Work Machine Remote Control Under Multi-Actuator Delay
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Solution Overview
Problem
Existing remote control systems for work machines with multiple actuators face instability and operability issues due to communication delays and speed fluctuations in wireless networks, leading to inefficient and unintended operations.
Innovation Solution
A remote control system for work machines that includes an operation lever, operator-side and work-machine side remote controllers, a delay state determination device, and a command signal correction device. The system corrects all command signals for the actuators when a communication delay occurs, maintaining the ratio of the command signals to ensure balanced operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If only one actuator's operating speed is limited to reduce overshoot due to communication delay, then the overshoot of that specific actuator is reduced, but the combined operation of the work machine becomes off-balance
Solution Approach 1:
The patent merges the control of multiple actuators by simultaneously limiting the operating speeds of all actuators (boom, arm, bucket) based on their respective overshoot amounts. This combined approach ensures that all actuators maintain their intended operational ratios and relationships, preventing off-balance operation while achieving positioning accuracy for each actuator.
2Manufacturing precision
If the operating speed of a specific actuator is decelerated to maintain positioning accuracy, then the positioning accuracy is improved, but the work efficiency deteriorates
Solution Approach 1:
The patent dynamically adjusts the operating speed limits of each actuator based on real-time communication delay conditions and the specific characteristics of each actuator. By calculating and limiting speeds adaptively rather than using fixed deceleration, the system maintains positioning accuracy while minimizing the impact on work efficiency through optimized speed control.
Data Source
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AI summary
Provided is a remote control system for work machine capable of enhancing the stability and efficiently improving the operability. A remote control system for a work machine having a plurality of actuators 31 corrects all command signals for the actuators 31 being operated when a communication delay time occurs during operation with the actuators 31. This limits the operation of the actuators 31 while keeping the ratio of the command signals (operation signals) of the actuators 31.