Bucket Weight-Adaptive Excavator Control for Design Surface Accuracy
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Solution Overview
Problem
Construction machines face challenges in controlling working equipment when buckets are interchanged, leading to potential digging below the design surface due to weight changes, as existing control systems are based on the weight of the bucket before interchange.
Innovation Solution
A control system for construction machines that includes a target value generation unit, prediction model storage, weight data acquisition, prediction model update, prediction unit, and command unit to calculate and output control commands for the working equipment, ensuring appropriate control even with weight changes between buckets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control system is based on the weight of the bucket before interchange, then the control is simple and stable, but the bucket may dig below the design surface when another bucket with different weight is used
Solution Approach 1:
The control system dynamically changes the weight parameter in the prediction model based on the actual bucket being used. When a bucket is attached, its weight data is acquired and used to update the prediction model, allowing the control system to adapt to different bucket weights without changing the overall control architecture
Solution Approach 2:
The system acquires weight data of the bucket before executing the control operation. By obtaining the weight information in advance and updating the prediction model beforehand, the control system can calculate accurate control amounts from the start, preventing digging below the design surface
2Measurement precision
If the prediction model is updated based on weight data, then the control accuracy improves, but the processing time and system complexity increase
Solution Approach 1:
Weight data is acquired in advance before control operations begin. The prediction model is updated with the correct weight data before the control amount calculation, ensuring that no time is lost during actual operation and that control precision is maintained from the start
Solution Approach 2:
The system automatically acquires weight data and updates the prediction model without requiring manual intervention. The control system self-adjusts based on the bucket weight, eliminating the need for operators to manually input data or reconfigure settings
Data Source
AI summary
A control system for a construction machine includes a target value generation unit configured to generate a target value of an amount of control of the working equipment, a prediction model storage unit configured to store a prediction model for the working equipment, a weight data acquisition unit configured to acquire weight data of the bucket, a prediction model update unit configured to update the prediction model based on the weight data, a prediction unit configured to calculate a predicted value of the amount of control of the working equipment based on the target value and the prediction model, and calculate an amount of drive to control the working equipment based on the predicted value, and a command unit configured to output a control command to control the working equipment based on the amount of drive.