Work Implement Height Control for Faster Task Transitions
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Solution Overview
Problem
Existing machine control systems fail to effectively prevent the work implement from engaging the work surface while moving between task locations, leading to inefficiencies and increased cycle times during autonomous or semi-autonomous operations.
Innovation Solution
A system comprising machine position, work surface, and work implement sensors, along with a controller that generates signals to maintain the work implement at a traversing threshold height during movement and lowers it to a pre-task threshold height upon approaching the next task location, minimizing engagement and optimizing transition times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the work implement is maintained at a higher position during movement, then the likelihood of engagement with the work surface is reduced, but the cycle time for preparing the machine for subsequent work operations increases
Solution Approach 1:
The controller initiates work implement lowering signals before the machine reaches the task start location, based on determined location data from the machine position sensor. This preliminary action allows the work implement to be in the correct position for immediate task execution, reducing the preparation cycle time while preventing premature engagement during movement.
Solution Approach 2:
The system uses machine position sensors and location determination to provide continuous feedback to the controller about the machine's position during movement. This feedback enables the controller to dynamically adjust work implement height signals, lowering the implement at the optimal moment based on actual position data, thus resolving the contradiction between avoiding engagement and minimizing preparation time.
2Loss of time
If the work implement is lowered immediately upon reaching the task start location, then the preparation time is reduced, but the risk of inadvertent engagement during the approach increases
Solution Approach 1:
The controller determines the task start location using machine position sensors and begins lowering the work implement before the machine actually reaches the start location. This preliminary positioning action ensures the implement is ready for immediate task execution while maintaining a safe height during the approach, thus reducing preparation time without increasing engagement risk.
Solution Approach 2:
The system dynamically adjusts the work implement height based on the machine's real-time position during movement. The controller modifies lowering signals progressively as the machine approaches the task start location, creating a dynamic control strategy that balances the need for quick preparation with the need to avoid inadvertent engagement during the approach phase.
3Ease of operation
If manual operator control is used during movement between tasks, then flexibility is maintained, but operator intervention increases and productivity decreases
Solution Approach 1:
The system enables autonomous operation by using machine position sensors and location determination to automatically control work implement height during movement between tasks. The controller independently generates and adjusts height signals based on determined position data, eliminating the need for continuous operator intervention while maintaining operational flexibility through programmable control logic.
Solution Approach 2:
The system changes the control parameter from manual operator input to automated position-based control. By using machine position sensor data and determined location information as control inputs, the system transforms the operation mode from manual to autonomous, reducing operator intervention frequency while maintaining operational flexibility through adjustable control parameters and thresholds.
Data Source
AI summary
A system for controlling a ground engaging work implement includes a machine position sensor, a work surface position sensor, a work implement position sensor, and a controller. The controller determines the position of the machine, determines the topography of the work surface, determines a location of a pre-task trigger location adjacent the task start location, and determine a position of the lowest surface of the ground engaging work implement. The controller generates traverse signals to propel the machine from the task end location towards the task start location, generate work implement height signals to maintain the lowest surface of the ground engaging work implement at or above the traversing threshold height as the machine travels from the task end location towards the task start location, and generate work implement lowering signals to lower the work implement to the pre-task threshold height after the machine passes the pre-task trigger location.