System and Method for Controlling the Operation of a Machine

• US 20160076223A1
• Filed: 09/12/2014
• Published: 03/17/2016
• 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.
• Granted Patent: US 9,388,550 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• 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 3/43 Control of dipper or bucket position; Control of sequence of drive operations
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 3/845 using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• 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 9/205 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: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• 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

Abstract

A system for autonomous control of a machine having a ground-engaging work implement includes a position sensor and a controller. The controller is configured to determine the position of a work surface based upon the position signals and select a work zone loading profile for a work zone cut location along a path within a work zone and the work zone loading profile has a work zone cut angle relative to a ground reference. The controller is further configured to select a final cut loading profile for a final cut location along the path adjacent the boundary zone with the final cut loading profile having a final cut angle relative to the ground reference. The final cut angle is steeper than the work zone cut angle.

Claims

1. A system for autonomous control of a machine having a ground-engaging work implement, the machine moving on a work surface along a path at a work site, comprising:

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

a controller configured to;

store an electronic map of the work site, the work site including a boundary, a work zone, and a boundary zone between the boundary and the work zone;

store a target surface;

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

select a work zone loading profile for a work zone cut location along the path within the work zone, the work zone loading profile having a work zone cut angle relative to a ground reference;

select a final cut loading profile for a final cut location along the path adjacent the boundary zone, the final cut loading profile having a final cut angle relative to the ground reference, the final cut angle being steeper than the work zone cut angle.

2. The system of claim 1, wherein the controller is further configured to select a boundary zone loading profile for a boundary zone cut location along the path within the boundary zone, the boundary zone loading profile having a boundary zone cut angle relative to the ground reference, and the boundary zone cut angle is steeper than the work zone cut angle.

3. The system of claim 2, wherein the final cut angle is steeper than the boundary zone cut angle.

4. The system of claim 1, wherein the controller is further configured to select a boundary zone loading profile for a boundary zone cut location along the path within the boundary zone, the boundary zone loading profile having a boundary zone cut angle relative to the ground reference, the boundary zone loading profile having a boundary zone cut depth equal to a distance between the work surface and the carry surface at the boundary zone cut location, the work zone loading profile having a work zone cut depth equal to a distance between the work surface and the carry surface at the work zone cut location, and the final cut loading profile having a final cut depth equal to a distance between the work surface and the carry surface at the final cut location, the boundary zone cut angle, the work zone cut angle, and the final cut angle are linearly proportional to the boundary zone cut depth, the work zone cut depth, and the final cut depth, respectively.

5. The system of claim 1, wherein the controller is further configured to generate a boundary zone loading profile for each of a plurality of boundary zone cut locations along the path within the boundary zone, each boundary zone loading profile includes a boundary zone cut angle relative to the ground reference, and the boundary zone cut angle of each boundary zone loading profile is steeper than the boundary zone cut angle of any boundary zone loading profile corresponding to a boundary zone cut location closer to the work zone.

6. The system of claim 1, wherein the controller is further configured to generate a boundary zone loading profile for each of a plurality of boundary zone cut locations along the path within the boundary zone, each boundary zone loading profile includes a boundary zone cut angle relative to the ground reference, and the boundary zone cut angles are progressively steeper closer to the boundary.

7. The system of claim 1, wherein the boundary zone begins a predetermined distance from the boundary.

8. The system of claim 7, wherein the predetermined distance is equal to a distance from a rear end of the machine to a tip of a blade of the machine.

9. The system of claim 1, wherein the controller is further configured to generate an alert command upon a final cut depth exceeding a work zone cut depth by a predetermined height.

10. The system of claim 1, wherein the machine includes a prime mover, a ground-engaging drive mechanism, and a transmission operatively connected between the prime mover and the ground-engaging drive mechanism, the transmission including a first reverse gear and a second reverse gear, the first reverse gear having a higher gear ratio than the second reverse gear, wherein moving the ground-engaging work implement along the final cut loading profile defines a slope too steep for the machine to climb while operating with the transmission in the second reverse gear.

11. The system of claim 1, wherein the position sensor is mounted on the machine.

12. A controller-implemented method for autonomous control of a machine having a ground-engaging work implement, the machine moving on a work surface along a path at a work site, comprising:

storing an electronic map of a the work site, the work site including a boundary, a work zone, and a boundary zone between the boundary and the work zone;

storing a target surface;

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

selecting a work zone loading profile for a work zone cut location along the path within the work zone, the work zone loading profile having a work zone cut angle relative to a ground reference; and

selecting a final cut loading profile for a final cut location along the path adjacent the boundary zone, the final cut loading profile having a final cut angle relative to the ground reference, the final cut angle being steeper than the work zone cut angle.

13. The method of claim 12, further including selecting a boundary zone loading profile for a boundary zone cut location along the path within the boundary zone, the boundary zone loading profile having a boundary zone cut angle relative to the ground reference, and the boundary zone cut angle being steeper than the work zone cut angle.

14. The method of claim 13, wherein the final cut angle is steeper than the boundary zone cut angle.

15. The method of claim 12, further including selecting a boundary zone loading profile for a boundary zone cut location along the path within the boundary zone, the boundary zone loading profile having a boundary zone cut angle relative to the ground reference, the boundary zone loading profile having a boundary zone cut depth equal to a distance between the work surface and the carry surface at the boundary zone cut location, the work zone loading profile having a work zone cut depth equal to a distance between the work surface and the carry surface at the work zone cut location, and the final cut loading profile having a final cut depth equal to a distance between the work surface and the carry surface at the final cut location, the boundary zone cut angle, the work zone cut angle, and the final cut angle being linearly proportional to the boundary zone cut depth, the work zone cut depth, and the final cut depth, respectively.

16. The method of claim 12, further including generating a boundary zone loading profile for each of a plurality of boundary zone cut locations along the path within the boundary zone, each boundary zone loading profile including a boundary zone cut angle relative to the ground reference, and the boundary zone cut angle of each boundary zone loading profile being steeper than the boundary zone cut angle of any boundary zone loading profile corresponding to a boundary zone cut location closer to the work zone.

17. The method of claim 12, further including generating a boundary zone loading profile for each of a plurality of boundary zone cut locations along the path within the boundary zone, each boundary zone loading profile including a boundary zone cut angle relative to the ground reference, and the boundary zone cut angles being progressively steeper closer to the boundary.

18. The method of claim 12, further including generating an alert command upon a final cut depth exceeding a work zone cut depth by a predetermined height.

19. The method of claim 12, wherein the machine includes a prime mover, a ground-engaging drive mechanism, and a transmission operatively connected between the prime mover and the ground-engaging drive mechanism, the transmission including a first reverse gear and a second reverse gear, the first reverse gear having a higher gear ratio than the second reverse gear, and further including moving the ground-engaging work implement along the final cut loading profile along a slope too steep for the machine to climb while operating with the transmission in the second reverse gear.

20. A machine, comprising:

a prime mover;

a ground-engaging work implement for engaging a work surface along a path at a work site;

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

a controller configured to;

store an electronic map of the work site, the work site including a boundary, a work zone, and a boundary zone between the boundary and the work zone;

store a target surface;

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

select a work zone loading profile for a work zone cut location along the path within the work zone, the work zone loading profile having a work zone cut angle relative to a ground reference;

select a final cut loading profile for a final cut location along the path adjacent the boundary zone, the final cut loading profile having a final cut angle relative to the ground reference, the final cut angle being steeper than the work zone cut angle.