Digging Machine Perception Control for Haul Truck Positioning

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Solution Overview

Problem

Existing systems for positioning transport vehicles during material transfer require manual intervention and additional equipment, leading to inefficiencies and delays in the digging and dumping process.

Innovation Solution

A control system for a digging machine equipped with perception systems and a controller that autonomously or semi-autonomously positions a transport vehicle by defining dump regions, determining the haul truck's position relative to these regions, and aligning the bucket with the truck's bed to optimize material transfer.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If manual positioning and spotting of transport vehicles is used, then operator control flexibility is maintained, but the process becomes time-consuming and requires continuous operator intervention

Engineering Contradiction:

Improvematerial transfer efficiencyVSAvoidpositioning and spotting time

Core Design Contradiction:

ProductivityVSLoss of time

Solution Approach 1:

The system enables the digging machine to automatically perform positioning and spotting functions for itself by using its own perception systems to detect haul truck positions and calculate optimal dump locations, eliminating the need for separate manual spotting operations and continuously operating personnel

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The controller pre-calculates optimal dump locations and positions based on perception system data before the haul truck arrives, and prepares the digging machine's bucket position in advance, allowing the machine to be ready for immediate material transfer upon truck arrival

Inventive Principle:

Principle #10Preliminary action

2Measurement precision

If additional detection and calculation devices are added to determine parking position and direction, then positioning accuracy is improved, but equipment complexity and cost increase

Engineering Contradiction:

Improveparking position detection accuracyVSAvoidnumber of detection and calculation devices

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The perception systems originally designed for digging and material transfer operations are made multi-functional by enabling them to also perform positioning and spotting functions, allowing a single system to serve multiple purposes without requiring separate dedicated detection devices

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The controller integrates multiple functions including digging control, perception system data processing, dump location calculation, and positioning/spotting operations into a single centralized control unit, eliminating the need for separate calculation devices and reducing overall system complexity

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS12460375B2Systems and methods for controlling a digging machine and positioning a transport vehicle

Publication Date: 2025.11.04 CATERPILLAR INC

AI summary

A control system for a machine includes a machine body, a linkage assembly, an implement coupled to the machine body via the linkage assembly, one or more perception systems on the machine, and a controller in communication with the one or more perception systems. The controller is configured to receive one or more signals defining a dig region, define one or more dump regions based at least on the dig region and information from the one or more perception systems, and identify a position of a haul truck relative to the defined one or more dump regions.