Auxiliary Machine Trajectory Control for Host Alignment
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Solution Overview
Problem
Existing work machine configurations face challenges in maintaining precise control and alignment along desired trajectories, especially when operating on uneven terrain or performing complex maneuvers, leading to potential collisions and inefficiencies.
Innovation Solution
A machine controller system that includes a configuration analyzer, path identifier, alignment monitor, and trajectory controller to determine and adjust the steering and power of auxiliary machines connected to host machines, ensuring they follow desired paths and maintain alignment, using sensors and power modes to correct deviations and prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If machine configurations operate on uneven terrain or perform complex maneuvers, then operational flexibility is improved, but maintaining precise control and alignment along desired trajectories becomes difficult
Solution Approach 1:
The system continuously monitors the actual positions and orientations of the host machine and auxiliary machine using sensors, compares them with desired trajectories, and automatically adjusts steering and power distribution to correct deviations. This closed-loop feedback control enables precise trajectory following even during complex maneuvers on uneven terrain.
Solution Approach 2:
The patent replaces manual mechanical control with an automated electronic control system that uses sensors, processors, and actuators to manage machine configurations. The controller system substitutes human operators in making real-time adjustments to steering angles and power distribution, enabling more precise and responsive control.
2Manufacturing precision
If automated control systems are added to manage machine configurations, then trajectory control precision is improved, but system complexity increases
Solution Approach 1:
The controller system performs multiple functions including trajectory calculation, real-time position monitoring, steering control, power distribution management, and collision prevention. By consolidating these diverse control tasks into a single multi-functional system, the patent achieves high trajectory precision without proportionally increasing overall system complexity.
Solution Approach 2:
The automated control system independently manages the coordination between host and auxiliary machines without requiring constant human intervention. The system self-adjusts steering angles, power distribution, and trajectory calculations based on sensor feedback, reducing the operational burden on operators while maintaining precise control.
3Productivity
If multiple machines are coupled together to provide additional traction and power, then productivity is improved, but maintaining alignment and preventing collisions becomes more difficult
Solution Approach 1:
The controller system pre-calculates desired trajectories and determines optimal steering and power distribution strategies before the machines execute maneuvers. By planning paths and control actions in advance, the system prevents collisions and maintains proper alignment between the host machine and auxiliary machine, enabling safer multi-machine operations.
Solution Approach 2:
The automated control system acts as an intermediary between the operators and the multi-machine configuration, mediating the coordination and interaction between the host machine and auxiliary machine. The controller translates operator inputs into coordinated actions for both machines, ensuring they move in sync along desired trajectories while preventing collisions.
Data Source
AI summary
Methods and apparatus are disclosed for controlling machine configurations. An example method includes deter mining a desired trajectory of an auxiliary machine based at least in part on a desired work path or an alignment of a host machine and the auxiliary machine; determining a first actual trajectory of the auxiliary machine based on i) determining a first distance between a first side of the auxiliary machine and the host machine and ii) determining a second distance between a second side of the auxiliary machine and the host machine, the first side is opposite the second side; comparing the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; and when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode to steer the auxiliary machine toward the desired trajectory.