System and method for controlling the operation of a machine

• US 9,469,967 B2
• Filed: 09/12/2014
• Issued: 10/18/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edara, Thandava K., Taylor, Michael, Becicka, Troy K., Clar, Jean-Jacques, Edwards, Kyle, Wei, Mo
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): SOOFI, YAZAN A
• Application Number:
  US14/484,710
• Publication Number:
  US 20160076224A1
• Time in Patent Office: 767 Days
• Field of Search: 701/50, 701/410
• US Class Current: 1/1
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• 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: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence
• 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 9/262 with follow-up actions to control the work tool, e.g. controller

Abstract

A system for automated control of a machine includes a position sensor and a controller. The controller is configured to determine a position of a work surface along a first slot and along a second slot. The work surface along the first slot and the second slot define at least a portion of a berm. The controller is further configured to determine a physical characteristic of the first slot and the second slot and generate a berm reduction command if the physical characteristic of the first slot and the second slot is less than the characteristic threshold of the first slot and the second slot.

Claims

1. A system for automated control of a machine having a ground-engaging work implement, comprising:

a position sensor for generating position signals indicative of a position of a work surface at a work site;

a controller configured to;

store a characteristic threshold of a pair of slots;

receive a plurality of position signals from the position sensor;

determine the position of the work surface along a first slot in the work site based upon the plurality of position signals to define a first slot surface;

determine the position of the work surface along a second slot in the work site based upon the plurality of position signals to define a second slot surface, the second slot being spaced from the first slot, the work surface along the first slot and the work surface along the second slot defining at least a portion of a berm between the first slot and the second slot;

determine a physical characteristic of the first slot and the second slot; and

generate a berm reduction command if the physical characteristic of the first slot and the second slot is less than the characteristic threshold of the pair of slots.

2. The system of claim 1, wherein the first slot has a first slot lower surface and the second slot has a second slot lower surface, the characteristic threshold of the pair of slots is a difference in depth threshold between the first slot lower surface and the second slot lower surface and the controller is further configured to determine a difference in depth between the first slot lower surface and the second slot lower surface.

3. The system of claim 2, wherein the difference in depth threshold is approximately 20 degrees.

4. The system of claim 2, wherein the difference in depth threshold is equal to a rollover threshold of the machine.

5. The system of claim 1, wherein the characteristic threshold of the pair of slots is a berm width threshold and the controller is further configured to determine a width of the berm, and the controller will not generate the berm reduction command if the width of the berm is greater than the berm width threshold.

6. The system of claim 5, wherein the first slot has a first centerline and the second slot has a second centerline, and the controller is configured to determine the width of the berm based upon a distance between the first centerline and the second centerline.

7. The system of claim 5, wherein the first slot includes a first slot sidewall positioned closest to the second slot and the second slot includes a second slot sidewall positioned closest to the first slot, and the controller is configured to determine the width of the berm based upon a distance between the first slot sidewall and the second slot sidewall.

8. The system of claim 5, wherein the ground-engaging work implement has a width and the berm width threshold is approximately ⅓

of the width of the ground-engaging work implement.

9. The system of claim 1, wherein the characteristic threshold of the pair of slots is a difference in angular orientation threshold between the first slot surface and the second slot surface and the controller is further configured to determine a difference in angular orientation between the first slot and the second slot.

10. The system of claim 9, wherein the difference in angular orientation threshold is dependent upon a length of the berm between the first slot and the second slot.

11. The system of claim 1, wherein the characteristic threshold of the pair of slots is a berm start offset threshold, and the controller is further configured to determine a first start location of the first slot and determine a second start location of the second slot, and the controller will not generate the berm reduction command if a longitudinal distance between the first start location and the second start location is greater than the berm start offset threshold.

12. The system of claim 11, wherein the berm start offset threshold is a function of a rollover threshold of the machine.

13. The system of claim 1, wherein the characteristic threshold of the pair of slots is a berm end offset threshold, and the controller is further configured to determine a first end location of the first slot and determine a second end location of the second slot, and the controller will not generate the berm reduction command if a longitudinal distance between the first end location and the second end location is greater than the berm end offset threshold.

14. A controller-implemented method for automated control of a machine having a ground-engaging work implement, comprising:

storing a characteristic threshold of a pair of slots;

receiving a plurality of position signals from a position sensor;

determining a position of a work surface along a first slot in a work site based upon the plurality of position signals to define a first slot surface;

determining the position of the work surface along a second slot in the work site based upon the plurality of position signals to define a second slot surface, the second slot being spaced from the first slot, the work surface along the first slot and the work surface along the second slot defining at least a portion of a berm between the first slot and the second slot;

determining a physical characteristic of the first slot and the second slot; and

generating a berm reduction command if the physical characteristic of the first slot and the second slot is less than the characteristic threshold of the pair of slots.

15. The method of claim 14, wherein the first slot has a first slot lower surface and the second slot has a second slot lower surface, the characteristic threshold of the pair of slots is a difference in depth threshold between the first slot lower surface and the second slot lower surface and further including determining a difference in depth between the first slot lower surface and the second slot lower surface.

16. The method of claim 14, wherein the characteristic threshold of the pair of slots is a difference in angular orientation threshold between the first slot surface and the second slot surface and further including determining a difference in angular orientation between the first slot and the second slot.

17. The method of claim 14, wherein the characteristic threshold of the pair of slots is a berm width threshold and further including determining a width of the berm, and not generating the berm reduction command if the width of the berm is greater than the berm width threshold.

18. The method of claim 14, wherein the characteristic threshold of the pair of slots is a berm start offset threshold, and further including determining a first start location of the first slot and determining a second start location of the second slot, and further including not generating the berm reduction command if a longitudinal distance between the first start location and the second start location is greater than the berm start offset threshold.

19. The method of claim 14, wherein the characteristic threshold of the pair of slots is a berm end offset threshold, and further including determining a first end location of the first slot and determining a second end location of the second slot, and not generating the berm reduction command if a longitudinal distance between the first end location and the second end location is greater than the berm end offset threshold.

20. A machine, comprising:

a prime mover;

a ground-engaging work implement for engaging a work surface along a path;

a position sensor for generating position signals indicative of a position of a work surface at a work site;

a controller configured to;

store a characteristic threshold of a pair of slots;

receive a plurality of position signals from the position sensor;

determine the position of the work surface along a first slot in the work site based upon the plurality of position signals to define a first slot surface;

determine the position of the work surface along a second slot in the work site based upon the plurality of position signals to define a second slot surface, the second slot being spaced from the first slot, the work surface along the first slot and the work surface along the second slot defining at least a portion of a berm between the first slot and the second slot;

determine a physical characteristic of the first slot and the second slot; and

generate a berm reduction command if the physical characteristic of the first slot and the second slot is less than the characteristic threshold of the pair of slots.