Semi-autonomous Tractor Crest Ramp Removal Control
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Solution Overview
Problem
Existing semi-autonomous machines lack efficient methods for early detection and automatic removal of crest end ramps, which can cause delays and operational setbacks due to their size and slope, even if the volume of material is within removal capacity.
Innovation Solution
A computer-implemented method and control system that calculates the volume of material in the crest end region, compares it to an adjustable threshold, and issues a ramp cut or short cut based on the volume, using a controller with modules for threshold definition, calculation, comparison, and special cut execution to address crest end ramps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If crest end ramps are left unaddressed during normal cuts, then the machine can continue operating without interruption, but the ramps grow in size and slope making them difficult or impossible to remove later
Solution Approach 1:
The system performs preliminary detection of crest end ramps during normal cutting operations by calculating material volume in the crest end region. When the volume exceeds a threshold, the system proactively issues a ramp cut instruction before the ramp becomes too large to handle, preventing future operational difficulties while maintaining continuous productivity.
2Manufacturing precision
If the machine performs normal cuts repeatedly, then material is removed according to the planned profile, but crest end ramps begin to form that cannot be removed by subsequent normal cuts
Solution Approach 1:
The system continuously monitors the work surface during normal cutting operations by calculating the volume of material in the crest end region. This feedback mechanism detects ramp formation early and triggers a special ramp cut operation when the volume exceeds a threshold, correcting the harmful ramp formation while maintaining overall cut profile accuracy.
3Difficulty of detecting and measuring
If crest end ramps are detected and removed manually, then the ramps are addressed, but operational delays occur and efficiency is reduced
Solution Approach 1:
The system performs automatic detection and removal of crest end ramps without requiring manual intervention. The controller autonomously calculates ramp volume, compares it to thresholds, and issues ramp cut instructions when needed, eliminating operational delays associated with manual detection and intervention while maintaining detection capability.
4Difficulty of detecting and measuring
If the volume threshold for ramp detection is set low, then early detection occurs, but unnecessary ramp cuts may be issued increasing operational complexity
Solution Approach 1:
The system uses an adjustable volume threshold parameter that can be optimized based on specific working conditions, machine capabilities, and material characteristics. This allows the detection sensitivity to be tuned to achieve early detection of significant ramps while filtering out minor variations that would trigger unnecessary operations, balancing detection capability with operational simplicity.
Data Source
AI summary
A computer-implemented method for removing a crest end ramp along a work surface using a machine is provided. The computer-implemented method may include defining a volume threshold corresponding to a crest end region of the work surface where the volume threshold may be adjustable based on one or more parameters associated with the machine and the work surface, calculating a volume of material within the crest end region, comparing the calculated volume with the volume threshold, issuing a ramp cut if the calculated volume approximates but does not exceed the volume threshold, and issuing a short cut if the calculated volume exceeds the volume threshold.