System and method for controlling a machine

• US 9,481,977 B1
• Filed: 07/24/2015
• Issued: 11/01/2016
• Est. Priority Date: 07/24/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edwards, Kyle, McGee, Robert J., Clar, Jean-Jacques, Stanek, Daniel, Taylor, Michael
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Louie, Wae
• Application Number:
  US14/808,569
• Time in Patent Office: 466 Days
• Field of Search: 701/25, 701/26, 701/50, 701/410, 701/431
• 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: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A system for controlling a machine during an autonomous material moving operation includes a terrain sensing system, a position sensing system, and a ground engaging work implement. A controller is configured to determine the topography of the work surface, generate a first target profile, generate signals to autonomously operate the machine along a work surface, receive a plurality of signals associated with a plurality of necessary input conditions, and generate a pause command based upon an absence of one of the plurality of necessary input conditions to define a pause condition. The controller may determine the position of the machine, determine an estimate of an amount of material being moved, generate a second target profile, and generate signals to re-start autonomous operation of the machine based upon the second target profile after elimination of the pause condition.

Claims

1. A system for controlling a machine during an autonomous material moving operation, comprising:

a terrain sensing system for generating terrain signals indicative of a topography of a work surface;

a position sensing system associated with the machine for generating position signals indicative of a position of the machine;

a ground engaging work implement configured to engage the work surface and move a volume of material; and

a controller configured to;

determine the topography of the work surface based upon the terrain signals;

generate a first target profile based upon the topography of the work surface prior to the autonomous material moving operation;

generate signals to autonomously operate the machine along the work surface and move material based upon the first target profile;

receive a plurality of signals as the machine moves along the work surface, the plurality of signals being associated with a plurality of necessary input conditions;

generate a pause command to pause the autonomous material moving operation based upon an absence of one of the plurality of necessary input conditions, the absence of one of the plurality of necessary input conditions defining a pause condition;

determine the position of the machine based upon position signals from the position sensing system;

determine an estimate of an amount of material being moved by the ground engaging work implement;

generate a second target profile based upon the topography of the work surface after the pause command, the position of the machine after the pause command, and the estimate of the amount of material being moved by the ground engaging work implement; and

generate signals to re-start autonomous movement of the machine along the work surface based upon the second target profile after elimination of the pause condition.

2. The system of claim 1, wherein the controller is further configured to re-start the autonomous movement automatically upon the elimination of the pause condition.

3. The system of claim 1, wherein the controller is further configured to determine whether a time threshold has passed without resolving a source of the pause command and requires an operator input upon exceeding the time threshold.

4. The system of claim 1, wherein the controller is configured to determine the estimate of the amount of material being moved based upon a path followed by the ground engaging work implement as the machine moves along the work surface.

5. The system of claim 1, wherein the controller is configured to determine the estimate of the amount of material being moved based upon a load on the ground engaging work implement as the machine moves along the work surface.

6. The system of claim 1, wherein the pause command is generated based upon a communications error.

7. The system of claim 6, wherein the communications error is a failure to receive desired communications signals within a desired threshold.

8. The system of claim 1, wherein the pause command is generated based upon a lack of operator input from a remote control unit.

9. The system of claim 1, wherein the controller is further configured to store a plurality of thresholds associated with the plurality of necessary input conditions and generate a pause command if any of the plurality of necessary input conditions exceeds a respective one of the plurality of thresholds.

10. The system of claim 1, wherein the controller is further configured to generate a second pause command in which operator input is required prior to re-starting autonomous operation after generating the second pause command.

11. The system of claim 10, wherein the second pause command is generated based upon an absence of one of a second plurality of input conditions.

12. The system of claim 1, wherein the controller is further configured to communicate the pause command including a location of the machine at a work site to a system remote from the machine.

13. The system of claim 1, wherein the pause command is generated based upon a proximity of the machine to another machine.

14. The system of claim 1, wherein the pause command is generated based upon a slope of the work surface exceeding a desired threshold.

15. A method of controlling a machine during an autonomous material moving operation along a work surface, comprising:

determining a topography of the work surface based upon terrain signals from a terrain sensing system;

generating a first target profile based upon the topography of the work surface prior to the autonomous material moving operation;

generating signals to autonomously operate the machine along the work surface and move material based upon the first target profile;

receiving a plurality of signals as the machine moves along the work surface, the plurality of signals being associated with a plurality of necessary input conditions;

generating a pause command to pause the autonomous material moving operation based upon an absence of one of the plurality of necessary input conditions, the absence of one of the plurality of necessary input conditions defining a pause condition;

determining a position of the machine based upon position signals from a position sensing system;

determining an estimate of an amount of material being moved by a ground engaging work implement as the machine moves along the work surface;

generating a second target profile based upon the topography of the work surface after the pause command, the position of the machine after the pause command, and the estimate of the amount of material being moved by the ground engaging work implement; and

generating signals to re-start autonomous operation of the machine along the work surface based upon the second target profile after elimination of the pause condition.

16. The method of claim 15, further including re-starting the autonomous movement automatically upon the elimination of the pause condition.

17. The method of claim 15, further including determining whether a time threshold has passed without resolving a source of the pause command and requiring an operator input upon exceeding the time threshold.

18. The method of claim 15, further including storing a plurality of thresholds associated with the plurality of necessary input conditions and generating a pause command if any of the plurality of necessary input conditions exceeds a respective one of the plurality of thresholds.

19. The method of claim 15, further including generating a second pause command in which operator input is required prior to continuing autonomous operation after generating the second pause command.

20. A system for controlling a machine during an autonomous material moving operation, comprising:

a terrain sensing system for generating terrain signals indicative of a topography of a work surface;

a position sensing system associated with the machine for generating position signals indicative of a position of the machine;

a ground engaging work implement configured to engage the work surface and move a volume of material; and

a controller configured to;

determine the topography of the work surface based upon the terrain signals;

generate a first target profile based upon the topography of the work surface prior to the autonomous material moving operation;

generate signals to autonomously operate the machine along the work surface and move material based upon the first target profile;

receive a plurality of signals as the machine moves along the work surface, the plurality of signals being associated with a plurality of necessary input conditions;

generate a pause command to pause the autonomous material moving operation based upon an absence of one of the plurality of necessary input conditions, the absence of one of the plurality of necessary input conditions defining a pause condition; and

generate signals to re-start the autonomous material moving operation after elimination of the pause condition and without operator input.