
[0062] "L
BucketLink * cos(θ
Bucket + θ
BucketLink)" in Equation 5 above means a distance h4' from the third joint pin 33 to the bucket
pin 44 in the vertical direction. Accordingly, the height H4 from the ground 900 to
the bucket pin 44 in the vertical direction may be calculated by Equation 5 above.
In an example as illustrated in FIG. 5, "(θ
Bucket + θ
BucketLink)" is greater than 90 degrees counterclockwise with respect to the vertical line VL,
so "cos(θ
Bucket + θ
BucketLink)" has a negative value. Accordingly, Equation 5 represents a size obtained by adding
the value of "cos(θ
Bucket + θ
BucketLink)" to the height of the third joint pin 33.
[0063] In an embodiment, Y
JointPin3 of Equation 5 may be defined by Equation 6 below.

[0064] L
Arm in Equation 6 refers to a length of the aforementioned fourth line segment L4. In
such an embodiment, L
Arm is a fixed value. However, L
Arm may vary depending on the model of the excavator.
[0065] FIG. 6 is a view for explaining a method of measuring the height of the bucket back
380 of FIG. 1.
[0066] A height H5 of the bucket back 380 may be calculated by the controller 600 described
above.
[0067] The height H5 of the bucket back 380 refers to a height from the ground 900 to the
bucket back 380 in the vertical direction. The height H5 of the bucket back 380 may
be calculated by Equation 7 below.

[0068] In Equation 7 above, Y
BucketBack represents the height H5 of the bucket back 380, Y
JointPin3 represents a height h5 of the third joint pin 33, L
BucketBack represents a length of an imaginary eighth line segment L8 connecting the third joint
pin 33 and the bucket back 380, θ
Bucket represents an angle between the imaginary vertical line VL and the imaginary seventh
line segment L7, and θ
BucketBack represents an angle between the seventh line segment L7 and the eighth line segments
L8. In such an embodiment, the height h5 of the third joint pin 33 refers to a distance
from the ground 900 to the third joint pin 33 in the vertical direction, the imaginary
vertical line VL refers to a line parallel to the direction of gravity, the eighth
line segment L8 refers to a straight line connecting the third joint pin 33 and the
bucket back 380, and the seventh line segment L7 refers to a straight line connecting
the third joint pin 33 and the bucket tip 340. In such an embodiment, L
BucketBack is a fixed value. However, L
BucketBack may vary depending on the model of the excavator.
[0069] "L
BucketBack * cos(θ
Bucket + θ
BucketBack)" in Equation 7 above means a height from the third joint pin 33 to the bucket back
380 in the vertical direction. Accordingly, the height H5 from the ground 900 to the
bucket back 380 in the vertical direction may be calculated by Equation 7 above. In
an example as illustrated in FIG. 6, "(θ
Bucket + θ
BucketBack)" is 90 degrees counterclockwise with respect to the vertical line VL, so "cos(θ
Bucket + θ
BucketBack)" has a value of 0. Accordingly, Equation 7 represents a size obtained by adding
the value of "cos(θ
Bucket + θ
BucketBack)" to the height of the third joint pin 33.
[0070] In an embodiment, Y
JointPin3 of Equation 7 may be defined by Equation 6 described above.
[0071] FIG. 7 is a view for explaining a method of measuring the height of the bucket tip
340 of FIG.
[0072] A height H6 of the bucket tip 340 may be calculated by the above-described controller
600.
[0073] The height H6 of the bucket tip 340 refers to a height from the ground 900 to the
bucket tip 340 in the vertical direction. The height H6 of the bucket tip 340 may
be calculated by Equation 8 below.

[0074] In Equation 8 above, Y
BucketTip represents the height H6 of the bucket tip 340, Y
JointPin3 represents the height h5 of the third joint pin 33, L
Bucket represents a length of a line segment (i.e., the seventh line segment L7) connecting
the third joint pin 33 and the bucket tip 340, and θ
Bucket represents an angle between the imaginary vertical line VL and the seventh line segment
L7.
[0075] "L
Bucket * cos(θ
Bucket)" in Equation 8 above means a height from the third joint pin 33 to the bucket tip
340 in the vertical direction. Accordingly, the height H6 from the ground 900 to the
bucket tip 340 in the vertical direction may be calculated by Equation 8 above. In
an example as illustrated in FIG. 7, "θ
Bucket" is smaller than 90 degrees counterclockwise with respect to the vertical line VL,
so "cos(θ
Bucket)" has a positive value. Accordingly, Equation 8 represents a size obtained by subtracting
the value of "L
Bucket * cos(θ
Bucket)" from the height of the third joint pin 33.
[0076] In an embodiment, Y
JointPin3 of Equation 8 may be defined by Equation 6 described above.
[0077] FIG. 8 is a view illustrating a screen for selecting a bucket tip to be measured.
[0078] A display 800 is disposed at a dashboard of an excavator of the present disclosure,
and a window 850 as illustrated in FIG. 8 may be generated on the screen of the display
800. In this window 850, an operator may select a distance between a working surface
and a first edge tip located at a left portion of the bucket 300, a distance between
the working surface and a center tip located at a center portion (e.g., in the middle)
of the bucket 300, and a distance between the working surface and a second edge tip
located at a right portion of the bucket 300. For example, when "left" is selected
in the window 850, the distance between the working surface and the first edge tip
is detected and displayed on the screen of the display 800; when "center" is selected
in the window, the distance between the working surface and the center tip is detected
and displayed on the screen of the display 800; and when "right" is selected in the
window, the distance between the working surface and the second edge tip is detected
and displayed on the screen of the display 800. In such an embodiment, at least two
of "left", "center" and "right" may be selected, and in such an embodiment, the height
of each of the selected tips may be detected and displayed on the screen of the display
800. The operator may easily recognize the distance of the position selected from
among "left", "center" and "right" on the screen. For example, when the operator works
with the bucket inclined with respect to the ground as illustrated in FIG. 12, the
operator may select and view from a range of a portion of the bucket closest to the
ground to a portion of the bucket farthest from the ground as desired.
[0079] FIG. 9 is a view illustrating a screen including various information related to the
bucket.
[0080] When a tip of the bucket to be measured is selected as in FIG. 8 described above,
the selected tip is highlighted with a different color as illustrated in FIG. 9.
[0081] In addition, as illustrated in Fig. 9, the screen may display an inclination viewed
from the front of the bucket and a distance between the selected tip of the bucket
and the working surface.
[0082] FIG. 10 is a view illustrating various sensors for calculating angles of working
portions of the excavator and a screen on which values measured by these sensors are
displayed.
[0083] The excavator of the present disclosure, as illustrated in FIG. 10, may include a
boom angle sensor for sensing an angle of the boom, an arm angle sensor for sensing
an angle of the arm, a bucket angle sensor for sensing an angle of the bucket, and
a posture detect sensor for detecting a posture of the excavator.
[0084] Measurements related to the boom, arm, bucket and excavator postures measured from
the boom angle sensor, the arm angle sensor, the bucket angle sensor, and the posture
detect sensor may be displayed on the display 800.
[0085] FIG. 11 is a view illustrating a screen for inputting a size of the bucket.
[0086] When a vehicle body of the excavator is inclined, in order to calculate coordinates
differently for each bucket end position, a screen for inputting the size of the bucket
as illustrated in FIG. 11 may be provided.
[0087] A point D and a point G in FIG. 11 represent the coordinates of each bucket pin of
the bucket link 400, a point Q represents the coordinates of a largest protrusion
on a rear surface of the bucket, and a point N represents the coordinates of an end
of the bucket tip.
[0088] As illustrated in FIG. 11, a length between the points D and G, a length between
the points D and N, a length between the points D and Q, a length between the points
N and Q, a bucket width and a bucket tooth may be input. In such an embodiment, when
inputting the bucket tooth, an average value of each length of opposite bucket tips
may be input. These values are variables required to calculate the coordinates of
the bucket tip through the inclination of the vehicle body of the excavator.
[0089] FIG. 12 is a view for explaining a method of measuring the distance between the working
surface and the bucket tip when the excavator of FIG. 1 is disposed on the inclined
ground.
[0090] When the ground 900 on which the excavator is disposed and a working surface 999
on which an excavating work is to be performed by the excavator are not parallel to
each other, distances between the working surface 999 and the bucket tips may be different
from each other. For example, a distance between the working surface 999 and a bucket
tip (hereinafter, the center tip 340C) located at a center portion of the bucket 300,
a distance between the working surface 999 and a bucket tip (hereinafter, the first
edge tip 340E1) located at one edge of the bucket 300, and a distance between the
working surface 999 and a bucket tip (hereinafter, the second edge tip 340E2) located
at another edge of the bucket 300 may be different from each other. In such a case,
in embodiments of the present disclosure, based on the size (e.g., dimension) of the
bucket 300 and an angle between an imaginary straight line connecting the bucket tips
340 of the bucket 300 and the working surface 999 illustrated in FIG. 11, respective
distance between the working surface 999 and at least two bucket tips may be detected.
[0091] As illustrated in FIG. 12, when the excavator is disposed on the ground 900 inclined
by θ
Chassis with respect to the working surface 999, a distance H
c between the working surface 999 and the center tip 340C is substantially equal to
the distance H6 between the ground 900 and the bucket tip 340 measured in FIG. 7.
[0092] In an embodiment, a distance H
E1 of the first edge tip 340E1 located farthest from the working surface 999 among the
bucket tips is longer than a distance H
c between the working surface 999 and the center tip 340C, and a distance H
E2 of the second edge tip 340E2 located closest to the working surface 999 among the
bucket tips is shorter than the distance H
c between the working surface 999 and the center tip 340C.
[0093] The distance H
E1 between the working surface 999 and the first edge tip 340E1 and the distance H
E2 between the working surface 999 and the second edge tip 340E2 may be calculated by
the controller 600 described above.
[0094] First, a method of calculating the distance H
E1 between the working surface 999 and the first edge tip 340E1 will be described.
[0095] The distance H
E1 between the working surface 999 and the first edge tip 340E1 refers to a distance
from the working surface 999 to the first edge tip 340E1 in the vertical direction.
The distance H
E1 between the working surface 999 and the first edge tip 340E1 may be calculated by
Equation 9 below.

[0096] In Equation 8 above, Y
BueketTip_E1 represents a height between the working surface 999 and the first edge tip 340E1,
Y
BueketTip_C represents a distance between the working surface 999 and the center tip 340 (i.e.,
the distance between the working surface 999 and the bucket tip 340), W represents
the width of the bucket 300, and θ
Chassis represents an angle between the ground and the working surface 999. In other words,
θ
Chassis is an angle representing a degree of inclination of the excavator with respect to
the working surface 999. More specifically, θ
Chassis is an angle indicating a degree of inclination of the bucket 300 with respect to
the ground 900. For example, θ
Chassis represents an angle formed by an imaginary straight line LL connecting ends of the
bucket tips and the working surface 999.
[0097] "W/2 * sin(θ
Chassis) in Equation 9 refers to a distance he from a center portion of the center tip 340C
to an outer edge of the first edge tip 340E1 in the vertical direction. In addition,
"W/2 * sin(θ
Chassis)" in Equation 9 refers to a distance he from the center portion of the center tip
340C to an outer edge of the second edge tip 340E2 in the vertical direction. Accordingly,
the distance H
E1 from the working surface 999 to the first edge tip 340E1 in the vertical direction
may be calculated by Equation 9 above. In an example as illustrated in FIG. 12, "θ
Chassis" is smaller than 90 degrees counterclockwise with respect to the straight line LL,
so "sin(θ
Chassis)" has a positive value. Accordingly, Equation 9 represents a size obtained by adding
the value of "W/2 * sin(θ
Chassis)" to the height H
C of the center tip 340C.
[0098] Next, a method of calculating the height of the second edge tip 340E2 will be described.
[0099] The distance H
E2 between the working surface 999 and the second edge tip 340E2 refers to a distance
from the working surface 999 to the second edge tip 340E2 in the vertical direction.
The distance H
E2 between the working surface 999 and the second edge tip 340E2 may be calculated by
Equation 10 below.

[0100] In Equation 10 above, Y
BucketTip_E2 represents the distance between the working surface 999 and the second edge tip 340E2,
and Y
BucketTip_C represents the distance H
c between the working surface 999 and the center tip 340 (i.e., the distance between
the working surface 999 and the bucket tip), W represents the width of the bucket
300, and θ
Chassis represents an angle between the ground 900 and the working surface 999. In other
words, θ
Chassis refers to an angle representing a degree of inclination of the excavator with respect
to the working surface 999. More specifically, θ
Chassis refers to an angle indicating a degree of inclination of the bucket 300 with respect
to the ground 900. For example, θ
Chassis represents an angle formed by an imaginary straight line LL connecting ends of the
bucket tips and the working surface 999.
[0101] "W/2 * sin(θ
Chassis) in Equation 10 refers to a distance he from a center portion of the center tip 340C
to an outer edge of the first edge tip 340E1 in the vertical direction. In addition,
"W/2 * sin(θ
Chassis)" in Equation 10 refers to a distance he from the center portion of the center tip
340C to an outer edge of the second edge tip 340E2 in the vertical direction. Accordingly,
the distance H
E2 from the working surface 999 to the second edge tip 340E2 in the vertical direction
may be calculated by Equation 10 above. In an example as illustrated in FIG. 8, "θ
Chassis" is smaller than 90 degrees counterclockwise with respect to the straight line LL,
so "sin(θ
Chassis)" has a positive value. Accordingly, Equation 10 represents a size obtained by subtracting
the value of "W/2 * sin(θ
Chassis)" from the height of the center tip 340C.
[0102] According to the present disclosure, even when the vehicle body of the excavator
is inclined, the heights of the bucket 300 and the working surface 999 may be detected
for each position of the bucket tip 340, and thus a more precise work on the work
object may be performed.
[0103] FIG. 13 is a view for explaining a method for controlling an excavator of the present
disclosure.
[0104] First, the controller 600 detects respective heights of the boom 100, the arm 200
and the bucket 300. For example, the controller 600 detects heights of the boom cylinder
pin 120, the first arm cylinder pin 221, the second arm cylinder pin 222, the bucket
pin 44, the bucket back 380 and the bucket tip 340 (e.g., a distance between the ground
and the bucket tip) of the excavator (S1). In addition, the controller 600 detects
an inclination of the excavator itself (S1). In addition, as illustrated in FIG. 11,
a size (e.g., dimension) of the bucket 300 is detected. The inclination may be, for
example, an angle θ
Chassis between the imaginary straight line LL connecting the bucket tips 340 of the bucket
300 and the working surface 999.
[0105] Subsequently, at least one of the bucket tips 340 of the bucket 300 may be selected.
For example, at least one of the center tip 340C, the first edge tip 340E1, and the
second edge tip 340E2 may be selected.
[0106] Next, a distance between the selected bucket tip and the working surface is detected.
For example, a distance from the working surface 999 to the selected bucket tip may
be detected.
[0107] The foregoing outlines features of several embodiments so that those skilled in the
art may better understand the aspects of the present disclosure. Those skilled in
the art should appreciate that they may readily use the present disclosure as a basis
for designing or modifying other processes and structures for carrying out the same
purposes and/or achieving the same advantages of the embodiments introduced herein.
Those skilled in the art should also realize that such equivalent constructions do
not depart from the spirit and scope of the present disclosure, and that they may
make various changes, substitutions, and alterations herein without departing from
the spirit and scope of the present disclosure.
<Reference numerals>
300: Bucket |
900: Ground |
999: Working surface |
380: Bucket back |
340E1: First edge tip |
340C: Center tip |
340E2: Second edge tip |
LL: Imaginary straight line |