Excavation control system providing machine placement recommendation

• US 7,516,563 B2
• Filed: 11/30/2006
• Issued: 04/14/2009
• Est. Priority Date: 11/30/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koch, Roger D.
• Primary Examiner(s): Beach; Thomas A
• Assistant Examiner(s): Buck; Matthew R
• Application Number:
  US11/605,949
• Publication Number:
  US 20080133128A1
• Time in Patent Office: 866 Days
• Field of Search: 373/48, 373/79, 374/35, 374/43, 374/14, 701/50, 172 2- 5
• US Class Current: 37/348
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• 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 9/245 for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like detection of pipes in the ground F16L1/11

Abstract

A control system for a machine operating at a excavation site is disclosed. The control system may have a positioning device configured to determine a position of the machine, and a controller in communication with the positioning device. The controller may be configured to receive information regarding a predetermined task for the machine, receive the machine'"'"'s position, and receive a location of an obstacle at the excavation site. The control system may also be configured to recommend placement of the machine to accomplish the predetermined task based on the received machine position and obstacle location.

Claims

1. A control system for a machine operating at an excavation site, the control system comprising:

a positioning device configured to determine a position of the machine; and

a controller in communication with the positioning device, the controller configured to;

receive information regarding an excavation task for the machine;

receive the machine'"'"'s position;

receive a location of an obstacle at the excavation site; and

determine a placement of the machine on a surface of the excavation site from which the machine can accomplish the excavation task, based on the received machine position and the received obstacle location.

2. The control system of claim 1, wherein the machine has an implement and the machine placement determination is based further on known kinematics and geometry of the implement.

3. The control system of claim 2, wherein the controller is further configured to determine and recommend a sequence of excavation passes for the implement to accomplish the excavation task based on the received machine position, obstacle location, and known kinematics and geometry.

4. The control system of claim 2, wherein the controller is further configured to determine if accomplishment of the excavation task is possible based on the received machine position, obstacle location, and known kinematics and geometry, and to inform an operator of the machine of the determination.

5. The control system of claim 1, wherein the controller is further configured to autonomously move the machine to the determined machine placement.

6. The control system of claim 1, wherein the controller is further configured to receive information regarding terrain of the excavation site.

7. The control system of claim 1, wherein the machine placement determination is based further on a tolerance zone around the obstacle position and a condition of material within the tolerance zone.

8. The control system of claim 7, wherein the machine placement determination is based further on a predicted force transmitted into the tolerance zone during completion of the excavation task.

9. The control system of claim 7, wherein the tolerance zone is based further on a known composition of the obstacle.

10. The control system of claim 1, further including a locating device onboard the machine and in communication with the controller, the locating device determining the obstacle position.

11. The control system of claim 1, further including a monitor onboard the machine, the controller further in communication with the monitor and further configured to display, on the monitor, the excavation site with the determined machine placement illustrated thereon.

12. The control system of claim 11, the controller further configured to update and to display excavation site terrain on the monitor during completion of the excavation task.

13. A method of controlling an excavating machine operating at an excavation site, the excavating machine having a work implement and a controller, the method performed by the controller and comprising:

receiving a position of the excavating machine;

receiving a location of an obstacle at the excavation site;

receiving information regarding an excavation task for the excavating machine; and

determining a placement of the excavating machine on a surface of the excavation site from which the excavating machine can accomplish the excavation task, based on the received machine position and the received obstacle location.

14. The method of claim 13, further including receiving kinematics and geometry of the implement of the excavating machine, wherein the machine placement determination is based further on the kinematics and the geometry.

15. The method of claim 14, further including recommending a sequence of excavation passes for the implement to accomplish the excavation task based on the machine position, obstacle location, and kinematics and geometry.

16. The method of claim 14, further including:

determining if accomplishment of the excavation task is possible from the received machine position, based on the obstacle location, kinematics, and geometry; and

informing an operator of the excavating machine of the determination.

17. The method of claim 13, further including autonomously moving the excavating machine to the determined machine placement.

18. An excavating machine, comprising:

a work implement having known kinematics and geometry;

a positioning system configured to determine a position of the excavating machine and the work implement;

a monitor located onboard the excavating machine and configured to display the position of the excavating machine and the work implement relative to a work surface;

an input device configured to receive information regarding a predetermined task for completion by the work implement; and

a controller in communication with the locating system, the positioning device, and the monitor, the controller being configured to;

receive the excavating machine'"'"'s position;

receive the known kinematics and geometry;

receive a location of an obstacle at the excavation site;

receive the information regarding the predetermined task;

recommend placement of the excavating machine to accomplish the predetermined task based on the received machine position, known kinematics and geometry, and obstacle location;

recommend a sequence of excavation passes for the work implement to accomplish the predetermined task based on the received machine position, known kinematics and geometry, and obstacle location; and

display on the monitor the recommended placement of the excavating machine, the recommended sequence of excavation passes, and terrain of the excavation site during completion of the predetermined task.

19. The excavating machine of claim 18, wherein the controller is further configured to:

determine if accomplishment of the predetermined task is possible from the received machine position, based on the obstacle location and known kinematics and geometry; and

inform an operator of the excavating machine of the determination.

20. The excavating machine of claim 18, wherein the controller is further configured to autonomously move at least one of the excavating machine and the work implement to accomplish the predetermined task.