Autonomous Dozer Controller Boundary Cut Profiles
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Solution Overview
Problem
Autonomous machines, such as dozers, face challenges in operating near boundaries, like high walls, due to difficulties in maintaining efficient material movement and avoiding overload, which can lead to slipping or excessive wear.
Innovation Solution
A system with a controller that uses an electronic map of the work site to select different cutting profiles based on proximity to boundaries, adjusting the angle of the cutting path to manage load and prevent overload, including a work zone cut angle and a steeper final cut angle near boundaries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the dozer operates near the boundary using a standard cutting profile, then material movement efficiency is maintained, but the machine is prone to overload, slipping, and excessive wear
Solution Approach 1:
The system applies different cutting profiles (work zone profile vs. boundary zone profile) to different spatial locations. In the boundary zone adjacent to the high wall, a modified profile with reduced cutting angle and lower material load is used compared to the standard work zone profile, thereby protecting the machine from overload while maintaining operational efficiency
Solution Approach 2:
The cutting profile is dynamically adjusted based on the machine's proximity to the boundary. The controller automatically transitions between work zone and boundary zone profiles as the dozer moves through different zones, optimizing performance and protecting against overload in real-time
2Productivity
If the dozer maintains a steady cutting angle in the work zone, then efficient material movement is achieved, but the machine cannot adapt to boundary conditions
Solution Approach 1:
The system changes key parameters of the cutting profile (cutting angle, material load, blade position) when transitioning from work zone to boundary zone operations. This allows the machine to adapt to boundary conditions while maintaining efficient material movement in the main work zone
3Extent of automation
If the dozer operates autonomously near the boundary, then labor costs are reduced, but the machine lacks the judgment to adjust operations near boundaries
Solution Approach 1:
The autonomous control system uses feedback from GPS positioning and electronic map data to determine when the dozer is approaching the boundary zone. Based on this feedback, the controller automatically adjusts the cutting profile parameters to prevent overload, providing the autonomous system with adaptive boundary awareness
Data Source
AI summary
A system for autonomous control of a machine having a ground-engaging work implement includes a position sensor and a controller. The controller is configured to determine the position of a work surface based upon the position signals and select a work zone loading profile for a work zone cut location along a path within a work zone and the work zone loading profile has a work zone cut angle relative to a ground reference. The controller is further configured to select a final cut loading profile for a final cut location along the path adjacent the boundary zone with the final cut loading profile having a final cut angle relative to the ground reference. The final cut angle is steeper than the work zone cut angle.