Work Vehicle Grading Control Using a Virtual Inclined Surface
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional control systems for work vehicles face challenges in maintaining efficient digging operations and achieving good finish quality, particularly when dealing with terrains with large undulations, as they can lead to sudden increases in load on the work implement, causing uneven terrain and poor finish quality.
Innovation Solution
A control system that includes a terrain information acquisition device and a controller to determine the inclination angle of the current terrain and generate a command signal to move the work implement along a virtual design surface inclined at a smaller angle, thereby managing load and ensuring smooth digging operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the work implement is controlled to follow the design terrain by grading control, then the finish quality is improved, but when the load on the work implement increases rapidly, the work implement rises suddenly causing uneven terrain and poor finish quality
Solution Approach 1:
The control system performs preliminary action by acquiring terrain information in advance and calculating the inclination angle of the current terrain before controlling the work implement. The controller decides a virtual design surface with a smaller inclination angle than the current terrain, allowing the system to prepare for load changes and prevent sudden work implement rising, thus maintaining terrain uniformity while achieving good finish quality
2Productivity
If the work implement is raised when load becomes excessive, then shoe slip is minimized and work efficiency is improved, but the terrain becomes uneven and finish quality suffers
Solution Approach 1:
The control system changes parameters by deciding a virtual design surface with a specifically controlled inclination angle that is smaller than the current terrain inclination angle. This parameter adjustment allows the work implement to maintain optimal loading conditions without sudden rises, preventing shoe slip while ensuring smooth terrain and good finish quality throughout the digging operation
Data Source
AI summary
A terrain information acquisition device acquires terrain information about a work site. A controller is configured to decide an inclination angle of the current terrain along a travel direction of the work vehicle from the terrain information. The controller is configured to decide a virtual design surface that is inclined at an inclination angle smaller than the inclination angle of the current terrain. The controller is configured to generate a command signal to a work implement of the work vehicle to move the work implement along the inclined virtual design surface.