Semi-autonomous tractor system crest ramp removal

Abstract

A computer-implemented method for removing a crest end ramp along a work surface using a machine is provided. The computer-implemented method may include defining a volume threshold corresponding to a crest end region of the work surface where the volume threshold may be adjustable based on one or more parameters associated with the machine and the work surface, calculating a volume of material within the crest end region, comparing the calculated volume with the volume threshold, issuing a ramp cut if the calculated volume approximates but does not exceed the volume threshold, and issuing a short cut if the calculated volume exceeds the volume threshold.

Description

TECHNICAL FIELD[0001]The present disclosure relates generally to operating semi-autonomous machines at a work site, and more particularly, to systems and methods for automatically identifying and removing crest end ramps.BACKGROUND[0002]Machines such as, for example, track-type tractors, dozers, motor graders, wheel loaders, and the like, are used to perform a variety of tasks. For example, these machines may be used to move material and / or alter work surfaces at a worksite. The machines may be manned machines, but may also be autonomous or semi-autonomous vehicles that perform these tasks in response to commands remotely or locally generated as part of a work plan for the machines. Moreover, the machines may receive instructions in accordance with the work plan to at least partially autonomously perform repetitive and relatively localized operations such as cutting, digging, loosening, loading, carrying, and any other manipulation of materials at the worksite.[0003]Among other thin...

AI Technical Summary

Benefits of technology

Enables early detection and efficient removal of crest end ramps, reducing delays and operational challenges by proactively addressing ramp formations, thereby improving productivity and excavation efficiency.

Problems solved by technology

If left unaddressed, these crest end ramps can pose significant challenges for the work machines.

Specifically, based on the position, shape or size of the ramp, it may be difficult for the machines to sufficiently remove the ramp during a normal cut even if the volume of material in the ramp is well within the removal capacity of the machine and well within the limits of the planned cut profile.

Based on the size and slope of the ramp, machines may also have difficulties traveling over the ramp which may result in unwanted delays or other setbacks.

Although several technological advancements have been made in the general field of automated worksite operations, currently existing autonomous or semi-autonomous machines nonetheless lack more ability to more efficiently address crest end ramp formations.

However, Norberg, et al. still lack the ability to automatically monitor for oversized ramps at a crest, or the ability to automatically engage removal of any detected ramps.

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