Machine Controller Target Profile Segmentation for Material Displacement
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Solution Overview
Problem
Existing systems for controlling machines with ground-engaging work implements, such as dozers and motor graders, face challenges in determining an efficient loading profile that balances material displacement with machine capabilities and worksite topography, leading to inefficiencies in material removal and potential operational limitations.
Innovation Solution
A system and method that utilize a controller to generate a target profile comprising preloading, cut, and loading segments, assessing feasibility based on machine position, dimensions, operational data, and topography, ensuring the work implement aligns with position points to optimize material displacement volume and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work implement is controlled to move a significant quantity of material per pass, then material removal efficiency is improved, but the machine may become overburdened
Solution Approach 1:
The loading profile is divided into multiple segments (preload segment, cut segment, loading segment) with different control parameters. This segmentation allows the system to optimize material displacement in each phase while maintaining machine capacity, preventing overburdening by distributing the load across controlled phases rather than applying maximum force uniformly.
Solution Approach 2:
The system dynamically adjusts the loading profile based on real-time machine position, orientation, and operational data. The controller continuously modifies the target profile parameters (cut depth, loading rate, segment transitions) to match current machine capabilities and worksite conditions, enabling high productivity when capacity permits while preventing overburdening when limits are approached.
2Productivity
If a complex loading profile is generated to optimize material displacement, then productivity is improved, but the system complexity increases
Solution Approach 1:
The system uses the machine's own sensing systems (position sensors, orientation sensors) and stored operational data to automatically generate and adjust the loading profile. The controller self-regulates by comparing actual machine state against the target profile and making real-time adjustments, eliminating the need for external complex control systems or manual intervention while maintaining optimized material displacement.
Solution Approach 2:
The system continuously monitors machine position, orientation, and operational parameters, feeding this data back to the controller which adjusts the loading profile accordingly. This closed-loop feedback mechanism enables complex adaptive control behavior using relatively simple computational logic, optimizing productivity without proportionally increasing system complexity.
3Productivity
If the machine operates autonomously with automated profile generation, then operational efficiency is improved, but the ability to adapt to unexpected worksite conditions decreases
Solution Approach 1:
The loading profile is not fixed but dynamically adjusted based on real-time machine position, orientation, and operational data. The system continuously adapts the target profile parameters to match current worksite conditions and machine capabilities, enabling autonomous operation that remains flexible and responsive to changing conditions rather than following a rigid predetermined path.
Solution Approach 2:
Real-time sensor data feeds back to the controller which modifies the loading profile in response to actual worksite conditions. This feedback loop enables the autonomous system to detect and respond to unexpected conditions (terrain variations, machine status changes) by adjusting operational parameters, maintaining both automation efficiency and environmental adaptability.
Data Source
AI summary
A system to control operation of a machine having a ground-engaging work implement for moving material about a worksite include a controller configured to determine a feasible target profile for the work implement to engage material. The feasible target profile may include a preload segment, a cut segment, and a loading segment. The controller determines a feasible prospective cut segment from a plurality of prospective cut segments. The controller generates a prospective preloading segment and a prospective loading segment associated with the feasible prospective cut profile. Position points associated with the loading segment are extracted and the controller determines if the ground-engaging work implement will align with the plurality of position points. The controller may also determine whether the load volume for the prospective cut segment is efficient.