System and method for modifying a path for a machine

• US 9,228,315 B2
• Filed: 12/20/2012
• Issued: 01/05/2016
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edara, Thandava K., Taylor, Michael, Felty, Timothy, Wei, Mo, Stratton, Kenneth L., Clar, Jean-Jacques
• Primary Examiner(s): Dunn, Darrin
• Assistant Examiner(s): Everett, Christopher E
• Application Number:
  US13/722,445
• Publication Number:
  US 20140180444A1
• Time in Patent Office: 1,111 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: E02F 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• 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: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system for modifying a path of operation of a machine includes a position sensor and a controller. The controller stores the path of operation, receives a plurality of position signals as the work implement moves material along the path of operation, and determines the position of the work surface. The controller further determines an amount of material moved based at least in part upon the position of the work surface and modifies parameters used to determine a subsequent path of operation if the amount of material moved exceeds a predetermined amount.

Claims

1. A system for controlling operation of a machine having a ground engaging work implement, comprising:

a position sensor associated with the machine for generating position signals indicative of a position of a work surface; and

a controller configured to;

store a final design plane;

generate a target pass surface;

generate a path of operation;

generate a plurality of commands to move the ground engaging work implement along the path of operation;

receive a plurality of position signals from the position sensor as the work implement moves material along the path of operation;

determine the position of the work surface based upon the plurality of position signals;

upon the position of the work surface reaching the target pass surface, utilize a subsequent target pass surface spaced from the target pass surface, the subsequent target pass surface being at an angle relative to the target pass surface and located closer to the final design plane than the target pass surface;

generate a subsequent path of operation, the subsequent path of operation being based upon the subsequent target pass surface and at least a portion of the subsequent path of operation being at an angle relative to the path of operation; and

generate a plurality of commands to move the ground engaging work implement along the subsequent path of operation.

2. The system of claim 1, wherein the controller is configured to generate the subsequent target pass surface by extending the subsequent target pass surface generally towards a dump location farther than the target pass surface.

3. The system of claim 1, wherein the controller is further configured to generate the subsequent target pass surface by extending an end of the subsequent target pass surface generally adjacent a dump location and farther than the target pass surface.

4. The system of claim 1, wherein the controller is further configured to generate the target pass surface based at least in part upon conditions of an operating environment of the machine.

5. The system of claim 4, wherein the operating environment includes at least one of an angle of repose of material being moved and an angle of the target pass surface relative to a gravity reference.

6. The system of claim 1, wherein the target pass surface is generally linear.

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

store a desired carry profile including a carry angle of a portion of the path of operation relative to a gravity reference;

store a final design plane of the work surface;

modify the carry angle if an actual profile is within a predetermined distance of the final design plane to define a modified carry angle; and

determine a target profile extending along the path of operation, the target profile based at least in part upon the final design plane, the actual profile of the work surface, and the modified carry angle.

8. A system for controlling operation of a machine having a ground engaging work implement, comprising:

a position sensor associated with the machine for generating position signals indicative of a position of a work surface; and

a controller configured to;

store a final design plane;

generate a target pass surface, a first intermediate target pass surface, and a second intermediate target pass surface, the target pass surface being closer to the final design plane than the second intermediate target pass surface, and the second intermediate target pass surface being closer to the final design plane than the first intermediate target pass surface;

generate a path of operation;

generate a plurality of commands to move the ground engaging work implement along the path of operation to create a slot;

receive a plurality of position signals from the position sensor as the work implement moves material along the path of operation;

determine the position of the work surface based upon the plurality of position signals;

generate a first subsequent path of operation, the first subsequent path of operation being shifted laterally in a first direction generally perpendicular to the path of operation and towards the target pass surface;

upon the position of the work surface reaching the first intermediate target pass surface, generate a plurality of first subsequent commands to move the ground engaging work implement along the first subsequent path of operation to increase a width and a depth of the slot;

generate a second subsequent path of operation, the second subsequent path of operation being shifted relative to the first subsequent path of operation laterally in a second direction generally opposite the first direction and towards the target pass surface; and

upon the position of the work surface reaching the second intermediate target pass surface, generate a plurality of second subsequent commands to move the ground engaging work implement along the second subsequent path of operation to increase the width and the depth of the slot.

9. The system of claim 8, wherein the controller is further configured to shift the first subsequent path of operation laterally in the first direction by a first distance and shift the second subsequent path of operation laterally in the second direction by a second distance, the second distance being greater than the first distance.

10. A controller implemented method for controlling operation of a machine, comprising:

storing a final design plane;

generating a target pass surface;

generating a path of operation;

generating a plurality of commands to move the ground engaging work implement along the path of operation;

receiving a plurality of position signals from a position sensor indicative of a position of a work surface as a work implement of the machine moves material along the path of operation;

determining the position of the work surface based upon the plurality of position signals;

upon the position of the work surface reaching the target pass surface, utilizing a subsequent target pass surface spaced from the target pass surface, the subsequent target pass surface being rotated at an angle relative to the target pass surface and located closer to the final design plane than the target pass surface;

generating a subsequent path of operation, the subsequent path of operation being based upon the subsequent target pass surface and at least a portion of the subsequent path of operation being at an angle relative to the path of operation; and

generating plurality of commands move the ground engaging work implement along the subsequent path of operation.

11. The method of claim 10, further including generating the subsequent target pass surface by extending the subsequent target pass surface generally towards a dump location farther than the target pass surface.