Excavator Digging Trajectory Control Using Torque-Derived Force Vectors
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Solution Overview
Problem
Existing excavators and earth excavation machinery face challenges in automating digging processes due to the need to adaptively adjust the trajectory based on acting forces and environmental influences to avoid deviations or damage, particularly when encountering obstacles or deep digging.
Innovation Solution
A method for monitoring and controlling the movement of machinery using a control system that calculates and compares theoretical and actual torques applied to components, determining a force vector, and adjusting the trajectory or issuing alerts based on this analysis to ensure smooth operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If automated operation is implemented to improve productivity, then the extent of automation increases, but the system must accurately detect and respond to acting forces to avoid deviations or damage
Solution Approach 1:
The control system continuously monitors acting forces during digging operations and uses this feedback to adaptively adjust the digging trajectory. This closed-loop control ensures that automated operation can respond to real-time conditions, maintaining reliability by preventing deviations or damage while achieving high automation levels
Solution Approach 2:
The system pre-plans digging trajectories and prepares adaptive response strategies before actual digging operations begin. By having predefined trajectories and force thresholds established in advance, the automated system can quickly respond to detected forces without deviation, ensuring reliable operation
2Adaptability or versatility
If adaptive adjustment of digging trajectory is implemented to respond to acting forces, then the system can avoid obstacles and deep digging issues, but the device complexity increases due to additional sensing and control requirements
Solution Approach 1:
The control system performs multiple functions using integrated components: it monitors acting forces, calculates trajectory adjustments, and executes control commands within a single unified system. This multi-functionality reduces overall device complexity compared to separate specialized systems for each function
Solution Approach 2:
The control system acts as an intermediary between the digging machinery and the environment, translating force sensor data into trajectory adjustments. This intermediary approach simplifies the interaction between complex sensing elements and the digging mechanism by providing a centralized coordination layer
3Device complexity
If manual operation is used to reduce automation complexity, then the device complexity decreases, but the operator must independently assess machine condition and digging process which reduces productivity
Solution Approach 1:
The automated system with force monitoring enables the machinery to self-adjust its digging trajectory based on detected acting forces. This self-service capability eliminates the need for continuous manual assessment while maintaining high productivity, as the system autonomously optimizes digging operations without requiring complex human intervention
Data Source
AI summary
The disclosure relates to a method for monitoring and/or performing a movement of an item of machinery wherein the item of machinery comprises a movement device with a tool for picking up material, which comprises at least two components, each of which is movable via at least one actuator, and a control system by means of which the actuators of the movement device can be actuated by way of open-loop and/or closed-loop control. The method according to the disclosure comprises (i) detecting status information of at least two components, (ii) calculating torques that are applied to components, (iii) detecting torques actually applied to components, (iv) comparing the calculated and detected torques and determining a force vector actually applied, and (v) executing an action depending on the calculated force vector. The disclosure also relates to an item of machinery and a computer program product for executing the method.