Work Implement Control Using Modified Target Profiles
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Solution Overview
Problem
Existing work machines face reduced work quality and efficiency due to the influence of topography from previous work paths, leading to sudden load increases and unevenness in target profiles.
Innovation Solution
A system and method that includes a sensor and controller to detect the current position and topography of the work machine, modify default target displacement data based on the work interval, and determine a modified target profile to account for previous work path topography, ensuring smoother and more efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the target profile is determined repeatedly along the previous work path using actual topography data, then the work machine can maintain accurate positioning and control, but the target profile becomes affected by topography resulting from the previous work path, causing steep inclinations and unevenness that reduce work quality and efficiency
Solution Approach 1:
The system performs preliminary actions by determining the topography resulting from the previous work path before starting the current work path. This preliminary determination allows the controller to anticipate and compensate for potential steep inclinations and unevenness in the target profile, thereby maintaining work quality while ensuring accurate positioning throughout the work process
Solution Approach 2:
The system implements feedback by using the actual topography data from the previous work path to adjust the target profile determination for the current work path. The controller continuously monitors and adapts the target profile based on the topography resulting from previous operations, creating a closed-loop control system that maintains both positioning accuracy and work quality
2Adaptability or versatility
If the work machine operates along a target profile with sudden changes in cutting angle, then the work machine can adapt to varying topography, but the load applied to the work implement suddenly increases, reducing work efficiency
Solution Approach 1:
The system performs preliminary determination of the topography resulting from the previous work path before starting the current work path. This allows the controller to anticipate sudden changes in cutting angle and adjust the target profile in advance, thereby maintaining topography adaptability while preventing sudden load increases that would reduce work efficiency
Solution Approach 2:
The system applies beforehand cushioning by using the topography data from the previous work path to preemptively adjust the target profile. This cushioning effect smooths out sudden changes in cutting angle before they occur during work operation, thereby maintaining adaptability to varying topography while preventing sudden load increases that would reduce work efficiency
3Measurement precision
If the work implement is controlled along a target profile with many unevenness, then the work machine can follow the actual topography accurately, but the finish topography includes many unevenness, resulting in reduced quality
Solution Approach 1:
The system performs preliminary determination of the topography resulting from the previous work path before starting the current work path. This preliminary action allows the controller to anticipate unevenness in the target profile and adjust the control strategy in advance, thereby maintaining accurate following of the actual topography while ensuring the finish topography has minimal unevenness and high quality
Data Source
AI summary
A system controls a work machine including a work implement. The system includes a sensor and a controller. The controller acquires current position data of the work machine, acquires actual topography data, acquire default target displacement data that defines a target displacement according to a movement amount of the work machine, acquires a work interval indicative of a distance between a previous start position of work by the work machine and a current start position behind the previous start position, generates modified data with the default target displacement data modified according to the work interval, refers to the modified data to determine the target displacement according to the movement amount of the work machine from the current start position, determines topography data with the actual topography data vertically displaced downward by the target displacement as a target profile, and moves the work implement according to the target profile.