Excavator Bucket Velocity Control for Automated Digging

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Solution Overview

Problem

Conventional automated digging cycle control systems for excavating machines require extensive tuning and programming for different material types, leading to inefficiencies and operator fatigue due to the need for force feedback and position data-based control methods.

Innovation Solution

A velocity-based control system that uses sensors to monitor bucket velocity parameters and control actuator sequences to optimize bucket orientations, allowing for efficient interaction with various materials without the need for extensive tuning or force feedback.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If force feedback and position data-based control systems are used for automated digging cycles, then automation capability is improved, but device complexity and programming requirements increase significantly

Engineering Contradiction:

Improveautomated digging cycle controlVSAvoidcontrol system complexity

Core Design Contradiction:

Extent of automationVSDevice complexity

Solution Approach 1:

The patent replaces complex force feedback sensors and position data systems with a simplified velocity-based control mechanism. By using velocity information from the actuator system itself, the invention eliminates the need for separate force sensors and complex position monitoring, thereby reducing device complexity while maintaining automation capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The control system utilizes velocity data that is already generated by the actuator system's normal operation. Rather than requiring additional sensors and external measurement systems, the system serves its own control needs by extracting velocity information from the actuator's inherent operational data, simplifying the overall system architecture

Inventive Principle:

Principle #25Self-service

2Extent of automation

If force feedback-based automated control is implemented, then digging cycle automation is achieved, but extensive tuning and programming for different material types is required

Engineering Contradiction:

Improveautomated work cycle controlVSAvoidmaterial type adaptability

Core Design Contradiction:

Extent of automationVSAdaptability or versatility

Solution Approach 1:

The patent changes the control parameter from force feedback to velocity-based measurement. This parameter change makes the system inherently more adaptable to different material types because velocity is a direct measure of digging progress that remains meaningful across varying soil conditions, eliminating the need for extensive re-tuning when switching between material types

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If conventional automated control systems with multiple material type programming are used, then comprehensive material handling capability is improved, but operator fatigue from manual tuning and setup increases

Engineering Contradiction:

Improvematerial type coverageVSAvoidoperator fatigue

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The system automatically adapts to different material types by monitoring velocity responses during the digging cycle itself, eliminating the need for operators to manually select or tune program parameters for different materials. The system serves its own adaptation needs through real-time velocity feedback, reducing operator workload and fatigue

Inventive Principle:

Principle #25Self-service

4Productivity

If velocity-based control with actuator sequence optimization is implemented, then digging efficiency is improved, but control system complexity increases

Engineering Contradiction:

Improvedigging cycle efficiencyVSAvoidcontrol system complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent implements dynamic velocity control by continuously adjusting actuator velocities based on real-time velocity measurements. This dynamic adjustment optimizes the digging sequence adaptively during operation, improving productivity while the control complexity is managed through the use of readily available velocity data from the actuator system

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS7979181B2Velocity based control process for a machine digging cycle

Publication Date: 2011.07.12 CATERPILLAR INC

AI summary

A method and machine with an automated digging cycle is provided. The method includes moving an implement system of the machine through a work cycle, including interacting with a material. The method further includes sensing values associated with a bucket velocity parameter, such as bucket tip velocity, during interacting with the material, and controlling the velocity parameter via commands which control a sequence of bucket orientations whereby an implement system of the machine interacts with the material, responsive to the sensed values. The machine includes an electronic controller configured via a control algorithm to execute the automated digging cycle. A velocity based control system for an excavating machine includes an electronic controller configured to receive velocity signals from at least one sensor, determine a bucket tip velocity, and output control commands to move a bucket of the excavating machine through a material via a sequence of bucket orientations that is based on the determined bucket tip velocity.