Excavator Implement Control for Terrain Stability
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Solution Overview
Problem
Self-propelled work vehicles, such as excavators, require significant operator skill to manage attachments and travel on varying terrain, leading to operator fatigue and potential instability, especially on slopes.
Innovation Solution
A system and method using kinematic feedback to automate the positioning of boom, arm, and bucket attachments based on determined travel modes, allowing for automatic control of work vehicle implements during uphill, downhill, and flat terrain travel, enhancing stability and reducing operator workload.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If operator manually controls boom, arm, and bucket positions during travel on slopes, then vehicle stability can be maintained through operator skill, but operator fatigue increases and operation becomes complex
Solution Approach 1:
The system enables self-service by allowing the work vehicle to automatically adjust its own implement positions based on detected terrain conditions. The controller autonomously determines travel modes (uphill, downhill, flat) and positions implements without continuous manual intervention, making the vehicle self-regulating regarding stability.
Solution Approach 2:
The system implements feedback by continuously monitoring terrain conditions and vehicle state, then using this information to automatically adjust implement positions. The controller receives input about travel mode and terrain type, processes this feedback, and autonomously repositions boom, arm, and bucket to maintain optimal stability.
2Reliability
If operator skillfully positions attachments to prevent roll-over on slopes, then vehicle stability improves, but operation difficulty increases due to simultaneous control requirements
Solution Approach 1:
The controller automatically performs the complex coordination of positioning multiple implements without requiring skilled manual operation. The system self-manages the coordinated control of boom, arm, and bucket based on terrain detection, eliminating the need for operator expertise in simultaneous multi-control coordination.
Solution Approach 2:
The system replaces manual mechanical control with an automated electronic control system. The controller uses electronic signals and algorithms to substitute for the operator's manual coordination skills, automatically managing the complex interactions between multiple hydraulic actuators and implements.
3Reliability
If automated control is implemented for implement positioning based on terrain, then operator fatigue is reduced and reliability improves, but system complexity increases
Solution Approach 1:
The controller serves multiple functions: it detects terrain conditions, determines travel modes, and automatically positions multiple different implements (boom, arm, bucket). This multi-functionality consolidates what would otherwise require separate systems into a single universal control unit, managing complexity through functional integration.
Solution Approach 2:
The system merges terrain detection, travel mode determination, and implement positioning control into a single integrated automated system. By combining these previously separate functions into one unified controller, the system achieves improved reliability while managing complexity through consolidation rather than proliferation of separate components.
Data Source
AI summary
A terrain-based travel assist system and method are provided for stability control in a self-propelled work vehicle such as an excavator comprising ground engaging units and at least one work implement configured for controllably working terrain. Upon selecting or determining a travel mode for the work vehicle, the respective predetermined target positions and/or operations of the at least one work implement are retrieved from data storage, corresponding to the determined travel mode. Feedback signals are received from sensors corresponding to respective current positions and/or operations of the at least one implement, and in some embodiments to a vehicle speed. Control signals are generated for automatically controlling the at least one work implement to the respective predetermined target positions and/or through the respective operations, responsive to the determined travel mode and the received feedback signals.