Autonomous Ripping Path Re-orientation via Drawbar Pull Feedback
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Solution Overview
Problem
Autonomous or semi-autonomous machines, such as dozers and motor graders, face challenges in efficiently following a designated ripping path due to non-homogeneous work surfaces, leading to excessive wear and inefficient material movement, as they struggle to re-orient themselves without human judgment.
Innovation Solution
A system and method that utilize a position sensing system, a ripper, and a controller to determine the machine's position relative to the ripping path, compare drawbar pull to a maximum steering drawbar pull, and adjust the ripper's position to re-orient the machine back to the path while maintaining efficient traction, allowing for continuous ripping operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the machine follows the designated ripping path on non-homogeneous work surfaces, then the ripping operation can be performed, but the machine experiences excessive wear and moves without moving significant material
Solution Approach 1:
The system continuously monitors the machine's actual position using position sensing systems and compares it to the desired ripping path. When deviations are detected, the control system provides feedback to automatically redirect the machine back to the correct path, ensuring efficient material movement while preventing excessive wear from operating on hard surfaces.
2Productivity
If the machine uses a ripper mechanism to break-up hard material, then wear on the machine is reduced and material can be moved efficiently, but the machine may not always follow the desired ripping path due to non-homogeneous work surface
Solution Approach 1:
The autonomous system performs self-correction by automatically detecting path deviations and redirecting the machine back to the desired ripping path without human intervention. The position sensing system and control algorithm work together to maintain accurate path following despite variations in work surface conditions.
3Extent of automation
If autonomous or semi-autonomous machines operate without human judgment, then consistent productivity is achieved, but they struggle to determine how to efficiently re-direct the machine back to the desired ripping path
Solution Approach 1:
The patent replaces human operator judgment with an automated control system that uses position sensing data and algorithms to determine when and how to redirect the machine. The control system calculates the optimal redirection strategy based on measured deviations from the desired path, substituting mechanical human decision-making with electronic sensing and control.
Data Source
AI summary
A system for re-orienting a machine during a ripping operation includes a position sensing system, a ripper, and a controller. The system stores a ripping path, determines the position of the machine, and compares the position of the machine to the ripping path. A drawbar pull of the machine is determined, compared to a maximum steering drawbar pull, and the ripper is raised if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull. The machine is re-oriented and the ripper lowered relative to the work surface.