Work Device Orientation Control With Error-Based Operator Assistance
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Solution Overview
Problem
Existing construction machine operation assistance technologies do not adequately allow for operator intervention in the acceleration and deceleration of work elements, limiting the improvement of an operator's operation technique.
Innovation Solution
A construction machine driving device that calculates a physical quantity error between a target and actual orientation, adjusts an assistance operation value based on this error, and combines it with the operator's input to control the work device orientation, allowing for operator intention to be integrated into the assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If pilot pressure is changed to maximum value regardless of lever operation quantity when accelerating a work element, then the work element can reach the target position reliably, but the operator's operation technique cannot be improved
Solution Approach 1:
The control device calculates a physical quantity error between target and current positions, and uses this feedback to dynamically adjust the assistance operation value. When the error is large, more assistance is provided; when the error is small, less assistance is provided, allowing the operator to maintain control while achieving reliable target positioning.
Solution Approach 2:
The assistance operation value is dynamically changed based on the physical quantity error parameter. The control device adjusts the degree of intervention by changing the assistance operation value according to the error magnitude, rather than using a fixed maximum value, thereby maintaining both reliability and operator skill development.
2Reliability
If a controller assists operation by changing pilot pressure to maximum value, then the work element can be accelerated reliably, but the operator's intention does not intervene in the acceleration or stop
Solution Approach 1:
The assistance operation value is dynamically adjusted based on the physical quantity error rather than being fixed. This dynamic adjustment allows the system to adapt to the operator's intentions while maintaining reliable control, as the assistance level changes continuously based on the error between target and current positions.
Solution Approach 2:
The control device changes the assistance operation value parameter according to the physical quantity error magnitude. This parameter change enables the system to integrate operator intention by providing appropriate levels of assistance that respect the operator's control while ensuring reliable operation.
3Measurement precision
If the assistance operation value is corrected to be larger when physical quantity error is small, then the operator can accurately adjust work device orientation near target, but the system complexity increases
Solution Approach 1:
The control device uses feedback from the physical quantity error to automatically adjust the assistance operation value. This feedback mechanism provides accurate orientation control near the target position without requiring complex manual intervention, as the system self-adjusts based on the error signal.
Solution Approach 2:
The control system performs self-adjustment by automatically changing the assistance operation value based on the physical quantity error. This self-service capability reduces the need for complex external control mechanisms while maintaining high orientation accuracy, particularly when approaching the target position.
Data Source
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AI summary
A controller (50) of a driving device sets a target physical quantity relating to an orientation of a work device, calculates a current physical quantity relating to the actual orientation of the work device, calculates a physical quantity error between the target physical quantity and the current physical quantity, calculates an assistance operation value for assisting operation of an operator, corrects an operator operation value to an operator correction value so as to attain a small value when the physical quantity error is small as compared with when the physical quantity error is large, corrects the assistance operation value to an assistance correction value so as to attain a large value when the physical quantity error is small as compared with when the physical quantity error is large, and controls the orientation of the work device using a total value obtained by adding the operator correction value and the assistance correction value.