INTELLIGENT EXCAVATION SYSTEMS WITH ARTICULATED BOOM

摘要

Embodiments of an intelligent articulated boom excavation system include an articulated boom assembly that terminates in an excavation tool, an electro-hydraulic (EH) actuation subsystem, and boom assembly tracking sensors that provide tracking data indicative of movement of the excavation tool. A control architecture is operable in an excavation depth control mode in which the control architecture: (i) tracks a current position of the excavation implement relative to a virtual excavation soil using the tracking data provided by the boom assembly tracking sensors; (ii) determines when operator-commanded movement of the articulated boom assembly results in the excavation tool breaching the virtual excavation soil; and (iii) upon determination that operator-commanded movement of the articulated boom assembly will result in violation of the virtual excavation soil, controls the EH actuation subsystem to modify the operator-commanded movement in a manner that would violate the virtual Excavation soil prevented by the excavation tool.