Excavator Hanging Mode Control Under Obstacle Detection
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Solution Overview
Problem
Existing obstacle avoidance systems in construction machines, such as hydraulic excavators, can inadvertently slow down or abruptly stop hanging operations using the crane function, leading to wide swings or disengagement of hanging loads, due to collision prevention mechanisms.
Innovation Solution
A construction machine equipped with a controller that enables a hanging work mode, disabling operation limiting processes during hanging operations, allowing the machine to perform according to the operator's intentions by integrating obstacle detection sensors and a mode selection device to control vehicle and working device operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the obstacle avoidance control device is actuated during hanging work using the crane function, then collision with obstacles is prevented, but the operation speed is slowed down or the operation is abruptly stopped against the intention of the operator
Solution Approach 1:
The system dynamically switches the obstacle avoidance control on or off based on the current working mode. When hanging work mode is detected, the control is disabled to maintain operation speed. When other modes are active, the control remains enabled for collision prevention. This dynamic adaptation resolves the contradiction by making the system behavior context-dependent.
Solution Approach 2:
The controller changes the operational parameter of the obstacle avoidance control device based on the working mode. Specifically, it modifies the control state from enabled to disabled when transitioning to hanging work mode, thereby changing how the system responds to obstacle detection and resolving the speed vs. safety contradiction.
2Reliability
If the obstacle avoidance control device limits the operation based on manipulated variable when obstacle is detected, then collision is avoided, but the hanging load swings widely or disengages from hanging attachment
Solution Approach 1:
The system dynamically adjusts the obstacle avoidance control behavior based on the detected working mode. During hanging work, the control is disabled to maintain load stability. In other modes, it remains active for collision avoidance. This dynamic switching resolves the contradiction between collision avoidance and load stability.
Solution Approach 2:
The controller changes the operational parameter of the obstacle avoidance control by disabling it during hanging work mode. This parameter change prevents the control from limiting operations that would otherwise cause load swinging or disengagement, while maintaining collision avoidance capabilities in other working modes.
Data Source
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AI summary
There is provided a construction machine capable of performing hanging work according to the intention of an operator. A hydraulic excavator 1 includes: an operating lever 420 for performing a turning operation; the cameras 61, 62, 63 for detecting any obstacle; and a controller 8 for controlling the operations of a vehicle body and a front working device 5. In the hydraulic excavator 1, in a case where the obstacle is detected by any of the cameras 61, 62, 63, the controller 8 performs an operation limiting process. The hydraulic excavator 1 further includes a hook 53A, a mode selector switch 64 for switching the operation to a hanging work mode. In a case where the obstacle is detected by any of the cameras 61, 62, 63, the controller 8 disables the operation limiting process and controls the operation of the vehicle body or the front working device 5 according to the manipulated variable of the operating lever 420.