Excavator Movement-Range Control to Cut Unnecessary Stops
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Solution Overview
Problem
Existing work machines, such as hydraulic excavators, frequently stop unnecessarily when attempting to avoid obstacles, leading to reduced work efficiency due to the need for excessive clearance, which can result in frequent stops even when there is no actual risk of contact.
Innovation Solution
A work machine equipped with a control unit that calculates and executes control commands to stop or decelerate based on both the movement range and the position of obstacles, allowing for earlier and more precise control to avoid collisions, thereby reducing unnecessary stops and maintaining efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work machine performs stop control with clearance from approaching objects, then the possibility of contacting the approaching object is reduced, but the frequency of stopping increases and work efficiency decreases
Solution Approach 1:
The system dynamically changes the control parameters (clearance distance and stop timing) based on the actual risk level. When an approaching object is detected, the control unit calculates the angle interval and compares it with a threshold to determine the appropriate clearance distance. This allows the machine to maintain larger clearance only when necessary, rather than always maintaining excessive clearance, thus improving work efficiency while ensuring safety.
Solution Approach 2:
The stop control mechanism transitions from a static, fixed clearance approach to a dynamic, adaptive control system. The control unit continuously monitors the angle interval between the attachment and approaching object, and adjusts the clearance distance and stop timing in real-time based on the calculated risk level. This dynamic adjustment allows the machine to operate efficiently when safe while maintaining safety when needed.
2Reliability
If the work machine maintains larger clearance from approaching objects, then the possibility of contacting the approaching object is reduced, but unnecessary stops increase
Solution Approach 1:
The control unit continuously receives feedback about the position and movement of approaching objects, calculates the angle interval, and compares it with the threshold to determine the appropriate clearance distance. This feedback mechanism allows the system to adjust the clearance dynamically, maintaining larger clearance only when the angle interval indicates actual risk, thereby avoiding unnecessary stops and time loss.
3Reliability
If the work machine stops frequently to avoid potential contact, then safety is improved, but work efficiency decreases
Solution Approach 1:
The system changes the control parameter (clearance distance) based on the calculated angle interval and risk level. When the angle interval is small (high risk), the machine maintains larger clearance and stops earlier. When the angle interval is large (low risk), the machine maintains normal operation with minimal clearance. This parameter adjustment resolves the contradiction by making safety measures proportional to actual risk rather than applying them uniformly.
Data Source
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AI summary
Provided is a work machine that can suppress decrease in work efficiency while reducing the possibility of contacting a worker or a dump truck, etc. A movement range is set in advance so as to avoid entry of a worker or a dump truck, etc. into the set movement range. The work machine performs stop control with clearance for an obstacle having entered the movement range, but performs stop control with relatively small clearance (minimum clearance) for a movement range. Thus, the work machine can reduce the frequency of stopping a body or a work implement and suppress decrease in work efficiency. Since the work machine controls the body or the work implement to stop with clearance when the worker or the dump truck, etc. enters the movement range of the work machine, the work machine can reduce the possibility of contacting the worker or the dump truck, etc.