Work Machine Compaction Control via Ground Contact Detection
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Solution Overview
Problem
Existing hydraulic excavators struggle to assist operators in compaction works to form a surface as designed, as they either fail to maintain sufficient pressing force or risk penetrating the surface during slope face forming operations.
Innovation Solution
A work machine equipped with semi-automatic control, featuring a controller that corrects the operation amount of hydraulic actuators to prevent penetration and increase pressing force based on whether the work tool is pressed against the ground, ensuring accurate surface formation and compaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the target shape is set to a target construction topography (design surface), then the excavation precision is improved, but the pressing force of the bucket against the ground decreases, making it impossible to compact the ground to form a surface as designed
Solution Approach 1:
The control system dynamically switches between two operational modes: excavation mode (when bucket is above ground) and compaction mode (when bucket contacts ground). The target shape dynamically changes from design surface to offset topography based on real-time ground contact detection, allowing the system to adapt its control strategy to current operational conditions
Solution Approach 2:
The system uses ground contact detection as feedback to determine when to switch between excavation and compaction modes. This feedback mechanism allows the control system to automatically adjust the target shape and control strategy based on whether the bucket is pressing against the ground, resolving the contradiction between precision and pressing force
2Force
If the target shape is set to a negatively offset topography, then the pressing force of the bucket against the ground is maintained, but the bucket may penetrate down the design surface
Solution Approach 1:
The target shape is not fixed but dynamically adjusted based on operational phase. During excavation, the offset topography provides a safety margin to prevent penetration. During compaction, the target shape switches to the design surface itself, allowing precise control while maintaining pressing force through ground contact detection
Solution Approach 2:
Ground contact detection provides real-time feedback that triggers the switch from offset topography to design surface as the target shape. This feedback ensures that the bucket only attempts to reach the design surface when actually contacting the ground, preventing penetration while maintaining precision
3Ease of operation
If the work machine provides semi-automatic control for excavation works, then the ease of operation is improved, but the adaptability to compaction works is insufficient
Solution Approach 1:
The semi-automatic control system is designed to perform multiple functions: both excavation control and compaction control. By detecting ground contact and automatically switching operational modes, the system provides operator assistance for both excavation and compaction works, making it universally applicable to different work phases without requiring separate control systems
Solution Approach 2:
The system automatically detects ground contact and switches between excavation and compaction modes without operator intervention. This self-service capability allows the control system to adapt to different work phases autonomously, providing ease of operation for both excavation and compiction while maintaining versatility
Data Source
AI summary
A work machine includes a controller that executes a semi-automatic control to correct an operation amount indicated by an instruction given by operation devices. The controller is configured to make a compaction determination to determine whether or not a bottom surface of a bucket is being pressed against a ground; and to further correct an operation amount having been corrected by the semi-automatic control, such that a force that the bucket applies to the ground increases if the bottom surface of the bucket is determined as being pressed against the ground.