Work Machine Arm Deceleration for Target Surface Protection
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Solution Overview
Problem
Existing work machines, such as hydraulic excavators, face efficiency losses due to unnecessary deceleration of the arm when the bucket is close to the target surface, even when entry into the surface is not intended, leading to reduced operational efficiency.
Innovation Solution
A work machine equipped with sensors to determine the possibility of the work equipment entering the target surface, controlling arm deceleration only when necessary to prevent excavation beyond the target surface, thereby optimizing operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If deceleration control is applied when the work equipment-to-target surface distance is shorter than a predetermined distance, then the target surface is protected from excavation beyond the boundary, but the work efficiency is reduced due to unnecessary deceleration
Solution Approach 1:
The control system applies different control strategies to different operational contexts. When the work equipment is approaching the target surface boundary, deceleration control is applied only when there is a possibility of entry, while allowing normal operation when entry is not envisaged. This localized differentiation resolves the contradiction by protecting the target surface only when necessary, without imposing unnecessary deceleration during normal operations.
Solution Approach 2:
The system dynamically adjusts the control behavior based on real-time conditions. The controller continuously monitors the work equipment position, target surface boundary, and operational context to determine whether deceleration control should be applied. This dynamic adaptation allows the system to switch between protection mode and normal operation mode, resolving the contradiction between surface protection and work efficiency.
2Device complexity
If deceleration control is applied whenever the work equipment-to-target surface distance is short, then the boundary control is simplified, but the operational complexity increases due to unnecessary control interventions
Solution Approach 1:
The system implements context-dependent control by evaluating operational conditions locally. Instead of applying uniform deceleration control based solely on distance, the controller assesses whether entry into the target surface is envisaged based on the specific operational context. This localized control approach maintains boundary protection while reducing unnecessary interventions, improving operational smoothness without significantly increasing system complexity.
Data Source
AI summary
A work machine includes a work device having a boom, an arm, and work equipment and a controller that sets a target surface, and calculates a work equipment-to-target surface distance on the basis of signals from a position sensor and a posture sensor, and carries out control to decelerate the arm to keep the work equipment from excavating ground beyond the target surface when the work equipment-target surface distance has become shorter than a predetermined distance. The controller determines whether there is a possibility that the work equipment enters the target surface when operation of the arm is carried out based on the set target surface and the position sensor and posture sensor signals, and does not carry out the deceleration control when the work equipment-to-target surface distance is shorter than the predetermined distance and it is determined there is no possibility that the work equipment enters the target surface.