Steering Calibration Control to Prevent Unsupervised Work Machine Motion
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Solution Overview
Problem
Calibration modes in work machines, such as hydraulic excavators, can cause automatic steering, potentially leading to interference with surrounding objects due to unsupervised operation.
Innovation Solution
A work machine with a hydraulic cylinder for steering, an operation apparatus, and a controller that performs calibration based on operator input conditions, stopping the command current when certain conditions are not met to prevent unsupervised steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the controller automatically starts calibration based on operation command sensing, then calibration execution is simplified and automation is improved, but the work machine may interfere with surrounding objects due to unsupervised automatic steering
Solution Approach 1:
The controller continuously monitors the operation command input state during calibration mode and uses this feedback to dynamically control the command current output. When operation command input is detected, the controller outputs calibration command current to enable automatic steering calibration. When operation command input is not detected, the controller stops outputting command current to prevent unsupervised steering and potential interference with surrounding objects.
2Stability of the object's composition
If the controller continuously outputs command current during calibration mode, then calibration process is maintained smoothly, but the steering system cannot be immediately stopped when necessary
Solution Approach 1:
The controller dynamically adjusts the command current output based on real-time detection of operation command input. During calibration mode, the system transitions between two states: outputting command current when operation command is sensed and stopping command current output when operation command is not sensed. This dynamic control allows the calibration process to be both stable during execution and immediately stopable when needed.
Data Source
AI summary
A work machine includes: a hydraulic cylinder for steering; an operation apparatus that receives an input of an operation command from an operator to drive the hydraulic cylinder for steering; a control valve that controls an amount of driving of the hydraulic cylinder for steering; and a controller that outputs a command current that causes the control valve to operate in response to the operation command of the operation apparatus. The controller executes a calibration mode for correcting the command current corresponding to the operation command of the operation apparatus and causing the control valve to operate. In the calibration mode, the controller cuts off the command current to the control valve when the operation apparatus is in a neutral position.