Method of operating a compactor machine via path planning based on compaction state data and mapping information

• US 7,731,450 B2
• Filed: 09/07/2006
• Issued: 06/08/2010
• Est. Priority Date: 09/07/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Congdon, Thomas M., Corcoran, Paul T.
• Primary Examiner(s): Hartmann; Gary S
• Application Number:
  US11/517,065
• Publication Number:
  US 20080063473A1
• Time in Patent Office: 1,370 Days
• Field of Search: 404/84.1, 404/84.5, 701/50
• US Class Current: 404/84.5
• CPC Class Codes: E01C 19/288 adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements

Abstract

A method of operating a compactor machine includes moving the compacting machine within a work area and determining a compaction response disconformity exists between at least two regions of the work area. The method includes generating a compactor navigation signal responsive to the compaction response disconformity. A method of compacting a work area may include determining a work material compaction response associated with at least one region of the work area is aberrant, and maneuvering the compactor machine within the work area responsive to a signal associated with the aberrant compaction response. A system for compacting a work area includes a compactor machine and an electronic controller configured via a compactor maneuvering control algorithm to detect an aberrant work material compaction response in a region of the work area and responsively generate a compactor navigation signal.

Claims

1. A method of operating a compactor machine comprising the steps of:

moving the compactor machine within a work area;

determining a work material compaction response disconformity exists between at least two regions of the work area;

generating a compactor navigation signal responsive to the compaction response disconformity; and

wherein generating a compactor navigation signal includes commanding imparting a different net compaction energy with the compactor machine to a first one of the at least two regions than to a second one of the at least two regions.

2. The method of claim 1 further comprising a step of determining a desired compactor travel path within the work area responsive to the compaction response disconformity, wherein the generating step further comprises generating a compactor navigation signal corresponding with the desired compactor travel path.

3. The method of claim 2 further comprising a step of receiving position signals associated with a relative position of the compactor machine within the work area, wherein the determining step comprises determining a work material compaction response disconformity exists based at least in part on, the position signals, and sensor inputs indicative of work material compaction state from at least one sensor of the compactor machine.

4. The method of claim 3 wherein the step of receiving position signals comprises receiving signals indicative of a relative elevation of the compactor machine.

5. The method of claim 3 wherein the generating step comprises generating steering control signals responsive to the position signals and the desired compactor travel path, and wherein the moving step further comprises a step of maneuvering the compactor machine within the work area via the steering control signals.

6. The method of claim 5 wherein the step of determining a compaction response disconformity exists comprises the steps of determining at least one region of the work area is associated with a target compaction response, and at least one other region of the work area is associated with an aberrant compaction response.

7. The method of claim 6 wherein the at least one region associated with a target compaction response includes a first region and the at least one region associated with an aberrant compaction response includes a second, different region, and wherein the step of moving the compactor machine further comprises the steps of moving the compactor machine across the first region via a first number of compactor passes, and moving the compactor machine across the second region via a second, different number of compactor passes.

8. The method of claim 5 wherein the compactor machine includes an operator input device configured to output steering commands to a steering system of the compactor machine, and wherein the step of maneuvering the compactor machine includes maneuvering the compactor machine via the steering control signals that are separate steering commands associated with the input device.

9. A method of compacting a work area with a compactor machine comprising the steps of:

sensing values indicative of a work material compaction response in a first region of the work area;

sensing values indicative of a work material compaction response in at least one other region of the work area;

determining a work material compaction response in the at least one other region of the work area is an aberrant compaction response; and

maneuvering the compactor machine to impart a different net compaction energy to the first region than to the second region within the work area responsive to a signal associated with the aberrant compaction response.

10. The method of claim 9 further comprising the steps of receiving position signals associated with a relative position of the compactor machine within the work area, and generating a compactor navigation signal responsive to the aberrant compaction response and the position signals, wherein the maneuvering step comprises maneuvering the compactor machine responsive to the compactor navigation signal.

11. The method of claim 10 further comprising a step of determining a desired compactor travel path within the work area responsive to the aberrant compaction response, wherein the step of generating a compactor navigation signal comprises a step of generating steering control signals, and wherein the maneuvering step includes maneuvering the compactor machine according to the desired travel path responsive to the steering control signals.

12. The method of claim 11 wherein the step of determining a work material compaction response in the at least one other region is an aberrant compaction response comprises a step of determining a compaction response curve associated with the at least one other region.

13. The method of claim 12 wherein the step of determining a work material compaction response associated with the at least one other region is an aberrant compaction response includes determining a compaction response of the at least one other region is associated with one of, an aberrant moisture, an inappropriate lift thickness, an overcompacted and an unfit condition.

14. The method of claim 10 wherein:

the moving step includes moving the compactor machine across each of a plurality of regions of the work area via an equal number of preliminary passes, and moving the compactor machine across at least one of the regions via a plurality of subsequent passes;

the step of determining a desired compactor travel path includes determining a desired compactor travel path for the plurality of subsequent passes which includes the first region and excludes the at least one other region; and

the maneuvering step includes maneuvering the compactor machine during the plurality of subsequent passes via steering control signals corresponding with the compactor navigation signal.

15. A system for compacting a work area comprising:

a compactor machine;

at least one sensor configured to sense values indicative of a work material compaction response within a work area; and

an electronic controller coupled with said at least one sensor and configured via a compactor maneuvering control algorithm to detect an aberrant work material compaction response in a region of the work area and generate a compactor navigation signal which is based at least in part on planned imparting of different net compaction energy with the compactor machine to a first region of the work area than to a second region of the work area responsive to the aberrant work material compaction response.

16. The system of claim 15 wherein the at least one sensor includes a sensor mounted on the compactor machine.

17. The system of claim 16 wherein said compactor machine further includes a receiver configured to receive position signals indicative of a relative position of said compactor machine within said work area, and a steering system, and wherein said control algorithm includes means for determining a desired compactor travel path within said work area and means for outputting steering control signals to said steering system, responsive to said compactor navigation signal and said position signals.

18. The system of claim 17 wherein said electronic controller is further configured via said control algorithm to determine whether a compaction response disconformity exists between the region having an aberrant compaction response and at least one other region of the work area and to generate said compactor navigation signal responsive to a determined compaction response disconformity.