Autonomous Edge Dumping Control System Berm Validation
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Solution Overview
Problem
Existing autonomous machine control systems for high-wall operations are inefficient due to complex computations and failure to account for irregularities in berm contours, leading to suboptimal dumping and increased operational costs.
Innovation Solution
A control system that uses an offboard controller to determine validated starting and ending points along a berm edge, calculating a maximum orthogonal distance to designate a center line as a dump target, thereby simplifying calculations and ensuring accurate dumping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If smoothing operation is used to create continuous curve, then trajectory accuracy is improved, but computational complexity increases and control delay occurs
Solution Approach 1:
The patent extracts and removes the complex smoothing operation from the control system. Instead of creating a continuous smoothed curve, the system directly uses discrete surveyed points to define the berm edge, eliminating the computationally demanding smoothing step while maintaining sufficient accuracy for dump target placement.
Solution Approach 2:
The patent inverts the traditional approach by not smoothing the curve first and then finding dump targets. Instead, it directly calculates dump targets from the raw surveyed points using geometric relationships, reversing the sequence of operations to eliminate unnecessary computational steps.
2Ease of operation
If predetermined distance from curve is used for dump targets, then positioning is simplified, but berm irregularities are not accounted for causing inaccurate dumping
Solution Approach 1:
The patent performs preliminary validation of each surveyed point to determine if it qualifies as a valid berm edge point. By pre-processing the surveyed data to identify only valid points that accurately represent the berm contour, the system ensures subsequent dump target calculations are based on accurate geometry without needing complex real-time adjustments.
Solution Approach 2:
The patent applies different treatment to different portions of the surveyed berm edge. Each surveyed point is individually validated based on local geometric criteria (orthogonal distance to adjacent points), allowing the system to adapt to local irregularities in the berm contour rather than applying a uniform approach throughout.
3Manufacturing precision
If complex control system is used, then dumping accuracy is improved, but operational costs increase
Solution Approach 1:
The patent uses simple geometric calculations and basic validation logic instead of complex control algorithms. By replacing sophisticated smoothing and curve-fitting operations with straightforward distance calculations and point validation, the system achieves accurate dump target placement using computationally inexpensive methods.
Data Source
AI summary
A control system is disclosed for use with a machine at a worksite. The control system may have an offboard controller. The offboard controller may be configured to receive information regarding a berm at the worksite, determine starting and ending points spaced apart along an edge of the berm based on the information, and determine a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm. The offboard controller may be further configured to selectively validate the starting and ending points based on the maximum orthogonal distance, and to designate a center of the virtual line between validated starting and ending points as a dump target.