Working Machine Controller Interference Prevention
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Solution Overview
Problem
Existing working machines rely on exclusive sensors to prevent interference, which can be inaccurate due to contamination and require additional installation, leading to potential interference issues during load handling operations.
Innovation Solution
A working machine with a controller that estimates the load receiving member's existence range based on the working device's track during lifting and turning operations, controlling the boom raising and upper turning body movements to avoid interference without the need for separate sensors, by creating and updating an estimation map to refine the load receiving member's existence range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If exclusive sensors such as distance measurement instruments are installed to prevent interference, then interference prevention function is provided, but device complexity increases and measurement precision deteriorates due to sensor contamination
Solution Approach 1:
The controller performs multiple functions: it controls the boom and upper turning body movements, tracks the working device position, estimates the load receiving member existence range, and prevents interference. By making the controller multi-functional, the patent eliminates the need for separate distance measurement sensors while maintaining interference prevention capability.
Solution Approach 2:
The system uses its own operational data (boom position, upper turning body angle, working device track) to estimate the load receiving member existence range and prevent interference. The working machine serves itself by using its control system to perform both operation control and interference detection/prevention functions.
2Measurement precision
If exclusive sensors are used for interference prevention, then interference detection is enabled, but measurement precision deteriorates due to sensor contamination
Solution Approach 1:
The patent replaces the mechanical/optical sensor-based distance measurement system with a calculation-based estimation system. The controller calculates the load receiving member existence range using mathematical relationships between boom position, upper turning body angle, and working device track, eliminating physical sensors that are susceptible to contamination.
Solution Approach 2:
The working device track serves as an intermediary element that connects the controlled components (boom, upper turning body) to the estimation of load receiving member position. By tracking the working device position and using it to estimate the load receiving member existence range, the system avoids direct sensor contact with potentially contaminated environments.
Data Source
AI summary
Provided is a work machine which is capable of accurately preventing a work device from interfering with a load receiving member without separately using a dedicated device. A work machine includes a controller which at least controls rotating of an upper rotating body and vertical movement of a boom in accordance with operation by an operator. The controller controls either a boom-up operation and a rotating operation of the upper rotating body such that a work device is prevented from interfering with a load receiving member in operation of an operator at subsequent lifting and rotating, operation based on part of a locus at a distal end side of the work device at least for one lifting and rotating operation.