Control System for a Machine

• US 20180066415A1
• Filed: 09/07/2016
• Published: 03/08/2018
• Est. Priority Date: 09/07/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Friend, Paul, Stratton, Kenneth L.
• Granted Patent: US 10,480,157 B2
• Time in Patent Office: Days
• CPC Class Codes: E02F 3/308 working outwardly
• CPC Class Codes: E02F 3/7604 Combinations of scraper blades with soil loosening tools working independently of scraper blades soil loosening attachments fixed on blades E02F3/8152, E02F3/8155
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A system for controlling operation of a first material engaging work implement includes a first machine, a second machine, and a controller. The controller is configured to store a kinematic model and characteristics of the implement system, determine a second machine operation zone, with the second machine operation zone being defined by a material movement plan of the second machine, and determine a current pose of the first machine. The controller is further configured to determine a first machine operation zone based upon the pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, with the first machine operation zone being spaced from the second machine operation zone, and generate a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position.

Claims

1. A system for controlling operation of a first material engaging work implement comprising:

a first machine including;

an implement system having a linkage assembly including the first material engaging work implement;

a first machine pose sensor for generating first machine pose signals indicative of a pose of the first machine;

a second machine including;

a ground engaging drive mechanism to propel the second machine;

a second material engaging work implement; and

a controller configured to;

store a kinematic model and characteristics of the implement system of the first machine;

determine a second machine operation zone, the second machine operation zone being defined by a material movement plan of the second machine;

determine a current pose of the first machine based upon the first machine pose signals;

determine a first machine operation zone based upon the current pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the first machine operation zone being spaced from the second machine operation zone; and

generate a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position.

2. The system of claim 1, wherein the first position is a dig location and the second position is a dump location.

3. The system of claim 2, wherein the controller is further configured to:

store a first dig location, the first dig location corresponding to the dig location and being within the second machine operation zone;

generate first dig command signals to move the first material engaging work implement from the first dig location to the dump location;

generate dump command signals to dump a load of material carried by the first material engaging work implement at the dump location; and

generate command signals to move the first material engaging work implement from the dump location to a second dig location.

4. The system of claim 2, wherein the controller is further configured to:

store a first dump location, the first dump location corresponding to the dump location and being within the second machine operation zone;

generate dig command signals to move the first material engaging work implement from the dig location to the first dump location;

generate dump command signals to dump a load of material carried by the first material engaging work implement at the first dump location; and

generate command signals to move the first material engaging work implement from the dump location to a second dig location.

5. The system of claim 1, wherein the material movement plan of the second machine is based upon input from an operator of the first machine.

6. The system of claim 5, wherein the controller is configured to operate in a learning mode and receive instructions from an operator during a material movement operation.

7. The system of claim 1, wherein the material movement plan of the second machine is based upon input from a perception system.

8. The system of claim 7, wherein the perception system is mounted on the first machine.

9. The system of claim 1, wherein the material movement plan of the second machine is based upon a material movement plan of the first machine.

10. The system of claim 9, wherein the material movement plan of the second machine is based upon operation of the first machine through a predetermined number of material movement cycles.

11. The system of claim 9, wherein the material movement plan of the second machine is further based upon material characteristics of material being moved by the first machine.

12. The system of claim 1, wherein the controller is further configured to autonomously generate the material movement plan of the second machine and communicate the material movement plan of the second machine to the second machine.

13. The system of claim 1, wherein implement system of the first machine is rotatable.

14. The system of claim 1, wherein the second machine further includes a second machine pose sensor for generating second machine pose signals indicative of a current pose of the second machine, and the second machine operation zone being further defined by a current pose of the second machine.

15. The system of claim 1, wherein the second machine operation zone is within a range of operation of the first material engaging work implement.

16. A method of controlling operation of a first material engaging work implement comprising:

providing a first machine including an implement system having a linkage assembly including the first material engaging work implement;

providing a second machine including a ground engaging drive mechanism to propel the second machine and a second material engaging work implement;

storing a kinematic model and characteristics of the implement system of the first machine;

determining a second machine operation zone, the second machine operation zone being defined by a material movement plan of the second machine;

determining a current pose of the first machine based upon first machine pose signals generated by a first machine pose sensor;

determining a first machine operation zone based upon the current pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the first machine operation zone being spaced from the second machine operation zone; and

generating a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position.

17. The method of claim 16, wherein the first position is a dig location and the second position is a dump location.

18. The method of claim 17, further including determining a current pose of the second machine based upon second machine pose signals generated by a second machine pose sensor and defining the second machine operation zone based upon the current pose of the second machine.

19. The method of claim 16, wherein the second machine operation zone is within a range of operation of the first material engaging work implement.

20. A machine for use with a second machine, the second machine including a ground engaging drive mechanism to propel the second machine, a second material engaging work implement, and a second machine operation zone defined by a material movement plan of the second machine, the machine comprising:

an implement system having a linkage assembly including a material engaging work implement;

a machine pose sensor for generating machine pose signals indicative of a pose of the machine; and

a controller configured to;

store a kinematic model and characteristics of the implement system of the first machine;

determine a current pose of the machine based upon the machine pose signals;

determine a machine operation zone based upon the current pose of the machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the machine operation zone being spaced from the second machine operation zone; and

generate a plurality of command signals to move the material engaging work implement within the machine operation zone between a dig location and a dump location.