Anticipatory Tool Control for Earthmoving Machines
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Solution Overview
Problem
Existing automated systems for controlling earthmoving machine tools, such as dozers and excavators, react too slowly to changes in terrain and machine position, leading to inefficient and imprecise material removal or repositioning, especially when machines are lightly loaded and moving quickly.
Innovation Solution
A tool control system that includes a controller capable of receiving a site map and determining the machine's position and trajectory, anticipating the effect on the terrain contour, and adjusting the tool's position and orientation before the machine traverses the contour to maintain a desired cut profile, using sensors and actuators to facilitate precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If real-time measurements and calculations are used to adjust blade position, then control accuracy is improved, but response speed deteriorates
Solution Approach 1:
The system performs preliminary actions by anticipating future terrain conditions using the site map and machine trajectory, and preemptively adjusting the blade position before the machine actually encounters the terrain change. This eliminates the need to wait for real-time measurements of pitch and roll changes, thereby improving response speed while maintaining control accuracy through proactive compensation.
2Device complexity
If manual control is used, then system complexity is reduced, but control precision deteriorates
Solution Approach 1:
The control system performs self-service by automatically determining the machine's position on the site map, calculating the trajectory, anticipating terrain changes, and adjusting the blade position without requiring continuous manual input or intervention. This automated self-adjusting mechanism maintains high control precision while keeping the system relatively simple by eliminating the need for complex real-time sensing and calculation hardware.
Data Source
AI summary
A tool control system for controlling a tool of a machine is disclosed. The tool control system includes a tool configured to shape a surface of a worksite. The tool control system also includes a positioning system configured to determine a worksite position of a machine supporting the tool. The tool control system also includes a controller configured to receive a site map containing a profile of the surface, receive the worksite position of the machine, and determine a contour of the surface not yet traversed by the machine. The controller also being configured to anticipate an effect on the contour caused by the tool when the machine traverses the contour, and to move the tool and accommodate the affect before the machine traverses the contour.