Cycle planner for an earthmoving machine

• US 5,924,493 A
• Filed: 05/12/1998
• Issued: 07/20/1999
• Est. Priority Date: 05/12/1998
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Hartman, Matthew A.
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US09/076,246
• Time in Patent Office: 434 Days
• Field of Search: 172/1, 172/2, 172/4, 172/4.5, 172/7, 701/50
• US Class Current: 172/4.5
• CPC Class Codes: E02F 3/431 for bucket-arms, front-end loaders, dumpers or the like
• CPC Class Codes: E02F 3/84 Drives or control devices therefor , e.g. hydraulic drive systems
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence

Abstract

A method for determining a series of work cycles for an earthmoving machine is disclosed. The method includes the steps of determining a plurality of parameters, modeling a volume of material to be moved, planning a series of work cycles to move the volume of material, and determining a level of productivity of the series of work cycles. The method also includes the steps of repeating the above steps a predetermined number of times and choosing an optimal series of work cycles to move the volume of material.

Claims

1. A method for determining a series of work cycles for an earthmoving machine, including the steps of:

a) determining a plurality of parameters of the earthmoving machine and of a volume of material to be moved;

b) modeling the volume of material;

c) planning a series of work cycles to move the modeled volume of material;

d) determining a level of productivity of the series of work cycles as a function of a predetermined optimization parameter;

e) repeating steps b) through d) a predetermined number of times; and

f) choosing an optimal series of work cycles for the earthmoving machine to move the volume of material.

2. A method, as set forth in claim 1, wherein modeling the volume of material includes the step of determining the volume of the material to be moved.

3. A method, as set forth in claim 2, wherein planning a series of work cycles includes the steps of:

determining a series of segments of the volume of material; and

determining a series of segment work cycles for each segment as a function of the plurality of parameters of the earthmoving machine and of the material.

4. A method, as set forth in claim 3, wherein repeating steps b) through d) includes the steps of:

determining an other series of segments of the volume of material; and

determining an other series of segment work cycles for each other segment as a function of the plurality of parameters.

5. A method, as set forth in claim 4, wherein determining an other series of segments includes the step of changing a width and an angle of each segment within a set of predetermined constraints.

6. A method, as set forth in claim 1, wherein the plurality of parameters of the earthmoving machine includes machine parameters defining a capability of the earthmoving machine to move an amount of material.

7. A method, as set forth in claim 6, wherein a machine parameter is an available power output of the earthmoving machine.

8. A method, as set forth in claim 6, wherein a machine parameter is a size of an earthmoving implement on the earthmoving machine.

9. A method, as set forth in claim 1, wherein the plurality of parameters of the volume of material to be moved includes characteristics of the material.

10. A method, as set forth in claim 9, wherein a characteristic of the material is the composition of the material.

11. A method, as set forth in claim 9, wherein a characteristic of the material is an amount of moisture contained in the material.

12. A method, as set forth in claim 1, wherein a predetermined optimization parameter is a function of an amount of time required to move the modeled volume of material.

13. A method, as set forth in claim 12, wherein a predetermined number of times for repeating steps b) through d) is determined as a function of the predetermined optimization parameter.

14. A method, as set forth in claim 13, wherein the predetermined number of times is determined in response to the level of productivity of a planned series of work cycles being less than the predetermined optimization parameter.

15. A method, as set forth in claim 13, wherein the predetermined number of times is determined in response to the difference in the level of productivity of a planned series of work cycles compared to the level of productivity of a previous planned series of work cycles being less than a predetermined threshold.

16. A method for determining a series of work cycles for an earthmoving machine, including the steps of:

determining a plurality of parameters of the earthmoving machine and of a volume of material to be moved;

modeling the volume of material;

planning a first series of work cycles to move the modeled volume of material;

determining a level of productivity of the first series of work cycles as a function of a predetermined optimization parameter;

planning a second series of work cycles to move the modeled volume of material;

determining a level of productivity of the second series of work cycles as a function of the predetermined optimization parameter; and

choosing one of the first and second series of work cycles for the earthmoving machine to move the volume of material.

17. A method, as set forth in claim 16, wherein modeling the volume of material includes the step of determining the volume of the material to be moved.

18. A method, as set forth in claim 17, wherein planning one of the first and second series of work cycles includes the steps of:

determining a series of segments of the volume of material; and

determining a series of segment work cycles for each segment as a function of the plurality of parameters of the earthmoving machine and of the material.

19. A method, as set forth in claim 17, wherein the plurality of parameters of the earthmoving machine includes machine parameters defining a capability of the earthmoving machine to move an amount of material.

20. A method, as set forth in claim 19, wherein a machine parameter is an available power output of the earthmoving machine.

21. A method, as set forth in claim 19, wherein a machine parameter is a size of an earthmoving implement on the earthmoving machine.

22. A method, as set forth in claim 16, wherein the plurality of parameters of the volume of material to be moved includes characteristics of the material.

23. A method, as set forth in claim 22, wherein a characteristic of the material is the composition of the material.

24. A method, as set forth in claim 22, wherein a characteristic of the material is an amount of moisture contained in the material.

25. A method, as set forth in claim 16, wherein a predetermined optimization parameter is a function of an amount of time required to move the modeled volume of material.

26. A method, as set forth in claim 25, wherein choosing one of the first and second series of work cycles includes the step of choosing one of the first and second series of work cycles having a higher level of productivity than the other of the first and second series of work cycles.

27. A method for modeling a volume of material to be moved by an earthmoving machine, including the steps of:

determining a volume of the material to be moved;

determining a series of segments of the volume of material; and

determining a series of segment work cycles for each segment as a function of a plurality of parameters of the earthmoving machine and of the material.

28. A method, as set forth in claim 27, further including the steps of:

determining an other series of segments of the volume of material; and

determining an other series of segment work cycles for each other segment as a function of the plurality of parameters.

29. A method, as set forth in claim 28, wherein determining an other series of segments includes the step of changing a width and an angle of each segment within a set of predetermined constraints.