System and method for detecting a crest

• US 9,163,384 B2
• Filed: 04/14/2014
• Issued: 10/20/2015
• Est. Priority Date: 07/30/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Stratton, Kenneth L., Becicka, Troy K., Taylor, Michael, Edara, Thandava K.
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Trivedi, Atul
• Application Number:
  US14/252,297
• Publication Number:
  US 20140229079A1
• Time in Patent Office: 554 Days
• Field of Search: 701/23, 701/26, 701/33.9, 701/50, 172/103, 172/260.5, 172/261, 172/399, 175/4.5, 175/45, 175/399
• US Class Current: 1/1
• CPC Class Codes: E02F 3/84 Drives or control devices therefor , e.g. hydraulic drive systems
• 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 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• 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
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence

Abstract

A system for automated control of a machine having a ground engaging work implement includes an implement load sensor system. A controller determines a change in terrain based at least in part upon a change in the load on the ground engaging work implement. If the change in terrain exceeds a threshold, the controller generates an alert command signal. A method is also provided.

Claims

1. A system for automated control of a machine having a ground engaging work implement for moving material along a work surface, comprising:

an implement load sensor system configured to measure a load on the ground engaging work implement indicative of an amount of material being moved by the ground engaging work implement along the work surface and provide to a controller an implement load signal based upon the amount of material being moved by the ground engaging work implement;

the controller configured to;

store a threshold change in the implement load signal, the threshold change in the implement load signal being indicative of proximity to a crest;

receive the implement load signal;

determine a change in the implement load signal;

determine whether the change in the implement load signal exceeds the threshold change in the implement load signal; and

generate an alert command signal if the change in the implement load signal exceeds the threshold change in the implement load signal.

2. The system of claim 1, wherein the controller is further configured to store a work area for the machine including a crest zone adjacent the crest, the alert command signal is a reverse command signal, and the controller only generates the reverse command signal while the machine is operating within the crest zone.

3. The system of claim 2, further including a position sensing system to provide a signal indicative of a position of the machine and the controller is configured to determine whether the machine is within the crest zone.

4. The system of claim 2, wherein the controller is configured to store a data map of implement load signals and associated operating characteristics for use while the machine is operating within the crest zone, and compare the implement load signal to the data map of implement load signals while the machine is within the crest zone to determine the change in the implement load signal.

5. The system of claim 1, further including a machine pitch angle sensor, and the controller determines the proximity to a change in elevation of the work surface at least in part based upon a signal from the machine pitch angle sensor.

6. The system of claim 1, wherein the alert command signal is a reverse command signal.

7. The system of claim 1, wherein the implement load sensor system includes a sensor for monitoring a difference between output from a prime mover and output from a torque converter, and the controller determines the change in the implement load signal based at least in part upon a change in the difference between the output from the prime mover and the output from the torque converter.

8. The system of claim 1, wherein the implement load sensor system includes a pressure sensor for monitoring pressure within a hydraulic cylinder operatively connected to the ground engaging work implement, and the controller determines the change in the implement load signal based at least in part upon a change in pressure within the hydraulic cylinder.

9. The system of claim 1, wherein the implement load sensor system includes an acceleration sensor for monitoring acceleration of the machine, and the controller determines the change in the implement load signal based at least in part upon acceleration of the machine.

10. The system of claim 1, wherein the controller is further configured to determine proximity to a change in elevation of the work surface based at least in part upon the change in the implement load signal.

11. A controller implemented method of detecting proximity to a crest, comprising:

providing a machine having a ground engaging work implement for moving material along a work surface;

providing an implement load signal based upon a load on the ground engaging work implement;

storing a threshold change in the implement load signal, the threshold change in the implement load signal being indicative of proximity to a crest;

receiving the implement load signal;

determining a change in the implement load signal;

determining whether the change in the implement load signal exceeds a threshold change in the implement load signal; and

generating an alert command signal if the change in the implement load signal exceeds the threshold change in the implement load signal.

12. The controller implemented method of claim 11, wherein the alert command signal is a reverse command signal.

13. The controller implemented method of claim 11, wherein the implement load sensor system includes a sensor for monitoring a difference between output from a prime mover and output from a torque converter, and further including determining the change in the implement load signal based at least in part upon a change in the difference between the output from the prime mover and the output from the torque converter.

14. The controller implemented method of claim 11, wherein the implement load sensor system includes a pressure sensor for monitoring pressure within a hydraulic cylinder operatively connected to the ground engaging work implement, and further including determining the change in the implement load signal based at least in part upon a change in pressure within the hydraulic cylinder.

15. The controller implemented method of claim 11, wherein the implement load sensor system includes an acceleration sensor for monitoring acceleration of the machine and further including determining the change in the implement load signal based at least in part upon acceleration of the machine.

16. The controller implemented method of claim 11, further including storing a work area for the machine including a crest zone adjacent a crest, and determining whether the machine is operating within the crest zone and only generating a reverse command signal as part of the alert command signal if the machine is operating within the crest zone.

17. The controller implemented method of claim 11, further including a pitch angle sensor, and receiving a signal from the pitch angle sensor indicative of the pitch angle of the machine and determining proximity to a change in elevation of the work surface at least in part based upon the pitch angle of the machine.

18. The controller implement method of claim 11, further including determining proximity to a change in elevation of the work surface based at least in part upon the change in the implement load signal.

19. A machine comprising:

a prime mover;

a blade for moving material along a work surface;

an implement load sensor system configured to measure a load on the blade indicative of an amount of material being moved by the blade along the work surface and provide to a controller an implement load signal based upon the amount of material being moved by the blade; and

the controller configured to;

store a threshold change in implement load signal, the threshold change in implement load signal being indicative of proximity to a crest;

receive the implement load signal;

determine a change in the implement load signal;

determine whether the change in the implement load signal exceeds the threshold change in the implement load signal; and

generate an alert command signal if the change in the implement load signal exceeds the threshold change in the implement load signal.

20. The machine of claim 19, wherein the controller is further configured to determine proximity to a change in elevation of the work surface based at least in part upon the change in the implement load signal.