Automatic Bucket Loading Control With Posture Priority
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Solution Overview
Problem
In automatic loading control systems, there is a risk of increased load on work equipment when the bucket is pushed into an excavation surface and lifted simultaneously, potentially leading to excessive load application due to simultaneous operations.
Innovation Solution
A control device prioritizes the posture control of the work tool over position control until the posture falls within a predetermined range, ensuring the bucket maintains a target posture during movement to the target position, thereby managing the load effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the control device specifies the position of the work equipment as an excavation completion position and controls the work equipment to reach a loading position, then the loading operation can be automated, but the posture of the work tool may be out of the predetermined range from the target posture, causing simultaneous operations that increase the load on the work equipment
Solution Approach 1:
The control device performs preliminary action by prioritizing posture control before position control. When the posture of the work tool is out of the predetermined range from the target posture, the control device first adjusts the posture to within the range, and then controls the position movement. This preliminary posture adjustment prevents simultaneous conflicting operations and reduces the load on the work equipment during the loading operation.
2Productivity
If the control device prioritizes position control to reach the target position quickly, then the productivity increases, but the posture control may be compromised, leading to excessive load on the work equipment
Solution Approach 1:
The control device segments the control process into two distinct phases: first posture control phase (when posture is out of predetermined range), then position control phase (when posture is within predetermined range). This segmentation ensures that posture adjustment is completed before position movement begins, preventing simultaneous operations that would increase load, while still maintaining efficient productivity through the structured two-phase approach.
3Loss of time
If the control device allows simultaneous operation for pushing the bucket into the excavation surface and lifting the bucket, then the operation time is reduced, but the load applied to the work equipment is likely to be increased
Solution Approach 1:
The control device dynamically adjusts the control priority based on the real-time posture of the work tool. When the posture is out of the predetermined range, posture control is prioritized; when the posture is within the predetermined range, position control is prioritized. This dynamic adjustment prevents simultaneous conflicting operations that would increase load, while minimizing operation time through efficient transition between control phases.
Data Source
AI summary
A control device of a work machine includes work equipment including a work tool and is configured to perform an automatic loading control of holding a posture of the work tool in a target posture and moving a position of the work tool up to a target position, in which in the automatic loading control, when the posture of the work tool is out of a predetermined range from the target posture, the control device is configured to prioritize a control of the posture of the work tool over a control of the position of the work tool until the posture of the work tool falls within the predetermined range.