Hydraulic Excavator Bucket Angle Control
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Solution Overview
Problem
Operators face difficulties in setting the bucket angle with respect to the target surface during machine control in work machines like hydraulic excavators, as it requires skill and can cause uncomfortable interventions, especially when adjusting the angle visually.
Innovation Solution
A work machine system that includes sensors and a controller to automatically adjust the bucket angle to a desired value relative to the target surface, using sensors for posture measurement and a control system to manage hydraulic actuators, allowing for precise positioning without operator discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the bucket angle with respect to the target surface is adjusted manually by the operator before arm operation, then the bucket can be positioned at the desired angle, but it requires operator skill and visual checking which is difficult and time-consuming
Solution Approach 1:
The patent replaces the manual visual checking method with an automatic sensor-based measurement system. A sensor detects the bucket angle with respect to the target surface automatically, eliminating the need for operator visual estimation and manual adjustment skills. This substitution of mechanical/manual operation with an automated sensing system directly resolves the contradiction between measurement precision and ease of operation.
Solution Approach 2:
The system enables self-service by automatically detecting and displaying the bucket angle to the operator without requiring manual measurement or estimation. The sensor system performs the measurement task autonomously, allowing the operator to simply read the displayed value and make adjustments based on accurate feedback, thereby eliminating the skill requirement for visual angle assessment.
2Extent of automation
If machine control is activated during arm operation to maintain bucket posture, then automated control is provided, but it may give an uncomfortable feeling to the operator by intervening with the operator's operation
Solution Approach 1:
The patent implements dynamic machine control that adapts to the operator's needs. The control system activates only under specific conditions: when the arm operation lever is in neutral and the bucket angle deviates from the desired value. This dynamic, conditional activation allows automated control to assist without constantly intervening, thereby maintaining operator comfort while providing automation where needed.
Solution Approach 2:
The system uses feedback from the sensor to determine when machine control should activate. By continuously monitoring the bucket angle and comparing it with the desired angle, the system only intervenes when necessary (when deviation exceeds a threshold and arm lever is neutral), providing automated control in a supportive rather than intrusive manner, thus resolving the contradiction between automation level and operator comfort.
3Ease of operation
If the bucket angle is not automatically controlled during arm operation, then the operator has full control, but the bucket angle with respect to the target surface cannot be maintained at a desired value
Solution Approach 1:
The system performs preliminary action by automatically adjusting the bucket angle to the desired value before the operator begins arm operation. When the arm operation lever is in neutral position, the machine control pre-positiones the bucket at the correct angle, so that when the operator starts arm operation, the bucket is already at the desired angle. This preliminary automated positioning ensures precision without interfering with the operator's subsequent control freedom.
Solution Approach 2:
The control system dynamically switches between manual and automated modes based on operational context. During arm operation, full operator control is maintained. During idle periods (arm lever neutral), the system automatically positions the bucket. This dynamic switching allows the system to provide precision positioning when needed while maintaining operator control freedom during actual work operations.
Data Source
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AI summary
Provided is a hydraulic excavator (1) that performs work by operating an arm (9) after moving a bucket (10) to a work start position. An operation determination section (81c) determines, based on an operation performed on an operation device, whether a front work device (1A) is engaged in a work preparation operation for moving the bucket to the work start position. When the operation determination section determines that the front work device is engaged in the work preparation operation at the time of operation of the operation device, an actuator control section (81) controls a bucket cylinder (7) such that the angle of a work tool with respect to a target surface coincides with a preset target angle (θTGT).