Systems and methods for adjusting pass depth in view of excess materials

• US 9,487,929 B2
• Filed: 03/05/2015
• Issued: 11/08/2016
• Est. Priority Date: 03/05/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Wei, Mo, Taylor, Michael, Edara, Thandava
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US14/639,459
• Publication Number:
  US 20160258129A1
• Time in Patent Office: 614 Days
• Field of Search: 701/26, 701/50, 701/2, 374/14, 700/245, 700/259, 702/5
• 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 9/2029 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

Abstract

A method for controlling an earthmoving machine and a work implement associated with the earth moving machine is disclosed. The method includes receiving positioning signals from a positioning system associated with the earthmoving machine, the positioning signals indicative of a topography of the work surface. The method further includes determining a profile of the work surface based on the positioning signals and determining if the profile of the work surface includes a bump, the bump having a bump height which is greater than an expected surface height. The method further includes determining a depth adjustment based on the bump height and adjusting the target depth based on the depth adjustment, if the profile of the work surface includes the bump.

Claims

1. A method for controlling an earthmoving machine and a work implement associated with the earthmoving machine during an earthmoving operation of a work plan, the work plan including a projected first pass to create a projected work surface and a projected second pass having a target depth, the projected work surface having an expected surface height, the earthmoving machine including a prime mover, a ground engaging-mechanism, and a machine weight, the method comprising:

performing an actual first pass and creating an actual work surface;

receiving, with a controller, positioning signals from a positioning system associated with the earthmoving machine during the actual first pass, the positioning signals indicative of a topography of the actual work surface;

determining, with the controller, a profile of the actual work surface based at least in part on the positioning signals;

determining, with the controller, if the profile of the actual work surface includes a bump, the bump having a bump height, the bump height being greater than the expected surface height;

determining, with the controller, a depth adjustment if the profile of the actual work surface includes the bump, the depth adjustment based, at least in part, on the bump height and performance characteristics of the earthmoving machine, the performance characteristics of the earth moving machine including at least one of a maximum power output of the prime mover, a traction characteristic of the ground engaging-mechanism, and the machine weight; and

determining, with the controller, an adjusted projected second pass at least in part by adjusting the target depth based on the depth adjustment, if the profile of the actual work surface includes the bump.

2. The method of claim 1, further comprising setting a cut location, with the controller, on the actual work surface for the work implement for the adjusted projected second pass, the cut location based at least in part on the target depth.

3. The method of claim 2, further comprising performing an actual second pass with the earthmoving machine, wherein the actual second pass is performed based on the adjusted projected second pass, if the profile of the actual work surface includes the bump.

4. The method of claim 1, further comprising determining, with the controller, a discount factor based on one or more conditions associated with the earthmoving operation.

5. The method of claim 4, wherein determining the depth adjustment, if the profile of the actual work surface includes the bump, further includes determining the depth adjustment based on the bump height and the discount factor.

6. The method of claim 5, wherein determining the depth adjustment based on the bump height and the discount factor is executed by multiplying the bump height by the discount factor, with the controller.

7. The method of claim 6, wherein adjusting the target depth based on the depth adjustment, if the profile of the actual work surface includes the bump includes replacing the target depth with an adjusted target depth, the adjusted target depth determined by subtracting the depth adjustment from the target depth.

8. The method of claim 4, wherein determining a discount factor based on one or more conditions associated with the earthmoving operation includes that the one or more conditions associated with the earthmoving operation include at least one of a performance capability of the earthmoving machine, a topographical condition of the actual work surface, or a condition associated with a material of the actual work surface.

9. A system for controlling an earthmoving machine and a work implement associated with the earthmoving machine during an earthmoving operation of a work plan, the work plan including a projected first pass to create a projected work surface and a projected second pass having a target depth, the projected work surface having an expected surface height, the earthmoving machine including a prime mover, a ground engaging-mechanism, and a machine weight, the system comprising:

a positioning system associated with the earthmoving machine, the positioning system configured to generate positioning signals during an actual first pass, the positioning signals indicative of a topography of an actual work surface created by the actual first pass; and

a controller configured to execute instructions to;

receive the positioning signals;

determine a profile of the actual work surface based on the positioning signals;

determine if the profile of the actual work surface includes a bump, the bump having a bump height, the bump height being greater than the expected surface height;

determine a depth adjustment if the profile of the actual work surface includes the bump, the depth adjustment based, at least in part, on the bump height and performance characteristics of the earthmoving machine, the performance characteristics of the earth moving machine including at least one of a maximum power output of the prime mover, a traction characteristic of the ground engaging-mechanism, and the machine weight; and

determine an adjusted projected second pass at least in part by adjusting the target depth based on the depth adjustment if the profile of the actual work surface includes the bump.

10. The system of claim 9, wherein the controller is further configured to execute instructions to set a cut location on the actual work surface for the work implement for the adjusted projected second pass, the cut location based on the target depth.

11. The system of claim 10, further comprising one or more actuators,

wherein the controller is further configured to send signals to the actuators to direct the earthmoving machine to operate the earthmoving machine based on the work plan, and

wherein the work plan includes the adjusted projected second pass.

12. The system of claim 9, wherein the controller is further configured to determine a discount factor based on one or more conditions associated with the earthmoving operation.

13. The system of claim 12, further comprising one or more machine sensors associated with the machine for generating machine sensor signals, and

wherein the controller is further configured to:

receive the machine sensor signals; and

determine at least one of the one or more conditions associated with the earthmoving operation based on the machine sensor signals.

14. The system of claim 12, wherein the one or more conditions associated with the earthmoving operation includes that the one or more conditions associated with the earthmoving operation include at least one of a performance capability of the earthmoving machine, a topographical condition of the actual work surface, or a condition associated with a material of the actual work surface.

15. The system of claim 14, wherein the performance capability of the earthmoving machine is a drive power capability of the earthmoving machine.

16. The system of claim 12, wherein the controller determines the depth adjustment based on the bump height and the discount factor.

17. An earthmoving machine, comprising:

a prime mover;

a ground engaging mechanism;

a machine weight a work implement for cutting a work surface during an earthmoving operation of a work plan;

a positioning system associated with the earthmoving machine, the positioning system configured to generate positioning signals during an actual first pass, the positioning signals indicative of a topography of an actual work surface created by the actual first pass; and

; and

a controller including a memory component including the work plan, the work plan including a projected first pass to create a projected work surface, and a projected second pass having a target depth, the projected work surface having an expected surface height,

wherein the controller is configured to execute instructions to;

receive the positioning signals;

determine a profile of the actual work surface based on the positioning signals;

determine if the profile of the actual work surface includes a bump, the bump having a bump height, the bump height being greater than the expected surface height;

determine a depth adjustment if the profile of the actual work surface includes the bump, the depth adjustment based, at least in part, on the bump height and performance characteristics of the earthmoving machine, the performance characteristics of the earth moving machine including at least one of a maximum power output of the prime mover, a traction characteristic of the ground-engaging mechanism, and the machine weight; and

determine an adjusted projected second pass at least in part by adjusting the target depth based on the depth adjustment if the profile of the actual work surface includes the bump.

18. The earthmoving machine of claim 17, wherein the controller is further configured to execute instructions to set a cut location on the actual work surface for the work implement for the adjusted projected second pass, the cut location based on the target depth.

19. The earthmoving machine of claim 18, further comprising one or more actuators,

wherein the controller is further configured to send signals to the actuators to direct the earthmoving machine to operate the earthmoving machine based on the work plan, and

wherein the work plan includes the adjusted projected second pass.

20. The earthmoving machine of claim 17, wherein the controller is further configured to determine a discount factor based on one or more conditions associated with the earthmoving operation, and

wherein the controller determines the depth adjustment based on the bump height and the discount factor.