Autonomous Grade Control Cleanup Pass Using Cubic Spline Primitives
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Solution Overview
Problem
Conventional systems for determining cleanup pass profiles in autonomous and semi-autonomous machines are limited in adapting to terrain irregularities, such as negative volumes and bumps, leading to deviations from planned profiles and reduced productivity.
Innovation Solution
A computer-implemented method and control system that generates a cleanup pass profile using primitives, such as curves and nodes, to form a substantially continuous profile that approximates the work surface and pass target, allowing for efficient correction of surface irregularities by identifying a pass target and generating primitives to adjoin at endpoints, forming a spline-based profile.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional S-shaped Gaussian curves are used to form profiles, then the planning process is simple, but the system cannot adapt to negative volumes, valleys, bumps, or other terrain irregularities
Solution Approach 1:
The profile is segmented into multiple cubic spline curves, each defined by control points. This allows the system to handle complex terrain irregularities by dividing the profile into manageable segments that can be independently adjusted to fit bumps, valleys, and other surface variations while maintaining overall profile coherence
Solution Approach 2:
The system changes the mathematical parameters from fixed S-shaped Gaussian curves to flexible cubic spline curves with adjustable control points. This parameter transformation enables the profile to adapt to various terrain conditions including negative volumes and bumps by modifying the control point positions rather than being constrained to a single curve shape
2Reliability
If autonomous carry passes adjust blade height in the blade-carry region, then the system can adapt to changing conditions, but this results in unwanted deviations from the planned profile
Solution Approach 1:
The cleanup pass profile is planned in advance with predetermined control points that define the exact blade height at each position. This preliminary planning ensures the blade follows the intended profile accurately without real-time adjustments that could cause deviations, while still accounting for anticipated terrain variations through careful control point placement
Solution Approach 2:
The system uses feedback from the work surface elevation measurements to refine and update the cleanup pass profile. By comparing actual terrain conditions with the planned profile and adjusting control points accordingly, the system maintains profile accuracy while adapting to real-world variations in the work surface
3Manufacturing precision
If cut and carry passes are repeated to execute clean passes, then the planned profile can be achieved, but this process is time-consuming and reduces productivity
Solution Approach 1:
The cleanup pass profile is planned in advance with all necessary control points and spline curves defined before execution. This preliminary planning allows the dozer to perform the cleanup pass in a single efficient operation without requiring multiple repeated passes, thereby maintaining profile precision while improving productivity
Solution Approach 2:
The system dynamically adjusts the blade height along the cleanup pass profile based on real-time work surface elevation data. This dynamic adaptation allows the dozer to follow the precise planned profile in a single pass by continuously adjusting blade position, eliminating the need for multiple repeated passes and thereby increasing productivity
Data Source
AI summary
A computer-implemented method for determining a cleanup pass profile is provided. The method may include identifying a pass target extending from a first end to a second end along a work surface, generating a plurality of primitives between the first end and the second end such that each primitive has endpoints configured to approximate at least one of the pass target, the work surface, and an endpoint of an adjoining primitive, and adjoining the primitives at the endpoints to form a substantially continuous cleanup pass profile.