Autonomous Resource Queuing for Mobile Machine Spacing
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Solution Overview
Problem
Existing autonomous machine control systems for mobile machines operating with limited resources, such as haul trucks and loaders, fail to effectively manage spacing and reduce idle time between interactions, leading to potential collisions and inefficiencies.
Innovation Solution
A control system that divides a common travel path into virtual segments, including a spot segment for resource access and a stage segment for queuing, using a worksite controller to manage the movement of machines between these segments, ensuring efficient loading and unloading operations while minimizing collisions and idle time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a queue manager is used to manage fleet of autonomous dump trucks, then machine operation management is improved, but spacing control between machines and reduction of resource idle time is insufficient
Solution Approach 1:
The travel path is divided into multiple virtual segments (first virtual segment, second virtual segment, third virtual segment) along the common travel path. This segmentation allows the system to control machine spacing by assigning specific segments to different machines, thereby reducing resource idle time and improving overall operational efficiency while maintaining ease of management.
2Ease of operation
If trucks are managed in a queue system, then resource access is controlled, but collision risk between machines increases
Solution Approach 1:
By dividing the common travel path into distinct virtual segments and assigning them to different machines, the system creates spatial separation between machines. This segmentation reduces collision risk while maintaining controlled resource access through the queue manager.
Solution Approach 2:
The system continuously monitors machine locations and communicates with the queue manager to provide real-time feedback on machine positions and resource status. This feedback mechanism enables dynamic adjustment of machine movements and queue positioning, enhancing collision avoidance while maintaining resource access control.
3Extent of automation
If autonomous control is implemented without virtual segmentation, then automation level is high, but spacing control and collision prevention are insufficient
Solution Approach 1:
The virtual segment division provides a structured framework for autonomous machines to understand their positions and maintain proper spacing. Each machine can autonomously determine its location within the segmented path and adjust its behavior accordingly, enhancing both automation level and reliability of spacing control.
Solution Approach 2:
The virtual segments act as an intermediary layer between the autonomous control system and the physical machines. This intermediary structure enables autonomous machines to coordinate their movements and maintain safe distances without requiring constant human intervention, thereby improving both automation and reliability.
Data Source
AI summary
A control system is disclosed for use with a plurality of mobile machines operating at a worksite having a resource. The control system may have a worksite controller configured to divide a common travel path into a plurality of segments, including at least a spot segment at the resource and a stage segment. The worksite control may further be configured to receive a first input indicative of a desire for a first of the plurality of mobile machines to leave the spot segment, and to direct the first of the plurality of mobile machines out of the spot segment based on the first input. The worksite controller may be further configured to receive first location information for the first of the plurality of mobile machines, and to direct the second of the plurality of mobile machines from the stage segment into the spot segment based on the first location information.