Earthmoving Pass Jump Control via Surface Profile Feedback
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Solution Overview
Problem
Earthmoving machines often experience inefficiencies due to rework caused by volume discrepancies between planned and actual surface profiles, leading to material being dumped into valleys instead of intended spread locations, resulting in reduced productivity.
Innovation Solution
A control system that uses a positioning system and controller to determine the actual surface profile by analyzing pass history, identifying conditions of volumes above or below thresholds, and directing the machine to operate based on lower passes to optimize cut locations and avoid rework.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the earthmoving machine operates autonomously based on a work plan, then productivity is maintained consistently, but rework occurs when volume discrepancies create valleys below the threshold of the first pass
Solution Approach 1:
The control system continuously monitors the actual surface profile during earthmoving operations and compares it against the planned profile. When volume discrepancies create valleys below the threshold, the system receives feedback about these deviations and automatically adjusts the work plan to prevent rework, thereby maintaining both productivity and reliability.
Solution Approach 2:
The system performs preliminary analysis of the work surface profile before executing the earthmoving operation. By identifying potential volume discrepancies and valleys that would cause rework in advance, the control system adjusts the work plan proactively to ensure materials are dumped into correct spread locations without requiring subsequent corrective passes.
2Productivity
If the work implement operates at the threshold of the first pass, then material removal is efficient, but materials fall into valleys instead of spread locations requiring rework
Solution Approach 1:
The control system dynamically adjusts operational parameters based on the detected surface profile. When valleys are identified, the system modifies the cut location and depth parameters to ensure materials are placed at the correct spread locations rather than falling into valleys, thereby maintaining both efficiency and placement accuracy.
Solution Approach 2:
The work plan is made dynamic rather than static. The control system continuously adapts the operational parameters and work plan based on real-time monitoring of the surface profile, allowing the machine to adjust cut locations and depths on-the-fly to prevent material placement errors while maintaining high productivity.
3Productivity
If pass jump is performed to compensate for volume discrepancies, then the machine can proceed with the work plan, but rework is required when volumes create valleys below the threshold
Solution Approach 1:
The control system uses feedback from surface profile monitoring to detect volume discrepancies that would create valleys. By identifying these issues before they cause rework, the system adjusts the work plan to maintain progression without time-consuming corrective passes, thereby eliminating the trade-off between work plan progression and rework time.
Solution Approach 2:
The system performs preliminary identification and correction of volume discrepancies before they result in rework. By analyzing the surface profile in advance and adjusting the work plan proactively, the machine can maintain continuous progression through the work plan without encountering valleys that would require time-consuming corrective operations.
Data Source
AI summary
A system for controlling an earthmoving machine is provided. The system includes a positioning system and a controller. The controller is configured to receive the position signals from the positioning system, store the position signals in a pass history, and determine, based on pass history, an actual profile of the work surface. The controller is further configured to determine, based on the actual profile of the work surface in the pass history, existence of a first condition, the first condition exists when the actual profile has a first volume having a height above a threshold for an upper pass, and existence of a second condition, the second condition exists when the actual profile has a valley having a floor lower than the threshold for the upper pass. The controller is configured to direct the earthmoving machine to operate based on the lower pass if the first and second conditions exist.