Stockpiling Tool Path Control for Target Angle of Repose
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Solution Overview
Problem
Inefficient stockpiling of loose and granular materials leads to increased wear and tear on heavy machinery, strain on hydraulic systems, and reduced storage efficiency due to incorrect techniques and suboptimal pile formation.
Innovation Solution
A system and method that uses sensors and processors to determine the actual and target angles of repose for material piles, calculating an optimized travel path for the machine's tool to achieve the target angle, thereby efficiently lifting materials to form stable piles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If materials are piled without optimization, then storage surface area is increased, but storage volume efficiency is reduced
Solution Approach 1:
The system changes the geometric parameters of the material pile by controlling the tool path and lifting operations to achieve the target angle of repose. This optimization transforms the pile geometry to maximize vertical height while maintaining stability, thereby increasing storage volume efficiency without requiring additional worksite surface area.
2Productivity
If incorrect piling techniques are used, then material can be moved quickly, but wear and tear on machinery increases
Solution Approach 1:
The system dynamically adjusts the tool path and lifting parameters based on real-time measurements of the actual angle of repose and material properties. This dynamic optimization ensures that each lifting operation is efficient and minimizes unnecessary machine movements and hydraulic strain, thereby reducing wear and tear while maintaining high productivity.
Solution Approach 2:
The system continuously measures the actual angle of repose and compares it to the target angle, then adjusts subsequent tool paths and lifting operations accordingly. This feedback mechanism prevents excessive or redundant machine operations, reducing unnecessary wear on hydraulic systems and mechanical components while maintaining efficient stockpiling throughput.
3Manufacturing precision
If repeated stockpiling sweeps are performed, then material pile can be properly shaped, but operational time increases
Solution Approach 1:
The system performs preliminary measurements of the actual angle of repose and calculates the optimized tool path before executing lifting operations. This preliminary planning ensures that each sweep is precisely targeted and achieves the desired pile shape in fewer passes, eliminating the need for multiple corrective sweeps and reducing total operational time.
Data Source
AI summary
A method and system for controlling a machine to adjust the angle of repose of a material pile by receiving, by one or more processors and from sensors, measurements of geometric characteristics of a material pile; determining an actual angle of repose for the pile; identifying properties of the material; determining, by the one or more processors, a target angle of repose for the material pile according to the one or more material properties; determining an optimized travel path for a tool through the material pile, according to the actual and target angle of repose; and causing the tool to be actuated along the optimized travel path, wherein the tool engages and lifts a portion of the material to a top of the material pile such that the remaining material of the material pile has an angle of repose that is substantially equal to the target angle of repose.