Construction equipment with power limiting function

Abstract

A construction apparatus (100) comprising: a control unit (110); a hydraulic system (120); and a tool carrying arm (150) having a tool interface (140) arranged to support a hydraulic tool (200) having two opposing and cooperating jaw members (210) connected to the hydraulic system (120); wherein the control unit (110) is configured to obtain data relating to hydraulic pressure of the hydraulic tool (200), wherein the control unit (110) is configurable to be in a flow limiting operation mode which is manually or automatically initiated when the hydraulic tool having two opposing and cooperating jaw members powered by the hydraulic system is attached in the tool interface (140), wherein the control unit (110) is configured to determine an acceptable level of hydraulic flow in the hydraulic system (120) based on the hydraulic pressure in the tool, such that the hydraulic power output according to pressure and flow variations in the hydraulic system (120) meets an acceptance criterion, and wherein the control unit (110) is configured to limit the hydraulic flow to the hydraulic tool (200) to be at or below the acceptable level of hydraulic flow when in the flow limiting operation mode.

Description

Technical Field

[0001] This invention relates to hydraulically powered construction equipment, such as tracked demolition robots. The invention discloses a hydraulic system, method, and control unit for controlling the power consumption of construction equipment. Background Technology

[0002] Dismantling robots are relatively lightweight and agile construction machines that can be used for a variety of tasks, such as smaller excavation operations, transportation, and of course, dismantling.

[0003] Dismantling robots are typically powered from the mains via cables. The machines can consume considerable power during operation and therefore require large fuses, for example, rated at 32A, to support full functionality. However, many work areas only provide a 16A rated current connection to the mains. To operate under these conditions, it is necessary to limit the power drawn by the machine.

[0004] Some disassembly robots are partially or fully powered by onboard battery packs. These battery packs can be subject to power limitations, especially in cold operating environments.

[0005] EP 2842213 B1 discusses the use of batteries to supplement hybrid power systems with power line connections that have insufficient rated current.

[0006] The dismantling robot includes a tool-bearing arm that can be used to support a bucket tool at its distal end.

[0007] In some situations, such as when the material in the bucket tends to stick to the bucket, it may be difficult to use the bucket.

[0008] US 2023 / 0279641 A1 describes a skid steer wheel loader that implements an automatic bucket shaking function, which can be used to remove material stuck in the bucket of the wheel loader.

[0009] Despite the development work done to date, further improvements are still needed, such as the power control of dismantling robots and other types of construction equipment. Summary of the Invention

[0010] The object of this invention is to provide an improved technique for limiting the power consumption of construction equipment, such as dismantling robots. This object is achieved at least in part by construction equipment comprising a control unit, a hydraulic system, and a hydraulic tool, such as a crusher, shearer, or grab, having two opposing and cooperating jaw members powered by the hydraulic system. The control unit is configurable to a flow-limiting operating mode, which can be manually or automatically activated when the hydraulic tool, having two opposing and cooperating jaw members powered by the hydraulic system, is attached to a tool interface. The control unit is configured to acquire hydraulic data related to the hydraulic tool and determine an acceptable level of hydraulic flow in the hydraulic system based on the hydraulic pressure in the tool, such that the hydraulic power, depending on changes in pressure and flow in the hydraulic system, meets acceptance criteria. The control unit is also configured to control the hydraulic flow of the hydraulic tool to be at or below the acceptable level when in the flow-limiting operating mode. When the hydraulic pressure in the system increases, the control unit responds by reducing the hydraulic flow, so that the hydraulic power, proportional to both pressure and flow, remains within an acceptable range. This type of flow restriction based on pressure variation is particularly suitable for pliers and scissor-like tools that include cooperating jaw components, because these tools do not generate very high pressure when the jaws move to engage, for example, a piece of concrete, nor do they require high pressure when the tool gaps open. The pressure requirement is much higher when the cooperating jaw components engage an object, but the jaw components require little or no rapid movement; that is, high flow is not needed. By reducing the flow rate to the tool when the tool pressure becomes too high, the combination of pressure and flow that requires excessive power can be avoided in an effective manner without significantly impacting the user experience. Not all hydraulic tools are suitable for this type of pressure-dependent flow restriction to limit the hydraulic power output in the system. This is why the control unit can be configured in a flow-restriction operating mode, which can be manually or automatically activated when a hydraulic tool with two opposing and cooperating jaw components powered by a hydraulic system is attached to construction equipment. The selection of the operating mode (i.e., the activation of the flow restriction function described herein) can be performed via operator input through a remote control device.

[0011] Acceptance criteria for the level of hydraulic flow at a given pressure can be configured in various ways, such as based on the specifications of the fuse at the work site (16A, 32A, etc.), based on manual configuration by the operator (such as the maximum draw current or power), based on the maximum power output of the onboard battery pack, or in some other way.

[0012] According to some aspects, the control unit is configured to obtain data related to the hydraulic pressure of the hydraulic tool, at least in part, from the output signal of a pressure sensor arranged to be connected to the hydraulic tool. This pressure sensor detects when the pressure generated by the tool increases, i.e., when the jaw members engage the object to be crushed, sheared, or gripped. Taking into account the increased pressure, the control unit can compensate by reducing the hydraulic flow to the tool, thereby keeping the hydraulic power output within acceptable limits. Preferably, flow restriction is only enforced when the construction equipment has been placed in a "jaw tool" or "flow-limited" operating mode by the operator; otherwise, it is not enforced.

[0013] According to several other aspects, the control unit is configured to at least partially obtain data related to the hydraulic pressure of the hydraulic tool through the motor torque and / or current applied by the pump drive motor included in the hydraulic system within the construction equipment. As the pressure in the system increases, the pump motor will have to work harder to maintain the required level of hydraulic flow. This more strenuous work can be detected by monitoring the drive motor torque or current consumed by the drive motor. The indication of the hydraulic pressure in the system can serve as a supplement or alternative to obtaining the hydraulic pressure using a pressure sensor.

[0014] The control unit can, for example, be configured to determine the acceptable level of hydraulic flow based on a predetermined mapping between data related to the hydraulic pressure of the hydraulic tool and an acceptable level of hydraulic flow. Therefore, a given pressure data point can be translated into an acceptable level of hydraulic flow, and the control unit can then continue to control the hydraulic flow so that it is always below the acceptable level. Of course, the mapping will change according to the machine's power limitations (i.e., according to the amount of current the machine is allowed to draw from its power source).

[0015] Hydraulic tools may include proportional hydraulic valves, and control units may be configured to control hydraulic flow by adjusting the state of the proportional hydraulic valves. This is a relatively simple way to implement the techniques described herein. For example, consider a hydraulic system that includes a pressure sensor arranged to monitor hydraulic pressure generated by a crusher, shearer, or grab. Taking into account the current hydraulic pressure generated by the tool, the control unit can control the flow rate by adjusting the proportional valve so that the hydraulic power (proportional to pressure and flow rate) meets acceptable criteria. The proportional valve is preferably a pressure-compensated proportional valve, which is less affected by other hydraulic power-consuming devices in the hydraulic system of the construction equipment.

[0016] The hydraulic system may also include a variable displacement hydraulic pump, i.e., a hydraulic pump that can be configured by a control unit to deliver a variable amount of oil for each rotation of the drive motor. The variable displacement pump can be used to regulate the level of hydraulic flow to the tool by adjusting the pump's displacement based on the hydraulic pressure in the system. Therefore, the control unit can be configured to control the hydraulic flow by adjusting the state of the variable displacement hydraulic pump.

[0017] The construction equipment may also include a user interface, and the control unit may be arranged to generate a signal via the user interface when the control unit limits the hydraulic flow to the hydraulic tool to a flow rate below a required hydraulic flow rate. For example, it can be assumed that the jaws of a crusher are supported on a piece of concrete. When the jaws are closed, there is very little mechanical resistance, which means low hydraulic pressure. This means that the control unit, operating according to the control principles described herein, does not limit the hydraulic flow, and therefore the jaws close relatively quickly. When the jaws engage the object to be crushed, the pressure in the system increases, and the control unit responds by limiting the flow to the tool so that the hydraulic power does not exceed an acceptable level of hydraulic power output. When this occurs, a signal is generated by the user interface to notify the operator that flow limitation has begun. The generated signal may include any one of a visual signal from a display device, an audible signal from a speaker or buzzer, and / or a tactile signal from one or more joysticks on a remote control device.

[0018] Many workplaces include fuses that allow power output above the nominal value, provided the power output is transient (i.e., not lasting too long). Some battery systems also allow power output above the nominal value, provided the high power output has a limited duration. This can be utilized by control units to limit the impact of flow limits on the user experience. Essentially, depending on some aspects, control units may allow a combination of pressure and flow that violates acceptance criteria, provided the violation has a limited duration and / or occurs relatively infrequently. In this case, the control unit implements a time-related flow limit that only takes effect if the hydraulic power exceeds the acceptance criteria for too long or too frequently.

[0019] In other words, according to some aspects, the control unit is arranged to acquire data indicating the time-varying current or power drawn by the construction equipment. This data may, for example, be a combination of pressure and flow rate, which together control the hydraulic power output of the construction equipment. The control unit is arranged to filter the acquired data using at least a first averaging filter and a second averaging filter, wherein the first averaging filter is associated with an average time window shorter than the average time window of the second filter, and wherein the outputs of at least two filters are associated with corresponding filter acceptance criteria. Thus, the first filter monitors the current or power output over a shorter time frame than the second filter. This allows the system to set requirements such as thresholds or other acceptance criteria for short-term and long-term power output. The control unit is configured to control the hydraulic flow to the hydraulic tool at or below an acceptable level if any filter output does not meet the corresponding filter acceptance criterion. The control unit is also preferably configured to gradually limit the hydraulic flow to the hydraulic tool according to a predetermined function if any filter output does not meet the corresponding filter acceptance criterion.

[0020] This disclosure also relates to construction equipment including an automatic bucket shaking function. The construction equipment includes a remote control, a control unit, and a tool-bearing arm with a tool interface disposed distally on the arm to hold the bucket. The arm includes at least a second arm section and a third arm section. The third arm section is rotatably connected at its proximal end to the distal end of the second arm section, and a third hydraulic cylinder is arranged to rotate the third arm section relative to the second arm section about a third axis. The tool interface is rotatably connected to the distal end of the third arm section, and a fourth hydraulic cylinder is arranged to rotate the tool interface relative to the third arm section about a fourth axis. The control unit is configured to perform the automatic bucket shaking function by jointly controlling the third and fourth hydraulic cylinders to repeatedly extend and retract within predetermined respective cylinder extension ranges in response to a bucket shaking command. This allows the bucket, holding material stuck in it, to be effectively emptied at a desired location. The joint control of the third and fourth hydraulic cylinders provides a more significant shaking motion compared to situations where only a single cylinder is used to induce the shaking motion of the bucket during automatic bucket shaking operation.

[0021] To achieve better performance, the control unit can be arranged to control the third and fourth hydraulic cylinders in a time-synchronized manner, repeatedly extending and retracting them at different phases. This increases the bucket's pivoting speed, which improves the bucket emptying operation. The control unit can, for example, be configured to control the third and fourth hydraulic cylinders in opposite directions in response to a bucket jiggling actuator command. That is, when the third cylinder extends, the fourth cylinder retracts, and vice versa.

[0022] According to some aspects, the control unit is arranged to initiate the bucket swaying function by controlling a third cylinder to move the bucket upwards away from the ground and a fourth cylinder to move the bucket upwards away from the ground. In this way, the automatic bucket swaying operation is unlikely to cause the bucket to hit the ground or a nearby object, because the first movement of the bucket swaying operation is to lift the bucket upwards away from the ground or the container. The lower limit point of the bucket during bucket swaying operation will be the position of the bucket when the bucket swaying operation begins.

[0023] The predetermined cylinder extension range, and optionally the cylinder speed during bucket shaking operation, can be configured by the operator of the construction equipment. This allows the operator to configure the desired size or intensity of the bucket shaking from a low-intensity, smaller bucket shake to a very strong bucket shaking operation capable of removing most of the sticky material.

[0024] Preferably, the construction equipment includes an input device, such as a button on a remote control, arranged to generate a bucket jigging command in response to operator input. The operator can then simply press a button, such as on a joystick of a remote control, to trigger automatic bucket jigging operation. The bucket jigging operation can continue for a predetermined or configurable period of time after initiation, or for the duration of operator input.

[0025] Construction equipment may also include a dust control system, such as a liquid spraying or misting system. In this case, the control unit can be configured to trigger the dust control system in conjunction with the automatic bucket shaking function. Thus, when the bucket shaking function is activated and the bucket begins to shake, the dust control system also activates automatically to suppress dust released as part of the bucket shaking operation. This dust control system can be activated sometime before the bucket shaking function is activated and optionally remain active sometime after the bucket shaking operation has been completed. The operator of the equipment can choose whether the dust control system should be activated automatically in conjunction with the bucket shaking function, or whether a separate activation command should be issued to activate the dust control system.

[0026] This article also discloses methods and various forms of construction equipment associated with the same advantages described above regarding control units.

[0027] Generally, unless otherwise expressly defined herein, all terms used in the claims will be interpreted according to their ordinary meaning in the art. All references to “a / an / the element, device, component, apparatus, step, etc.” will be interpreted openly as referring to at least one instance of the element, device, component, apparatus, step, etc., unless otherwise expressly stated. Unless expressly stated otherwise, the steps of any method disclosed herein need not be performed in the exact order disclosed. Further features and advantages of the invention will become apparent upon examination of the appended claims and the following description. Those skilled in the art will recognize that different features of the invention can be combined to produce embodiments other than those described below without departing from the scope of the invention. Attached Figure Description

[0028] This disclosure will now be described in more detail with reference to the accompanying drawings, in which: Figure 1 An exemplary disassembly robot is shown; Figures 2A to 2D An exemplary hydraulic power tool is shown; Figure 3 It is a diagram illustrating the hydraulic power as pressure and flow rate change; Figure 4 The hydraulic system is illustrated schematically. Figure 5 This is a diagram illustrating the tripping characteristics of an exemplary fuse; Figure 6 An exemplary remote control device for controlling a disassembly robot is shown; Figure 7 This is a flowchart illustrating the method; Figure 8 The control unit is shown schematically; Figure 9 The computer program product is shown schematically. Figure 10 The bucket used for disassembling the robot is shown; Figure 11 The bucket shaking operation is illustrated schematically; Figure 12 A tool carrier arm with a hydraulic actuator cylinder is shown; Figure 13 It is an illustration showing the extension and retraction of a hydraulic cylinder; and Figure 14 This is a flowchart illustrating the method. Detailed Implementation

[0029] Various aspects of this disclosure will now be described more fully with reference to the accompanying drawings. However, the different apparatuses and methods disclosed herein may be implemented in many different forms and should not be construed as limited to the aspects set forth herein. Like reference numerals in the drawings consistently denote the same elements.

[0030] The terminology used herein is only for describing various aspects of this disclosure and is not intended to limit the invention. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well.

[0031] Figure 1 An exemplary construction device 100 is shown, in this case a demolition robot. A demolition robot is a lightweight engineering machine that can be used for a variety of work tasks, such as smaller demolition tasks. Demolition robots are typically tracked, i.e., include tracks 130 for support on the ground and for propulsion. Construction device 100 includes a control unit 110 for controlling the overall operation of the machine and a hydraulic system 120 for powering the various actuators on the robot, such as its tracks 130 and tool interface 140 included on a tool-carrying arm 150. The control unit 110 is configured to generate control signals to control the operation of the various hydraulic cylinders and other hydraulic actuators on the machine.

[0032] The exemplary robot 100 is powered via cable 160, which is arranged to connect the robot to a power line. Battery-powered versions of disassembly robots are known, as are hybrid power designs that are partially powered by battery packs and partially by power lines.

[0033] This invention can also be applied to other forms of construction equipment, although most of the functionality described herein is most advantageously suited for remotely controlled dismantling robots, i.e., smaller tracked vehicles with a single hydraulically powered tool-bearing arm 150, controlled by a remote controller from a location near the machine (e.g., within 30 meters of the machine). The following will combine... Figure 6 An exemplary remote control is discussed in more detail.

[0034] As stated above, the problem is that the fuse connected to the main power line at the work site may have a current rating lower than the maximum current consumption of the dismantling robot 100; that is, the fuse may have a rated current lower than the maximum current consumption of the machine 100. In order to prevent the fuse from tripping due to power to machine 100, the maximum current or power drawn by machine 100 via power line connection 160 can be limited, for example, by setting it in remote control device 600.

[0035] The same problem can occur in battery-powered or hybrid-powered disassembly robots if the battery cannot provide a sufficiently high output current. This may also be the case if the battery is at low temperatures or has insufficient capacity for some tasks.

[0036] The hydraulic power generated in hydraulic system 120 is proportional to the hydraulic flow rate and hydraulic pressure in the system. This means that when both flow rate and pressure increase simultaneously, the power consumption of hydraulic system 120 also increases. When high flow rate and high pressure are present simultaneously, power limiting is required to prevent the fuse from tripping and to prevent potential stalling of the machine's hydraulic pump drive motor.

[0037] Figures 2A to 2D Some exemplary hydraulic tools 200 that can be used with construction equipment 100 are shown. Figure 2A and Figure 2B An exemplary hydraulic tool 200 is a breaker that includes two opposing and cooperating jaw members 210 arranged to be powered by a hydraulic system 120. Figure 2C A shearing machine is shown that can be used to cut rigid materials such as steel reinforcement structures. The shearing machine includes two opposing and cooperating jaw members 210, which are arranged to be powered by a hydraulic system 120. Figure 2D A type of grab bucket is shown, which also includes two opposing and cooperating jaw members 210 arranged to be powered by a hydraulic system 120. Figures 2A to 2D The exemplary tools in the process can be attached to the tool interface 140 on the tool-bearing arm 150 of the construction equipment 100 via the corresponding tool interface 220. The movement of the jaw member 210 is controlled by the control unit 110.

[0038] When using devices such as concrete crushers, shears, or grabs on dismantling robots, a high flow rate is initially required to quickly close the cooperating jaw members 210. High pressure is also needed to achieve the high crushing force from the actuator hydraulic cylinders. After crushing, a high flow rate is again required to allow the opposing jaw members to open again. However, for crushers, shears, or grabs, simultaneous high flow rates and high pressures are not necessary or almost unnecessary, as high pressure is only required when the opposing jaws are nearly stationary.

[0039] It has been recognized that power consumption in construction equipment can be effectively limited with minimal impact on user experience if the hydraulic flow rate is limited based on the hydraulic pressure supplied to the tool, or alternatively based on the current consumed by the pump motor and / or shaft torque during tool use. This construction equipment includes a hydraulic tool 200 having two opposing and cooperating jaw members 210 arranged to be powered by a hydraulic system 120. Thus, due to high flow rate (low pressure), the jaws close rapidly, as in a concrete crusher, but when the jaws contact an object, the pressure increases due to increased mechanical resistance, and the flow rate automatically decreases, thereby keeping the hydraulic power output within an acceptable range.

[0040] This method is not applicable to all types of hydraulic tools. Therefore, the construction equipment 100 can advantageously be configured for a "jaw tool" or "flow-limiting" operating mode, which can be activated manually or automatically when a hydraulic tool having two opposing and cooperating jaw components powered by the hydraulic system 120 is attached to the construction equipment 100. The selection of the operating mode (i.e., the activation of the flow-limiting function described herein) can be performed by operator input via a remote operating device or automatically by detecting that a specific type of tool has been attached to the arm 150. Tool type detection can be accomplished using a radio frequency identification (RFID) device on the tool and a corresponding RFID reader on the tool interface 140.

[0041] Figure 3 An exemplary diagram 300 is shown, illustrating the relationship or mapping between hydraulic power output and hydraulic pressure and flow rate in a system. Hydraulic pressure can be defined, for example, as the hydraulic pressure to the hydraulic tool, while hydraulic flow rate can be defined as the hydraulic flow rate to the tool, or as the total hydraulic flow rate from the hydraulic pump in the hydraulic system. Hydraulic pressure can also be the hydraulic pressure at the pump outlet. Hydraulic power is related to the total power consumption of the construction equipment 100 in a known manner and is approximately proportional to both pressure and flow rate. As a simple approximation, hydraulic power is equal to the product of hydraulic flow rate and hydraulic pressure in the hydraulic system. In short, the formula for hydraulic power output (in watts) is power = Q x P, where Q is the flow rate in liters per minute and P is the pressure in bar.

[0042] Figure 300 illustrates a sequence of 25 exemplary hydraulic pressures (labeled 1-25) and their corresponding hydraulic flow levels. Note that the hydraulic power increases gradually with increasing pressure. The hydraulic power then reaches a maximum permissible value of 310, at which point the hydraulic power saturates. This is because the system begins to limit the flow rate within the system, as can be seen from the gradually decreasing flow rate levels. The figure does not show absolute levels because they depend on the system.

[0043] In summary, this disclosure relates to a construction device 100 comprising a control unit 110, a hydraulic system 120, and a hydraulic tool 200 having two opposing and cooperating jaw members 210, wherein the jaw members are arranged to be powered by the hydraulic system 120 of the construction device. The hydraulic tool 200 may be, for example, a crusher, a shear, or a grab. These types of clamp-like or scissor-like tools preferably close and open rapidly in response to operator control input, which requires a high level of hydraulic flow to move the jaw members 210. The tool also requires high pressure to generate large force when engaging an object. However, the jaws do not move much when engaging an object, and therefore high flow and high pressure are not required simultaneously. Therefore, flow limitation in the system varies with pressure, wherein limiting the hydraulic flow to maintain a hydraulic power output (the product of pressure and flow) that meets acceptable criteria (such as below a threshold) will not significantly affect the user experience.

[0044] Construction equipment 100 is preferably a tracked demolition robot. A tracked demolition robot is a relatively small machine (smaller than a full-size excavator, etc.) without a cab or seat for an operator, and typically consists of a single tool-carrying arm. The demolition robot is remotely controlled, meaning it is controlled via a wireless or wired remote control device (such as...). Figure 6 The portable remote control device 600 shown controls the machine from a distance.

[0045] Control unit 110 is configured to acquire data related to the hydraulic pressure of hydraulic tool 200. As described above, the hydraulic pressure remains relatively low as the jaws 210 move back and forth between their open and closed positions. However, once the hydraulic tool engages an object between the two opposing and cooperating jaw members 210, the hydraulic pressure increases. This increase in pressure will be evident from the acquired data.

[0046] Data relating to the hydraulic pressure of the hydraulic tool 200 can be obtained in several different ways. The most straightforward approach is likely to arrange a hydraulic pressure sensor connected to the tool 200 to continuously measure the pressure of the tool 200. The signal from the pressure sensor will indicate whether the tool is engaging an object between its jaws, with high pressure indicating engagement and low pressure indicating that the jaws are not engaging the object. Hydraulic pressure sensors are sometimes referred to as hydraulic pressure transducers. Hydraulic pressure sensors are generally known and will not be discussed in more detail herein.

[0047] Alternatively, or as a supplement to the signal from the pressure sensor, the control unit 110 can be configured to acquire hydraulic data related to the hydraulic tool 200, at least in part, through the applied motor torque and / or current of the drive motor of the hydraulic system pump 410 included in the construction equipment 100. The drive torque applied by the drive motor will increase as the pressure in the system increases, and therefore the drive torque can be used as an indication of the hydraulic pressure in the system. Similarly, the current consumption of the drive motor will increase as the pressure in the system increases. This type of motor data can be processed in conjunction with the signal from the pressure sensor to obtain a more reliable indication of the hydraulic pressure, thus allowing hydraulic flow control to be performed in a more reliable manner.

[0048] The control unit 110 is also configured to determine an acceptable level of hydraulic flow in the hydraulic system 120 based on the hydraulic pressure in the tool, such that hydraulic power, depending on changes in pressure and flow in the hydraulic system 120, meets acceptance criteria. Taking into account the acceptable level of hydraulic flow, the control unit 110 controls the hydraulic flow to the hydraulic tool 200 to be at or below that acceptable level. Therefore, the control unit regulates the flow level in the system based on the pressure to the tool to keep the hydraulic power output within acceptable limits. The acceptable limits for the hydraulic power output can be manually configured by the operator based on the fuse rating at the workplace or as the maximum current level of the machine that will not be exceeded.

[0049] According to some examples, the control unit 110 is configured to determine the acceptable level of hydraulic flow based on a predetermined mapping between hydraulically related data of the hydraulic tool 200 and an acceptable level of hydraulic flow. For example, suppose there is a pressure sensor arranged to be connected to the tool, and this pressure sensor continuously measures the pressure transmitted to the tool as the jaws move together to crush, shear, or clamp an object. The mapping can then be similar to... Figure 3 The mapping shown illustrates that for each pressure level, there exists a corresponding maximum permissible flow rate. The mapping between pressure and permissible flow rate can also be in the form of a predetermined function. It should be understood that the acceptable level of hydraulic flow can be indicated by the valve settings of the tool or by the actual flow rate.

[0050] The acceptable level of hydraulic flow in the system can be determined based on several factors, including the system pressure and permissible power consumption. Therefore, if the machine is connected to a high power source, such as a 32A or 64A fuse power line, a higher flow rate is permissible for a given pressure compared to if the machine is connected to a 16A fuse power line. The type of power line can be configured, for example, by the operator. The operator can also configure the power limit level via control unit 110, and the control unit will then determine the acceptable level of hydraulic flow accordingly for different system pressures.

[0051] The technology disclosed herein can be summarized as a construction device 100 including a control unit 110, a hydraulic system 120, and hydraulic tools connected to the hydraulic system 120, such as hydraulic tools... Figures 2A to 2D The tools shown are one of some other types of hydraulic tools suitable for use with the types of construction equipment discussed herein, and do not necessarily include cooperating jaw components.

[0052] The hydraulic tool 200 can operate in at least a first operating phase and a second operating phase, wherein the second operating phase is associated with a higher hydraulic pressure compared to the first operating phase. The tool may, for example, have an operating mode in which it is moved into position relative to a workpiece and another mode in which the tool engages with the workpiece, in which the tool primarily moves and does not interact with the workpiece. The control unit 110 may be arranged to obtain data related to the current operating phase of the hydraulic tool 200, for example, by sensing the hydraulic pressure of the tool, by detecting the attitude of the tool, or by detecting the position of the tool relative to the workpiece using a position sensor or camera. The control unit 110 is also configured to control the hydraulic system 120 to deliver a reduced hydraulic flow rate to the tool 200 during the second operating phase compared to the first operating phase. The hydraulic flow rate for the different modes may be configured as a flow limit or as a function of the hydraulic pressure as described above.

[0053] Therefore, at least some of the construction equipment discussed herein is arranged to carry and operate hydraulic tools associated with two or more operating modes, such as operation in a closed phase and operation in an engaged state. A first operating mode is then associated with a first flow limit, and a second operating mode is associated with a second flow limit less than the first flow limit.

[0054] Figure 4 An example 400 of a hydraulic system 120 is schematically shown. This system includes a pump 410 that powers a hydraulic tool 420. The hydraulic tool 420 includes a valve 430, which is controlled by a control unit 110 to operate an actuator 440 of the tool 420. It will be understood that the valve 430 is typically located on the machine, while the hydraulic cylinder of the actuator is located on the tool. The actuator may be, for example, the opposing jaws 210 of a crusher, shear, or grab tool. An optional pressure sensor 450 monitors the hydraulic pressure transmitted to the actuator.

[0055] According to some aspects, the hydraulic tool 200 includes a proportional hydraulic valve 430, and the control unit 110 is configured to control the hydraulic flow by adjusting the state of the proportional hydraulic valve 430. The proportional hydraulic valve is a valve arranged to control the hydraulic flow to the tool 200 proportionally to an input signal from the control unit 110. The wider the proportional valve opens, the greater the flow rate and the faster the relative jaws move. When the jaws encounter resistance, the pressure in the system increases. When this occurs, the control unit will limit the flow rate in the system at a certain point by adjusting the state of the proportional valve. The proportional valve is preferably a pressure-compensated proportional valve. The advantage of using a pressure-compensated proportional valve is that the compensator function ensures that the flow to the tool is not affected by other valve functions that can operate in parallel, such as hydraulic cylinders for controlling the position of the arm 150 and / or hydraulic motors for operating the tracks 130.

[0056] Hydraulic system 120 optionally includes a variable displacement hydraulic pump, and control unit 110 is configured to control hydraulic flow by adjusting the state of the variable displacement hydraulic pump. In the case of a variable displacement pump, a proportional valve is not required because the flow can be controlled directly at the pump. A combination of proportional valve control and variable displacement pump control can also be used. For example, an appropriate combination of these two can be determined to improve the operating efficiency of the drive motor used to power pump 410.

[0057] According to one example, the control unit imposes a strict limit on the instantaneous current or power drawn by the construction equipment 100 by limiting the hydraulic flow based on pressure changes in the hydraulic system.

[0058] However, as will be explained below, it may be advantageous not to impose strict limits, but rather to allow current or power to exceed nominal limits, as long as the exceedance is temporary. It is proposed here to calculate the average current or power consumption over different time windows, and to associate individual acceptance criteria with each such time window, for example, based on the current fuse configuration and / or the battery pack specifications of the construction equipment in a given workplace. This allows the system to impose different limits on different time scales, such that higher power limits can be used for transient behavior, and lower limits can be used for the longer-term power consumption of the construction equipment. As mentioned above, current or power consumption is determined proportionally to pressure and flow rate, for example, based on the product of pressure and flow rate, after weighting the current pressure and current flow rate values.

[0059] Miniature circuit breakers (MCBs) are manufactured based on different tripping characteristics and are referred to as MCB types. Type B, Type C, Type D, Type K, and Type Z MCBs are known. However, the technology disclosed herein is not limited to fuses of any particular type of MCB.

[0060] Based on an example of the technique proposed in this paper, the average current or power consumption of machine 100 is calculated over one or more time windows of different lengths. In other words, measures such as:

[0061] in, It is instantaneous power or current as a function of time t, which can be applied to different time windows of varying durations. (e.g., 1, 5, 10, 20, and 60 minutes) to determine. It should be noted that many different types of averages can be calculated, such as weighted averages. This disclosure is not limited to any particular form of averaging operation. Each average measure will have different acceptance criteria, such as thresholds. For example:

[0062] For example, This is the rated current of the fuse at the construction site. Different average values ​​can then be updated, for example, every minute, or calculated as a moving average. If, for some time window, the average current is above a threshold, the maximum permissible power consumption of machine 100 can be reduced, for example, by 5% or some other predetermined value. This test can then be repeated periodically, and thus the power consumption will decrease smoothly without disconnecting the fuse at the work site. If all average values ​​are below their respective thresholds, the permissible current consumption of machine 100 can be increased again, preferably according to a smoothing function, for example, by a gradual relative increase. The averaging filter can also include a predictive element, i.e., the output of the filter can be designed to represent an estimated future value of the average filter output. This can be achieved by implementing, for example, a Kalman filter based on a constant current consumption model or a constant-varying current consumption model. Kalman filters are generally known, such as Kalman filter predictors, and therefore will not be discussed in more detail herein.

[0063] Acceptable standards and different averaging filters are preferably matched to the tripping characteristics of the MCB used in the workplace and / or to the specifications of the battery pack or other energy sources of the construction equipment 100. For those with Figure 5 The C-type MCB with tripping characteristics of 500 shown in the figure can, as Figure 5The triangles 510, 520, 530, and 540 illustrate the configuration of the time period used for averaging and the associated threshold, i.e., expanding along the lower boundary of the tripping characteristic curve. Note that the number of averaging filters used and their positions on the x and y axes of the tripping characteristic can vary.

[0064] Figure 5 The tripping characteristics of the fuse in the example are often referred to as the tripping curve. Figure 5 The characteristics shown are Class C trip curves and are included here for illustrative purposes only. The x-axis shows the rated current. The y-axis shows the time in seconds, and the multiples of the rated current. MCBs are typically available with Type B, Type C, Type D, Type K, and Type Z tripping characteristics. A Type B MCB trips when the current flowing through it reaches 3 to 5 times the rated current. These MCBs are suitable for cable protection. A Type C MCB trips almost instantaneously when the current flowing through it reaches 5 to 10 times the rated current. Type C MCBs are commonly found in residential and home environments, where they are used for electromagnetically starting loads with moderate starting currents. A Type D MCB trips when the current flowing through it reaches 10 to 20 times or more the rated current. Type D MCBs are suitable for inductive and motor loads with high starting currents. A Type K MCB trips when the current flowing through it reaches 8 to 12 times the rated current. They are suitable for inductive and motor loads with high inrush currents. Z-type MCBs are used with highly sensitive devices (such as semiconductor devices) and are almost never used in construction sites. Therefore, it should be understood that it is advantageous to configure different current consumption over different time periods. As long as the pulse group is limited to a duration of less than approximately one second, the high current consumed by the machine (e.g., at rated current) is acceptable. A short pulse group (five times the rated current) is most likely to prevent a Type C MCB from tripping. If a current of about twice the rated current is drawn for about two minutes, the same fuse will trip.

[0065] Also refer to Figure 6 and Figure 8 This document discloses control units 110, 600, and 800 for controlling the power consumption of construction equipment 100, which is at least partially powered via a power trunk cable connection 160 and / or a battery pack. The control units are arranged to continuously, periodically, or in response to certain events or trigger signals acquire data indicating the time-varying current or power drawn by construction equipment 100. Examples of data representing the current or power consumed by construction equipment 100 are, of course, hydraulic pressure and hydraulic flow in a hydraulic system, which together represent the hydraulic power consumed by construction equipment 100, as described above.

[0066] Control unit 110 may, in some cases, be connected to a current sensor arranged to measure the current drawn via power trunk cable connection 160, in which case data indicating the current drawn by construction equipment 100 is obtained at least partially from the current sensor. This allows for close monitoring of actual current consumption, which is advantageous because more accurate current data is obtained. However, control unit can also be arranged to estimate and / or predict the current drawn by construction equipment 100 based on the hydraulic pressure and flow generated in the hydraulic system 120 of construction equipment 100 (possibly measured by a pressure sensor in hydraulic system 120 or indirectly determined based on the state of hydraulic valves). Current consumption can also be estimated and / or predicted based on control commands given to the electric motors or electric actuators of construction equipment 100. The data indicating the current drawn by construction equipment 100 then includes the estimated and / or predicted current consumption. It should be noted that pressure in a hydraulic system can be measured cost-effectively, while flow measurement is more difficult / expensive. Therefore, the implementation of the hydraulic system technology discussed herein, which includes data obtained from a pressure sensor, is likely to be more common than an implementation that includes actual measurement of hydraulic flow.

[0067] Control units 110, 600, and 800 may be arranged to filter the acquired data using at least a first averaging filter and a second averaging filter, wherein the first averaging filter is associated with an averaging time window Tw1 that is shorter than the averaging time window Tw2 of the second filter. The term "averaging filter" is broadly interpreted herein to refer to any two operations involving different time constants or filtering bandwidths, as discussed in more detail below. A filter with a shorter averaging time window may also be referred to as having a larger filtering bandwidth, or allowing faster changes in the filtered signal to pass through with less attenuation compared to a filter with a smaller filtering bandwidth.

[0068] The outputs of at least two filters are associated with corresponding filter acceptance criteria (i.e., some form of test to determine whether the filter output is acceptable, or some action to reduce current consumption is required). A threshold can be used as the acceptance criterion, as discussed above, in which case the output of each filter is continuously or at least periodically checked against the corresponding threshold to determine whether the output meets the filter's acceptance criterion. As illustrated above, the threshold can advantageously be determined based on the site fuse setting (i.e., as a factor multiplied by the fuse's rated current). Control units 110, 600, 800 are also arranged to limit the current or power consumed by the dismantling robot 100 by reducing the hydraulic flow in the system, as described above, if any filter output does not meet the corresponding filter acceptance criterion. In addition to limiting current by reducing hydraulic flow, the control unit can also trigger a notification to the user if any filter output fails to meet the corresponding filter acceptance criterion.

[0069] In this paper, the averaging filter is broadly interpreted to include any filter that primarily possesses the characteristics of a low-pass filter that suppresses rapid changes (where rapid changes are defined relative to the averaging time window). The averaging operation determined for a given time window is the output of the averaging filter, and so is the output of the moving average filter. It has a forgetting factor. The filter, i.e., the output result according to the following formula, is... Filter

[0070] Where k is the time exponent, and It represents the current drawn by the machine at time index k, and is also a form of averaging filter, where the averaging time window is determined by... The size is determined.

[0071] At least one of the first and second average filters can also be implemented using machine learning (ML) algorithms or artificial intelligence-based algorithms (such as random forest methods or neural networks) configured to determine whether the corresponding acceptance criteria are met based on training data including power consumption patterns and power outages for different construction site fuse settings. In this case, the ML structure is trained to output a result indicating whether the current operation of the machine meets the acceptance criteria of the first and second filters, or whether one or more acceptance criteria have been violated, using a dataset of current consumption of the machine that trips a given fuse and a dataset of current consumption that does not trip a given fuse. The ML structure is advantageously trained for different MCB types so that it can be configured according to the workplace MCB type. To train the ML structure in this way, real-world data on time-stamped current consumption and the timing of fuse tripping can be collected for different dismantling robots 100. Data can be collected for different MCB types, and the ML structure can then be configured to output information related to whether the acceptance criteria are met. The control unit 110 can then use the output of the ML structure to adjust the power consumption of the construction equipment 100 to suit a given fuse installation or battery pack specification.

[0072] The flow rate in the hydraulic system 120 can be limited as described above by adjusting the state of the proportional valve of the tool 200. For example, in a system where two or more cylinders each draw at full speed of 40 liters per minute (LPM), the total flow rate limit can be set to 70 liters per minute (LPM). In this case, a single cylinder can operate at full speed, while two cylinders actuated simultaneously will not reach full speed. Another way to limit the current drawn by the machine 100 is to adjust the maximum flow rate based on the dominant pressure in the machine. If the machine is operating at low pressure, it is possible to operate two or more cylinders at full speed (40 LPM), but if the pressure increases, the control unit can reduce the current to the maximum current of the control valve, i.e., reduce the maximum flow rate through the valve, so that the output / current does not exceed a given limit.

[0073] Control units 110, 600, and 800 are preferably arranged to gradually limit the current drawn according to a predetermined function if any filter output does not meet the corresponding filter acceptance criteria, and to gradually remove the restriction imposed on the current drawn according to a predetermined function if all filter outputs meet the corresponding filter acceptance criteria.

[0074] If a power outage occurs despite the hydraulic flow limiting operation performed by the control unit—that is, if the action of control unit 110, as discussed herein, causes a fuse in the workplace to trip—it may be advantageous to reconfigure the acceptance criteria to better suit the given workplace and / or work task. For this purpose, the control unit may be arranged to store the most recently drawn current in the control unit's storage medium 830 in the event of a power outage on the mains. The user can then access the memory and determine at what current level the fuse tripped. This information allows the user or some form of automated control system to reconfigure the acceptance criteria to better suit the given workplace.

[0075] Control units 110, 600, and 800 may also be arranged to store the most recent filter output in the event of a power outage in the storage medium 830 of the control unit, and optionally to reconfigure one or more of the acceptance criteria based on the stored most recent filter output in response to a power outage. This information may advantageously be displayed, for example, on a remote control via a display 610.

[0076] In practice, the current fuses in the workplace may not be previously known, and this feature allows for the efficient identification of workplace fuse information. Power outage events, along with averaged filter data and / or time records of the instantaneous current drawn by machine 100, can also be transmitted to a remote server. This data can then be used for analysis at the remote server and also for fine-tuning the aforementioned ML structure.

[0077] In summary, according to several aspects, the control unit 110 is arranged to acquire data representing the time-varying power drawn by the construction equipment 100, such as hydraulic pressure and hydraulic flow in system 120. The control unit 110 is also arranged to filter the acquired data using at least a first averaging filter and a second averaging filter, wherein the first averaging filter is associated with an average time window Tw1 shorter than the average time window Tw2 of the second filter, and wherein the outputs of at least two filters are associated with corresponding filter acceptance criteria. The control unit 110 is configured to control the hydraulic flow to the hydraulic tool 200 at or below an acceptable level in the event that any filter output does not meet the corresponding filter acceptance criteria. This means that a relatively high flow rate is allowed even at high pressures, provided that the high flow rate has a limited duration, for example, a duration within the limits of the fuse tripping characteristics in the workplace. The flow rate in the system is only restricted if the high power output continues for too long. The control unit 110 is also preferably configured to gradually restrict the hydraulic flow to the hydraulic tool 200 according to a predetermined function (i.e., not to abruptly restrict the flow rate) in the event that any filter output does not meet the corresponding filter acceptance criteria, as this could negatively impact the user experience.

[0078] Figure 6 An exemplary remote control device 600 for controlling construction equipment 100 is shown. The remote control device is a portable device, i.e., a device that can be carried by an operator active near the machine 100. The range of the remote control device can be approximately 20-50 meters.

[0079] The remote control device 600 includes a display 610 and a speaker or buzzer device 620. The display can be used to show messages, such as notifications and warnings, to the operator. The speaker or buzzer 620 can be used to notify the operator of certain events.

[0080] The remote control device 600 includes two joysticks, although a single joystick is also possible. The joysticks can be arranged to generate tactile feedback, that is, a jitter can be generated in one or more joysticks to notify the operator of some event, such as excessive power consumption of the construction equipment 100.

[0081] Figure 7This is a flowchart illustrating a computer-implemented method for controlling the power consumption of construction equipment 100, executed by a construction equipment control unit 110. Construction equipment 100 includes a hydraulic system 120 and a hydraulic tool 200, the hydraulic tool having two opposing and cooperating jaw members 210 arranged to be powered by the hydraulic system 120. The method includes: obtaining data SA1 related to the hydraulic pressure of the hydraulic tool 200 via the control unit 110; determining, via the control unit 110, an acceptable level of hydraulic flow rate SA2 in the hydraulic system 120 based on the hydraulic pressure in the tool, such that hydraulic power varying according to pressure and flow rate in the hydraulic system 120 meets acceptance criteria; and limiting the hydraulic flow rate SA3 of the hydraulic tool 200 to at or below the acceptable hydraulic flow rate level via the control unit 110.

[0082] Figure 8 The general components of the control unit 800, such as the control units 110 and 210 discussed above, are schematically shown with respect to multiple functional units. The processing circuitry 810 is provided using any combination of one or more suitable central processing units, such as CPUs, multiprocessors, microcontrollers, digital signal processors (DSPs), etc., capable of executing software instructions, for example, stored in a computer program product in the form of storage medium 830. The processing circuitry 810 may also be configured as at least one application-specific integrated circuit (ASIC) or field-programmable gate array (FPGA).

[0083] Specifically, the processing circuit 810 is configured to cause the disassembly robot 100 to perform a set of operations or steps, such as combining Figure 5 The methods discussed are the same as those discussed above. For example, storage medium 830 may store this set of operations, and processing circuitry 810 may be configured to retrieve this set of operations from storage medium 830 to cause the device to perform this set of operations. This set of operations may be provided as a set of executable instructions. Therefore, processing circuitry 810 is thus arranged to perform the methods disclosed herein.

[0084] Storage medium 830 may also include permanent memory, which may be any single memory or combination of memory, such as magnetic memory, optical memory, solid-state memory, or even remotely mounted memory.

[0085] The control unit 800 may also include an interface 820 for communicating with at least one external device. Thus, the interface 820 may include one or more transmitters and receivers, including analog and digital components, and a suitable number of ports for wired or wireless communication.

[0086] The processing circuit 810 controls the overall operation of the control unit 800, for example, by sending data and control signals to the interface 820 and the storage medium 830, by receiving data and reports from the interface 820, and by retrieving data and instructions from the storage medium 830.

[0087] Figure 9 A computer-readable medium 910 is shown carrying a computer program, which includes functions for execution when the program product is run on a computer. Figure 7 The program code of the method shown is mounted on device 920. The computer-readable medium and the code device can together form a computer program product 900.

[0088] Figure 10 An exemplary bucket 1000 is shown. The bucket tool can be attached to the tool interface 140 of the tool-bearing arm 150 of a demolition robot or other type of construction equipment 100, wherein the bucket tool can be used to move material from one location to another in a known manner, and also for digging material. The bucket uses a pivot 1010 to position the leading edge 1020 of the bucket 1000, thereby scooping up material, which can then be stored at some other location. Figure 12 In the exemplary boom 150 shown, the bucket pivots about axis A4 in response to actuation of hydraulic cylinder C4. Buckets (such as example bucket 1000) are well known in the art and will therefore not be discussed in more detail herein.

[0089] Sometimes, material held in the bucket sticks to the bucket and doesn't easily fall out even when the bucket is pivoted. To facilitate emptying the bucket, an automatic bucket shaking function can be implemented. When the operator activates the bucket shaking function, the construction equipment 100 rapidly pivots the bucket back and forth to remove any remaining material in the bucket. The pivoting of the bucket is automatically controlled by the control unit to achieve an efficient emptying operation, which is beyond the reach of the manual operation of the joystick 630 of the remote control device 600.

[0090] In other words, at least some of the construction equipment 100 described herein include an automatic bucket shaking function that can be used to help empty the bucket at a desired location. The construction equipment includes, for example, as described above, combined with... Figure 8 The control unit 110 and the tool carrier arm 150 discussed have a tool interface 140 disposed at the distal end of the arm 150 to hold the bucket 1000.

[0091] Arm 150 includes at least a second arm segment 1220 and a third arm segment 1230, and may also include a first arm segment 1210, such as Figure 12 As shown. The second boom segment 1220 can be attached to the chassis of the construction equipment 100. However, if the boom also includes the first boom segment 1210, a more versatile boom is obtained, such as... Figure 12 As shown in the diagram. The first boom segment 1210 is pivotally attached to the chassis or main body of the construction equipment 100, as shown in the diagram. Figure 1 As illustrated in the example, this means that the entire arm 150 can pivot about axis A1. The pivoting of arm 150 about axis A1 is controlled by the first hydraulic cylinder C1, as... Figure 12 As shown. A first arm segment 1210 is pivotally connected to a second arm segment 1220 at a first arm joint J1. The second arm segment 1220 is pivotable about axis A2 relative to the distal end of the first arm segment 1210, this pivoting being controlled by a second hydraulic cylinder C2. The second arm joint J2 is located between the second arm segment 1220 and a third arm segment 1230. The third arm segment 1230 is arranged to pivot about axis A3 relative to the distal end of the second arm segment 1220. This pivoting by the third arm segment 1230 is controlled by a third hydraulic cylinder C3.

[0092] Figure 12 An example of a tool carrier arm 150 is shown, which includes a first arm segment 1210, a second arm segment 1220, and a third arm segment 1230 that are pivotally interconnected in sequence. The third arm segment 1230 is closest to the tool interface 140, the first arm segment 1210 is closest to the machine chassis, and the second arm segment 1220 is located between the first arm segment and the third arm segment. Figure 12 The exemplary tool carrier arm 150 includes four hydraulic cylinders C1, C2, C3, and C4, which are arranged as described above to control the relative movement of the arm segments. It has been found that the bucket shaking function discussed herein works well if the third and fourth hydraulic cylinders (i.e., C3 and C4) are jointly actuated during the execution of the automated bucket shaking function, while the first and second hydraulic cylinders (C1 and C2) remain stationary.

[0093] Compared to using only one cylinder, jointly actuating two hydraulic cylinders in this manner allows for a greater range of bucket movement; that is, the bucket can move along a longer, repetitive path compared to using only one cylinder. Changes in bucket movement also become more abrupt because the directions of the two hydraulic cylinders can be changed jointly, and preferably synchronously as described below.

[0094] Tool interface 140 is pivotally located at the distal end of the third arm segment 1230 to pivot about axis A4, such as Figure 12 As shown. The pivoting of tool interface 140 is controlled by the fourth hydraulic cylinder C4.

[0095] Control unit 110, for example, responds to operator input via remote control device 600 to control all four hydraulic cylinders C1, C2, C3, and C4 of arm 150.

[0096] It should be understood that hydraulic cylinders C1, C2, C3, and C4 can be located above, below, or to the side of the boom segment. The position of the hydraulic cylinder relative to the corresponding pivot axis determines the pivoting motion obtained when extending or retracting the hydraulic cylinder. In this article, extending and retracting the hydraulic cylinder refer to the piston moving out of and back into the cylinder, respectively.

[0097] According to at least some of the teachings herein, the third boom segment 1230 is rotatably connected at its proximal end to the distal end of the second boom segment 1220, and a third hydraulic cylinder C3 is arranged to rotate the third boom segment 1230 relative to the second boom segment 1220 about a third axis A3. A tool port 140 is rotatably connected to the distal end of the third boom segment 1230, and a fourth hydraulic cylinder C4 is arranged to rotate the tool port 140 relative to the third boom segment 1230 about a fourth axis A4. Thus, the bucket attached to the tool port 140 is moved by actuation of the third and fourth hydraulic cylinders.

[0098] More generally, the disclosed construction equipment 100 includes a tool-bearing arm 150 having a tool interface 140 at its distal end. A control unit 110 of the equipment 100 is arranged to perform an automatic bucket-shaking function, wherein the bucket-shaking function includes the combined actuation of at least two hydraulic cylinders C3, C4 arranged on the tool-bearing arm 150 via the control unit 110.

[0099] Control unit 110 is capable of performing a bucket jigging function by combining control of at least two hydraulic cylinders (e.g., a third hydraulic cylinder C3 and a fourth hydraulic cylinder C4) to repeatedly extend and retract within predetermined respective cylinder extension ranges in response to a bucket jigging command. This provides a bucket jigging action that can dislodge material stuck in the bucket. During jigging operation, the third and fourth cylinders are actuated in combination to extend and retract within a limited range, for example, less than 5% of the total cylinder stroke. The extension and retraction are preferably centered on the average piston position, meaning that the average position of the bucket remains the same during bucket jigging operation. Figure 11 The diagram illustrates the bucket shaking operation.

[0100] As described above, the construction equipment 100 may include an input device, such as... Figure 6 An exemplary remote control device 600 includes buttons 631, 632, and 640 arranged to generate a bucket jigging command in response to operator input. The bucket jigging can be sustained for the duration the operator presses a button, or for a predetermined duration that is configurable. In other words, construction equipment 100 can be controlled by the remote control device 600, as in... Figure 6 As illustrated in the example, the control unit 110 may be arranged to perform an automatic bucket shaking function in response to a control signal from the remote control device 600.

[0101] According to some aspects, the predetermined corresponding cylinder extension range can be configured by the operator of the construction equipment 100. This means that the operator can configure the amplitude of the bucket shaking operation, for example, by inputting a configuration via a remote control device 600. For example, the operator can select between strong shaking, medium shaking, or weak shaking operation. The operator can indicate the amplitude of the shaking operation by selecting a value on a scale such as 1-10. Compared to a weak selected shaking operation, a strong selected shaking operation will then produce a larger amplitude of shaking.

[0102] The corresponding actuation speeds of at least two hydraulic cylinders (such as a third hydraulic cylinder C3 and a fourth hydraulic cylinder C4) within their predetermined cylinder extension ranges during extension and retraction can also be configured by the operator of the construction equipment 100. The faster the piston moves, the faster the bucket vibrates. The operator can manually configure the cylinder speeds during vibrating operation. The cylinder actuation speeds during vibrating operation can also be configured in conjunction with the cylinder extension range.

[0103] The control unit 110 is preferably arranged to control at least two hydraulic cylinders to repeatedly extend and retract in different phases in a time-synchronized manner. The efficiency of bucket jigging can be improved through the combined control of the jigging of the third and fourth hydraulic cylinders. To further improve the efficiency of bucket jigging operation, the speed of the bucket's leading edge 1020 can be optimized. This can be accomplished by controlling the third hydraulic cylinder C3 and the fourth hydraulic cylinder C4 in opposite directions in response to bucket jigging actuator commands. The opposite phase actuation of the third and fourth cylinders improves the speed at which the leading edge of the bucket moves through the air, which tends to improve bucket jigging operation.

[0104] Figure 13 An exemplary bucket jitter operation is illustrated. The y-axis represents the hydraulic cylinder control commands (inward for retraction and outward for extension). Note that cylinder C3 retracts while cylinder C4 extends, and vice versa. In this example, the bucket jitter operation comprises four cylinder cycles across two cylinders. That is, each cylinder extends and retracts four times.

[0105] Control unit 110 may be arranged to initiate the bucket shaking function by controlling the third cylinder C3 to move the bucket upward away from the ground and by controlling the fourth cylinder C4 to move the bucket upward away from the ground (i.e., by controlling two of the at least two hydraulic cylinders to move the tool interface 140 upward U), such as Figure 11 As shown. In this way, the bucket shaking operation is less likely to cause the bucket to hit objects such as the ground, containers, or the underside of dump trucks or other vehicles.

[0106] Some of the tool carrier arms 150 and / or tools 200 may include an onboard dust control system 170. A dust control system is a system that reduces the amount of airborne dust in a workplace by, for example, distributing a liquid such as water mist to trap dust. Liquid spray systems are also known, in which, for example, water is sprayed onto an area to reduce the amount of airborne dust. The water mist system or spray system may be arranged on the tool carrier arm 150, connected to the tool carrier interface 140, or integrated with the tool 200. The water mist system or spray system may be directly controlled by a control unit 110 or some other dedicated controller. The control unit 110 may then initiate the dust control system, for example, by sending a message to the controller of the water mist system or spray system.

[0107] One or more external dust control systems may also be deployed in the workplace where the dismantling robot is operating. These external dust control systems may include spray and / or jet systems that emit liquid (such as water) in the form of small droplets to capture dust particles, and may also include air purifiers that actively filter the air in the workplace to capture and contain dust particles.

[0108] It is not advisable to use liquid dispensers (e.g., water mist systems and spray systems) in excess of the necessary amount because if the liquid comes from a tank, the liquid may run out, and also because the liquid may cause problems in the workplace, such as soiling the workplace and damaging water-sensitive materials.

[0109] To reduce the downtime of the dust control system, the control unit 110 can be arranged to trigger the dust control system in coordination with the automatic bucket shaking function. The dust control system then operates simultaneously with the bucket shaking to suppress dust generated during bucket emptying.

[0110] The operator of the equipment can choose whether the dust control system should be automatically activated in conjunction with the bucket shaking function, or whether a separate start command should be issued to activate the dust control system.

[0111] Control unit 110 can be arranged to trigger the dust control system in coordination with the automatic bucket sway function. This means that the dust control system can be activated simultaneously with the bucket sway function, at a time before the bucket sway function starts, or at a time after the bucket sway function starts. The dust control system can be deactivated simultaneously with the bucket oscillation function being deactivated, or at a time before the bucket oscillation function is deactivated, or at a time after the bucket oscillation function is deactivated.

[0112] Figure 14This is a flowchart illustrating a method for emptying a bucket 1000 from a tool interface 140 attached to an arm 150 of a construction device 100. The arm 150 includes at least a second arm segment 1220 and a third arm segment 1230. The third arm segment 1230 is rotatably connected at its proximal end to the distal end of the second arm segment 1220, wherein a third hydraulic cylinder C3 is arranged to rotate the third arm segment 1230 relative to the second arm segment 1220 about a third axis A3. The tool interface 140 is rotatably connected to the distal end of the third arm segment 1230, and a fourth hydraulic cylinder C4 is arranged to rotate the tool interface 140 relative to the third arm segment 1230 about a fourth axis A4. The method includes: Control the third hydraulic cylinder C3 of Sb1 to repeatedly extend and retract within the cylinder extension range of the third hydraulic cylinder, and Control the fourth hydraulic cylinder C4 of Sb2 to repeatedly extend and retract within the cylinder extension range of the fourth hydraulic cylinder.

[0113] As described above, the actuation of the cylinders is preferably coordinated to maximize the pivoting speed of the bucket during jigging operation. Figure 1 and Figure 12 In this example, it means that the third cylinder extends while the fourth cylinder retracts, and vice versa, such as... Figure 13 The example provided.

Claims

1. A construction apparatus (100) comprising: Control unit (110); A hydraulic system (120); and a tool support arm (150) having a tool interface (140) arranged to support a hydraulic tool (200) having two opposing and cooperating jaw members (210) connected to the hydraulic system (120). The control unit (110) is configured to obtain data related to the hydraulic pressure of the hydraulic tool (200). The control unit (110) can be configured to operate in a flow-limiting mode, which can be manually or automatically activated when the hydraulic tool, having two opposing and cooperating jaw members powered by the hydraulic system, is attached to the tool interface (140). The control unit (110) is configured to determine an acceptable level of hydraulic flow in the hydraulic system (120) based on the hydraulic pressure in the tool, such that the hydraulic power output according to changes in pressure and flow in the hydraulic system (120) meets acceptance criteria, and The control unit (110) is configured to limit the hydraulic flow of the hydraulic tool (200) to an acceptable level when in the flow-limiting operation mode.

2. The construction equipment (100) according to claim 1, wherein, The hydraulic tool (200) is a crusher, shear, or grab.

3. The construction equipment (100) according to claim 1 or 2, wherein, The construction equipment (100) is a remotely controlled tracked dismantling robot.

4. The construction equipment (100) according to any one of the preceding claims, wherein, The control unit (110) is configured to obtain data related to the hydraulic pressure of the hydraulic tool (200) at least in part by means of an output signal from a pressure sensor arranged to be connected to the hydraulic tool (200).

5. The construction equipment (100) according to any one of the preceding claims, wherein, The control unit (110) is configured to obtain data related to the hydraulic pressure of the hydraulic tool (200) at least in part by the motor torque and / or current applied by the drive motor of the hydraulic system pump (410) included in the construction equipment (100).

6. The construction equipment (100) according to any one of the preceding claims, wherein, The control unit (110) is configured to determine the acceptable level of hydraulic flow based on a predetermined mapping between data related to the hydraulic pressure of the hydraulic tool (200) and the acceptable level of hydraulic flow.

7. The construction equipment (100) according to any one of the preceding claims, wherein, The acceptance criteria for the hydraulic power output are configured based on the maximum current or power output of the construction equipment (100), the fuse rating of the workplace, and / or the battery pack specifications of the construction equipment (100).

8. The construction equipment (100) according to any one of the preceding claims, wherein, The hydraulic tool (200) includes a proportional hydraulic valve (430), wherein the control unit (110) is configured to limit the hydraulic flow to the hydraulic tool (200) by adjusting the state of the proportional hydraulic valve (430).

9. The construction equipment (100) according to claim 8, wherein, The proportional valve is a pressure-compensated proportional valve.

10. The construction equipment (100) according to any one of the preceding claims, wherein, The hydraulic system (120) includes a variable displacement hydraulic pump (410), wherein the control unit (110) is configured to limit the hydraulic flow to the hydraulic tool (200) by adjusting the state of the variable displacement hydraulic pump (410).

11. The construction equipment (100) according to any one of the preceding claims, comprising a user interface (610, 620, 630), wherein the control unit (110) is arranged to generate a signal via the user interface (610, 620, 630) when the control unit (110) limits the hydraulic flow to the hydraulic tool (200) to a flow rate lower than a required hydraulic flow rate.

12. The construction equipment (100) according to claim 11, wherein, The generated signals include any of the following: visual signals from the display device (610), audible signals from the speaker or buzzer (620), and / or tactile signals from one or more joysticks (630).

13. The construction equipment (100) according to any one of the preceding claims. in, The control unit (110) is arranged to obtain data representing the change in current or power drawn by the construction equipment (100) over time. The control unit (110) is arranged to filter the acquired data using at least a first averaging filter and a second averaging filter, wherein the first averaging filter is associated with an average time window (Tw1) that is shorter than the average time window (Tw2) of the second averaging filter, and wherein the outputs of at least two filters are associated with corresponding filter acceptance criteria. The control unit (110) is configured to control the hydraulic flow to the hydraulic tool (200) so that the hydraulic flow is at or below an acceptable level if any filter output does not meet the corresponding filter acceptance criteria.

14. The construction equipment (100) according to claim 13, wherein, The control unit (110) is configured to gradually limit the hydraulic flow to the hydraulic tool (200) according to a predetermined function if any filter output does not meet the corresponding filter acceptance criteria.

15. A computer-implemented method for controlling the power consumption of a construction equipment (100), executed by a control unit (110) of the construction equipment, the construction equipment (100) including a hydraulic system (120) and a tool-bearing arm (150) having a tool interface (140) arranged to support a hydraulic tool (200), the hydraulic tool having two opposing and cooperating jaw members (210) connected to the hydraulic system (120), wherein, The control unit (110) can be configured to operate in a flow-limiting mode, which can be manually or automatically activated when the hydraulic tool, having two opposing and cooperating jaw members powered by the hydraulic system, is attached to the tool interface (140), the method comprising: Data related to the hydraulic pressure of the hydraulic tool (200) is obtained through the control unit (110) (SA1). The control unit (110) determines (SA2) an acceptable level of hydraulic flow in the hydraulic system (120) based on the hydraulic pressure in the tool, such that the hydraulic power according to the pressure and flow changes in the hydraulic system (120) meets the acceptance criteria, and When the control unit (110) is configured to be in the flow restriction operation mode: The hydraulic flow to the hydraulic tool (200) is limited (SA3) by the control unit (110) so that the hydraulic flow is at or below an acceptable level.

16. A computer program product comprising program code for executing the method of claim 15 when executed by a control unit (110) including processing circuitry.

17. A non-transitory computer-readable storage medium comprising, when executed by a control unit (110) including processing circuitry, causing the processing circuitry to execute instructions according to claim 15.

18. A construction device (100) comprising a control unit (110), a hydraulic system (120), and a hydraulic tool (200) connected to the hydraulic system (120). in, The hydraulic tool (200) is operable in at least a first operating phase and a second operating phase, wherein the second operating phase is associated with a hydraulic pressure higher than that of the first operating phase. The control unit (110) is configured to acquire data related to the current operating phase of the hydraulic tool (200), and The control unit (110) is configured to control the hydraulic system (120) to deliver a reduced hydraulic flow to the tool (200) when in the second operating phase compared to when in the first operating phase.

19. A construction device (100) comprising a remote control device (600), a tool support arm (150), and a control unit (110) arranged to control hydraulic cylinders (C3, C4) located on the tool support arm (150). in, The tool carrier arm (150) includes a tool interface (140) disposed at the distal end of the tool carrier arm to hold the bucket (1000), and The control unit (110) is arranged to perform an automatic bucket shaking function in response to operation of the remote control device (600) by the operator of the construction equipment (100). The automatic bucket shaking function includes joint actuation of at least two hydraulic cylinders (C3, C4) on the tool support arm (150) by the control unit (110). In this configuration, one of the hydraulic cylinders (C3, C4) is arranged to rotate the arm segment of the tool carrier arm (110), and the other hydraulic cylinder (C3, C4) is arranged to rotate the tool interface (140).

20. The construction equipment (100) according to claim 19, wherein, The tool carrier arm (150) includes a first segment (1210), a second segment (1220) and a third segment (1230) that are pivotally interconnected in sequence, and four hydraulic cylinders (C1, C2, C3, C4) arranged to control the relative movement of these arm segments and the relative movement of the tool interface (140).

21. The construction equipment (100) according to claim 20, wherein, Two of the four tool arm cylinders (C3, C4) are jointly actuated to perform the automatic bucket shaking function, while the other two cylinders (C1, C2) remain stationary during the execution of the automatic bucket shaking function.

22. The construction equipment (100) according to any one of claims 19 to 21, wherein, The combined actuation of at least two of the hydraulic cylinders (C3, C4) by the control unit (110) includes repeatedly extending and retracting the cylinders within a predetermined respective cylinder extension range.

23. The construction equipment (100) according to claim 22, wherein, The predetermined corresponding cylinder extension range can be configured by the operator of the construction equipment (100).

24. The construction equipment (100) according to any one of claims 19 to 23, wherein, During the execution of the automatic bucket shaking function, the speed of each of the at least two cylinders can be configured by the operator of the construction equipment (100).

25. The construction equipment (100) according to any one of claims 19 to 24, wherein, The control unit (110) is arranged to control at least two of the hydraulic cylinders (C3, C4) in a time-synchronized manner to repeatedly extend and retract at different phases.

26. The construction equipment (100) according to any one of claims 19 to 26, wherein, The control unit (110) is arranged to control at least two of the hydraulic cylinders (C3, C4) in opposite directions during the execution of the automatic bucket shaking function.

27. The construction equipment (100) according to any one of claims 19 to 26, wherein, The control unit (110) is arranged to initiate the bucket shaking function by controlling at least two of the hydraulic cylinders (C3, C4) to move the bucket away from the ground and upward (U).

28. The construction equipment (100) according to any one of claims 19 to 27, comprising an input device (631, 632, 640) arranged to trigger the execution of the automatic bucket shaking function in response to operator manipulation.

29. The construction equipment (100) according to any one of claims 19 to 28, wherein, The tool support arm (150) includes at least a second arm segment (1220) and a third arm segment (1230). The third arm segment (1230) is rotatably connected at its proximal end to the distal end of the second arm segment (1220), wherein a third hydraulic cylinder (C3) is arranged to rotate the third arm segment (1230) relative to the second arm segment (1220) about a third axis (A3). The tool interface (140) is rotatably connected to the distal end of the third arm segment (1230), and a fourth hydraulic cylinder (C4) is arranged to rotate the tool interface (140) relative to the third arm segment (1230) about a fourth axis (A4). The control unit (110) is configured to perform the automatic bucket shaking function by jointly controlling the third hydraulic cylinder (C3) and the fourth hydraulic cylinder (C4) in response to a bucket shaking command to repeatedly extend and retract within a predetermined respective cylinder extension range.

30. The construction equipment (100) according to any one of claims 19 to 29 is arranged to be controlled by a remote control device (600), wherein the control unit (110) is arranged to perform the automatic bucket shaking function in response to a control signal from the remote control device (600).

31. The construction equipment (100) according to any one of the preceding claims includes a dust control system (170), wherein the control unit (110) is arranged to trigger the start of the dust control system in conjunction with the automatic bucket shaking function.

32. A method for emptying a bucket (1000) attached to a tool interface (140) on an arm (150) of a construction device (100), the arm (150) comprising at least a second arm segment (1220) and a third arm segment (1230), the construction device (100) including a control unit (110) and a remote control (600), the control unit being arranged to control hydraulic cylinders (C3, C4) on the tool-bearing arm (150). in, The third arm segment (1230) is rotatably connected at its proximal end to the distal end of the second arm segment (1220), wherein a third hydraulic cylinder (C3) is arranged to rotate the third arm segment (1230) relative to the second arm segment (1220) about a third axis (A3). The tool interface (140) is rotatably connected to the distal end of the third arm segment (1230), and a fourth hydraulic cylinder (C4) is arranged to rotate the tool interface (140) relative to the third arm segment (1230) about a fourth axis (A4). The method includes, In response to operation of the remote control device (600) by the operator of the construction equipment (100), The control unit (110) automatically controls (Sb1) the third hydraulic cylinder (C3) to repeatedly extend and retract within its cylinder extension range, and The control unit (110) automatically controls (Sb2) the fourth hydraulic cylinder (C4) to repeatedly extend and retract within its cylinder extension range.

Images