System and method for determining a ripping path

• US 9,014,925 B2
• Filed: 03/15/2013
• Issued: 04/21/2015
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Clar, Jean-Jacques, Redenbo, Seth J., Funke, Brian G.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US13/840,581
• Publication Number:
  US 20140277957A1
• Time in Patent Office: 767 Days
• Field of Search: 701/23, 701/36, 701/41, 701/50, 239/69, 239/74, 239/172, 172/103, 172/260.5
• US Class Current: 701/50
• CPC Class Codes: E02F 5/32 Rippers E02F5/106 takes precedence, ripper or scarifying teeth mounted on blades E02F3/8152; ripper tips E02F9/2875
• 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 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller

Abstract

A system for determining a ripping path includes a position sensing system, a work implement, and a controller. The controller is configured to determine a plurality of positions of the machine as the machine moves along an operating path and the work implement moves a volume of material and sense the material characteristics of at each of the plurality of positions along the operating path. The controller is further configured to determine the ripping path based upon the material characteristics sensed at the plurality of positions and store the ripping path.

Claims

1. A system for determining a ripping path to be ripped by a ground engaging ripper of a machine, comprising:

a position sensing system associated with the machine for determining a position of the machine;

a blade configured to engage and move a volume of material along an operating path; and

a controller configured to;

determine a plurality of positions of the machine based upon the position sensing system as the machine moves along the operating path and the blade moves the volume of material along the operating path;

determine material characteristics at each of the plurality of positions along the operating path based upon engagement of the volume of material by the blade;

determine the ripping path based upon the material characteristics determined at the plurality of positions; and

store the ripping path.

2. The system of claim 1, wherein the controller is further configured to generate a map of the material characteristics along the operating path and determine the ripping path based upon the map of the material characteristics.

3. The system of claim 1, further including an implement load sensor system configured to measure a load on the blade and provide an implement load signal indicative of the load on the blade to the controller, the controller being further configured to receive the implement load signal, determine the load on the blade, and determine the material characteristics based upon the load on the blade.

4. The system of claim 3, wherein the implement load sensor system includes a sensor for monitoring a difference between output from a prime mover and output from a torque converter, and the controller is configured to determine an increase in the load on the blade based upon an increase in a difference between the output from the prime mover and the output from the torque converter.

5. The system of claim 3, wherein the implement load sensor system includes a pressure sensor for monitoring pressure within a hydraulic cylinder operatively connected to the blade, and the controller is configured to determine an increase in load on the blade based upon an increase in pressure within the hydraulic cylinder.

6. The system of claim 3, wherein the implement load sensor system includes an acceleration sensor for monitoring deceleration of the machine, and the controller is configured to determine an increase in load on the blade based upon a deceleration of the machine.

7. The system of claim 6, further including a pitch angle sensor, and the controller is configured to determine the deceleration of the machine at least in part based upon a signal from the pitch angle sensor.

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

determine an expected profile extending through a work surface along the operating path before the blade moves the volume of material;

determine an actual profile of the operating path after the blade moves the volume of material based upon the plurality of positions;

compare the expected profile to the actual profile; and

determine the material characteristics based upon a difference between the expected profile and the actual profile.

9. The system of claim 8, wherein the controller is further configured to:

store a first estimate of the material characteristics of the operating path, utilize a planning system to determine the expected profile, the expected profile being based upon the first estimate of the material characteristics;

determine a second estimate of the material characteristics based upon the difference between the expected profile and the actual profile; and

determine the material characteristics based upon the second estimate of the material characteristics.

10. The system of claim 1, wherein the controller is further configured to move the machine to align a ground engaging ripper with a starting point of the ripping path, generate a ripper engagement command to move the ground engaging ripper into engagement with the ripping path, and generate a ripping operation command to move the machine along the ripping path.

11. A controller-implemented method of determining a ripping path to be ripped by a ground engaging ripper of a machine, comprising:

determining a plurality of positions of the machine based upon a position sensing system associated with the machine as the machine moves along the operating path and a blade engages and moves a volume of material along the operating path;

determining material characteristics at each of the plurality of positions along the operating path based upon engagement of the volume of material by the blade;

determining the ripping path based upon the material characteristics determined at the plurality of positions; and

storing the ripping path.

12. The method of claim 11, further including generating a map of the material characteristics along the operating path and determining the ripping path based upon the map of the material characteristics.

13. The method of claim 11, further including receiving a implement load signal indicative of a load on the blade from an implement load sensor system configured to measure a load on the blade, determining the load on the blade, and determining the material characteristics based upon the load on the blade.

14. The method of claim 13, further including determining an increase in the load on the blade based upon an increase in difference between output from a prime mover and output from a torque converter.

15. The method of claim 13, further including monitoring pressure within a hydraulic cylinder operatively connected to the blade, and determining an increase in load on the blade based upon an increase in pressure within the hydraulic cylinder.

16. The method of claim 13, further including monitoring deceleration of the machine, and determining an increase in load on the blade based upon a deceleration of the machine.

17. The method of claim 16, further including determining the deceleration of the machine at least in part based upon a signal from a pitch angle sensor.

18. The method of claim 11, further including:

determining an expected profile extending through a work surface along the operating path before the blade moves the volume of material;

determining an actual profile of the operating path after the blade moves the volume of material based upon the plurality of positions;

comparing the expected profile to the actual profile; and

determining the material characteristics based upon a difference between the expected profile and the actual profile.

19. The method of claim 18, further including:

storing a first estimate of the material characteristics of the operating path, utilizing a planning system to determine the expected profile, the expected profile being based upon the first estimate of the material characteristics;

determining a second estimate of the material characteristics based upon a difference between the expected profile and the actual profile; and

determining the material characteristics based upon the second estimate of the material characteristics.

20. A machine comprising:

a prime mover;

a position sensing system associated with the machine for determining a position of the machine;

a blade configured to engage and move a volume of material along an operating path; and

a controller configured to;

determine a plurality of positions of the machine based upon the position sensing system as the machine moves along the operating path and the blade moves the volume of material along the operating path;

determine material characteristics at each of the plurality of positions along the operating path based upon engagement of the volume of material by the blade;

determine the ripping path based upon the material characteristics determined at the plurality of positions; and

store the ripping path.