Work Machine Controller Cliff Position Feedback
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Solution Overview
Problem
Automatic control of work machines near cliffs is challenging due to the dynamic changes in cliff positions and shapes, leading to difficulties in setting accurate end positions for material dropping, which can result in incomplete topography creation.
Innovation Solution
A control system for work machines that acquires cliff position data, determines a target design topography, and generates command signals to move the work implement to an end position based on this data, allowing for real-time adjustments to maintain accurate topography creation despite changes in cliff positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the end position is set far away from the cliff to ensure complete material dropping, then material can be fully dropped off the cliff, but the material cannot be completely dropped and remains at the edge of the cliff, making it difficult to create desired topography
Solution Approach 1:
The system uses cliff position data from sensors to continuously monitor the actual cliff location and dynamically adjusts the end position of the work implement. This feedback mechanism allows the control system to adapt to changing cliff positions and ensure material is dropped at the correct location, resolving the contradiction between setting the end position far from the cliff versus close to the cliff.
Solution Approach 2:
The end position of the work implement is made dynamic rather than fixed. The control system continuously updates the end position based on real-time cliff position data, allowing the system to adapt to the actual cliff location and shape changes during operation, thereby achieving both complete material dropping and accurate topography creation.
2Productivity
If automatic control is used to advance the work machine to the end position while pushing material, then work efficiency is improved, but the actual position and shape of the cliff changes according to work progress, making it not easy to appropriately set the end position
Solution Approach 1:
The automatic control system incorporates real-time cliff position data acquisition and uses this feedback to dynamically adjust the end position. This allows the system to maintain high work efficiency through automation while simultaneously adapting to changing cliff conditions, resolving the contradiction between productivity and adaptability.
Solution Approach 2:
The system performs self-adjustment by automatically acquiring cliff position data and recalculating the end position without human intervention. The control system serves itself by continuously monitoring cliff changes and adapting the work parameters, thereby maintaining both high productivity and adaptability.
3Ease of operation
If the work machine retracts the work implement when reaching the end position, then material can be dropped off the cliff, but if the end position is not accurately determined, material remains at the cliff edge and desired topography cannot be created
Solution Approach 1:
The system uses real-time cliff position data as feedback to accurately determine the end position before material dropping. This feedback mechanism ensures that the automatic control operation can precisely identify when to retract the work implement, thereby achieving both ease of operation and accurate topography creation.
Solution Approach 2:
The system performs preliminary determination of the end position based on cliff position data before the material dropping action occurs. By calculating and setting the end position in advance based on actual cliff conditions, the system ensures that when the work implement reaches this predetermined position, material will be dropped at the correct location, achieving accurate topography creation while maintaining automatic control operation.
Data Source
AI summary
A work machine includes a work implement. A control system for the work machine includes a controller. The controller acquires cliff position data. The cliff position data indicates a position of a cliff included in an actual topography of a work site. The controller determines a target design topography located below the actual topography. The controller determines an end position of work by the work implement from the cliff position data. The controller generates a command signal to move a work implement according to the end position and the target design topography.