Excavator Implement Heading Control via Sensor Fusion
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Solution Overview
Problem
Existing excavator control systems lack efficient automation for tilt and rotation of rotary excavating implements, leading to operator fatigue and reduced productivity.
Innovation Solution
A control architecture comprising dynamic sensors and actuators that generate and execute signals to control the linkage assembly heading, swing rate, and curl rate, allowing the rotary excavating implement to approximate a directional heading, thereby automating the tilt and rotation processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual control of tilt and rotation is used, then operator flexibility is maintained, but operator fatigue increases and productivity decreases
Solution Approach 1:
The control system automatically adjusts the rotary excavating implement's tilt and rotation based on sensor data and calculated directional headings, making the system self-regulating without continuous manual intervention. The controller autonomously processes swing rate, curl rate, and linkage assembly heading data to generate appropriate implement adjustments.
Solution Approach 2:
The patent replaces manual mechanical control with an automated control architecture that uses dynamic sensors, controllers, and actuators. The system substitutes human operator actions with automated signal processing and actuation mechanisms that calculate and execute implement positioning based on real-time machine state data.
2Productivity
If automated control is implemented, then productivity improves and operator fatigue reduces, but device complexity increases
Solution Approach 1:
The control architecture integrates multiple functions into a unified system that processes swing rate, curl rate, and heading data while simultaneously controlling both tilt and rotation of the implement. The controller serves multiple purposes: calculating directional headings, determining optimal implement orientation, and actuating multiple hydraulic circuits.
Solution Approach 2:
The control system introduces intermediate computational elements (controllers and sensors) that mediate between the operator's intent and the actual implement positioning. These intermediaries process raw sensor data, calculate directional headings, and translate complex control requirements into simplified actuator commands.
3Measurement precision
If precise automation is achieved through dynamic sensors and controllers, then operational precision improves, but fuel consumption and machine wear increase
Solution Approach 1:
The system continuously monitors swing rate, curl rate, and linkage assembly heading through dynamic sensors and uses this feedback to automatically adjust the implement's tilt and rotation. This closed-loop control maintains precise implement positioning while avoiding the energy-wasting trial-and-error adjustments that would occur with less sophisticated control systems.
Data Source
AI summary
An excavator comprises a chassis, an implement, and an assembly comprising a boom, a stick, and a coupling. The assembly is configured to define a heading {circumflex over (N)} and to swing with, or relative to, the chassis about a swing axis S. The stick is configured to curl relative to the boom about a curl axis C. The implement is coupled to a stick terminal point G via the coupling and is configured to rotate about a rotary axis R such that a leading edge of the implement defines a heading Î. An excavator control architecture comprises sensors and machine readable instructions to generate signals representative of {circumflex over (N)}, an assembly swing rate ωS about S, and a stick curl rate ωC about C, generate a signal representing a terminal point heading Ĝ based on {circumflex over (N)}, ωS, and ωC, and rotate the implement about R such that Î approximates Ĝ.