Autonomous Dump Target Assignment for Mining Machines
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Solution Overview
Problem
Existing autonomous machine control systems for high-wall operations are inefficient due to complex computations and failure to account for irregularities in berm contours, leading to material being dumped inside the berm or continuously bumping into it, resulting in decreased productivity and increased costs.
Innovation Solution
A control system that includes onboard and offboard controllers, communicating devices, and a method for assigning dump targets based on machine arrival order and detecting overlapping lanes, allowing for real-time adjustments and optimized routing to prevent material from being dumped inside the berm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If smoothing operation is used to create continuous curve, then trajectory accuracy is improved, but computational complexity increases and processing time is delayed
Solution Approach 1:
The patent extracts and eliminates the complex smoothing operation from the control system. Instead of using continuous curve smoothing, the system directly uses discrete surveyed points to define dump targets, thereby removing the computationally demanding smoothing step while maintaining adequate trajectory accuracy for autonomous dumping operations
Solution Approach 2:
The patent inverts the traditional approach by not creating a continuous smoothed curve and then sampling points from it. Instead, it directly uses the surveyed discrete points to establish dump targets, reversing the sequence of operations to eliminate unnecessary computational steps
2Stability of the object's composition
If predetermined distance from curve is used for dump targets, then consistent spacing is achieved, but irregularities in berm contour are not accounted for causing material to be dumped inside berm or continuously bumping into it
Solution Approach 1:
The patent incorporates feedback by using actual surveyed berm contour data to dynamically adjust dump target locations. The system continuously monitors the berm edge position and adjusts dump target placement accordingly, ensuring material is deposited at the correct location even when berm contour irregularities are present
Solution Approach 2:
The patent changes the parameter for dump target location from a fixed predetermined distance from a smoothed curve to a variable distance based on actual surveyed berm points. This allows the system to adapt to varying berm contours and maintain accurate dump placement
3Productivity
If multiple dump targets are assigned to multiple machines, then productivity is improved, but lane overlap occurs causing traffic congestion and coordination issues
Solution Approach 1:
The patent segments the dump area into distinct zones with clearly defined entrance and exit lanes. Each lane is assigned to specific dump targets, creating a segmented traffic flow pattern that prevents overlap and congestion while maintaining high productivity through parallel machine operations
Data Source
AI summary
A control system is disclosed for use with a plurality of machines operating at a worksite. The control system may have a plurality of communicating devices, and a plurality of onboard controllers, each mountable to the plurality of machines. The control system may also have an offboard controller in communication with the plurality of onboard controllers via the plurality of communicating devices. The offboard controller may be configured to selectively assign each of a plurality of sequentially arranged dump targets for use by each of the plurality of machines based on an order in which the plurality of machines arrive at a dump location. The offboard controller may be further configured to make a determination that lanes extending to two dump targets of the plurality of sequentially arranged dump targets overlap, and selectively skip assignment of one of the two dump targets based on the determination.