Bulldozer Blade Control Using Traction Feedback for Smooth Grading
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Solution Overview
Problem
Conventional control systems for work machines, such as bulldozers, often lead to the formation of topographies with large unevenness due to sudden blade elevation when dealing with topographies with large undulations, making subsequent digging work inefficient and difficult.
Innovation Solution
A system and method that utilize sensors and controllers to detect the current position and topography of a work machine, adjust the target soil amount and profile based on actual topography data, and increase the target soil amount in subsequent paths if the maximum traction force is below a reference, ensuring efficient digging without forming uneven topographies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the blade is raised by load control when the load becomes excessively large, then shoe slip is suppressed and work efficiency is improved, but the blade rises suddenly on topographies with large undulations, forming topography with large unevenness
Solution Approach 1:
The system performs preliminary actions by increasing the target soil amount in advance for next work paths when traction force is insufficient. This prevents the blade from encountering excessive loads that would cause sudden elevation and topography unevenness, thereby resolving the contradiction between maintaining work efficiency and ensuring topography uniformity.
Solution Approach 2:
The control system continuously monitors traction force and provides feedback to adjust the target soil amount dynamically. When traction force falls below the reference value, the system automatically increases the target soil amount for subsequent paths, creating a closed-loop control that prevents shoe slip and topography unevenness while maintaining efficient operation.
2Productivity
If the target soil amount is increased to handle topography with large undulations, then digging capability is improved, but the load on the blade increases rapidly causing the blade to rise suddenly
Solution Approach 1:
The system dynamically adjusts the target soil amount based on real-time traction force conditions rather than using a fixed value. This allows the blade to maintain stable position by adapting the soil amount to match actual traction capabilities, resolving the contradiction between digging capability and blade position stability.
Solution Approach 2:
The control system changes the target soil amount parameter dynamically based on traction force measurements. When traction force is insufficient, the target soil amount is increased for subsequent paths, allowing the system to handle varying topography conditions while maintaining blade position stability through parameter adaptation.
3Reliability
If conventional load control is used to raise the blade when load becomes excessively large, then shoe slip is prevented, but subsequent digging work becomes difficult due to formed uneven topography
Solution Approach 1:
Instead of reactively raising the blade when load becomes excessive, the system takes preliminary action by increasing the target soil amount in advance for next work paths when traction force is insufficient. This preventive approach eliminates the need for blade elevation corrections, preventing both shoe slip and topography unevenness that would hinder subsequent digging operations.
Solution Approach 2:
The system uses feedback from traction force monitoring to proactively adjust the target soil amount, preventing the conditions that lead to shoe slip and topography unevenness. This closed-loop control ensures both shoe slip prevention and smooth subsequent digging operations by maintaining optimal operating conditions throughout the work process.
Data Source
AI summary
A controller acquires a target soil amount in one work path with respect to an actual topography. The controller determines a target profile in the one work path based on the target soil amount. The controller performs work in the one work path by operating a work implement according to the target profile. The controller acquires a maximum traction force of the work machine during the one work path. The controller determines whether the maximum traction force is smaller than a reference traction force. The controller increases the target soil amount in a next work path when the maximum traction force is smaller than the reference traction force. The controller determines the target profile in the next work path based on the increased target soil amount.