Excavator Bucket Control with Variable Speed Correction Region
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Solution Overview
Problem
Existing hydraulic excavator systems face challenges in operating the front work implement at a speed according to operator lever operations while maintaining work accuracy, as the accuracy priority mode suppresses speed and the speed priority mode may result in increased penetration beyond the set area.
Innovation Solution
A work machine with a controller that sets a speed correction region above the target surface, varying its width based on the operation amount, to control the work implement's operation and prevent penetration into the speed correction region, allowing for speed adjustment while ensuring accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If accuracy priority mode is selected to suppress penetration of bucket tip into outside of set area, then work accuracy is improved, but moving speed of front work implement is reduced
Solution Approach 1:
The control mode is made dynamically switchable between accuracy priority mode and speed priority mode based on operator selection. The system adapts its control characteristics in real-time by changing the activation state of the speed correction region based on the selected mode, allowing flexible adjustment between precision and speed requirements during different work phases
Solution Approach 2:
The width of the speed correction region is varied according to the operation amount of the operation device. When the operation amount exceeds a predetermined threshold, the width is set to a first value; otherwise, it is set to a second value. This parameter adjustment allows the system to maintain work accuracy while enabling faster operation speeds under appropriate conditions
2Speed
If speed priority mode is selected to operate front work implement at speed according to operator lever operation, then moving speed is improved, but penetration of bucket tip into outside of set area may be enlarged
Solution Approach 1:
The control system dynamically adjusts the speed correction region width based on the selected priority mode. In speed priority mode, the system allows operation speeds according to operator lever operations while still maintaining boundary protection through the speed correction region, balancing speed and accuracy needs
Solution Approach 2:
The operation amount threshold is used to dynamically change the speed correction region width parameter. When operation amount is large (exceeding threshold), the width is set to first value for faster response; when operation amount is small (below threshold), width is set to second value for higher precision, enabling speed optimization without sacrificing boundary accuracy
Data Source
AI summary
Provided is a work machine that can operate a front work implement at a speed according to an operator's lever operation while securing the accuracy of work by machine control. A hydraulic excavator 1 includes a controller 20 that sets a target surface for a bucket 10 and controls the operation of a front work implement 1B in such a manner that the bucket does not penetrate to below the target surface. The controller sets a speed correction region on an upper side of the target surface, varies a width R of the speed correction region in accordance with an operation amount of an operation device 15A or 15C, and controls the operation of the front work implement in such a manner that the work tool does not penetrate into the speed correction region.