Work Vehicle Control for Adaptive Grading Trajectory
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Solution Overview
Problem
Work vehicles, such as bulldozers, face inefficiencies due to topography and soil conditions causing the work implement to deviate from target profiles, leading to uneven terrain and excessive load issues, which reduce operational efficiency.
Innovation Solution
A control system that determines a target design topography below the actual topography, adjusts the start position and target distance or soil amount based on work progress, and modifies command signals to maintain trajectory and prevent excessive load, thereby maintaining efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the work implement operates along the target profile without adjustment, then the work trajectory is maintained, but the work implement may move away from the target profile before reaching the end position due to topography and soil conditions
Solution Approach 1:
The control system continuously monitors the actual work progress and compares it with the target trajectory, then dynamically adjusts the start position and target distance based on feedback from sensors detecting topography and soil conditions. This closed-loop control maintains trajectory accuracy while adapting to varying field conditions.
Solution Approach 2:
The system transforms the static target profile into a dynamic target trajectory by continuously modifying the start position and target distance parameters based on real-time conditions. This dynamic adjustment allows the work implement to maintain accurate trajectory following while adapting to changing topography and soil hardness.
2Productivity
If the target distance is increased to improve work efficiency, then fewer operations are needed, but excessive load applies to the work vehicle causing travel device slip
Solution Approach 1:
The system dynamically adjusts the target distance parameter based on real-time detection of soil hardness and vehicle load conditions. When excessive load or slip is detected, the target distance is automatically reduced to prevent travel device failure, while still maintaining optimal work efficiency within safe operating parameters.
Solution Approach 2:
The control system changes the target distance parameter adaptively based on detected soil conditions and vehicle performance. By modifying this key parameter in response to environmental and operational feedback, the system optimizes the balance between work efficiency and mechanical stress prevention.
3Reliability
If the target distance is decreased to reduce load, then excessive slip is prevented, but unnecessary margin of vehicle capability is generated reducing work efficiency
Solution Approach 1:
The system optimizes the target distance parameter by continuously adjusting it to the maximum value that prevents excessive slip. This dynamic parameter optimization ensures the vehicle operates at the boundary of its safe capability envelope, maximizing work efficiency while maintaining reliability and preventing mechanical failure.
4Duration of action of moving object
If the work is continued without modification despite the work implement moving away from the target profile, then continuous operation is maintained, but uneven topography is formed reducing work efficiency
Solution Approach 1:
The control system uses feedback from position sensors to detect when the work implement deviates from the target profile, then modifies the start position and target distance parameters to correct the trajectory. This maintains continuous operation while preventing the formation of uneven topography that would reduce overall work efficiency.
Data Source
AI summary
A work vehicle includes a work implement. A control system for the work vehicle includes a controller. The controller acquires an end position and a target distance of work performed by a work vehicle. The controller determines, as a start position, a position that is away from the end position by the target distance. The controller generates a command signal to start work from the start position toward the end position and to operate the work implement according to a target design topography. The controller modifies the target distance based on a result of the work.