Shovel Attachment Control Using Pose Sensors
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Solution Overview
Problem
Existing shovel technologies face complexity and increased costs due to the use of distance sensors for recognizing and controlling end attachments, making it difficult to estimate and manage attachments after replacement.
Innovation Solution
A shovel system with a lower traveling structure and upper swing structure, equipped with a first and second obtaining device to gather data on the pose state of the work and lower traveling structures, allowing for predetermined control adjustments based on the type and characteristics of the end attachment, enabling easier estimation and control of attachments without the need for distance sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a distance sensor is used to recognize end attachments and obtain information on attached attachments, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent extracts the end attachment identification function from the complex distance sensor system and relocates it to a simpler sensor system that detects pose state data. By removing the distance sensor and using only pose state sensors, the system achieves the same identification capability with reduced complexity
Solution Approach 2:
The patent replaces the optical/mechanical distance sensor system with an electronic sensor system that measures pose state data. This substitution eliminates the need for complex mechanical distance measurement while achieving accurate end attachment recognition through electronic data processing
2Adaptability or versatility
If distance sensors are used to obtain information on end attachments, then adaptability is improved, but cost increases
Solution Approach 1:
The patent replaces expensive distance sensors with cheaper pose state sensors that can be easily attached to the work attachment. These simpler sensors provide sufficient functionality for end attachment identification without the high cost of distance sensor systems
Solution Approach 2:
The pose state sensor system serves multiple functions: it detects the pose state of the work attachment, identifies the end attachment type, and provides data for control adjustments. This multi-functionality eliminates the need for separate specialized sensors, reducing overall system cost
3Measurement precision
If distance sensors are used for end attachment recognition, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent extracts the measurement function from the complex distance sensor system and integrates it into the pose state data collection process. This simplification makes the system easier to operate while maintaining accurate measurement capabilities through the simpler sensor system
Data Source
AI summary
A shovel includes a lower traveling structure, an upper swing structure swingably mounted on the lower traveling structure, a work attachment attached to the upper swing structure and including a boom, an arm attached to the boom, and an end attachment attached to the arm, a first obtaining device configured to obtain data on the pose state of the work attachment, and a second obtaining device configured to obtain data on the pose state of the lower traveling structure or the upper swing structure. Predetermined control related to the movement of the work attachment is executed based on the data obtained by the first and second obtaining devices. Information on the type of the end attachment is obtained, and a response characteristic of the work attachment or the details of an operation for the work attachment during the predetermined control are corrected based on the obtained information.