Shovel Control Device Excavation Reactive Force Weight Calculation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional shovels struggle to accurately calculate the weight of earth and sand loaded in the bucket due to disturbances in the boom bottom pressure sensor readings when the bucket is lifted in the air, leading to inaccuracies in determining the weight moved to a predetermined location.
Innovation Solution
A shovel equipped with a control device that calculates excavation reactive force and weight based on sensor outputs, sets a target value for subsequent operations, and includes a series of operations including excavation and dumping, using a lower traveling body, upper swivel body, attachment, and sensors to enhance weight calculation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the bucket is lifted in the air to move materials to a predetermined location, then the excavation weight can be calculated based on boom bottom pressure sensor output, but the pressure sensor readings are disturbed leading to inaccurate weight calculation
Solution Approach 1:
The control device uses feedback from multiple sensors (boom bottom pressure sensor, boom angle sensor, arm angle sensor, bucket angle sensor) to continuously monitor and adjust the excavation operation. By comparing sensor outputs and detecting deviations caused by lifting disturbances, the system compensates for measurement errors and maintains accurate weight calculation throughout the material transfer process
Solution Approach 2:
The system performs preliminary calculations of excavation reactive force and weight during the excavation operation before the bucket is lifted. This preliminary data is stored and used to compensate for disturbances that occur during the subsequent lifting and transport phase, ensuring continuous measurement accuracy without requiring the sensor to remain stable during the entire operation sequence
2Productivity
If the boom bottom pressure sensor is used to calculate excavation weight, then the weight can be determined, but disturbances during bucket lifting cause excess or deficiency in loading
Solution Approach 1:
The control device continuously monitors sensor outputs during the entire operation sequence (excavation, lifting, transport) and adjusts the loading process in real-time. By detecting disturbances during lifting and comparing them with expected weight values, the system makes corrective adjustments to maintain precise loading accuracy while preserving high productivity
Solution Approach 2:
The system dynamically adapts the excavation and loading operations based on real-time sensor feedback. The control device adjusts excavation reactive force target values and loading parameters during the process, allowing the system to respond to changing conditions and maintain both speed and precision throughout the material transfer operation
Data Source
AI summary
A shovel to move an object to predetermined place by repeating a series of operations including an excavation operation and a dumping operation, the shovel including: a lower traveling body; an upper swivel body pivotably mounted on the lower traveling body; an attachment attached to the upper swivel body; a sensor attached to the upper swivel body; and a control device configured to calculate, based on output of the sensor, an excavation reactive force generated by the excavation operation and an excavation weight, which is a weight of object taken into a bucket and moved to the predetermined place. The control device is configured to set a target value related to the excavation reactive force of a second excavation operation subsequently performed one or more times, based on a relationship between the excavation reactive force calculated during a first excavation operation performed one or more times and the excavation weight.