Excavator Boom Control Across Design Face Junctions
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Solution Overview
Problem
Existing excavation control systems for hydraulic excavators experience sudden changes in boom velocity when passing through junctions between design faces of different inclinations, leading to potential bucket entry into design faces and increased operator workload.
Innovation Solution
A work machine with a controller that generates a supplemented design face passing through or above the junction between adjacent design faces, setting its curvature based on the operation amount to maintain the working point on or above a target face, thereby preventing bucket entry into either design face.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the limit velocity is selected based on the closer design face or greater boom raising velocity, then the bucket can be prevented from entering design faces under normal conditions, but the target velocity suddenly changes when passing through junctions between design faces, causing the bucket to potentially enter design faces and increasing operator workload
Solution Approach 1:
The system performs preliminary action by calculating and storing the junction point between design faces in advance. When the bucket approaches the junction, the control system proactively adjusts the target velocity based on pre-calculated parameters, preventing sudden changes and maintaining smooth operation through the transition zone between design faces.
Solution Approach 2:
The system applies dynamics by making the target velocity adjustable and adaptive rather than fixed. The control system dynamically modifies the target velocity based on the bucket's position relative to design face junctions, enabling smooth transition through varying terrain profiles while preventing bucket entry into design faces.
2Manufacturing precision
If the target velocity is suddenly changed at design face junctions to prevent bucket entry, then construction accuracy is improved, but the work efficiency and productivity are reduced due to operation interruptions
Solution Approach 1:
The system dynamically adjusts the target velocity based on the bucket's real-time position and the geometry of design face junctions. By continuously adapting the velocity profile, the system maintains construction accuracy while avoiding sudden stops or sharp velocity changes that would reduce productivity.
Solution Approach 2:
The control system changes operational parameters (target velocity) smoothly and progressively rather than abruptly. By modifying velocity parameters in a controlled manner during junction transitions, the system maintains both construction accuracy and operational efficiency.
3Manufacturing precision
If the operator reduces arm velocity to prevent bucket entry into design faces, then construction accuracy is improved, but the work amount and productivity are reduced
Solution Approach 1:
The system implements feedback control by continuously monitoring the bucket's position relative to design faces and automatically adjusting the target velocity accordingly. This closed-loop control eliminates the need for operators to manually reduce velocity, maintaining both construction accuracy and productivity through automated real-time adjustments.
Data Source
AI summary
A main controller generates a supplemented design face that passes through a junction or above the junction between a first design face and a second design face adjacent to each other, among a plurality of design faces, the supplemented design face having one end thereof positioned on the first design face and another end thereof positioned on the second design face, sets a curvature 1/R of the supplemented design face according to an arm operation amount of an operation lever device, and executes semi-automatic excavation control to control a boom cylinder with one of the faces included in the supplemented design face being set as the target face.