System and Method for Modifying a Path for a Machine

• US 20140180444A1
• Filed: 12/20/2012
• Published: 06/26/2014
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edara, Thandava K., Taylor, Michael, Felty, Timothy, Wei, Mo, Stratton, Kenneth L., Clar, Jean-Jacques
• Granted Patent: US 9,228,315 B2
• Time in Patent Office: Days
• US Class Current: 700/56
• 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: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system for modifying a path of operation of a machine includes a position sensor and a controller. The controller stores the path of operation, receives a plurality of position signals as the work implement moves material along the path of operation, and determines the position of the work surface. The controller further determines an amount of material moved based at least in part upon the position of the work surface and modifies parameters used to determine a subsequent path of operation if the amount of material moved exceeds a predetermined amount.

Claims

1. A system for modifying a path of operation of a machine having a ground engaging work implement, comprising:

a position sensor associated with the machine for generating position signals indicative of a position of a work surface; and

a controller configured to;

store the path of operation;

receive a plurality of position signals from the position sensor as the work implement moves material along the path of operation;

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

determine an amount of material moved along the path based at least in part upon the position of the work surface; and

modify parameters used to determine a subsequent path of operation if the amount of material moved exceeds a predetermined amount.

2. The system of claim 1, wherein the controller is configured to modify the path of operation by shifting the path of operation laterally.

3. The system of claim 1, wherein the controller is configured to modify the path of operation by extending the path of operation generally towards a dump location.

4. The system of claim 1, wherein the controller is configured to modify the path of operation by changing an angle of at least a portion of the path of operation relative to a gravity reference.

5. The system of claim 1, wherein the controller is configured to modify the path of operation by shifting the path of operation laterally in a first direction generally perpendicular to the path of operation and subsequently shifting the path of operation laterally in a second direction generally opposite the first direction.

6. The system of claim 5, wherein the controller is further configured to shift the path of operation laterally in the first direction by a first distance and shift the path of operation laterally in the second direction by a second distance, the second distance being greater than the first distance.

7. The system of claim 1, wherein the controller is configured to modify the path of operation by extending an end of the path of operation generally adjacent a dump location.

8. The system of claim 1, wherein the amount of material moved corresponds to a volume of material moved.

9. The system of claim 1, wherein the amount of material moved corresponds to a depth of material moved along the path of operation.

10. The system of claim 1, wherein the controller is further configured to modify the path of operation based at least in part upon conditions of an operating environment of the machine.

11. The system of claim 10, wherein the operating environment includes at least one of an angle of repose of material being moved and an angle of the path of operation relative to a gravity reference.

12. The system of claim 1, wherein the path of operation is generally linear.

13. The system of claim 1, wherein the controller is configured to modify the path of operation by extending the path of operation generally towards a dump location.

14. The system of claim 1, wherein the controller is configured to modify the path of operation by changing an angle of at least a portion of the path of operation relative to a gravity reference.

15. The system of claim 1, wherein the controller is further configured to:

store a desired carry profile including a carry angle of a portion of the path of operation relative to a gravity reference;

store a final design plane of the work surface;

modify the carry angle if an actual profile is within a predetermined distance of the final design plane to define a modified carry angle; and

determine a target profile extending along the path of operation, the target profile based at least in part upon the final design plane, the actual profile of the work surface, and the modified carry angle.

16. A controller implemented method for modifying a path of operation of a machine, comprising:

storing the path of operation;

receiving a plurality of position signals from a position sensor indicative of a position of a work surface as a work implement of the machine moves material along the path of operation;

determining the position of the work surface based upon the plurality of position signals;

determining an amount of material moved along the path based at least in part upon the position of the work surface; and

modifying parameters used to determine a subsequent path of operation if the amount of material moved exceeds a predetermined amount.

17. The method of claim 16, further including modifying the path of operation by shifting the path of operation laterally.

18. The method of claim 16, further including modifying the path of operation by extending the path of operation generally towards a dump location.

19. The method of claim 16, further including modifying the path of operation by changing an angle of at least a portion of the path of operation relative to a gravity reference.

20. A machine comprising:

a prime mover;

a ground engaging work implement for engaging a work surface;

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

a controller configured to;

store a path of operation;

receive a plurality of position signals from the position sensor as the work implement of the machine moves material along the path of operation;

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

determine an amount of material moved along the path based at least in part upon the position of the work surface; and

modify parameters used to determine a subsequent path of operation if the amount of material exceeds a predetermined amount.