Excavator Control Priority for Conflicting Bucket Automation
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Solution Overview
Problem
Conventional shovels with multiple automatic functions for adjusting the bucket tooth edge position can conflict with each other during slope surface formation, leading to improper operation.
Innovation Solution
A shovel with a control device that prioritizes one control process over another in case of conflicts, using actuators and a control device to select a priority control process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If multiple automatic control functions are simultaneously implemented to adjust bucket tooth edge position, then the automation capability is improved, but control conflicts occur leading to improper operation
Solution Approach 1:
The control device performs preliminary determination of control priority before conflicts occur. By pre-establishing priority relationships between multiple control functions (first control process vs. second control process), the system resolves conflicts proactively rather than reactively, ensuring reliable operation when multiple automatic functions are simultaneously active
Solution Approach 2:
The control system dynamically selects which control process to execute based on real-time conflict detection. The control device can switch between first control process and second control process depending on the current work conditions and detected conflicts, making the automation system adaptive and reliable under varying operational scenarios
2Adaptability or versatility
If multiple control processes are implemented to handle different adjustment functions, then the versatility is improved, but conflict resolution complexity increases
Solution Approach 1:
The control system is segmented into distinct control processes (first control process for one adjustment function, second control process for another adjustment function). Each process is independently developed and tested, then integrated with a priority determination mechanism. This segmentation allows versatile functionality while managing complexity through modular organization
Solution Approach 2:
The control device acts as an intermediary that receives control commands from multiple control processes and mediates conflicts between them. By centralizing the conflict resolution function in the control device, the system achieves versatility through multiple control processes while preventing complexity from propagating throughout the entire system
Data Source
AI summary
A shovel including a lower-part traveling body, an upper-part swiveling body which is enabled to swivel and is mounted to the lower-part traveling body, an actuator, and a control device that implements a first control process that causes the actuator to act autonomously, and a second control process that causes the actuator to act autonomously, wherein the control device is configured to select one control unit from among a plurality of control units that implements the first control process and the second control process, as a priority control process that is given priority to act, in a case where a conflict is judged to occur among the plurality of control units that implements the first control process and the second control process.