Shovel Actuator Control for Precise Bucket Edge Trajectory
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Solution Overview
Problem
Existing shovel leveling excavation control systems struggle with accurately controlling the movement speed of the bucket blade edge relative to a design plane, leading to potential misalignment and inefficiencies in trajectory following.
Innovation Solution
A control device is implemented in the shovel that includes actuators and a control system to manage the operation of these actuators, ensuring that an attachment moves along a predetermined trajectory by adjusting the operation of one actuator based on the operation of another, thereby maintaining precise alignment with the target path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a shovel is equipped with both a collision prevention function and a suspension function, then the operator convenience and safety are improved, but the device complexity increases
Solution Approach 1:
The patent combines the collision prevention function and suspension function into a single integrated control system. The control unit receives signals from both the collision detection device and suspension operation device, and processes them through a unified control logic that determines boom cylinder control amounts. This merging approach allows the shovel to provide both safety and comfort functions while reducing overall system complexity compared to having separate independent systems.
Solution Approach 2:
The control unit serves multiple functions: it processes collision detection signals, handles suspension operation inputs, and manages normal digging operations. By making the control unit universal and multi-functional, the patent avoids the need for separate dedicated controllers for each function, thereby improving operator convenience while limiting the increase in device complexity.
2Reliability
If the shovel provides both collision prevention and suspension functions, then safety and operator comfort are improved, but the system requires more sensors and control mechanisms increasing complexity
Solution Approach 1:
The patent merges the collision detection device with the suspension operation device into an integrated sensing and control system. Both functions share common hardware components and control processing, which maintains high safety and comfort standards while reducing the overall system complexity that would result from completely separate independent systems.
3Adaptability or versatility
If the control unit calculates control amounts based on both collision detection signals and suspension operation signals, then the responsiveness and adaptability of the shovel are improved, but the computational complexity and processing time increase
Solution Approach 1:
The control unit dynamically adjusts its processing based on the operational state. When collision is detected, the control unit prioritizes collision prevention calculations; when suspension operation is requested, it focuses on comfort optimization. This dynamic processing approach allows the system to remain responsive and adaptable to different situations while managing computational complexity by focusing resources on the most critical current task.
Solution Approach 2:
The control unit continuously receives feedback from both the collision detection device and suspension operation device, and adjusts the boom cylinder control amounts in real-time based on the combined input. This feedback mechanism enables the system to be highly responsive to changing conditions while using iterative calculation methods that manage computational complexity by building on previous control states rather than recalculating from scratch each cycle.
Data Source
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AI summary
A shovel includes a lower travelling body; an upper pivot body pivotably mounted to the lower travelling body; an attachment attached to the upper pivot body; a plurality of actuators that include a first actuator and a second actuator, and drive the attachment and the upper pivot body; and a control device that controls an operation of another actuator of the plurality of actuators other than the first actuator in accordance with an operation of the first actuator so that the attachment is along a target trajectory. The control device operates the second actuator so that the attachment is along the target trajectory, when a predetermined condition is satisfied.