Autonomous Ripping Path Determination via Material Sensing

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Solution Overview

Problem

Autonomous or semi-autonomous machines face challenges in determining when to engage a ripper mechanism to efficiently move materials with varying work surface conditions, such as hard soil or embedded rocks, leading to excessive wear and inefficient material movement.

Innovation Solution

A system and method that utilize a position sensing system and controller to determine the ripping path by sensing material characteristics along the operating path, allowing the machine to automatically identify and store areas that require ripping, thereby optimizing material movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the machine operates autonomously without ripper mechanism engagement, then the operation simplicity is improved, but the material movement efficiency deteriorates when encountering hard work surface conditions

Engineering Contradiction:

Improveautonomous operation simplicityVSAvoidmaterial movement efficiency

Core Design Contradiction:

Ease of operationVSProductivity

Solution Approach 1:

The system uses sensors to detect work surface conditions and provides feedback to the controller, which automatically determines when to engage the ripper mechanism. This closed-loop feedback system resolves the contradiction by enabling autonomous adaptation to varying material conditions without requiring manual operator intervention.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system dynamically adjusts the ripping operation by continuously monitoring work surface conditions and modifying ripper engagement based on real-time material characteristics. This dynamic adjustment allows the machine to maintain optimal productivity across varying conditions while preserving autonomous operation simplicity.

Inventive Principle:

Principle #15Dynamics

2Productivity

If the ripper mechanism is engaged frequently to handle hard material, then the material movement efficiency is improved, but the machine wear increases

Engineering Contradiction:

Improvematerial movement efficiencyVSAvoidmachine wear

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system applies ripping operations locally and selectively only to areas where hard material is detected, rather than engaging the ripper continuously. This localized approach improves material movement efficiency where needed while minimizing unnecessary ripper engagement that would increase machine wear in already-processed or soft material areas.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The system uses partial action by engaging the ripper mechanism only to the extent necessary based on detected material conditions. The controller modulates ripper engagement duration and intensity to match the actual ripping needs, avoiding excessive ripping that would accelerate wear while ensuring sufficient ripping action where hard material is present.

Inventive Principle:

Principle #16Partial or excessive action

3Speed

If the machine traverses the work site without ripper engagement, then the operation speed is improved, but the ability to move compacted material deteriorates

Engineering Contradiction:

Improvemachine traversal speedVSAvoidcompacted material movement capability

Core Design Contradiction:

SpeedVSProductivity

Solution Approach 1:

The system performs preliminary ripping action ahead of or during machine traversal when hard material is detected, preparing the compacted material for subsequent efficient movement. This preliminary action allows the machine to maintain higher traversal speeds while ensuring that compacted material is broken up in advance, preventing speed reductions due to excessive resistance.

Inventive Principle:

Principle #10Preliminary action

4Measurement precision

If manual operator judgment is used to determine ripper engagement, then the ripping accuracy is improved, but the automation level deteriorates

Engineering Contradiction:

Improveripper engagement timing accuracyVSAvoidautonomous operation capability

Core Design Contradiction:

Measurement precisionVSExtent of automation

Solution Approach 1:

The system replaces manual operator judgment with an automated sensing and control system that uses sensors, processors, and algorithms to detect work surface conditions and determine ripper engagement timing. This substitution maintains high decision-making accuracy through objective sensor data while achieving full autonomous operation capability.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system creates a digital representation or model of the work surface conditions through sensor data, which the controller processes to determine ripping needs. This copying approach allows the automated system to replicate and even exceed human operator judgment accuracy by analyzing multiple parameters simultaneously without fatigue or inconsistency.

Inventive Principle:

Principle #26Copying

Data Source

PatentUS9014925B2System and method for determining a ripping path

Publication Date: 2015.04.21 CATERPILLAR INC

AI summary

A system for determining a ripping path includes a position sensing system, a work implement, and a controller. The controller is configured to determine a plurality of positions of the machine as the machine moves along an operating path and the work implement moves a volume of material and sense the material characteristics of at each of the plurality of positions along the operating path. The controller is further configured to determine the ripping path based upon the material characteristics sensed at the plurality of positions and store the ripping path.