Excavator Bucket Path Correction for Power Optimization
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Solution Overview
Problem
Automating excavation processes is challenging due to the complex manipulation of soil and rocks, which requires sophisticated decision-making that traditional autonomous systems struggle to replicate, especially in unstructured and nonlinear environments.
Innovation Solution
An excavator system with sensors and processors that adjust the nominal path of the bucket's linkages to maximize power output by detecting operating parameters and applying corrections based on soil properties, using extremum seeking control methods to optimize power transmission between the excavator and the soil.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If traditional autonomous control techniques are applied to excavators, then automation is achieved, but the system cannot effectively handle the complex manipulation of soil and rocks with unstructured and nonlinear properties
Solution Approach 1:
The system continuously monitors actual power output during digging operations and uses this feedback to dynamically adjust the bucket's nominal path in real-time. Sensors detect operating parameters such as hydraulic pressure, flow rate, and linkage position, feeding this information back to the control system which then modifies the trajectory to maximize power transmission to the soil, enabling effective adaptation to unstructured and varying soil conditions
Solution Approach 2:
The control system dynamically adjusts the bucket trajectory by applying corrections to the nominal path based on real-time power measurements and soil resistance variations. The system transitions from static pre-programmed paths to dynamic adaptive paths that continuously optimize power delivery, allowing the excavator to respond to changing soil properties and maintain maximum efficiency throughout the digging cycle
2Device complexity
If the bucket follows a fixed nominal path, then the control system is simple, but power output is not optimized and machine efficiency is reduced
Solution Approach 1:
The system changes the trajectory parameters of the bucket by applying corrections to the nominal path based on real-time power optimization requirements. The control system adjusts position, velocity, and acceleration parameters of the bucket trajectory dynamically, modifying the digging depth, swing angle, and return path to maximize power transmission to the soil while maintaining manageable control system complexity through systematic correction algorithms
3Productivity
If corrections are applied to maximize power output, then productivity increases, but the control system must continuously adapt to varying soil properties increasing complexity
Solution Approach 1:
The system employs continuous feedback from sensors monitoring hydraulic pressure, flow rate, and linkage position to detect variations in soil properties during digging. This feedback enables the control system to automatically adapt the bucket trajectory by applying corrections that maximize power output, achieving high productivity without requiring overly complex manual intervention while the system self-adjusts to varying soil conditions
Data Source
AI summary
Methods and systems related to operating an excavator during a digging cycle are described. In some embodiments, a nominal path of a bucket connected to one or more linkages of the excavator may be commanded. A correction to the commanded nominal path may be applied to maximize a power applied by at least one of the one or more linkages of the excavator during at least a portion of the digging cycle.