MACHINE CONTROL SYSTEM HAVING AUTONOMOUS EDGE DUMPING

• US 20140214237A1
• Filed: 01/28/2013
• Published: 07/31/2014
• Est. Priority Date: 01/28/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: KOEHRSEN, Craig L., EVERETT, Bryan J., KINI, Ananth P., STRUBLE, Joshua C., VITALE, Andrew J., BANHAM, Mark H. C., POVEY, Dean G., HOLMES, Matthew A.
• Granted Patent: US 9,298,188 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• 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 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A control system is disclosed for use with a machine. The control system may have a communicating device, a locating device configured to generate a first signal indicative of a location of the machine, a sensor configured to generate a second signal indicative of contact of the machine with a berm, and an onboard controller. The control system may also have an offboard controller configured to generate a first set of coordinates of a dump target, and to assign the first set of coordinates to the onboard controller for use in controlling the machine. The offboard controller may also be configured to detect contact of the machine with the berm based on the second signal during reverse travel toward the dump target, and to generate a second set of coordinates of the dump target to correspond with a location of the machine at a time of contact detection.

Claims

1. A control system for machine, comprising:

a communicating device mounted on the machine;

a locating device mounted on the machine and configured to generate a first signal indicative of a location of the machine;

a sensor mounted on the machine and configured to generate a second signal indicative of contact of the machine with a berm;

an onboard controller mounted on the machine and configured to regulate operations of the machine; and

an offboard controller configured to receive information from the locating device, the sensor, and the onboard controller via the communicating device, the offboard controller being configured to;

generate a first set of coordinates of a dump target;

assign the first set of the coordinates to the onboard controller for use in regulating the machine;

detect contact of the machine with the berm based on the second signal during reverse travel toward the dump target; and

generate a second set of coordinates of the dump target to correspond with a location of the autonomous machine at a time of contact detection.

2. The control system of claim 1, wherein the offboard controller is further configured to assign the second set of coordinates for all subsequent use of the dump target.

3. The control system of claim 1, wherein the offboard controller is configured to generate the second set of coordinates of the dump target to correspond with a lengthwise center of a rear axle of the autonomous machine at the time of contact detection.

4. The control system of claim 3, wherein the offboard controller is further configured to:

generate a tolerance zone about the dump target; and

instruct the onboard controller to reduce a speed of the machine when the lengthwise center of the rear axle enters the tolerance zone.

5. The control system of claim 4, wherein the offboard controller is configured to instruct the onboard controller to reduce the speed of the machine to below a maximum acceptable threshold.

6. The control system of claim 5, wherein the maximum acceptable threshold is about 2.8 mph.

7. The control system of claim 3, wherein the offboard controller is further configured to instruct the onboard controller to cause the lengthwise center of the rear axle to come to a gradual stop at the second set of coordinates during all subsequent uses of the dump target.

8. The control system of claim 7, wherein the offboard controller is further configured to:

generate a travel lane that passes through the dump target; and

instruct the onboard controller to stop the machine before the lengthwise center of the rear axle reaches an end of the travel lane even if the lengthwise center has not yet reached the second set of coordinates.

9. The control system of claim 3, wherein the offboard controller is further configured to generate a trajectory window that extends from the dump target away from the berm.

10. The control system of claim 9, wherein the offboard controller is further configured to instruct the onboard controller to cause the lengthwise center of the rear axle to remain within the trajectory window during reverse travel toward the dump target.

11. The control system of claim 2, wherein the offboard controller is further configured to:

track a number of dump events occurring at the dump target; and

inhibit assigning use of the dump target when the number of dump events reaches a dump limit.

12. The control system of claim 11, wherein the offboard controller is further configured to instruct the onboard controller to initiate a cap dump with the machine during a final use of the dump target.

13. A method of controlling a machine, comprising:

generating a first set of coordinates of a dump target;

assigning the first set of coordinates for use in controlling the machine;

detecting contact of the machine with a berm during reverse travel toward the dump target; and

generating a second set of coordinates of the dump target to correspond with a location of the machine at a time of contact detection.

14. The method of claim 13, further including assigning the second set of coordinates for all subsequent use of the dump target.

15. The method of claim 13, wherein generating the second set of coordinates of the dump target includes generating the second set of coordinates to correspond with a lengthwise center of a rear axle of the autonomous machine at the time of contact detection.

16. The method of claim 15, further including:

generating a tolerance zone about the dump target; and

causing the machine to reduce its speed when the lengthwise center of the rear axle enters the tolerance zone.

17. The method of claim 16, wherein reducing the speed of the machine includes reducing the speed below about 1.5 mph.

18. The method of claim 16, further including causing the lengthwise center of the rear axle to come to a gradual stop at the second set of coordinates during all subsequent uses by any machine of the dump target.

19. The method of claim 18, further including:

generating a travel lane that passes through the dump target;

stopping the machine before any portion of the autonomous machine reaches an end of the travel lane even if the lengthwise center has not yet reached the second set of coordinates;

generating a trajectory window that extends from the dump target away from the berm; and

causing the lengthwise center of the rear axle to remain within the trajectory window during reverse travel toward the dump target.

20. A computer readable medium having executable instructions stored thereon for performing a method of controlling a machine, the method comprising:

generating a first set of coordinates of a dump target;

assigning the first set of coordinates for use in controlling the machine;

detecting contact of the machine with a berm based during reverse travel toward the dump target;

generating s second set of coordinates of the dump target to correspond with a location of the machine at a time of contact detection; and

assigning the second set of coordinates for all subsequent use of the dump target.