Autonomous Load-Carrier Path Control for Dynamic Loading Alignment
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Solution Overview
Problem
Existing methods struggle to set a suitable loading position for autonomous load-carrier vehicles at construction sites due to changing load pile positions and sizes, which is not addressed by existing solutions designed for mine applications.
Innovation Solution
A method and system that utilize a positioning sensor on a loader vehicle to determine the closest point on a pre-set path to the loader's current position, allowing the autonomous load-carrier vehicle to automatically stop at this point or its immediate surroundings for loading, aligning with the loader, and continue along the pre-set path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a pre-set loading position is used for the autonomous load-carrier vehicle, then the vehicle can follow a predefined path efficiently, but the loading position becomes unsuitable when the load pile position or size changes
Solution Approach 1:
The loading position is made dynamic by continuously tracking the loader vehicle's position and automatically updating the closest point on the pre-set path. This allows the loading position to adapt in real-time to changes in load pile location while maintaining the benefits of a predefined path structure.
Solution Approach 2:
The system uses positioning sensors to continuously monitor the loader vehicle's location and feeds this information back to the control system, which then recalculates and adjusts the loading position accordingly. This closed-loop feedback mechanism ensures the pre-set path remains aligned with actual operational conditions.
2Measurement precision
If the autonomous load-carrier vehicle stops exactly at the closest point on the pre-set path to the loader vehicle, then the alignment is optimized, but the vehicle may not account for its own dimensions and positioning sensor location
Solution Approach 1:
The system applies different positioning strategies at different locations on the autonomous vehicle. The positioning sensor's location on the vehicle is taken into account, and an offset is calculated to compensate for the sensor's position relative to the vehicle's center or loading point, ensuring accurate alignment despite the sensor's specific mounting location.
Solution Approach 2:
The system pre-calculates the offset between the positioning sensor location and the optimal loading alignment point on the vehicle. This preliminary calculation allows the vehicle to automatically compensate for its own dimensions and sensor placement, making the loading process easier and more accurate without requiring manual adjustment.
Data Source
AI summary
A method includes providing, from a positioning sensor on a loader vehicle for loading the autonomous load-carrier vehicle, a control signal indicative of a current position of the loader vehicle; determining a point on the pre-set path closest to the current position of the loader vehicle; setting a loading position for the autonomous load-carrier vehicle at a point along the pre-set path based on the point on the pre-set path that is closest to the current position of the loader vehicle; wherein the suitable loading position corresponds to the point closest to the current position of the loader vehicle or is a point in the immediate surroundings of the closest point so as to, when the autonomous load-carrier vehicle stops at the suitable loading position, allow pre-set aligning of a part of the autonomous load-carrier vehicle in relation to the loader vehicle when the loader vehicle is positioned close to the pre-set path; and controlling the autonomous load-carrier vehicle to move along the pre-set path and stop at the suitable loading position.