System for automated excavation contour control

• US 20080082238A1
• Filed: 07/31/2006
• Published: 04/03/2008
• Est. Priority Date: 07/31/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Mannepalli, Swaroop Sesha Kamala
• Granted Patent: US 7,734,398 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004

Abstract

A control system for a machine is disclosed. The control system has a ground engaging tool operable to remove material from a surface at a worksite. The control system also has a controller configured to generate a desired single-pass excavation contour prior to engagement of the ground engaging tool with the surface. The desired single-pass excavation contour has one or more predefined characteristics.

Claims

1. A control system for a machine, comprising:

a ground engaging tool operable to remove material from a surface at a worksite; and

a controller configured to generate a desired single-pass excavation contour prior to engagement of the ground engaging tool with the surface, the desired single-pass excavation contour having one or more predefined characteristics.

2. The control system of claim 1, wherein the desired single-pass excavation contour is a complete trajectory of the tool including an entry into, movement through, and an exit from the surface.

3. The control system of claim 1, wherein the controller is further configured to receive at least one input associated with a condition of the worksite, and a shape of the desired single-pass excavation contour is based on the at least one input.

4. The control system of claim 3, wherein:

the controller generates the desired excavation contour based on a Gaussian curve; and

a shape of the Gaussian curve varies according to a value of the at least one input.

5. The control system of claim 3, wherein the at least one input is an existing general slope of the surface.

6. The control system of claim 3, wherein the at least one input is a material condition of the surface.

7. The control system of claim 3, wherein the at least one input is a capacity of the machine to remove material from the surface.

8. The control system of claim 1, wherein the one or more predefined characteristic includes a volume of the desired single-pass excavation contour being limited to less than a maximum volume of material movable by the machine on the surface.

9. The control system of claim 1, wherein the one or more predefined characteristic includes an entry into and an exit from the surface substantially tangent with the surface.

10. The control system of claim 1, wherein the one or more predefined characteristic includes a slope rate of change being limited to less than a maximum slope rate of change possible with the ground engaging tool.

11. The control system of claim 1, wherein the controller is further configured to control the position of the ground engaging tool to produce the desired single-pass excavation contour.

12. A method of controlling a machine'"'"'s work implement, comprising:

generating a desired excavation contour in a work surface based on a mathematical curve; and

controlling the position of the work implement to produce the desired excavation contour.

13. The method of claim 12, wherein the mathematical curve is a Gaussian curve.

14. The method of claim 12, wherein the mathematical curve has an entry into and an exit from the work surface substantially tangent with the work surface.

15. The method of claim 12, further including receiving at least one parameter indicative of a characteristic of the work surface, wherein a shape of the mathematical curve varies according to a value of the at least one parameter.

16. The method of claim 15, wherein:

the at least one parameter is a general slope of the work surface;

a depth of the desired excavation contour increases as the general slope of the work surface decreases; and

a length of the desired excavation contour decreases as the depth of the desired excavation contour increases.

17. The method of claim 15, wherein:

the at least one parameter is a material condition of the work surface; and

a depth of the excavation contour increases as the material of the work surface softens.

18. The method of claim 15, further including receiving an indication of a capacity of the machine to remove material, wherein the shape of the mathematical curve further varies according to the capacity of the machine.

19. A machine, comprising:

a traction device configured to propel the machine across a worksite;

a locating device configured to provide a location of the machine relative to the worksite;

a work implement operable to remove material from a surface of the worksite; and

a controller in communication with the work implement and the locating device, the controller being configured to;

receive at least one input associated with a worksite condition;

generate a desired excavation contour into the surface based on the at least one input; and

control the position of the work implement to produce the desired excavation contour as the machine traverses the worksite.

20. The machine of claim 19, wherein:

the at least one input includes at least one of an existing general slope of the surface and a material composition of the surface;

the desired excavation contour has an entry into and an exit from the surface substantially tangent with the surface; and

the controller is configured to generate the desired excavation contour based further on a capacity of the machine to move material on the surface.