Earthmoving Machine Control System Dynamic Stability
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Solution Overview
Problem
Existing machine control systems for earthmoving machines like bulldozers face challenges such as limited precision, delay in control loops, and dynamic instability at fast operation speeds, particularly due to constraints with laser and satellite navigation systems.
Innovation Solution
A control system utilizing multiple satellite antennas, gravity reference sensors, and gyroscopes to generate machine control signals, which includes Kalman filtering for error reduction and delay compensation, ensuring stable operation by predicting the machine's state and calculating control signals for the bulldozer blade.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If satellite navigation systems are used for machine control, then maximum operating distance constraint is eliminated, but measurement precision and control loop delay worsen
Solution Approach 1:
The patent combines multiple satellite antennas (at least three) with gyroscopes and gravity reference sensors to create an integrated navigation system. This merging of different sensing technologies compensates for the limited precision of individual satellite navigation systems while maintaining extended operating distance capabilities.
Solution Approach 2:
The patent introduces gyroscopes and gravity reference sensors as intermediary devices that provide high-precision reference measurements. These intermediaries compensate for the precision limitations of satellite navigation by providing stable reference frames for vertical and angular measurements.
2Productivity
If machine operates at fast speeds, then productivity increases, but dynamic stability worsens due to oscillation
Solution Approach 1:
The patent implements a real-time feedback control system that continuously monitors machine state through multiple sensors (satellite antennas, gyroscopes, gravity sensors) and adjusts blade position dynamically. This feedback loop counteracts oscillations and maintains stability even at high operating speeds, enabling increased productivity without sacrificing control.
Solution Approach 2:
The patent transitions from static control to dynamic control by continuously adapting blade position based on real-time sensor data. The system adjusts control parameters dynamically to match changing operating conditions, allowing stable operation across a wider speed range and improving productivity.
3Measurement precision
If laser systems are used for machine control, then measurement precision improves, but line of sight requirement and maximum operating distance constraint worsen
Solution Approach 1:
The patent creates a universal control system that integrates satellite navigation, gyroscopic sensing, and gravity reference capabilities into a single multi-functional platform. This system provides precision control without requiring line of sight to external lasers, enabling operation in diverse environments including areas with obstructed views or beyond laser range.
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
The system achieves dynamic stability at faster speeds, reducing GPS measurement errors and delays, thereby enhancing productivity and accuracy in grading operations.
Implementation Method 1
A plurality of gyroscopes are mounted on the machine for providing sensor data to a processor
Implementation Method 2
A gravity reference sensor is mounted on the machine for providing sensor data to a processor
Data Source
AI summary
An earthmoving machine including a control system is disclosed. The machine comprises first and second satellite navigation antennas mounted in a longitudinal direction on the earthmoving machine. A third satellite navigation antenna is mounted on a pole attached to an operational element of the earthmoving machine. In one embodiment, the earthmoving machine is a bulldozer and the operational element is a blade of the bulldozer. The machine further comprises a gravity reference sensor and a plurality of gyroscopes mounted on the machine. A computer processor generates control signals based on sensor data received from the various components. The disclosed system and method allows for dynamically stable operation of the earthmoving machine at relatively fast speeds without the development of unwanted oscillations.