Construction Machine Turning Curves for Spot-Turn-Free Control
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Solution Overview
Problem
Existing automatic turning systems for construction machines, particularly road construction machines, often result in spot-point turning, leading to operational quality and precision issues, and are not suitable for high-precision turning operations due to large deviations and limited application range.
Innovation Solution
A turning control method that acquires position and kinematic parameters of a construction machine to determine a turning curve with a transition curve, ensuring continuous curvature change without sudden changes, allowing for precise control and preventing damage to road surfaces during operations like lane changes and position adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If prior automatic turning systems are used for construction machines, then turning operations can be automated, but spot-point turning occurs causing damage to road surfaces and reducing operation quality
Solution Approach 1:
The patent applies curvature continuity principles by designing a turning path where the curvature changes continuously from zero at the straight section to a maximum value at the turning point and back to zero. This is achieved through mathematical modeling that ensures the curvature function is continuous and differentiable, eliminating sudden curvature changes that cause spot-point turning and road surface damage.
Solution Approach 2:
The patent changes the curvature parameter continuously along the turning path rather than maintaining constant curvature. The curvature is modeled as a function of position that transitions smoothly between straight and curved sections, controlled by parameters including minimum turning radius, turning speed, and switching time period. This continuous parameter change prevents abrupt directional changes and protects road surfaces.
2Extent of automation
If prior automatic turning systems are used, then turning operations are automated, but the turning path has large deviation from the target position
Solution Approach 1:
The patent implements feedback control by continuously monitoring the construction machine's actual position and orientation, comparing it with the planned turning path, and adjusting control parameters in real-time. The system uses the construction machine's kinematic parameters and current state information to calculate corrections that minimize deviation from the target position, ensuring high positioning accuracy throughout the turning maneuver.
3Extent of automation
If prior automatic turning systems are used, then turning operations can be performed, but the application range is limited and cannot handle various turning scenarios
Solution Approach 1:
The patent creates a universal turning control system that can handle multiple turning scenarios including lane changes, position adjustments, U-turns, and approaching maneuvers. The system achieves this by using a generalized mathematical model for curvature continuous turning paths that can be adapted to different turning radii, speeds, and target positions, making it applicable to various construction machines and operating conditions.
Data Source
AI summary
In the present disclosure, a turning control method for a construction machine, a construction machine and a computer device are provided. The turning control method includes: acquiring position information of an initial position and a target position as well as kinematic parameters of the construction machine; determining a turning curve according to the position information and the kinematic parameters; and controlling the construction machine to travel from the initial position to the target position according to the turning curve, wherein a portion of the turning curve in which curvature thereof varies is a transition curve. In this way, the construction machine can achieve continuous changing in curvature during turning, without a spot-turning phenomenon.