Work Machine Digging Trajectory Control for Climbable Slopes
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Solution Overview
Problem
Work machines face difficulty in moving after digging due to steep slopes formed during operations, which prevents them from climbing back, especially when the inclination angle of the slope exceeds the maximum climbing angle.
Innovation Solution
A system and method that utilize sensors and controllers to determine a digging angle based on the maximum climbing angle and actual topography inclination, allowing the work implement to follow a target digging trajectory that ensures the slope after digging remains within the machine's climbing capability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the virtual design surface is inclined downward from the current position of the work machine, then the work implement can follow the desired trajectory, but the topography after digging becomes a steep slope that the work machine cannot climb
Solution Approach 1:
The controller dynamically adjusts the digging angle parameter based on the relationship between the slope inclination angle and the work machine's maximum climbing angle. By changing the digging angle from a fixed value to a variable parameter that adapts to terrain conditions, the system ensures that the resulting slope remains climbable while still achieving accurate trajectory following.
Solution Approach 2:
The system uses feedback from the detected slope inclination angle to adjust the digging trajectory. The controller continuously monitors the inclination angle and modifies the digging angle accordingly, creating a closed-loop control system that prevents the formation of unclimbable slopes while maintaining trajectory accuracy.
2Productivity
If the digging angle is increased to improve digging efficiency, then productivity increases, but the resulting slope becomes too steep for the work machine to climb
Solution Approach 1:
The digging angle is transformed from a constant parameter to a dynamic parameter that is adjusted based on the slope inclination angle and the work machine's climbing capabilities. This allows the system to optimize digging efficiency while ensuring the resulting slope remains within the machine's climbing limits.
Solution Approach 2:
The system introduces dynamics to the digging process by continuously adjusting the digging angle during operation. Rather than using a fixed digging angle, the controller modifies it in real-time based on terrain conditions, enabling the work machine to adapt to varying slope conditions and maintain both productivity and mobility.
3Reliability
If the digging angle is decreased to ensure the work machine can climb the slope, then mobility is maintained, but digging efficiency and productivity decrease
Solution Approach 1:
Rather than using a conservatively low fixed digging angle that limits productivity, the system dynamically adjusts the digging angle parameter based on real-time terrain information. This allows the digging angle to be optimized for each specific condition, maximizing efficiency while ensuring the resulting slope remains climbable.
Solution Approach 2:
The controller performs preliminary calculation of the appropriate digging angle before executing the digging operation. By determining the optimal digging angle in advance based on the slope inclination and climbing angle constraints, the system prepares the most efficient trajectory that still ensures the work machine can climb the resulting slope.
Data Source
AI summary
A controller acquires current position data indicative of a current position of a work machine. The controller acquires an inclination angle of an actual topography to be dug. The controller acquires a maximum climbing angle when the work machine travels in reverse. The controller determines a digging angle with respect to the actual topography based on the inclination angle and the maximum climbing angle. The controller determines a target digging trajectory based on the digging angle. The controller controls a work implement according to the target digging trajectory.