Autonomous Earthmoving Control System for Cost-Optimized Material Disposal
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Solution Overview
Problem
Current earthmoving operations lack an objective approach to select between back-stacking and forward-stacking techniques for overburden disposal, as both techniques demand different machine performances based on varying ground profiles, leading to inefficiencies and increased costs.
Innovation Solution
A control system for autonomous earthmoving machines that determines the pose and operational characteristics to calculate costs for moving material to either a first or second dump location, considering ground surface profiles and operational factors, and sends instructions based on these calculations to optimize material disposal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If back-stacking operation is performed with first pile at farthest distance, then material disposal coverage is improved, but machine travel distance and operational cost increase
Solution Approach 1:
The system dynamically adjusts the pile formation strategy based on real-time ground profile analysis. The controller evaluates multiple dump location options and selectively switches between back-stacking and forward-stacking techniques, making the disposal operation adaptive rather than fixed, thereby optimizing both coverage and travel time
Solution Approach 2:
The system changes operational parameters (dump location selection, stacking technique) based on ground surface profile parameters. By analyzing ground slope, elevation, and terrain characteristics, the controller selects optimal disposal methods that adapt to varying ground conditions, reducing unnecessary travel while maintaining effective coverage
2Productivity
If different stacking techniques are used for different ground profiles, then operational efficiency is improved, but system complexity increases
Solution Approach 1:
The control system autonomously performs ground profile analysis, cost calculation, and technique selection without external intervention. The system self-evaluates multiple dump locations and automatically determines the optimal stacking technique, eliminating the need for manual decision-making and reducing operational complexity despite the sophistication of the control algorithms
Solution Approach 2:
The system incorporates feedback loops where operational costs and ground profile data are continuously monitored and fed back to the controller. This feedback mechanism allows the system to learn from previous operations and refine its technique selection, improving efficiency while managing complexity through adaptive control rather than rigid programming
3Productivity
If objective cost-based selection is implemented, then operational optimization is improved, but measurement and calculation complexity increases
Solution Approach 1:
The controller acts as an intermediary that translates complex ground profile data and operational parameters into simplified cost metrics. By introducing a cost calculation model that aggregates multiple factors (travel distance, fuel consumption, machine wear, time), the system provides an objective basis for technique selection without requiring operators to manually evaluate each complex parameter
Data Source
AI summary
A control system for operating an autonomous earthmoving machine to move material from a work area to a dumping location is disclosed. The control system includes a receiving module to receive values of a set of parameters associated with a profile of a first ground surface between the work area and the first dump location, a profile of a second ground surface between the work area and the second dump location, and operational characteristics of the machine. The control system includes a controller to generate a first cost and a second cost of moving the material from the work area to the first dump location and the second dump location, respectively, and send instructions to the autonomous earthmoving machine to move the material from the work area to either of the first dump location and the second dump location, based on the first cost and the second cost.