Work Implement Trajectory Control on Undulating Topography
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Solution Overview
Problem
Conventional control systems for work vehicles struggle with maintaining efficient and high-quality performance during digging and filling operations, particularly in topographies with large undulations, leading to uneven surfaces and poor finish quality due to sudden load increases and difficulties in compacting soil.
Innovation Solution
A control system that acquires actual topography data and replaces it with a design surface, allowing the work implement to move along the actual surface while displacing the design surface above or below it to manage load and smooth out rough surfaces, thereby improving work efficiency and quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the blade is controlled to conform to the final design surface, then the work vehicle can perform digging work, but the load on the blade increases rapidly causing the blade to rise suddenly and forming uneven topography
Solution Approach 1:
The system performs preliminary action by acquiring actual topography data before digging work and generating a modified design surface that anticipates load variations. The controller pre-adjusts the blade trajectory based on the actual surface profile, preventing sudden load increases before they occur. This preliminary planning of the cutting trajectory ensures smooth digging while maintaining finish quality.
2Reliability
If the blade is raised when load becomes excessively high, then shoe slip can be suppressed, but the topography becomes uneven and finish quality suffers
Solution Approach 1:
The system implements feedback by continuously monitoring the actual topography data and comparing it with the modified design surface. The controller adjusts the blade trajectory in real-time based on this feedback, maintaining optimal load conditions without excessive raising. This closed-loop control prevents shoe slip while preserving topography uniformity through continuous adaptation.
3Productivity
If a large amount of soil is piled at one time in filling work, then the work progresses quickly, but the piled soil cannot be compacted properly resulting in poor quality
Solution Approach 1:
The system applies segmentation by dividing the filling operation into multiple passes with controlled soil placement. The modified design surface guides the blade to deposit soil in manageable layers rather than one large pile. This segmented approach allows proper compaction of each layer while maintaining overall productivity through systematic progression.
4Productivity
If the work implement moves along the actual surface, then digging can be performed efficiently, but the blade encounters rapid load increases on undulating topography
Solution Approach 1:
The modified design surface acts as an intermediary between the actual topography and the blade trajectory. Instead of the blade directly following the uneven actual surface, it follows the smoothed modified design surface that mediates the load variations. This intermediary trajectory maintains digging efficiency while preventing excessive force on the blade.
Data Source
AI summary
A work vehicle includes a work implement. A control system for the work vehicle includes a controller programmed to acquire actual topography data indicating an actual surface of a work target, and replace the actual surface with a design surface.