Semi-autonomous Excavation Control System with Automatic Mode Transition
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing excavation control systems require significant operator skill and experience, leading to fatigue and interruptions in the excavation cycle, as operators must manually control multiple tasks even during autonomous segments and frequently activate switches for semi-autonomous control.
Innovation Solution
A semi-autonomous excavation control system that includes a controller communicating with operator input devices to determine when manual control is complete, allowing it to assume control over the tool's movement towards a desired location and seamlessly transition back to operator control upon reaching that location, thereby automating repetitive tasks like swinging segments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If semi-autonomous control is implemented with manual-auto change over switch, then operator control is simplified, but operator fatigue increases due to frequent switch activation and manual task completion
Solution Approach 1:
The system automatically detects when the operator has completed manual tasks and autonomously transitions control modes without requiring operator intervention. The controller monitors tool position, movement state, and operational parameters to determine when autonomous control should be activated, eliminating the need for manual switch activation and maintaining continuous excavation cycles
Solution Approach 2:
The system continuously monitors operational parameters including tool position, movement state, and cylinder positions to determine when manual control has been completed. This feedback mechanism allows the system to automatically transition between manual and autonomous control modes based on real-time operational status, eliminating interruptions in the excavation cycle
2Device complexity
If operator manually controls multiple tasks during autonomous segments, then system complexity is reduced, but productivity decreases due to frequent interruptions
Solution Approach 1:
The control system dynamically transitions between manual and autonomous modes based on real-time detection of operational status. The system monitors tool movement state, position relative to desired locations, and cylinder positions to determine when to automatically assume control, enabling seamless mode transitions that maintain continuous excavation cycles while managing system complexity
Solution Approach 2:
The system performs preliminary detection and assessment of operational status before transitioning to autonomous control. By monitoring tool position, movement state, and cylinder positions in advance, the system determines the optimal moment to assume control, ensuring smooth transitions without interrupting the excavation cycle and maintaining high productivity
3Ease of operation
If auto-dig system automates swinging segments, then operator fatigue is reduced, but system complexity increases requiring sophisticated control algorithms
Solution Approach 1:
The excavation cycle is segmented into distinct phases (manual dig/dump segments and autonomous swing segments). The system automatically detects transition points between segments and activates autonomous control for swinging operations while maintaining manual control for digging and dumping. This segmentation allows automation of specific tasks without requiring the entire system to be complex, reducing operator fatigue for automated portions while keeping the overall control architecture manageable
Data Source
AI summary
An excavation control system for a machine is disclosed. The excavation control system may have a tool, at least one operator input device configured to provide manual control over movement of the tool, and a controller in communication with the at least one operator input device. The controller may be configured to receive an input related to an operator desired tool location, and determine that an operator is manually controlling movement of the tool toward the operator desired tool location. The controller may be further configured to automatically assume control over movement of the tool toward the operator desired tool location based on the determination.