Remote Work Machine Control With Actuator Ratio Correction
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Solution Overview
Problem
Existing remote control systems for work machines with multiple actuators face instability and inefficiency due to communication delays, leading to off-balance operations and deviations between intended and actual machine states, especially when only one actuator's speed is limited in response to communication delays.
Innovation Solution
A remote control system that includes an operation lever, operator-side and work-machine side remote controllers, a delay state determination device, and a command signal correction device, which corrects all command signals for multiple actuators to maintain their intended ratio, ensuring balanced operation even during communication delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If only one actuator's speed is limited in response to communication delays, then the overshoot amount for that specific actuator is reduced, but the combined operation of the work machine becomes off-balance
Solution Approach 1:
The patent merges the correction approach by applying uniform speed limitation to all actuators simultaneously rather than treating each actuator independently. This combining approach ensures that all actuators maintain their relative speed ratios while preventing overshoot, thereby preserving operational balance during remote control with communication delays.
Solution Approach 2:
The system dynamically changes the operation speed parameter of all actuators based on detected communication delay conditions. When delay exceeds a threshold, the control device reduces the operation speed of all actuators proportionally, maintaining the intended speed ratios while adapting to degraded communication conditions.
2Productivity
If the operation speed of actuators is increased to improve work efficiency, then productivity increases, but communication delays cause larger deviations between intended and actual machine states
Solution Approach 1:
The patent implements dynamic speed adjustment where the operation speed of actuators is not fixed but adaptively changed based on real-time communication quality. The control device continuously monitors communication delay and dynamically modifies actuator speeds to maintain control stability while maximizing productivity when communication conditions permit.
Solution Approach 2:
The system uses feedback from communication delay detection to adjust actuator operation speeds. When communication delay is detected, this feedback triggers a speed reduction command to all actuators, creating a closed-loop control system that maintains reliability while allowing high-speed operation under good communication conditions.
3Ease of operation
If uniform speed limitation is applied to all actuators during communication delays, then operational balance is maintained, but the overall work efficiency may be reduced
Solution Approach 1:
The patent applies partial speed limitation only when and if communication delay conditions are detected, rather than continuously limiting all actuators. When communication quality is good, actuators operate at full speed without restriction. The uniform speed limitation is applied partially only during periods of degraded communication, balancing operational balance with work efficiency.
Data Source
AI summary
Provided is a remote control system for work machine capable of enhancing the stability and efficiently improving the operability. A remote control system for a work machine having a plurality of actuators 31 corrects all command signals for the actuators 31 being operated when a communication delay time occurs during operation with the actuators 31. This limits the operation of the actuators 31 while keeping the ratio of the command signals (operation signals) of the actuators 31.