Cold Planer Rotor Control for Underground Object Avoidance
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Solution Overview
Problem
Existing paving systems, such as those described in U.S. Pat. No. 9,879,386, do not effectively utilize sensor information to avoid damage to cold planer components, like the rotor, during milling operations by identifying and navigating around underground objects like power lines and pipes.
Innovation Solution
A method and system that incorporate ground-penetrating radar (GPR) and other sensors to generate a worksite map, allowing the cold planer to adjust its rotor position in real-time based on the location of underground objects, thereby preventing contact and extending the life of the rotor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the cold planer operator manually monitors for underground objects, then the operator can identify some objects, but the operator cannot reliably avoid all objects due to limited detection capability and human reaction time
Solution Approach 1:
The system performs preliminary detection of underground objects using GPR sensors and other detection devices before the cold planer begins milling operations. A worksite map is generated in advance that identifies the location of power lines, pipes, and other buried objects, allowing the operator to plan the milling path to avoid these objects before contact can occur.
Solution Approach 2:
The system continuously receives real-time sensor information from GPR and other detection devices during milling operations. This feedback is processed to update the worksite map and provide alerts to the operator when underground objects are detected near the cold planer's current position, enabling dynamic adjustment of the milling path to avoid objects.
2Productivity
If the cold planer rotor contacts underground objects like power lines and pipes, then the milling operation can proceed without interruption, but the rotor and other components suffer damage requiring maintenance and downtime
Solution Approach 1:
The system performs preliminary detection of underground objects using GPR sensors and other detection devices before the cold planer begins milling operations. A worksite map is generated in advance that identifies the location of power lines, pipes, and other buried objects, allowing the operator to plan the milling path to avoid these objects before contact can occur.
Solution Approach 2:
The system continuously receives real-time sensor information from GPR and other detection devices during milling operations. This feedback is processed to update the worksite map and provide alerts to the operator when underground objects are detected near the cold planer's current position, enabling dynamic adjustment of the milling path to avoid objects.
3Productivity
If the cold planer operates at high speed to increase productivity, then more pavement can be removed per unit time, but the risk of contacting underground objects increases due to reduced operator reaction time
Solution Approach 1:
The system continuously receives real-time sensor information from GPR and other detection devices during milling operations. This feedback is processed to update the worksite map and provide alerts to the operator when underground objects are detected near the cold planer's current position, enabling dynamic adjustment of the milling path to avoid objects.
Solution Approach 2:
The system replaces the operator's human sensory and reaction capabilities with automated GPR sensors, detection devices, and electronic alert systems. These electronic systems can detect and process underground object locations much faster than human operators, enabling safe high-speed operation by providing immediate warnings of nearby objects.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the cold planer's ability to avoid underground objects, reducing downtime and maintenance costs by actively controlling the rotor's position relative to the work surface, thus improving operational efficiency and extending the rotor's lifespan.
Implementation Method 1
ground penetrating radar (GPR) information or other sensor information
Data Source
AI summary
A method includes receiving information indicative of a cold planer travel path extending along a work surface, determining a mobile machine travel path extending along the work surface based at least partly on the information indicative of the cold planer travel path, and receiving sensor information associated with the work surface, wherein the sensor information is determined by at least one sensor of an autonomous mobile machine as the autonomous mobile machine traverses the mobile machine travel path. The method also includes generating a worksite map based at least partly on the sensor information, the worksite map identifying an object, wherein the object is disposed at least partly beneath a cut area to be formed by a cold planer, and controlling a position of a rotor of the cold planer, relative to the work surface and based at least partly on a location of the object identified in the worksite map.