Keep-Out Zone Avoidance for Surface-Engaging Implements
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Solution Overview
Problem
Mobile machines equipped with surface-engaging implements like rippers face challenges in avoiding keep-out zones that include obstructions on or beneath the work surface, which can lead to damage or unintended disruption of utilities and soil types that do not require treatment.
Innovation Solution
A mobile machine system that includes a controller storing a three-dimensional site plan with keep-out zones, which uses sensors to monitor machine speed and location, and adjusts the surface-engaging implement's position and the machine's speed to avoid keep-out zones, either by raising the implement, reducing speed, stopping the machine, or providing an operator indication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the surface-engaging implement operates at full capacity to maximize productivity, then work completion speed increases, but the risk of contacting obstructions in keep-out zones increases
Solution Approach 1:
The system performs preliminary actions by raising the surface-engaging implement before the mobile machine enters keep-out zones, and by reducing speed in advance when approaching these zones. This preventive approach allows the implement to be positioned safely ahead of time, avoiding contact with obstructions while maintaining operational efficiency.
Solution Approach 2:
The system continuously monitors the mobile machine's location relative to keep-out zones using sensors and provides real-time feedback to the controller. Based on this feedback, the controller dynamically adjusts implement position and machine speed, creating a closed-loop control system that balances productivity with obstruction avoidance.
2Reliability
If the surface-engaging implement is raised to avoid obstructions, then safety increases, but the time required to complete work tasks increases
Solution Approach 1:
The system makes the surface-engaging implement dynamic by allowing it to move between engaged and raised positions based on real-time location data. The implement is raised only when and where needed (in keep-out zones), and engaged when safe, creating a dynamic adaptation that minimizes time loss while maintaining safety.
Solution Approach 2:
The system applies different implement positions and machine speeds to different spatial locations. The surface-engaging implement is raised specifically in keep-out zones while maintaining normal operation in safe areas, and the mobile machine reduces speed only when approaching keep-out zones, minimizing overall time loss while ensuring safety where required.
3Reliability
If the mobile machine reduces speed to navigate keep-out zones, then the risk of damage decreases, but the overall work efficiency decreases
Solution Approach 1:
The system applies speed reduction locally only when approaching keep-out zones, rather than reducing speed throughout the entire work area. The mobile machine maintains high speed in safe zones and reduces speed only in specific locations where obstructions are present, minimizing the impact on overall work efficiency while ensuring safety.
Data Source
AI summary
A mobile machine for operation at a work site having a work surface includes: a frame; a traction device mounted to the frame, the traction device moving the mobile machine with respect to the work surface; a surface-engaging implement mounted to the frame, the surface-engaging implement being raisable and lowerable with respect to the frame; a first sensor for providing a machine speed of the mobile machine; a second sensor for providing a machine location of the mobile machine; and a controller storing a three-dimensional site plan associated with the work site, the three-dimensional site plan including at least one keep-out zone, the controller receiving the machine speed and the machine location, and, based on the machine speed and the machine location with respect to the at least one keep-out zone, to: raise the surface-engaging implement and maintain the machine speed, raise the surface-engaging implement and reduce the machine speed.