Control and Operational Strategies for Automatic Excavation

The automation of the excavation process requires consideration not only of the design and operation of the excavator drive and control systems but also of the mechanics of the excavation process itself. The paper therefore discusses the developments necessary in these areas in relation to the operation of a simple back-hoe arm. In particular, consideration is given to the ability of a typical excavator to apply a force over its operating envelope, to the design and operation of the hydraulic system, to the modes of operation available for the arm and to the need to gather information on the excavation process itself. In addition, the operation of an automatic excavator in relation to the overall site is examined and consideration given to the need for the provision and supply of information in the context of the site.