System and method for optimizing a work implement path

• US 10,101,723 B2
• Filed: 09/12/2014
• Issued: 10/16/2018
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Wei, Mo, Taylor, Michael, Edara, Thandava K.
• Primary Examiner(s): Norton, Jennifer L
• Application Number:
  US14/484,549
• Publication Number:
  US 20160077513A1
• Time in Patent Office: 1,495 Days
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• CPC Class Codes: E02F 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/35188 Project workpiece and sheet on screen, position layout to be cut, store contour
• CPC Class Codes: G05B 2219/49001 Machine tool problems
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

A system for determining an optimized cut location for a work implement includes a position sensor and a controller. The controller is configured to determine the position of a work surface and determine a plurality of potential cut locations along a path between an initial cut location and an end location. The controller is further configured to determine an efficiency for moving an amount of material for each of the initial cut location and the plurality of potential cut locations based upon the amount of material to be moved, a parameter associated with moving the amount of material, and a loading profile, and select the optimized cut location from one of the initial cut location and the plurality of potential cut locations based upon the efficiency of each of the initial cut location and the plurality of potential cut locations.

Claims

1. A system for determining an optimized cut location for a work implement of a machine, the machine moving on a work surface along a path, comprising:

a position sensor for generating position signals indicative of a position of the work surface;

a ground engaging drive mechanism for moving the machine along the path;

a controller configured to;

store an end location of the path;

determine the position of the work surface based upon the position signals;

store a position of a carry surface, the carry surface extending between a first location and the end location of the path, the carry surface is below the work surface;

store a first cut location, a first loading profile, and a first carry profile, the first carry profile extending along the carry surface, wherein a combination of the first loading profile and the first carry profile has a first length extending between the first cut location and the end location of the path;

determine a first efficiency for moving a first amount of material upon moving the work implement from the first cut location to the end location of the path along the first loading profile and the first carry profile, the first efficiency is based upon the first amount of material to be moved along the first loading profile and first carry profile, a first parameter associated with moving the first amount of material, and the first loading profile;

determine a plurality of potential cut locations along the path, each of the potential cut locations is disposed between the first cut location and the end location of the path;

determine a loading profile and a carry profile for each of the potential cut locations, each carry profile extending along the carry surface, wherein a combination of each loading profile and its respective carry profile has a length extending between its potential cut location and the end location of the path, the length of each loading profile in combination with its respective carry profile is different from and less than the first length;

determine an efficiency for moving an amount of material upon moving the work implement from each of the potential cut locations to the end location of the path along a respective loading profile and carry profile associated with each potential cut location, the efficiency for each of the plurality of potential cut locations is based upon the amount of material to be moved along the loading profile and carry profile associated with each potential cut location, a parameter associated with moving the amount of material between each potential cut location and the end location, and the loading profile associated with each potential cut location;

compare the efficiency of each potential cut location to the first efficiency and select the optimized cut location from one of the first cut location and the plurality of potential cut locations based upon the first efficiency and the efficiency of each of the plurality of potential cut locations, wherein the optimized cut location has the highest efficiency;

generate drive commands to control the ground engaging drive mechanism to move the machine along the path to the optimized cut location;

generate cut commands to autonomously cut the work surface at the optimized cut location; and

wherein based on the generated drive commands, the ground engaging drive mechanism moves the machine along the path to the optimized cut location and based on the generated cut command, the work surface is autonomously cut with the work implement at the optimized cut location.

2. The system of claim 1, where the controller is configured to determine the first efficiency by dividing the initial amount of material to be moved by the first parameter and determine the efficiency of each potential cut location by dividing the amount of material to be moved for each potential cut location by the parameter associated with moving the amount of material for each respective potential cut location.

3. The system of claim 1, wherein the first parameter is a first length of time required to move the first amount of material from the first cut location to the end location and the parameter associated with each potential cut location is a length of time required to move the amount of material associated with the each respective potential cut location from the potential cut location to the end location.

4. The system of claim 3, wherein the controller is further configured determine the first length of time and the length of time associated with each respective potential cut location based upon the position of the work surface.

5. The system of claim 4, wherein the controller is further configured to divide the path into a plurality of horizontally spaced apart increments, determine a travel time along each of the plurality of increments based upon an increment parameter, and determine the first length of time and the length of time associated with each respective potential cut location based upon a total of the travel times along the plurality of increments.

6. The system of claim 5, wherein the increment parameter is a slope of the work surface along each increment.

7. The system of claim 3, wherein the controller is further configured to store a target speed of the machine and determine the first length of time and the length of time associated with each respective potential cut location based upon the target speed.

8. The system of claim 1, wherein the first parameter is a distance of the first cut location to the end location and the parameter associated with each respective potential cut location is a distance of each potential cut location to the end location.

9. The system of claim 1, wherein the first parameter is an amount of fuel used to move the amount of material from the first cut location to the end location and the parameter associated with each respective potential cut location is an amount of fuel used to move the amount of material from each potential cut location to the end location.

10. The system of claim 1, wherein the controller is configured to select the optimized cut location while the machine is moving along the path.

11. The system of claim 1, wherein the controller is further configured to determine potential cut locations based upon the first loading profile, the first carry profile and the position of the work surface.

12. The system of claim 11, wherein the controller is further configured to determine potential cut locations based upon intersections between the work surface and the first loading profile and the first carry profile.

13. The system of claim 11, wherein the controller is further configured to determine potential cut locations based upon locations in which a slope of the work surface is increasing relative to the first loading and the first carry profile.

14. The system of claim 1, wherein the controller is further configured to determine potential cut locations by dividing the path into a plurality of horizontally spaced apart increments.

15. A controller-implemented method for determining an optimized cut location for a work implement of a machine, the machine moving on a work surface along a path, comprising:

storing an end location of the path;

determining the position of the work surface based upon position signals from a position sensor;

storing a position of a carry surface, the carry surface extending between a first location and the end location of the path, the carry surface is below the work surface;

storing a first cut location, a first loading profile, and a first carry profile, the first carry profile extending along the carry surface, wherein a combination of the first loading profile and the first carry profile has a first length extending between the first cut location and the end location of the path;

determining a first efficiency for moving a first amount of material upon moving the work implement from the first cut location to the end location of the path along the first loading profile and the first carry profile, the first efficiency is based upon the first amount of material to be moved along the first loading profile and first carry profile, a first parameter associated with moving the first amount of material, and the first loading profile;

determining a plurality of potential cut locations along the path, each of the potential cut locations is disposed between the first cut location and the end location of the path;

determining a loading profile and a carry profile for each of the potential cut locations, each carry profile extending along the carry surface, wherein a combination of each loading profile and its respective carry profile has a length extending between its potential cut location and the end location of the path, the length of each profile in combination with its respective carry profile is different from and less than the first length;

determining an efficiency for moving an amount of material upon moving the work implement from each of the potential cut locations to the end location of the path along a respective loading profile and carry profile associated with each potential cut location, the efficiency for each of the plurality of potential cut locations is based upon the amount of material to be moved along the loading profile and carry profile associated with each potential cut location, a parameter associated with moving the amount of material between each potential cut location and the end location, and the loading profile associated with each potential cut location;

comparing the efficiency of each potential cut location to the first efficiency and selecting the optimized cut location from one of the first cut location and the plurality of potential cut locations based upon the first efficiency and the efficiency of each of the plurality of potential cut locations, wherein the optimized cut location has the highest efficiency;

generating drive commands to control a ground engaging drive mechanism to move the machine along the path to the optimized cut location;

generating cut commands to autonomously cut the work surface at the optimized cut location; and

wherein based on the generated drive commands, the ground engaging drive mechanism moves the machine along the path to the optimized cut location and based on the generated cut command, the work surface is autonomously cut with the work implement at the optimized cut location.

16. The method of claim 15, further including determining the first efficiency by dividing the first amount of material to be moved by the first parameter and determining the efficiency of each potential cut location by dividing the amount of material to be moved for each potential cut location by the parameter associated with moving the amount of material for each respective potential cut location.

17. The method of claim 15, further including selecting the optimized cut location while the machine is moving along the path.

18. The method of claim 15, further including determining potential cut locations based upon a target profile of the initial cut location and the position of the work surface.

19. A machine, comprising:

a prime mover;

a work implement for engaging a work surface along a path;

a position sensor for generating position signals indicative of a position of the work surface;

a ground engaging drive mechanism for moving the machine along the path;

a controller configured to;

store an end location of the path;

determine the position of the work surface based upon the position signals;

store a position of a carry surface, the carry surface extending between a first location and the end location of the path, the carry surface is below the work surface;

store a first cut location, a first loading profile, and a first carry profile, the first carry profile extending along the carry surface, wherein a combination of the first loading profile and the first carry profile has a first length extending between the first cut location and the end location of the path;

determine a first efficiency for moving a first amount of material upon moving the work implement from the first cut location to the end location of the path along the first loading profile and the first carry profile, the first efficiency is based upon the first amount of material to be moved along the first loading profile and first carry profile, a first parameter associated with moving the first amount of material, and the first loading profile;

determine a plurality of potential cut locations along the path, each of the potential cut locations is disposed between the first cut location and the end location of the path;

determine a loading profile and a carry profile for each of the potential cut locations, each carry profile extending along the carry surface, wherein a combination of each loading profile and its respective carry profile has a length extending between its potential cut location and the end location of the path, the length of each loading profile in combination with its respective carry profile is different from and less than the first length;

determine an efficiency for moving an amount of material upon moving the work implement from each of the potential cut locations to the end location of the path along a respective loading profile and carry profile associated with each potential cut location, the efficiency for each of the plurality of potential cut locations is based upon the amount of material to be moved along the loading profile and carry profile associated with each potential cut location, a parameter associated with moving the amount of material between each potential cut location and the end location, and the loading profile associated with each potential cut location;

compare the efficiency of each potential cut location to the first efficiency and select the optimized cut location from one of the first cut location and the plurality of potential cut locations based upon the first efficiency and the efficiency of each of the plurality of potential cut locations, wherein the optimized cut location has the highest efficiency;

generate drive commands to control the ground engaging drive mechanism to move the machine along the path to the optimized cut location;

generate cut commands to autonomously cut the work surface at the optimized cut location; and

wherein based on the generated drive commands, the ground engaging drive mechanism moves the machine along the path to the optimized cut location and based on the generated cut command, the work surface is autonomously cut with the work implement at the optimized cut location.