Work Vehicle Implement Control for Entry and Exit Digging Paths
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Solution Overview
Problem
Automatic control systems for work vehicles, such as bulldozers, face inefficiencies due to repeated digging operations that make it difficult for the vehicle to enter or exit work positions, leading to reduced work efficiency.
Innovation Solution
A control system that determines inclined target design topographies for work implement trajectories, ensuring entry and exit paths by generating command signals for the work implement to operate along these paths, preventing excessive digging and maintaining efficient vehicle movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If repeated digging operations are performed to reach the final target position, then the work implement can achieve the target depth, but the work position becomes difficult to enter or exit
Solution Approach 1:
The patent divides the digging operation into multiple passes with different target profiles. Instead of digging to the final target depth in one continuous operation, the system segments the work into multiple shallower passes, each creating a different target profile. This segmentation allows the vehicle to maintain access to the work position while progressively achieving the desired depth through repeated operations.
2Manufacturing precision
If repeated digging operations are performed, then the target depth is achieved, but work efficiency is reduced
Solution Approach 1:
The system dynamically adjusts the target profile between digging passes. Rather than using static, identical target profiles for each pass, the controller modifies the target profile based on the current state of the ground and vehicle position. This dynamic adjustment optimizes each pass to be more efficient, reducing the total number of passes needed while still achieving the target depth accurately.
3Manufacturing precision
If the work implement operates along a target profile below the actual topography, then digging depth is achieved, but the vehicle cannot enter or exit the work position
Solution Approach 1:
The system performs preliminary actions by establishing entry and exit paths before the main digging operation. The controller determines specific target profiles that create accessible pathways for the vehicle to reach and leave the work position. These preliminary path-establishing operations are completed before the vehicle begins the primary digging task, ensuring that vehicle accessibility is maintained throughout the operation.
Data Source
AI summary
At least a portion of a first target design topography is positioned below an actual topography. At least a portion of a second target design topography is positioned below the actual topography and is inclined with respect to the first target design topography. A controller generates a command signal to operate a work implement according to the first target design topography in an area where the first target design topography is positioned above the second target design topography. The controller generates a command signal to operate the work implement according to the second target design topography in an area where the second target design topography is positioned above the first target design topography.