Work Machine Path Control for Excavation Wall Removal
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Solution Overview
Problem
Existing work machines face challenges in reducing the load on the machine while maintaining the quality of finish during the excavation and removal of excavation walls, as they often turn with a heavy load, leading to soil falling off and decreased quality.
Innovation Solution
A system and method that utilizes a machine position sensor and controller to determine and execute precise excavation and transportation paths, allowing the work machine to excavate and transport soil without turning while carrying a load, thereby reducing the load on the machine and improving the finish of the work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the work machine turns while carrying soil on the excavation path, then the work machine can change direction to follow the work path, but a heavy load is applied to the work machine and soil falls off decreasing the quality of the finish
Solution Approach 1:
The work path is divided into multiple segments: an excavation path for cutting the excavation wall, a first transportation path for carrying soil to a first unloading position, and a second transportation path for returning to the next excavation start position. This segmentation allows the machine to separate turning operations from soil-carrying operations, reducing load during turns while maintaining direction-changing capability.
Solution Approach 2:
A first unloading position is introduced as an intermediary point between the excavation path and the second slot. The machine unloads soil at this intermediate position before proceeding to the next excavation start position, allowing direction changes to occur when the machine is not carrying heavy load, thereby preventing soil spillage while maintaining operational flexibility.
2Adaptability or versatility
If the work machine turns while carrying soil, then the work path can be followed, but the load on the work machine increases
Solution Approach 1:
The transportation function is segmented into a first transportation path for soil carrying and a second transportation path for machine repositioning. The second transportation path starts from a second unloading position and passes through a second excavation start position, enabling the machine to return to the next work area without carrying soil, thus reducing load during directional changes while maintaining adaptability to follow the work path.
3Productivity
If the work machine follows the conventional work path with excavation path, soil carrying path, and reverse path, then the excavation wall can be removed, but the machine turns with heavy load causing soil to fall off
Solution Approach 1:
The machine performs preliminary unloading at the first unloading position before proceeding to the next excavation segment. By unloading soil at this intermediate position, the machine prepares for the next excavation operation without carrying heavy load during subsequent turns and directional changes, thereby maintaining both productivity in removing excavation walls and quality in preventing soil spillage.
Data Source
AI summary
A system includes a machine position sensor and a controller. The machine position sensor outputs current position data indicative of the position of the work machine. The controller acquires actual topography data including the position of a first slot extending in a predetermined work direction, the position of a second slot positioned beside the first slot, and the position of a first excavation wall positioned between the first slot and the second slot. The controller determines a first excavation path extending from the first slot to a first position on the second slot and cuts across the first excavation wall. The controller determines a transportation path extending from a position behind the first position in the work direction, along the second slot, and toward a predetermined soil unloading position. The controller controls the work machine to move according to the first excavation path and the transportation path.