Autonomous Dozer Stale Terrain Value Control
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Solution Overview
Problem
Setting an optimal stale terrain value limit for autonomous dozers is challenging, leading to increased operator stress and potential delays due to either frequent or infrequent intervention, as low limits require frequent checks and high limits may overlook terrain changes caused by other dozers or factors.
Innovation Solution
A control system that determines a stale terrain value based on position data, dump operation parameters (distance, speed, and pile spacing) and triggers a shutdown signal for the dozer when the stale terrain value is approached, allowing operators to intervene manually.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the stale terrain value limit is set low, then the terrain accuracy and reliability are improved, but the operator stress and intervention frequency increase leading to reduced productivity
Solution Approach 1:
The patent applies dynamics by making the stale terrain value limit adjustable and adaptive rather than fixed. The system allows the limit to be modified based on working conditions, dozer speed, and terrain characteristics, enabling optimization between reliability and productivity for different operational scenarios
Solution Approach 2:
The patent implements parameter changes by allowing the stale terrain value limit to be dynamically adjusted based on multiple factors including dozer speed, terrain type, and working conditions. This enables the system to adapt the threshold according to real-time parameters, resolving the contradiction between maintaining high reliability and preserving productivity
2Productivity
If the stale terrain value limit is set high, then the operator intervention frequency is reduced improving productivity, but the terrain reliability decreases allowing untoward changes to occur
Solution Approach 1:
The system uses dynamics by implementing an adjustable stale terrain value limit that can be modified in real-time based on operational conditions. This allows the limit to be raised when productivity is prioritized and lowered when terrain accuracy becomes critical, resolving the contradiction between these two parameters
Solution Approach 2:
The patent applies parameter changes by allowing the stale terrain value limit to be dynamically adjusted based on dozer speed, terrain type, and working conditions. This enables flexible optimization where the limit can be set high for productivity during stable conditions and lowered for reliability when terrain changes become critical
3Reliability
If frequent operator checks are required, then the terrain reliability is maintained, but the operator stress and operation delays increase
Solution Approach 1:
The patent applies dynamics by implementing an adjustable stale terrain value limit that adapts to working conditions. This dynamic threshold reduces the need for frequent operator checks by allowing the limit to be optimized based on terrain stability and operational context, thereby reducing operator stress while maintaining reliability
Solution Approach 2:
The system uses parameter changes by allowing the stale terrain value limit to be modified based on multiple factors including terrain type, dozer speed, and working conditions. This enables the system to maintain high reliability thresholds when terrain is stable and reduce intervention frequency when conditions allow, reducing operator stress
Data Source
AI summary
A control system for determining a stale terrain value for use by an autonomous machine is provided. The control system includes a controller associated with the autonomous machine operating on a work surface. The controller is configured to receive position data associated with the autonomous machine from a position sensing system. The controller is configured to receive data related to a dump operation to be performed by the autonomous machine. The data includes a distance between a start location and an end location, a distance between two adjacent piles of material, and an average speed of travel of the autonomous machine. The controller is configured to determine the stale terrain value associated with the work surface. The controller is configured to trigger a control signal for shutting down the dump operation of the autonomous machine on approaching the stale terrain value based on receiving an operator input.