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Machine control system having autonomous edge dumping

  • US 9,298,188 B2
  • Filed: 01/28/2013
  • Issued: 03/29/2016
  • Est. Priority Date: 01/28/2013
  • Status: Active Grant
First Claim
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1. A control system for a machine, comprising:

  • a communicating device mounted on the machine;

    a locating device mounted on the machine and configured to generate a first signal indicative of a location of the machine;

    a sensor mounted on the machine and configured to generate a second signal indicative of contact of the machine with a berm;

    an onboard controller mounted on the machine and configured to regulate operations of the machine; and

    an offboard controller configured to receive information from the locating device, the sensor, and the onboard controller via the communicating device, the offboard controller being configured to;

    generate a first set of coordinates of a dump target;

    assign the first set of the coordinates to the onboard controller for use in regulating the machine;

    generate a tolerance zone extending from the first set of coordinates, a width of the tolerance zone increasing with an increasing distance from the berm;

    instruct the onboard controller to control the machine such that a lengthwise center of a rear axle of the machine remains within the tolerance zone during a reverse travel of the machine toward the dump target;

    detect contact of the machine with the berm based on the second signal during the reverse travel;

    generate a second set of coordinates of the dump target to correspond with a location of the autonomous machine at a time of contact detection; and

    assign the second set of coordinates for all subsequent use of the dump target.

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