Excavator Controller Dynamic Boundary for Deceleration Area
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Solution Overview
Problem
Hydraulic excavator operators face inefficiencies in recognizing and avoiding deceleration areas during excavation and levelling work, leading to unintended deceleration of the work implement, which decreases work efficiency.
Innovation Solution
A work machine equipped with an articulated-type work implement, hydraulic actuators, an operation device, and a controller that executes machine control based on predetermined conditions and displays the positional relationship between the target surface and the work implement, including the boundary between deceleration and non-deceleration areas, allowing operators to adjust their operations accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If machine control is executed to decelerate the work implement in the deceleration area, then the positioning precision of the work implement tip on the target surface is improved, but the work efficiency deteriorates due to unintended deceleration during withdrawing operations
Solution Approach 1:
The boundary between the deceleration area and non-deceleration area is dynamically changed based on the operation type. When arm-dumping operation is detected, the boundary is shifted upward to exclude the deceleration area from the control region, allowing high-speed withdrawing operations without unintended deceleration. When arm-crowding operation is detected, the original deceleration area control is restored to ensure precise positioning on the target surface.
Solution Approach 2:
The control parameter (boundary position of deceleration area) is changed based on the operation state. The controller detects the operation type and adjusts the boundary position parameter accordingly, switching between two boundary positions to match the current operation mode, thereby optimizing both precision and efficiency for different tasks.
2Device complexity
If the boundary of the deceleration area is not clearly presented to the operator, then the control system remains simple, but the operator cannot avoid unintended deceleration during withdrawing work
Solution Approach 1:
The display device provides real-time feedback to the operator by visually presenting the boundary between deceleration and non-deceleration areas. This feedback mechanism uses existing display hardware to show boundary information without adding complex physical indicators, enabling operators to adjust their operations to avoid unintended deceleration while maintaining system simplicity.
Solution Approach 2:
The display device acts as an intermediary between the control system and the operator. It translates the abstract control area boundary into visual information that the operator can understand and use, bridging the gap between the automated control system and human operation without requiring direct physical modification of the control areas themselves.
3Device complexity
If the boundary line position is fixed, then the control system is simple to implement, but it cannot adapt to different operation types (arm-crowding vs. arm-dumping)
Solution Approach 1:
The boundary line position is made dynamic by linking it to the detected operation type. The controller continuously monitors operation inputs and automatically adjusts the boundary position between two predetermined positions based on whether arm-crowding or arm-dumping operation is detected, enabling the system to adapt to different operation modes without manual intervention.
Solution Approach 2:
The boundary position parameter is changed based on operation state detection. The system switches between two boundary position parameters corresponding to different operation types, allowing the deceleration area to be appropriately sized and positioned for each operation mode while maintaining a simple two-position parameter structure.
Data Source
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AI summary
A hydraulic excavator includes a controller having an actuator control section that executes machine control of operating a work implement in accordance with a predetermined condition in a case in which a work implement is positioned in a deceleration area, and that does not execute machine control in a case in which the work implement is positioned in a non-deceleration area. The controller further includes an operation deciding section that decides operation of the work implement on the basis of an operation amount of an operation device, and a display control section that displays, on a display device, a positional relationship among the work implement, a target surface and a boundary line between the deceleration area and the non-deceleration area. The actuator control section executes machine control while changing the position of the boundary line depending on a result of the decision by the operation deciding section, and the display control section changes the display position of the boundary line on the display device, depending on the result of the decision by the operation deciding section.