Work Vehicle Blade Trajectory Control on Uneven Topography
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Solution Overview
Problem
Conventional control systems for work vehicles face challenges in maintaining efficient and high-quality performance, particularly in uneven topography, where excessive load on the blade leads to rough excavation and poor finish, and difficulties in compacting soil during filling work.
Innovation Solution
A control system for work vehicles that includes an input device and a controller programmed to receive operator inputs, acquire vehicle information, and determine a target design surface based on the vehicle's position and orientation, allowing the work implement to be controlled according to this surface, thereby managing blade load and improving work quality and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the blade is controlled along the final design surface in conventional ground leveling control, then automatic control efficiency is improved, but when digging large uneven topography the load on the blade increases rapidly causing the blade to ascend rapidly which degrades the quality of the finish
Solution Approach 1:
The control system determines a target design surface based on the work vehicle's position and orientation when the input signal is received, rather than directly controlling along the final design surface. This preliminary determination of the target trajectory prevents excessive blade ascent by anticipating the terrain conditions ahead, thereby maintaining both automatic control efficiency and finish quality
2Device complexity
If ground leveling control is used for filling work on large uneven topography, then automatic control is simplified, but a large amount of soil is accumulated at a position in front of the work vehicle making it difficult to compact the filled soil
Solution Approach 1:
By determining the target design surface based on the work vehicle's current position and orientation before execution, the system pre-calculates the optimal blade trajectory that prevents excessive soil accumulation in front of the vehicle. This preliminary planning enables proper soil distribution for compaction while maintaining relatively simple automatic control
3Reliability
If the blade is raised when load becomes excessively large in conventional control, then shoe slip is suppressed, but the topography with large irregularities is formed making it difficult to carry out digging work smoothly
Solution Approach 1:
The control system determines the target design surface in advance based on the work vehicle's position and orientation, which allows it to anticipate terrain variations and adjust the blade trajectory proactively. This prevents excessive load increases that would cause shoe slip, while simultaneously maintaining smooth topography by avoiding abrupt blade movements
Data Source
AI summary
A work vehicle includes a work implement. A control system for the work vehicle includes an input device and a controller. The controller is configured to communicate with the input device, receive an input signal indicating an input operation by an operator from the input device, acquire vehicle information including a position of the work vehicle when the input signal is received, and orientation information of the work vehicle when the input signal is received, and determine a target design surface indicating a target trajectory of the work implement based on the vehicle information and the orientation information when the input signal is received.