Autonomous Slot Alignment Control for Earthmoving Machines
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Solution Overview
Problem
Earthmoving machines, such as track-type tractors, face challenges in maintaining a straight alignment due to uneven forces from materials and loss of traction, leading to deviations from the desired direction of travel, which complicates precise alignment and increases the time required for re-alignment, especially in slot-dozing techniques and autonomous operations.
Innovation Solution
A system that includes machine and implement position sensors and a controller to compute and optimize the gap required for alignment with a slot, adjusting the movement of ground engaging members to position the machine correctly before the work implement enters a cut position, thereby reducing the need for operator intervention and improving alignment efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the machine operates under load without steering correction, then productivity is maintained, but the machine deviates from the desired direction of travel
Solution Approach 1:
The system enables the machine to automatically detect its own deviation from the desired path using sensors (GPS, inertial measurement units) and autonomously compute correction commands without operator intervention. The controller automatically adjusts ground engaging member engagement to realign the machine, making the system self-correcting while maintaining continuous operation
Solution Approach 2:
The system continuously monitors machine position, orientation, and deviation from the desired path using multiple sensors. This feedback is processed by the controller to dynamically compute and apply steering corrections, creating a closed-loop control system that maintains alignment precision while allowing continuous productive operation
2Manufacturing precision
If steering correction is applied to realign the machine, then alignment precision is improved, but slippage of tracks causes deviation and loss of time
Solution Approach 1:
The system computes and applies steering corrections proactively based on predicted deviation trends and machine dynamics models, rather than waiting for significant misalignment to occur. This preliminary action prevents excessive deviation before correction is needed, reducing the frequency and magnitude of corrective maneuvers
Solution Approach 2:
The system dynamically adjusts correction commands based on real-time machine state, material conditions, and track slip characteristics. The controller modifies correction magnitude and timing based on detected slip events, optimizing realignment speed while minimizing productivity loss
3Manufacturing precision
If the operator manually monitors and corrects alignment, then alignment precision is maintained, but operator fatigue increases and response time decreases
Solution Approach 1:
The system transfers the alignment monitoring and correction functions from the operator to an autonomous control system that continuously senses machine position, computes deviation, and applies corrections automatically. This eliminates operator fatigue while maintaining or improving alignment precision through continuous automated monitoring
Solution Approach 2:
The system replaces manual operator actions with automated sensor-based detection and controller-based command generation. Optical sensors, GPS receivers, and inertial measurement units substitute for human visual monitoring, while the controller substitutes for manual steering inputs, freeing the operator from continuous alignment tasks
4Manufacturing precision
If the machine performs frequent re-alignment maneuvers, then alignment precision is maintained, but productivity decreases due to lost time
Solution Approach 1:
The system performs preliminary steering adjustments that proactively maintain alignment within acceptable tolerances, preventing the need for frequent corrective maneuvers. By anticipating deviation trends and applying small continuous corrections, the system reduces the frequency of major re-alignment events
Solution Approach 2:
The system implements periodic verification of alignment status at optimized intervals rather than continuous corrective maneuvers. The controller monitors deviation trends and only initiates correction when predetermined thresholds are approached, reducing unnecessary steering actions while maintaining precision
Data Source
AI summary
A system for controlling operation of a machine having a frame supported by ground engaging members and a work implement movably supported by the frame includes a machine position sensor and an implement position sensor to output data pertaining to a position and orientation of the machine and the work implement within a worksite. The system further includes a controller that receives the data output by the machine position sensor and the implement position sensor. The controller computes an amount of gap that is required for alignment of the machine and the work implement with a slot based on the received data. The controller then controls a movement of the ground engaging members for positioning the machine at the computed amount of gap from a cut point located within the slot prior to the work implement entering a cut position for performing a cut within the slot.