Dynamical modeling of excavation based on bucket workload and control of excavated soil weight

Abstract

In excavation by hydraulic excavators, automation of excavation is effective in reducing the burden on operators and improving work efficiency. This paper focuses on automatic control of the weight of excavated soil. To control the weight of excavated soil, a soil dynamic model is required. However, the interaction between soil and bucket is complex and computationally expensive, making it unsuitable for real-time control. In this paper, we propose a dynamic model of excavation based on the experimental data of the weight of excavated soil and the workload done by the bucket. In addition, a differential equation that expresses the relationship between the data is derived. Based on the proposed model, a control method is also proposed to achieve the reference weight of excavated soil by changing the dragging length, assuming that the power done by the bucket during excavation is equivalent to the swept volume. Furthermore, we evaluate the effectiveness of the proposed method by excavating under several soil conditions using the proposed method.

Keywords

• dynamical model of excavation
• soil weight control
• data-driven modeling
• robotics in construction
• trajectory design