Operator assist features for excavating machines based on perception system feedback

• US 10,358,796 B2
• Filed: 06/24/2015
• Issued: 07/23/2019
• Est. Priority Date: 06/25/2014
• Status: Active Grant

• Current Assignee: Siemens Large Drives LLC (Siemens AG)
• Original Assignee: Siemens Industry Incorporated (Siemens AG)
• Inventors: Robertson, Daniel W., Jaeger, Julian D., Eidenberger, Robert
• Primary Examiner(s): Ramesh, Krishnan
• Application Number:
  US15/311,264
• Publication Number:
  US 20170096797A1
• Time in Patent Office: 1,490 Days
• Field of Search: 701 22
• CPC Class Codes: B60L 1/00 Supplying electric power to auxiliary equipment of vehicles circuit arrangements for charging batteries H02J7/00
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: E02F 3/308 working outwardly
• CPC Class Codes: E02F 3/48 Drag-lines
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame
• CPC Class Codes: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence
• 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 9/2054 Fleet management
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931

Abstract

A system for an excavating machine includes a control system comprising a processing system, one or more sensors, a user interface, and a vision system, wherein the control system receives input signals from the user interface, the one or more sensors, and the vision system; and a motor in communication with the control system and the motor adapted to control movement of a portion of the excavating machine. The processing system can control operation of the motor.

Claims

1. A system for an excavating machine comprising:

a control system comprising a processing system, one or more sensors, a user interface, and a vision system, wherein the control system receives input signals from the user interface, the one or more sensors, and the vision system; and

a motor in communication with the control system and the motor adapted to control movement of a portion of the excavating machine, wherein the control system is adapted to control operation of the motor,

wherein, in order to identify a hauling capacity of a haul truck, the vision system of the control system is configured to capture an image of the haul truck, wherein the image of the haul truck is compared by the processing system to a set of haul truck images stored in a database to identify a type and the haul capacity of the haul truck, and

wherein the control system is configured to display the hauling capacity of the haul truck to the operator of the excavating machine via the user interface, and wherein the control system is further configured to display a remaining load capacity of the haul truck based on the hauling capacity and amount of soil dumped by the excavating machine into the haul truck.

2. The system of claim 1, the processing system comprising one of a digital signal processing circuit, a field gate array, or an application specific integrated circuit, and in communication with a storage device.

3. The system of claim 1, the one or more sensors carried by the excavating machine and adapted to monitor operating conditions of the excavating machine.

4. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a location of a handle of the excavating machine.

5. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a location of a dipper of the excavating machine.

6. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including an amount of weight of material in a dipper of the excavating machine.

7. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including an amount of torque on a handle of the excavating machine.

8. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a swing movement of the excavating machine.

9. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a crowd swing of the excavating machine.

10. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a hoist speed of the excavating machine.

11. The system of claim 3, the one or more sensors monitoring operating conditions of the excavating machine including a crowd angle of the excavating machine.

12. The system of claim 3, wherein the processing system monitors readings received from the one or more sensors and, based on the readings, actively limits operation of the motor.

13. The system of claim 1, the machine carrying a dipper;

the processing system adapted to determine a load in the dipper based on data received from the one or more sensors; and

the control system controlling the speed of movement of the dipper.

14. The system of claim 1, the vision system comprising one or more radar sensors configured to scan an area about the machine;

the processing system creating a three dimensional model of objects in the surroundings; and

the control system using the model to control operation of the machine.

15. The system of claim 1, the processing system determining the location of the machine from a bank to determine an ideal distance for machine operation to maximize efficiency.

16. The system of claim 15, the control system using the vision system to determine the distance the machine is from a bank.

17. The system of claim 16, the control system continuously monitoring the distance from the machine to the bank.

18. The system of claim 16, the control system displaying the distance of the machine to the bank with the user interface.

19. The system of claim 1, wherein the control system is configured to recognize the haul truck in vicinity of the excavating machine, the control system recognizing the haul truck in vicinity via a radio frequency identification system.