Working Machine Bucket Control for Collision Avoidance
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Solution Overview
Problem
Working machines, such as construction equipment, face challenges during load discharge operations where the working arm or implement may collide with containers due to manual control limitations, leading to potential collisions with container lips or other objects.
Innovation Solution
A control system that enables telescopically extendable working arms and pivotable buckets with independent and coordinated control modes, allowing the bucket to move in an arc-shaped path to avoid collisions, with restricted height and speed adjustments based on initial positions and material properties, ensuring safe discharge operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the working arm and bucket are controlled independently in the first mode of operation, then the ease of operation is improved, but the reliability deteriorates due to potential collisions with container lips
Solution Approach 1:
The control system dynamically switches between two operational modes: the first mode allows independent control of the working arm and bucket for general operations, while the second mode activates coordinated control where the control system simultaneously controls both actuators to move the bucket along a predetermined safe path during discharge operations. This dynamic adaptation of control strategy resolves the contradiction by providing ease of operation when needed while ensuring reliability during critical discharge phases.
Solution Approach 2:
The system changes the control parameters by switching between independent actuator control in the first mode and coordinated coupled control in the second mode. During discharge operations, the control system modifies the control parameters to simultaneously adjust both the working arm actuator and bucket actuator, ensuring the bucket follows a safe trajectory that avoids container lips, thus improving reliability without permanently sacrificing operational flexibility.
2Productivity
If the bucket is moved quickly to the discharge position, then the productivity is improved, but the object-affected harmful factors worsen due to increased collision risk
Solution Approach 1:
The control system applies dynamic speed control by adjusting the actuation speed of the bucket based on the operational phase. During approach and discharge operations, the system reduces the speed of bucket movement to follow a predetermined safe path, minimizing collision risk. During other phases, faster movement is permitted to maintain productivity. This dynamic speed adaptation resolves the contradiction between productivity and collision risk.
3Productivity
If the working arm is extended to reach the container, then the productivity is improved, but the stability worsens due to increased reach and potential instability
Solution Approach 1:
The control system dynamically adjusts the extension distance of the working arm based on the detected position of the container and the current operational phase. During discharge operations, the system controls the arm to extend only to the necessary distance to reach the container, avoiding excessive extension that would compromise stability. This dynamic adjustment allows the system to maintain stability while achieving the productivity needed for efficient load discharge.
Data Source
AI summary
A working machine includes a body, a telescopic working arm extendable via a first actuator, and a bucket pivotally mounted to the working arm and pivotable via a second actuator. The working machine also includes a first controller to control the first actuator and a second controller to control the second actuator, in the first mode of operation. In the second mode of operation, the second controller simultaneously controls the first actuator and the second actuator, and upon activation of the second mode of operation and actuation of the first and second actuators, the leading edge of the bucket moves in a direction away from the body of the machine.