Work Machine Travel Control for Descending Cliff Stops
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Solution Overview
Problem
In work machines, particularly at work sites like mines, it is challenging to appropriately stop travel when encountering cliffs, as existing systems do not differentiate between ascending and descending cliffs, leading to potential difficulties in controlling the machine's movement.
Innovation Solution
A control system for work machines that includes a detection data acquisition unit, a determination unit, and a traveling control unit to identify the type of cliff and adjust the travel control based on the relative position between the cliff and the excavation blade or ripper working equipment, ensuring safe stopping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the traveling stop control is performed without considering the type of cliff, then the control system is simple, but the travel stop is not appropriate
Solution Approach 1:
The control system applies different stop control strategies based on the local cliff type detected by the sensor. When a descending cliff is detected, the system sets a stop position at a specific distance before the cliff edge, while for ascending cliffs it uses different control logic. This local differentiation improves travel stop accuracy without requiring complete system redesign.
Solution Approach 2:
The system performs preliminary detection of cliff types using sensors before the work machine reaches the critical stopping zone. By detecting the cliff type in advance and pre-calculating the appropriate stop position, the system ensures accurate travel stop control while maintaining operational flow efficiency.
2Reliability
If the stop position is set fixed regardless of cliff type, then the control is simple, but the work machine may collide with or fall off the cliff
Solution Approach 1:
The stop position is dynamically adjusted based on the detected cliff type rather than using a fixed predetermined position. The control system calculates the appropriate stop position relative to the cliff edge based on the work machine's characteristics and the specific cliff configuration, enabling both safe operation and operational flexibility.
Solution Approach 2:
The system uses sensor feedback to detect cliff characteristics and continuously adjusts the stop position accordingly. This closed-loop control ensures the work machine stops at the safest possible position while maintaining operator control flexibility through configurable parameters.
3Manufacturing precision
If the travel control does not consider the relative position with excavation blade, then the control system is simple, but the stopping precision is insufficient
Solution Approach 1:
The control system changes the stop position parameter based on the relative position between the work machine and the excavation blade. By adjusting the stop distance parameter according to the blade's position and the detected cliff characteristics, the system achieves precise stopping without requiring complex multi-variable calculations.
Data Source
AI summary
A control system for a work machine including a vehicle body, a traveling device that travels while supporting the vehicle body, and an excavation blade of an excavation working equipment disposed in front of the vehicle body includes: a detection data acquisition unit that acquires detection data of a sensor that detects surroundings of the work machine; a determination unit that determines whether or not there is a descending cliff in front of the work machine on the basis of the detection data of the sensor; and a traveling control unit that controls the traveling device on the basis of a relative position between a forward stop position set behind the excavation blade and the descending cliff in a case where it is determined that there is the descending cliff.