Work Machine Automatic Driving With Complemented Speed-Control Maps
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Solution Overview
Problem
Existing systems for automatic operation of work machines struggle to accurately control the speed of work devices to match target speeds, especially when the actual speed falls below the target speed, limiting the ability to perform operations as intended.
Innovation Solution
A system that includes a manipulated-variable detection device, speed information acquisition, map generation, complementation, target speed generation, and manipulated-variable input to ensure the work device follows the target speed by generating and complementing maps to accommodate maximum manipulated variables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the manipulated variable is calculated based on the supply flow rate stored in time series, then the control valve can be controlled to provide target values, but the actual supply flow rate cannot exceed the stored amount, limiting the work machine speed
Solution Approach 1:
The system pre-calculates and stores the relationship between manipulated variables and supply flow rates in a map before actual operation. This preliminary mapping allows the control system to quickly reference and adjust the manipulated variable to achieve desired supply flow rates without being constrained by previously stored time-series data, enabling both accurate control and extended speed range.
Solution Approach 2:
The system changes the parameter representation from time-series supply flow rate storage to a manipulated variable vs. supply flow rate map. This parameter transformation allows the control valve to be commanded with manipulated variables that can achieve supply flow rates beyond the originally stored values, expanding the speed range while maintaining control accuracy through the map-based lookup.
2Reliability
If the map is generated only from detected manipulated variables and speed information, then the system operates within measured parameters, but the maximum manipulated variable may be insufficient for achieving target speeds
Solution Approach 1:
The system performs preliminary map generation during a teaching phase where the relationship between manipulated variables and actual work device speeds is established and stored. This pre-established map allows the control system to reliably determine appropriate manipulated variables for target speeds, even beyond the originally measured range, by using the stored relationships as a foundation for control calculations.
Solution Approach 2:
The system uses feedback from actual speed measurements to refine and update the map during teaching operations. By continuously comparing target speeds with actual speeds and adjusting the manipulated variable accordingly, the system builds a reliable map that accounts for real-world variations, ensuring both control reliability and achievable speed ranges.
3Stability of the object's composition
If the system uses time-series stored supply flow rate for control, then control is based on historical data, but the work device cannot reach target speed when actual speed falls below target
Solution Approach 1:
The system transforms the control approach from using time-series supply flow rate history to using a manipulated variable vs. supply flow rate map. This parameter change enables the control valve to be commanded with manipulated variables that directly correspond to desired supply flow rates, allowing the work device to reach target speeds efficiently while maintaining stable control through the structured map relationships.
Solution Approach 2:
The system pre-establishes the optimal manipulated variable settings in a map during teaching operations, rather than relying on historical time-series data during execution. This preliminary preparation allows the control system to quickly determine the correct manipulated variable for any target speed, improving productivity by eliminating delays associated with analyzing historical data patterns.
Data Source
AI summary
An automatic operation system providing high followability to a target speed, includes a map generation part, a map complementation part and a manipulated variable output part. The map generation part generates a map indicating the relationship between a motion speed of a work device and a manipulated variable detected by a manipulated-variable detection device. The map complementation part complements the map, when the maximum value of the manipulated variable of the map is less than the maximum manipulated variable, to render the maximum value equal to the maximum manipulated variable. The manipulated variable output part generates the manipulated variable for automatic operation based on the target speed and the complemented map and inputs the manipulated variable to a driving device.