Work Machine Controller Boundary Line Shaping Accuracy
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Solution Overview
Problem
Existing machine control functions for work machines like hydraulic excavators struggle to maintain shaping accuracy near boundary lines between adjacent target surfaces, often resulting in temporary point contact states that can lower accuracy and efficiency.
Innovation Solution
The solution involves calculating the angular difference between a reference line on the work tool and the boundary line between adjacent target surfaces, and adjusting the work tool's posture before passing the boundary line to maintain a line contact state, thereby enhancing shaping accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional machine control functions are used for shaping work near boundary lines between adjacent target surfaces, then the control system operates with standard bucket posture control, but the bucket temporarily enters a point contact state when passing the boundary line, causing shaping accuracy to be lowered
Solution Approach 1:
The control device performs preliminary action by calculating the angular difference between the reference line and boundary line before the bucket reaches the boundary line, and adjusts the bucket posture in advance to ensure smooth transition and maintain line contact state when passing the boundary line between adjacent target surfaces
2Productivity
If conventional machine control functions are used for shaping work near boundary lines, then standard control procedures are followed, but the operator must match the bucket posture to the new surface and return the bucket toward the boundary line already passed, lowering work efficiency
Solution Approach 1:
The control device continuously calculates the angular difference between the reference line and boundary line based on real-time bucket position and posture feedback, and automatically adjusts the bucket posture control signals to maintain optimal contact state with the target surface, eliminating the need for manual posture matching by the operator
Data Source
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AI summary
To provide a work machine that enables enhancement of shaping accuracy near a boundary line between two adjacent target surfaces. A controller 10 extracts, from among a plurality of target surfaces, a second target surface S2 that is a target surface adjacent to a first target surface S1, calculates a boundary line L2 between the first target surface S1 and the second target surface S2, and, prior to a work tool 6 passing the first boundary line L2, corrects a control signal for a posture control actuator 6c such that the angular difference EL between a reference line L1 set on the work tool 6 and the boundary line L2 becomes small.