Excavator Bucket Angle Control at Inflection Points
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Solution Overview
Problem
Existing work equipment control systems require explicit operator intervention to maintain the angle of work equipment at inflection points where angles vary, leading to inefficiencies in excavation work across different ground shapes.
Innovation Solution
A control device that includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit, which automatically adjusts the bucket's angle to maintain uniformity with the target working plane, eliminating the need for explicit operator intervention at inflection points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the angle of work equipment is uniformly maintained using control, then a single working plane can be suitably formed, but explicit operator operation is required at inflection points where working plane angles vary
Solution Approach 1:
The control device automatically detects inflection points and adjusts the bucket angle without operator intervention. The system serves itself by monitoring its own operation state and autonomously making control decisions when transitioning between different working planes, eliminating the need for manual switch operations.
Solution Approach 2:
The control device uses feedback from detecting the bucket's position and the working plane's angle to automatically adjust the bucket angle. By continuously monitoring the operation state and comparing it with target angles, the system maintains precise angle control while automatically adapting to inflection points.
2Productivity
If automatic control of bucket angle is implemented, then operator intervention is eliminated, but the system must detect and respond to inflection points dynamically
Solution Approach 1:
The control device pre-stores target angles for different working planes and prepares control commands in advance. When an inflection point is detected, the system has the necessary control parameters ready, enabling smooth automatic transitions without adding significant processing complexity during operation.
Solution Approach 2:
The control system dynamically adapts the bucket angle based on the detected working plane. The system transitions from maintaining a fixed angle to dynamically adjusting the angle according to the terrain profile, enabling automatic adaptation to varying ground shapes while improving productivity.
Data Source
AI summary
A work equipment control device includes a bucket posture-determining unit, a working plane-determining unit, and a bucket control unit. The bucket posture-determining unit determines an angle of a bucket in global coordinates. The working plane-determining unit determines an angle of a working plane in the global coordinates indicating a target shape of an excavation object of work equipment. The bucket control unit controls the bucket such that a difference between the angle of the bucket and the angle of the working plane maintains a uniform angle.