Machine with automated blade positioning system

• US 20080263912A1
• Filed: 04/30/2007
• Published: 10/30/2008
• Est. Priority Date: 04/30/2007
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Bhaskar, Vivek, Gharsalli, Imed
• Granted Patent: US 7,676,967 B2
• Time in Patent Office: Days
• US Class Current: 37/382
• CPC Class Codes: E02F 3/844 for positioning the blade, e.g. hydraulically
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0268 using internal positioning means

Abstract

A system is provided for positioning a work implement. The system has at least one actuator for actuating a movement of a work implement. The system also has at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of a position and an orientation of the work implement. Furtherrnore, the system has a controller configured to automatically create a travel path for the work implement and guide the work implement in response to the data received from the at least one sensor, wherein the controller is further configured to automatically modify the travel path when detecting an imminent collision between the work implement and an obstacle.

Claims

1. A work implement positioning system, comprising:

at least one actuator for actuating a movement of a work implement;

at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of a position and an orientation of the work implement; and

a controller configured to automatically create a travel path for the work implement and guide the work implement in response to data received from the at least one sensor, wherein the controller is further configured to automatically modify the travel path when detecting an-imminent collision between the work implement and an obstacle.

2. The work implement positioning system of claim 1, wherein the controller is further configured to determine that a collision between the work implement and the obstacle is imminent when the distance between a surface of the work implement and the obstacle is less than a predetermined threshold.

3. The work implement positioning system of claim 1, further including at least one ground sensor configured to sense a parameter indicative of the relative distance between the work implement and the ground.

4. The work implement positioning system of claim 3, wherein the controller is configured to automatically create the travel path and guide the work implement in response to data received from the at least one ground sensor.

5. The work implement positioning system of claim 1, wherein the controller is configured to move and orient the work implement toward a previously stored position and orientation.

6. The work implement positioning system of claim 1, wherein the controller is configured to prioritize imminent collisions when determining more than one imminent collision.

7. The work implement positioning system of claim 6, wherein the controller is configured to automatically modify the travel path to avoid imminent collisions in a sequence based on the priority of the imminent collisions.

8. The work implement positioning system of claim 7, wherein the priority is assigned by a relative distance between the obstacles and the work implement.

9. A method for moving a work implement, comprising:

sensing at least one parameter indicative of a location and an orientation of a work implement;

creating a mathematical representation of the work implement based on the at least one sensed parameter and stored data;

selecting a target location and target orientation of the work implement;

creating a work implement travel path based on the at least one sensed parameter and stored data;

creating a mathematical representation of possible obstacles in the travel path based on the at least one sensed parameter, stored data, and a target location and orientation;

moving the work implement along the travel path; and

automatically modifying the travel path in response to a determination that a collision between the work implement and an obstacle is imminent.

10. The method of claim 9, wherein the determination that a collision is imminent includes determining that a distance between a surface of the work implement and an obstacle is less than a predetermined threshold.

11. The method of claim 9, further including continuously moving the work implement even when an imminent collision is determined.

12. The method of claim 9, wherein the mathematical representation is updated at predetermined intervals of time.

13. The method of claim 9, wherein moving the work implement along the travel path includes moving the work implement in response to input from an operator.

14. The method of claim 13, further including overriding the input from the operator upon detection of an imminent collision between the work implement and an obstacle.

15. A machine, comprising:

at least one traction device;

a power source;

a work implement;

at least one actuator for actuating a movement of the work implement;

at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of a position and an orientation of the work implement; and

a controller configured to;

automatically create a travel path for the work implement;

guide the work implement in response to data received from the at least one sensor; and

automatically modify the travel path when detecting an imminent collision between the work implement and an obstacle.

16. The machine of claim 15, wherein the controller is further configured to determine that a collision between the work implement and the obstacle is imminent when the distance between a surface of the work implement and the obstacle is less than a predetermined threshold.

17. The machine of claim 15, wherein the controller is configured to move and orient the work implement toward a previously stored position and orientation.

18. The machine of claim 15, wherein the controller is configured to prioritize imminent collisions when determining more than one imminent collision.

19. The machine of claim 18, wherein the controller is configured to automatically modify the travel path to avoid imminent collisions in a sequence based on the priority of the imminent collisions.

20. The machine of claim 19, wherein the priority is assigned by a relative distance between the obstacles and the work implement.