Implement Pitch Compensation for Consistent Slope Grading
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Solution Overview
Problem
Construction machines face challenges in maintaining accurate pitch angle control due to varying track penetration levels, leading to inconsistent terrain grading, especially when calibrated during zero or full track penetration conditions.
Innovation Solution
Equipping construction machines with both implement and chassis orientation sensors, along with a GNSS receiver, to continuously monitor and adjust the pitch angle of the implement based on the difference between the chassis and implement pitch angles, ensuring accurate terrain grading regardless of track penetration levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the pitch angle is calibrated during zero or full track penetration conditions, then the calibration is simple and quick, but the terrain grading becomes inconsistent when track penetration levels vary
Solution Approach 1:
The system performs preliminary calibration during zero or full track penetration conditions to establish baseline pitch angle relationships between chassis and implement. This preliminary action stores reference data that compensates for varying track penetration levels during actual operation, allowing quick calibration while maintaining grading consistency.
Solution Approach 2:
The system continuously monitors the pitch angle difference between chassis and implement using orientation sensors, and uses this feedback to dynamically adjust the implement pitch angle command. This feedback mechanism compensates for track penetration variations in real-time, maintaining consistent terrain grading despite changing penetration levels.
2Device complexity
If a single orientation sensor is used on either the chassis or implement, then the device complexity is reduced, but the pitch angle control accuracy deteriorates due to track penetration effects
Solution Approach 1:
The system segments the measurement function by placing separate orientation sensors on both the chassis and implement. This segmentation allows independent measurement of each component's pitch angle, enabling the system to calculate and compensate for track penetration effects by comparing the two measurements, thereby improving overall control accuracy.
Solution Approach 2:
The processor acts as an intermediary that receives pitch angle data from both sensors, calculates the difference, and uses this information to determine the correct implement pitch angle command. This intermediary processing step reconciles the measurements from both sensors to achieve accurate control despite track penetration variations.
3Device complexity
If the implement pitch angle is controlled based solely on chassis pitch angle, then the control system is simpler, but the terrain grading consistency worsens under varying track penetration conditions
Solution Approach 1:
The system uses the implement orientation sensor to provide feedback on the actual implement pitch angle, which is combined with chassis pitch angle information. This dual-feedback approach allows the control system to compensate for track penetration effects and maintain consistent terrain grading while managing complexity through efficient sensor integration and processing.
Data Source
AI summary
Systems and methods for implementing a machine control system within a construction machine. The machine control system may include a chassis orientation sensor configured to be mounted to a chassis of the construction machine for detecting a chassis pitch angle. The machine control system may also include an implement orientation sensor configured to be mounted to an implement of the construction machine for detecting an implement pitch angle. The machine control system may further include one or more processors configured to perform operations including receiving, from the chassis orientation sensor, the chassis pitch angle, receiving, from the implement orientation sensor, the implement pitch angle, determining a target pitch angle of the implement based on the chassis pitch angle and the implement pitch angle, and causing movement of one or more implement arms so as to set a pitch angle of the implement to the target pitch angle.