Work Vehicle Travel Direction Control Using Pitch and Blade Position
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Solution Overview
Problem
Existing control systems for work vehicles using GNSS may fail to accurately specify the traveling direction due to environmental interference and reaction forces during excavation, leading to erroneous blade control.
Innovation Solution
A control device that includes a pitch angle acquisition unit, work equipment position calculation unit, and traveling direction specification unit to correctly determine the traveling direction of the work vehicle based on pitch angle and work equipment position, enabling accurate blade control during excavation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS is used to specify the position of the work vehicle, then the position can be specified using satellite navigation, but the position cannot be specified when radio waves cannot be received due to environmental factors
Solution Approach 1:
The patent creates a virtual copy of the physical environment by constructing a three-dimensional map of the construction site using laser scanners or other measurement devices. This digital twin allows the system to determine the work vehicle's position and orientation by comparing sensor data with the pre-created map, providing reliable navigation when GNSS signals are unavailable.
Solution Approach 2:
The patent replaces the electromagnetic wave-based GNSS system with an autonomous navigation system that uses inertial sensors (accelerometers, gyroscopes) and laser range finders. This substitution eliminates dependency on external radio wave signals, enabling the work vehicle to determine its position and orientation through local sensing and calculation.
2Ease of operation
If the traveling direction is specified based on pitch angle from IMU, then the direction can be determined using inertial sensors, but the direction is erroneously recognized as obliquely upward when the front portion floats due to reaction force
Solution Approach 1:
The patent introduces laser range finders as intermediary devices that measure the actual position of the ground contact points of the travel device. By using these direct measurements as a reference, the system can distinguish between genuine changes in traveling direction and apparent changes caused by vehicle body inclination, thereby correcting the pitch angle data from the IMU.
Solution Approach 2:
The patent implements a feedback mechanism where the measured position of the ground contact points is continuously compared with the direction specified by the pitch angle. When a discrepancy is detected (indicating the front portion is floating), the system adjusts the traveling direction specification to compensate for the reaction force effect, ensuring accurate blade control.
3Adaptability or versatility
If autonomous navigation is used instead of GNSS, then the position can be specified without satellite signals, but additional complex systems are required for position and direction specification
Solution Approach 1:
The patent designs the autonomous navigation system to perform multiple functions simultaneously: the laser range finders not only measure ground contact point positions for correcting pitch angle data but also contribute to creating and updating the three-dimensional map of the construction site. This multi-functionality reduces the need for separate specialized devices.
Solution Approach 2:
The patent merges the position specification function and the terrain mapping function into a single integrated system. The same sensors (laser range finders, IMU) used for navigation are also used to build and maintain the environmental map, reducing overall system complexity while maintaining adaptability to various construction site conditions.
Data Source
AI summary
A pitch angle acquisition unit is configured to acquire a pitch angle of a vehicle body. A blade position calculation unit is configured to calculate a position of a blade with reference to the vehicle body. A traveling direction specification unit is configured to specify a traveling direction of the vehicle body based on the pitch angle and the position of the blade.