Excavator Boom Control for Grade Accuracy
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Solution Overview
Problem
Construction machines, such as excavators, often dig below the desired grade due to user inexperience or delays in the hydraulic system, leading to unintended excavation below the specified grade.
Innovation Solution
A method and apparatus that determine the position of the excavator's bucket and actuate the boom to prevent it from moving below the desired grade by overriding user inputs, using a controller that receives data from site sensors and location information to assess the potential movement of the stick and bucket relative to the desired grade.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the stick is actuated to move the bucket quickly, then productivity is improved, but the bucket may dig below the desired grade due to hydraulic system delay
Solution Approach 1:
The system performs preliminary action by monitoring the boom position and predicting potential grade violations before the stick actuation completes. When a violation is predicted, the system preemptively adjusts the boom position to prevent the bucket from digging below the desired grade, rather than waiting for the violation to occur and then correcting it.
Solution Approach 2:
The system continuously receives feedback from sensors monitoring the positions of the boom, stick, and bucket, as well as from the site sensors that detect the desired grade. This real-time feedback allows the control system to calculate the predicted bucket position and adjust the boom actuation accordingly to maintain grade accuracy while preserving productivity.
2Ease of operation
If the operator uses the excavator without assistance, then ease of operation is maintained, but digging below the desired grade occurs due to inexperience or accident
Solution Approach 1:
The system provides self-service by automatically monitoring its own operation through sensors on the boom, stick, and bucket, and by using site sensors to detect the desired grade. The control system independently calculates potential grade violations and automatically adjusts the boom position to prevent violations, making the system self-correcting without requiring operator intervention or expertise.
Solution Approach 2:
The system replaces the operator's manual control and judgment with an automated control system that uses sensors and algorithms to monitor and adjust the excavator's operation. This substitution of mechanical/operator control with an automated system eliminates human error and inexperience while maintaining ease of operation, as the operator simply provides commands and the system handles the precision control.
3Ease of operation
If the boom actuation is delayed due to hydraulic system response time, then ease of operation is maintained, but the bucket digs below the desired grade before the boom can respond
Solution Approach 1:
The system performs preliminary action by calculating the predicted bucket position based on current boom and stick positions and the requested stick movement. This prediction is made before the hydraulic actuation completes, allowing the system to preemptively adjust the boom position to account for the hydraulic delay and prevent grade violations before they occur.
Solution Approach 2:
The system uses continuous feedback from sensors monitoring the actual positions of the boom, stick, and bucket to detect discrepancies between the predicted and actual positions. This feedback allows the control system to make real-time adjustments to the boom actuation to compensate for hydraulic system delays and maintain grade accuracy throughout the movement.
Data Source
AI summary
A method for machine operator command attenuation includes the step of detecting a position of a boom, stick, and bucket of a hydraulic implement of a construction machine. Movement of the stick is detected by a controller. The controller determines if the movement of the stick will cause excavation below a desired grade. If the movement will not cause excavation below a desired grade, the controller will take no action. If the movement will cause excavation below a desired grade, the controller will command the boom to raise.