Excavator Implement Posture Control Around Virtual Wall Limits
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Solution Overview
Problem
Operators of excavators face difficulties in maintaining smooth operations when a virtual wall is set, as they struggle to adjust the position of the virtual wall due to visibility issues, leading to frequent stops and interruptions in work.
Innovation Solution
A work machine and method of controlling it, which includes a detection section to monitor the position of the work implement and a posture control section that adjusts the implement's posture to avoid interference with a virtual wall set at a predetermined position, allowing continuous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a virtual wall is set to restrict excavator operation, then safety is improved, but work efficiency deteriorates due to frequent stoppages
Solution Approach 1:
The system automatically adjusts the work implement posture to avoid the virtual wall without operator intervention. The control section autonomously determines when the work implement would intersect the virtual wall and automatically changes the posture, allowing continuous operation while maintaining safety restrictions.
Solution Approach 2:
The system changes the posture parameter of the work implement dynamically. When the current posture would cause intersection with the virtual wall during revolution, the control section adjusts the posture parameter to an alternative configuration that avoids intersection, enabling continuous work within safety boundaries.
2Adaptability or versatility
If the operator manually adjusts the virtual wall position, then operational flexibility is improved, but work continuity deteriorates due to operator distraction
Solution Approach 1:
The system performs automatic posture adjustment without requiring operator attention. The control section continuously monitors the relationship between the work implement and virtual wall, and autonomously makes posture changes when needed, freeing the operator to focus on overall work planning and safety.
Solution Approach 2:
The system uses real-time feedback from the detection section about work implement position and revolution state to automatically adjust posture. This closed-loop control ensures the work implement never intersects the virtual wall while maintaining continuous operation, eliminating the need for manual virtual wall repositioning.
3Ease of operation
If the work implement posture is fixed, then operational simplicity is improved, but adaptability to virtual wall constraints deteriorates
Solution Approach 1:
The system transitions from fixed posture operation to dynamic posture adjustment. The control section automatically changes the work implement posture based on real-time conditions during revolution, allowing the excavator to adapt to virtual wall constraints while maintaining simple operation for the operator.
Solution Approach 2:
The system dynamically changes the posture parameter of the work implement when needed to avoid virtual wall intersection. This automatic parameter adjustment maintains operational simplicity while providing adaptability to safety constraints, as the operator does not need to manually control the changes.
Data Source
AI summary
A work machine includes a work machine main body, a detection section, and a posture control section. The work machine main body includes a traveling unit and a revolving unit including a work implement. The revolving unit is revolvable with respect to the traveling unit. The detection section detects a position of the work implement. The posture control section changes a posture of the work implement so as not to interfere with a virtual wall set at a predetermined position from the work machine main body when determining that the work implement interferes with the virtual wall based on the position of the work implement when the revolving unit is revolved.