Work Machine Excavation Start-Point Control Against Earth Scattering
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Solution Overview
Problem
Earth scattering on the traveling surface during excavation hinders the travel of transport vehicles, reducing excavation and loading efficiency.
Innovation Solution
A control device that acquires a three-dimensional map, specifies a traveling road boundary line, and determines an excavation start point to prevent earth scattering by planning excavation efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If excavation is performed from the upper part of the excavation site with priority, then the force required for work equipment is reduced and lower earth is prevented from being blocked by upper earth, but earth may flow on the inclined surface and be scattered on the traveling surface when the excavation target collapses or earth spills from the bucket
Solution Approach 1:
The control device determines an excavation start point that is positioned away from the traveling road boundary line before excavation begins. This preliminary positioning prevents earth from falling onto the traveling surface during excavation, as the bucket operates from a safer distance from the boundary where collapsed earth would naturally flow
Solution Approach 2:
The invention applies different excavation strategies for different regions: the excavation start point is specifically positioned at a distance from the traveling road boundary line, creating a localized safe zone. This allows upper-priority excavation to continue while protecting the traveling surface from earth scattering in the critical boundary region
2Productivity
If the traveling surface is provided adjacent to the excavation target for efficiency of excavation and loading, then loading efficiency is improved, but earth scattering on the traveling surface hinders the travel of transport vehicles
Solution Approach 1:
The control device acts as an intermediary by determining an optimal excavation start point that mediates between the need for efficient loading (adjacent to traveling surface) and the need to prevent earth scattering. The determined start point position serves as a buffer zone that allows both objectives to coexist
Data Source
AI summary
A control device for a work machine includes a three-dimensional map acquisition unit, a boundary specification unit, and an excavation start point determination unit. The work machine includes a travel body, a swing body supported by the travel body, and work equipment provided to the swing body and having a bucket. The three-dimensional map acquisition unit acquires a three-dimensional map indicating a shape around the work machine. The boundary specification unit specifies a traveling road boundary line in terrain shown by the three-dimensional map. The traveling road boundary line is a boundary line between a traveling road surface on which a transport vehicle is capable of traveling, and an excavation target by the work equipment. The excavation start point determination unit determines a point on the traveling road boundary line or a point above the traveling road boundary line as an excavation start point by the work equipment.