Excavator Work Area Control Based on Approach Velocity
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing construction equipment, such as excavators, face inefficiencies and potential work area invasions due to uniform velocity limiting based on distance from the work area, which does not account for varying approach velocities, leading to reduced work velocity and efficiency.
Innovation Solution
The implementation of a control system that includes a work setting unit, information providing unit, and electronic control unit to determine cutoff strength for operation signals based on the expected collision time and velocity of the work device, preventing invasions by adjusting the operation signal strength accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If uniform velocity limiting is applied based on distance from work area, then work area invasion is prevented, but work velocity and efficiency decrease
Solution Approach 1:
The control system applies different velocity limiting strategies to different points of the work device based on their individual approach velocities and distances to the work area. Points with high approach velocities receive stronger cutoff signals, while points with low approach velocities or parallel movement receive weaker or no limiting, creating localized quality in the control response.
Solution Approach 2:
The cutoff strength is dynamically adjusted based on real-time calculation of expected collision time. As the work device approaches the work area, the system continuously updates the cutoff signal strength according to the current velocity and distance, making the control adaptive rather than static.
2Reliability
If velocity limiting is applied uniformly to all points, then safety is improved, but work efficiency deteriorates due to unnecessary limitations
Solution Approach 1:
The system evaluates each point of the work device independently and applies velocity limiting only where necessary. Points moving parallel to the work area boundary or at low velocities experience minimal or no limiting, while points with high approach velocities receive appropriate cutoff signals, creating a differentiated local quality in the safety control.
Solution Approach 2:
The cutoff strength parameter is dynamically changed based on the expected collision time calculation. The system adjusts the degree of velocity limiting as a variable parameter rather than applying a fixed uniform limit, allowing safety margins to be optimized in real-time based on actual operational conditions.
3Reliability
If high cutoff strength is applied to prevent invasion, then work area protection is improved, but operation stability deteriorates
Solution Approach 1:
The cutoff strength is dynamically adjusted based on the calculated expected collision time. When the work device is far from the work area or moving slowly, weaker cutoff signals are applied to maintain operation stability. When the expected collision time decreases, stronger cutoff signals are applied to ensure work area protection, creating a dynamic balance between stability and protection.
Solution Approach 2:
The control system calculates the expected collision time in advance and applies appropriate cutoff signals before actual contact occurs. This preliminary action allows the driver to adjust operation smoothly without sudden interruptions, maintaining stability while preventing invasion.
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
The disclosure provides construction equipment including a lower traveling part, an upper turning part, a work device, a control valve configured to control the hydraulic cylinder, an operation lever, a work setting unit configured to set a work area of the work device, an information providing unit configured to provide at least one of geographic information, position information of the work device, and posture information of the work device, and an electronic control unit configured to output a control signal for the control valve according to a signal input from at least one of the operation lever, the work setting unit, and the information providing unit, wherein when the work device is likely to invade the work area, the electronic control unit determines cutoff strength for the operation signal based on a velocity of the work device.