System for automated excavation control based on productivity

• US 7,917,265 B2
• Filed: 01/31/2007
• Issued: 03/29/2011
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sergott, Kevin J., Ingram, Richard G., Kale, Satish L.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US11/700,191
• Publication Number:
  US 20080183356A1
• Time in Patent Office: 1,518 Days
• Field of Search: None
• US Class Current: 701/50
• 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: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A control system for a mobile excavation machine is disclosed. The control system may have a ground engaging work tool, a sensor, and a controller. The sensor may be configured to sense a parameter indicative of a current travel speed of the mobile excavation machine and generate a speed signal in response thereto. The controller may be in communication with the ground engaging work tool and the sensor, and configured to receive the signal. The controller may also be configured to determine an amount of material currently being moved by the work tool and calculate a current productivity value associated with removal of the material based on the speed signal and the determined amount of material currently being moved. The controller may be further configured to control the ground engaging work tool to vary the amount of material currently being moved in response to the current productivity value.

Claims

1. A control system for a mobile excavation machine, comprising:

a ground engaging work tool;

a sensor configured to sense a parameter indicative of a current travel speed of the mobile excavation machine and to generate a speed signal in response thereto; and

a controller in communication with the ground engaging work tool and the sensor, the controller being configured to;

receive an operator input indicative of a desired autonomous dig function;

increase the travel speed to a maximum amount and engage the ground engaging tool with a work surface in response to the operator input;

receive the speed signal from the sensor;

determine an amount of material currently being moved by the work tool;

calculate a current productivity value associated with removal of the material based on the speed signal and the determined amount of material currently being moved; and

control the ground engaging work tool to vary the amount of material currently being moved in response to the current productivity value.

2. The control system of claim 1, further including a load sensor configured to generate a load signal indicative of the amount of material being removed, wherein the controller determines the amount of material currently being moved based on the load signal.

3. The control system of claim 2, wherein the load sensor includes a strain gauge associated with the ground engaging work tool.

4. The control system of claim 1, wherein the controller is further configured to determine a rate of change of the current productivity value with respect to travel speed.

5. The control system of claim 4, wherein the controller controls the ground engaging work tool to vary the amount of material moved when the rate of change is greater than a predetermined amount from a desired rate of change.

6. The control system of claim 5, wherein the desired rate of change is zero.

7. The control system of claim 1, wherein the amount of material removed is varied by automatically changing a depth of cut produced by the ground engaging work tool.

8. The control system of claim 7, wherein the travel speed varies as a result of changing the depth of cut.

9. The control system of claim 8, wherein the travel speed decreases as the depth of cut increases, and the controller is configured to increase the depth of cut until a rate of change of the productivity value relative to travel speed is within a predetermined amount of zero.

10. The control system of claim 1, wherein the controller is further configured to:

determine a target speed associated with maximizing the current productivity value;

control the ground engaging work tool to vary the travel speed in response to the determined target speed.

19. The control system of claim 1, wherein the current productivity value is a measure of a volume per unit time of material moved by the work tool.

11. A method of controlling machine operation, comprising:

receiving an operator input indicative of a desired autonomous dig function;

automatically increasing the current machine travel speed to a maximum amount in response to receiving operator input;

determining a current machine travel speed;

determining an amount of material currently being excavated;

calculating a current productivity value based on the current travel speed and the determined amount of material currently being excavated; and

varying the amount of material currently being excavated in response to the current productivity value.

12. The method of claim 11, further including:

initiating excavation in response to the operator input.

13. The method of claim 12, wherein the amount of material currently being excavated is varied by changing a depth of excavation.

14. The method of claim 13, wherein the current machine travel speed dependently varies as a result of changing the depth of excavation.

15. The method of claim 14, wherein the current machine travel speed decreases as the depth of excavation increases, and the method further includes increasing the depth of cut until the productivity value reaches a maximum.

16. The method of claim 14, wherein the current machine travel speed decreases as the depth of excavation increases, and the method further includes increasing the depth of excavation until a rate of change of the productivity value relative to the current machine travel speed is within a predetermined amount of zero.

17. A mobile excavation machine, comprising:

a power source configured to generate a power output;

a traction device configured to receive the power output and propel the mobile excavation machine;

a ground engaging work tool driven by the power source to move into and out of a work surface;

a sensor configured to sense a parameter indicative of a travel speed of the mobile excavation machine and to generate a signal in response thereto;

a load sensor configured to sense a parameter indicative of a current amount of material being excavated; and

a controller in communication with the ground engaging work tool, the speed sensor, and the load sensor, the controller being configured to;

receive an operator input indicative of a desired autonomous dig function;

increase the travel speed to a maximum amount and engage the ground engaging tool with a work surface in response to the operator input;

calculate a current productivity value associated with removal of the material based on the speed signal and the load signal; and

control the ground engaging work tool to vary the amount of material currently being moved in response to the current productivity value.

18. The mobile excavation machine of claim 17, wherein the controller is further configured to:

increase the depth of cut until the productivity value reaches a maximum.

20. The mobile excavation machine of claim 17, wherein the current productivity value is a measure of a volume per unit time of material moved by the work tool.