Automated Earthmoving Control Using Adaptive Digging Styles
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Solution Overview
Problem
Current automated work vehicles are unable to perform all variations of repetitive earthmoving tasks efficiently, leading to operator fatigue and high operating costs due to their limitations in adapting to different worksite requirements.
Innovation Solution
A system and method for automatically performing earthmoving operations using a work vehicle with an articulable implement, controlled by a controller to follow preset styles, including implement-fill and earth-breaking styles, and equipped with vision-based sensors to monitor and adjust operations, allowing for precise control and monitoring of the earthmoving process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated work vehicles use applied forces and efficiency calculations for repetitive tasks, then productivity is improved, but adaptability to different worksite requirements deteriorates
Solution Approach 1:
The system dynamically adjusts operational parameters by transitioning between multiple predefined styles (earth-breaking, implement-fill, layer-centric, depth-centric) based on real-time worksite conditions. This dynamic style selection enables the automated vehicle to adapt its behavior patterns to match different earthmoving requirements while maintaining automated efficiency.
Solution Approach 2:
The system changes operational parameters by selecting different predefined styles that represent distinct operational modes. Each style contains specific parameter configurations for stroke length, digging depth, fill patterns, and emptying behaviors. By changing between these parameter sets, the system adapts to various worksite requirements without sacrificing automated productivity.
2Adaptability or versatility
If work vehicles perform repetitive earthmoving tasks manually, then adaptability to worksite requirements is maintained, but operator fatigue increases and operating costs rise
Solution Approach 1:
The system enables self-service automation by allowing the work vehicle to autonomously select and execute appropriate operational styles based on worksite conditions. The predefined styles contain all necessary operational parameters, enabling the vehicle to perform adaptive earthmoving tasks without continuous operator intervention, thereby eliminating operator fatigue while maintaining adaptability.
Solution Approach 2:
The system applies preliminary action by pre-defining multiple operational styles with optimized parameters for different earthmoving scenarios. These predefined styles are prepared in advance and can be automatically selected based on worksite requirements, eliminating the need for operators to manually adjust parameters during operation and reducing fatigue.
3Device complexity
If automated vehicles use single operational mode, then device complexity is reduced, but productivity across varied tasks deteriorates
Solution Approach 1:
The system achieves universality by implementing a multi-functional control architecture that can execute multiple predefined operational styles through a single unified controller. The controller selects from earth-breaking, implement-fill, layer-centric, and depth-centric styles based on task requirements, enabling one device to perform diverse earthmoving functions without requiring separate specialized systems for each task type.
Data Source
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Figure 3A~3B
AI summary
A system for automatically performing an earthmoving operation may include a work vehicle having an implement that is articulable by the work vehicle over a stroke length, a user interface, and a controller communicatively coupled to the user interface. The controller may be configured to receive an operator input via the user interface associated with performing an earthmoving operation with the implement of the work vehicle according to one of a plurality of earthmoving styles. Additionally, the controller may be configured to control the operation of the work vehicle to perform the earthmoving operation with the implement within the worksite based at least in part on the one of the plurality of earthmoving styles.