System for automated excavation planning and control

• US 8,620,535 B2
• Filed: 05/21/2012
• Issued: 12/31/2013
• Est. Priority Date: 05/21/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edara, Thandava Krishna, Friend, Paul Russell
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): MOTT, GENNA M
• Application Number:
  US13/476,446
• Publication Number:
  US 20130311031A1
• Time in Patent Office: 589 Days
• Field of Search: 701/26, 701/23, 701/50, 701/36, 172/1
• US Class Current: 701/50
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A control system is disclosed for a mobile excavation machine operating at a worksite. The control system may have a locating device mounted on the mobile excavation machine that is configured to generate a signal indicative of a current position of the mobile excavation machine at the worksite during completion of an excavation plan. The control system may also have a controller in communication with the locating device and the mobile excavation machine. The controller may be configured to autonomously control the mobile excavation machine based on the excavation plan, and to determine a volume of material missed during completion of a first cut of the excavation plan based on the signal. The controller may be further configured to adjust a characteristic of a second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

Claims

1. A control system for a mobile excavation machine operating at a worksite, the control system comprising:

a locating device mounted on the mobile excavation machine and configured to generate a signal indicative of a current position of the mobile excavation machine at the worksite during completion of an excavation plan; and

a controller in communication with the locating device and the mobile excavation machine, the controller being configured to;

autonomously control the mobile excavation machine based on the excavation plan;

determine a volume of material missed during completion of a first cut of the excavation plan based on the signal;

compare the volume of material missed during completion of the first cut of the excavation plan to a threshold volume of missed material; and

adjust a characteristic of a second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

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

adjust the characteristic of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than the threshold volume of missed material.

3. The control system of claim 2, wherein the controller is further configured to compare the volume of material missed during completion of the first cut of the excavation plan to the threshold volume of missed material wherein the threshold volume of missed material falls within a range from approximately 3-7% of a goal volume of material to be removed during completion of the first cut of the excavation plan.

4. The control system of claim 2, wherein the controller is further configured to decrease a goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than the threshold volume of missed material.

5. The control system of claim 4, wherein:

the threshold volume of missed material is a maximum threshold volume; and

the controller is further configured to increase the goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is approximately equal to or less than a minimum threshold volume.

6. The control system of claim 5, wherein the controller is further configured to increase the goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is approximately equal to or less than 0% of the goal volume of material to be removed during completion of the first cut of the excavation plan.

7. The control system of claim 1, wherein the controller is further configured to adjust a goal volume of material to be removed during completion of the second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

8. The control system of claim 1, wherein the controller is configured to determine the volume of material missed during completion of the first cut of the excavation plan based on the signal and a known characteristic of a tool connected to the mobile excavation machine.

9. The control system of claim 8, wherein the controller is configured to determine the volume of material missed during completion of the first cut of the excavation plan based on the signal and a width of the tool.

10. The control system of claim 1, wherein the controller is further configured to generate the excavation plan based on a characteristic of an intended work area at the worksite, a characteristic of the mobile excavation machine, and a desired change in the intended work area.

11. The control system of claim 1, wherein the controller is further configured to autonomously control the mobile excavation machine based on a location, depth, and profile of a plurality of cuts within a common slot.

12. The control system of claim 11, wherein the controller is further configured to autonomously control the mobile excavation machine based on the location, depth, and profile of the plurality of cuts grouped into a plurality of passes.

13. A method of excavation planning and control, comprising:

operating a controller in communication with a mobile excavation machine to;

autonomously control the mobile excavation machine to complete an excavation plan;

determine a volume of material missed during completion of a first cut of the excavation plan;

compare the volume of material missed during completion of the first cut of the excavation plan to a threshold volume of missed material; and

adjust a characteristic of a second cut of the excavation plan based on the volume of material missed during completion of the first cut of the excavation plan.

14. The method of claim 13, wherein adjusting the characteristic of the second cut of the excavation plan includes adjusting the characteristic of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than the threshold volume of missed material.

15. The method of claim 14, wherein the threshold volume of missed material falls with a range from approximately 3-7% of a goal volume of material to be removed during completion of the first cut of the excavation plan.

16. The method of claim 14, wherein adjusting the characteristic includes decreasing a goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than the threshold volume of missed material.

17. The method of claim 16, wherein:

the threshold volume of missed material is a maximum threshold volume; and

the method further includes increasing the goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is approximately equal to or less than a minimum threshold volume.

18. The method of claim 17, wherein the minimum threshold volume is approximately equal to 0% of a goal volume of material to be removed during completion of the first cut of the excavation plan.

19. The method of claim 13, wherein determining the volume of material missed during completion of the first cut of the excavation plan includes determining the volume of material based on a position of the mobile excavation machine tracked during completion of the first cut of the excavation plan and based on a known characteristic of a cutting tool connected to the mobile excavation machine.

20. A mobile excavation machine, comprising:

a traction device configured to steer and propel the mobile excavation machine;

a power source configured to power the traction device;

a locating device mounted on the mobile excavation machine and configured to generate a first signal indicative of a current position of the mobile excavation machine at a worksite during completion of an excavation plan;

a tool configured to make a cut into a surface at the worksite during completion of the excavation plan; and

a controller configured to;

generate the excavation plan based on a characteristic of an intended work area at the worksite, a characteristic of the mobile excavation machine, and a desired change in the intended work area, the excavation plan including a location, depth, and profile of a plurality of cuts arranged into a plurality of passes within a common slot;

autonomously control the power source, traction device, and tool based on the excavation plan;

determine a volume of material missed during completion of a first cut of the excavation plan based on the first signal, a known characteristic of the tool, and a goal volume of material to be removed during the first cut of the excavation plan;

decrease a goal volume of material to be removed during completion of a second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is greater than a maximum threshold that falls within a range from approximately 3-7% of the goal volume of material to be removed during the first cut of the excavation plan; and

increase the goal volume of material to be removed during completion of the second cut of the excavation plan when the volume of material missed during completion of the first cut of the excavation plan is approximately equal to or less than a minimum threshold of 0% of the goal volume of material to be removed during completion of the first cut of the excavation plan.