System and Method for Optimizing a Work Implement Path

• US 20160077513A1
• Filed: 09/12/2014
• Published: 03/17/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Taylor, Michael, Edara, Thandava K., Wei, Mo
• Granted Patent: US 10,101,723 B2
• Time in Patent Office: Days
• 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 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: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G05B 19/402 characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/35188 Project workpiece and sheet on screen, position layout to be cut, store contour
• CPC Class Codes: G05B 2219/49001 Machine tool problems
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria

Abstract

A system for determining an optimized cut location for a work implement includes a position sensor and a controller. The controller is configured to determine the position of a work surface and determine a plurality of potential cut locations along a path between an initial cut location and an end location. The controller is further configured to determine an efficiency for moving an amount of material for each of the initial cut location and the plurality of potential cut locations based upon the amount of material to be moved, a parameter associated with moving the amount of material, and a loading profile, and select the optimized cut location from one of the initial cut location and the plurality of potential cut locations based upon the efficiency of each of the initial cut location and the plurality of potential cut locations.

Claims

1. A system for determining an optimized cut location for a work implement of a machine, the machine moving on a work surface along a path, comprising:

a position sensor for generating position signals indicative of a position of the work surface;

a controller configured to;

store a loading profile;

store an end location of the path;

determine the position of the work surface based upon the position signals;

store an initial cut location;

determine a plurality of potential cut locations along the path between the initial cut location and the end location;

determine an efficiency for moving an amount of material for each of the initial cut location and the plurality of potential cut locations based upon the amount of material to be moved, a parameter associated with moving the amount of material, and the loading profile; and

select the optimized cut location from one of the initial cut location and the plurality of potential cut locations based upon the efficiency of each of the initial cut location and the plurality of potential cut locations.

2. The system of claim 1, where the controller is configured to determine the amount of material to be moved from each of the initial cut location and the plurality of potential cut locations to the end location, the amount of material to be moved at each location being based upon a position of the initial cut location and the plurality of potential cut locations, the loading profile, and the position of the work surface, determine the parameter associated with moving the amount of material from each of the initial cut location and the plurality of potential cut locations to the end location, and determine the efficiency by dividing the amount of material by the parameter.

3. The system of claim 1, wherein the parameter is a length of time required to move the amount of material from a cut location to the end location.

4. The system of claim 3, wherein the controller is further configured determine the length of time based upon the position of the work surface.

5. The system of claim 4, wherein the controller is further configured to divide the path into a plurality of increments, determine a travel time along each of the plurality of increments based upon an increment parameter, and determine the length of time based upon a total of the travel times along the plurality of increments.

6. The system of claim 5, wherein the increment parameter is a slope of the work surface along each increment.

7. The system of claim 3, wherein the controller is further configured to store a target speed of the machine and determine the length of time based upon the target speed.

8. The system of claim 1, wherein the parameter is a distance of a cut location to the end location.

9. The system of claim 1, wherein the parameter is an amount of fuel used to move the amount of material from a cut location to the end location.

10. The system of claim 1, wherein the controller is further configured to determine a target profile for each of the initial cut location and the plurality of potential cut locations.

11. The system of claim 1, further including a ground engaging drive mechanism for moving the machine along the path and wherein the controller is configured to select the optimized cut location while the machine is moving along the path.

12. The system of claim 1, wherein the controller is further configured to determine potential cut locations based upon a target profile of the initial cut location and the position of the work surface.

13. The system of claim 12, wherein the controller is further configured to determine potential cut locations based upon intersections between the work surface and the target profile of the initial cut location.

14. The system of claim 12, wherein the controller is further configured to determine potential cut locations based upon locations in which a slope of the work surface is increasing relative to the target profile.

15. The system of claim 1, wherein the controller is further configured to determine potential cut locations by dividing the path into a plurality of increments.

16. A controller-implemented method for determining an optimized cut location for a work implement of a machine, the machine moving on a work surface along a path, comprising:

storing a loading profile;

storing an end location of the path;

determining the position of the work surface based upon position signals from a position sensor;

storing an initial cut location;

determining a plurality of potential cut locations along the path between the initial cut location and the end location;

determining an efficiency for moving an amount of material for each of the initial cut location and the plurality of potential cut locations based upon the amount of material to be moved, a parameter associated with moving the amount of material, and the loading profile; and

selecting the optimized cut location from one of the initial cut location and the plurality of potential cut locations based upon the efficiency of each of the initial cut location and the plurality of potential cut locations.

17. The method of claim 16, further including determining the amount of material to be moved from each of the initial cut location and the plurality of potential cut locations to the end location with the amount of material to be moved at each location being based upon a position of the initial cut location and the plurality of potential cut locations, the loading profile, and the position of the work surface, determining the parameter associated with moving the amount of material from each of the initial cut location and the plurality of potential cut locations to the end location, and determining the efficiency by dividing the amount of material by the parameter.

18. The method of claim 16, further including selecting the optimized cut location while the machine is moving along the path.

19. The method of claim 16, further including determining potential cut locations based upon a target profile of the initial cut location and the position of the work surface.

20. A machine, comprising:

a prime mover;

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

a position sensor for generating position signals indicative of a position of the work surface;

a controller configured to;

store a loading profile;

store an end location of the path;

determine the position of the work surface based upon the position signals;

store an initial cut location;

determine a plurality of potential cut locations along the path between the initial cut location and the end location;

determine an efficiency for moving an amount of material for each of the initial cut location and the plurality of potential cut locations based upon the amount of material to be moved, a parameter associated with moving the amount of material, and the loading profile; and

select an optimized cut location for the work implement from one of the initial cut location and the plurality of potential cut locations based upon the efficiency of each of the initial cut location and the plurality of potential cut locations.