Loading Machine Swing Control Using Stationary Azimuth Data
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing control systems for loading machines face challenges in accurately determining the target azimuth direction during swing control due to errors in measurement data caused by changes in the position and azimuth direction of the measuring device while the swing body is swinging.
Innovation Solution
A control device that includes a posture measuring device and a depth detecting sensor, which acquires posture information and depth information when the swing body is not swinging, and uses this data to determine the target azimuth direction for swing control, thereby reducing measurement errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the measuring device continuously measures position and depth data during swing body movement, then the productivity is improved, but the measurement precision deteriorates due to large errors from changing position and azimuth direction
Solution Approach 1:
The control device acquires posture information and depth information at specific moments when the swing body is stopped (before and after excavation), rather than continuously during movement. This preliminary action at stable states ensures high measurement precision while still enabling effective swing control for productivity.
2Speed
If the control system uses measurement data acquired during swing body movement, then the responsiveness is improved, but the reliability deteriorates due to large errors in position and azimuth direction
Solution Approach 1:
The system acquires necessary measurement data in advance when the swing body is stationary and stable, ensuring high reliability. The control device uses this pre-acquired data to determine the target azimuth direction, maintaining reliability while enabling timely control responses.
Solution Approach 2:
The control device compares the current azimuth direction with the target azimuth direction determined from reliable measurement data, and generates swing control signals based on this feedback. This feedback mechanism ensures reliable control while maintaining system responsiveness.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The control device accurately determines the target azimuth direction in swing control, ensuring precise positioning and operation of the loading machine, even in dynamic environments.
Implementation Method 1
an inertial measurement sensor configured to measure an acceleration and an angular speed of the swing body
Implementation Method 2
receivers configured to receive positioning signals
Data Source
AI summary
A loading machine includes a swing body, work equipment provided on the swing body, a posture measuring device to measure a posture of the swing body, and a depth detecting sensor to detect a depth of at least part of a surrounding of the swing body in a detection range. A control device controls the loading machine. The control device includes a posture information acquisition unit that acquires posture information indicating the posture measured, a detection information acquisition unit that acquires depth information indicating the depth detected, a target azimuth direction determination unit, and an output unit. The target azimuth direction determination unit determines a target azimuth direction in swing control based on the posture information and the depth information acquired when the swing body is stopped swinging. The output unit outputs a swing operation signal based on the target azimuth direction.