Excavation system providing machine cycle training

• US 9,487,931 B2
• Filed: 09/12/2014
• Issued: 11/08/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Atkinson, David C., Stratton, Kenneth L.
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US14/485,088
• Publication Number:
  US 20160076225A1
• Time in Patent Office: 788 Days
• Field of Search: 701/41, 701/50, 701/485, 37411-414, 374/17, 374/19, 373/48, 414/694, 414/697, 414/699, 414/701, 414/481, 414/560, 414/467, 414/474
• US Class Current: 1/1
• CPC Class Codes: E02F 3/432 for keeping the bucket in a predetermined position or attitude
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
• 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 9/2054 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)
• CPC Class Codes: G01S 13/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S13/46
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S15/46
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/00 Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G07C 5/0841 Registering performance data recording measured values G01D; information storage G11B

Abstract

An excavation system is disclosed as having a locating device configured to generate a position signal indicative of a position of an excavation machine, a sensor configured to generate a load signal indicative of a work tool status, and a controller. The controller may be configured to determine a location of a haul truck, to determine when the work tool is filled with at least a threshold amount of material from a pile at the worksite, and to determine the position of the excavation machine. The controller may further be configured, based on operating limitations of the excavation machine, to determine a pivot point between the location of the haul truck and the position of the excavation machine; to plan a travel path for the excavation machine to the haul truck through the pivot point; and to direct an operator of the excavation machine to follow the travel path.

Claims

1. An excavation system for use at a worksite having a haul truck and an excavation machine with a work tool, the excavation system comprising:

a locating device configured to generate a position signal indicative of a position of the excavation machine;

a sensor configured to generate a load signal indicative of a status of the work tool; and

a controller in communication with the locating device and the sensor, the controller being configured to;

determine a location of the haul truck;

determine, based on the load signal, when the work tool of the excavation machine is filled with at least a threshold amount of material from a pile at the worksite;

in response to the work tool being filled with at least the threshold amount of material, determine the position of the excavation machine based on the position signal, said position defining a first end of a first travel segment;

determine a second end of said first travel segment, said second end being about 1.5-2.0 rotations of a traction device associated with the excavation machine away from the first end;

determine a second travel segment between said second end of said first travel segment and the location of the haul truck, the intersection between said first travel segment and said second travel segment defining a pivot point having an interior angle between about 30-60 degrees;

plan a travel path for the excavation machine to the haul truck through the pivot point; and

direct, via an interface device, an operator of the excavation machine to follow the travel path.

2. The excavation system of claim 1, wherein the location of the haul truck is communicated to the excavation machine.

3. The excavation system of claim 1, further including a scanner located on the excavation machine and configured to detect the location of the haul truck.

4. The excavation system of claim 1, wherein the controller is further configured to:

communicate a desired loading location to the haul truck; and

the location of the haul truck is assumed to be the desired loading location.

5. The excavation system of claim 1, wherein the sensor is a pressure sensor associated with a hydraulic actuator connected to the work tool and configured to directly sense a load of material in the work tool.

6. The excavation system of claim 1, wherein the sensor is associated with a powertrain of the excavation machine and configured to indirectly sense a load of material in the work tool.

9. The excavation system of claim 1, wherein the controller is configured to show the first and second travel segments on the interface device.

10. The excavation system of claim 9, further including a backup camera configured to capture images of an area of the worksite behind the excavation machine, wherein the first and second travel segments are shown overlapping the images on the display.

11. The excavation system of claim 10, wherein the controller is further configured to provide feedback to the operator regarding how well the operator is manually controlling the excavation machine to follow the travel path.

12. The excavation system of claim 11, wherein the feedback is tactile feedback.

13. The excavation system of claim 11, wherein the controller is further configured to automatically move the work tool while the operator is manually controlling the excavation machine to follow the travel path.

7. A method of controlling an excavation machine at a worksite, comprising:

determining a location of a haul truck;

determining when a work tool of the excavation machine is filled with at least a threshold amount of material from a pile at the worksite;

in response to the work tool being filled with at least the threshold amount of material, determining a position of the excavation machine, said position defining a first end of a first travel segment;

determining a second end of said first travel segment, said second end being about 1.5-2.0 rotations of a traction device associated with the excavation machine away from the first end;

determining a second travel segment between said second end of said first travel segment and the location of the haul truck and the position of the excavation machine at a time the work tool is filled with at least the threshold amount of material, the intersection between said first travel segment and said second travel segment defining a pivot point having an interior angle between about 30-60 degrees;

planning a travel path for the excavation machine to the haul truck through the pivot point; and

directing, via an interface device, an operator of the excavation machine to follow the travel path.

8. The method of claim 7, wherein directing the operator of the excavation machine to follow the travel path includes showing the first and second travel segments on an interface device inside the excavation machine overlapped with images of an area of the worksite behind the excavation machine.

14. An excavation machine, comprising:

a frame;

a plurality of wheels rotatably connected to the frame and configured to support the frame;

a powertrain mounted to the frame and configured to drive the plurality of wheels;

a work tool;

at least one hydraulic actuator connected between the work tool and the frame;

a locating device configured to generate a position signal indicative of a position of the excavation machine at a worksite;

a sensor configured to generate a load signal indicative of a status of the work tool;

a backup camera configured to generate images of an area behind the excavation machine;

an operator station connected to the frame;

interface device located inside the operator station; and

a controller in communication with the locating device, the sensor, the backup camera, and the interface device, the controller being configured to;

receive a location signal from offboard the excavation machine that is indicative of a location of a haul truck;

determine, based on the load signal, when the work tool of the excavation machine is filled with at least a threshold amount of material from a pile at the worksite;

in response to the work tool being filled with at least the threshold amount of material, determine the position of the excavation machine based on the position signal, said position defining a first end of a first travel segment;

determine a second end of said first travel segment, said second end being about 1.5-2.0 rotations of said wheels away from the first end;

determine a second travel segment between said second end of said first travel segment and the location of the haul truck, the intersection between said first travel segment and said second travel segment defining a pivot point having an interior angle between about 30-60 degrees;

plan a travel path for the excavation machine to the haul truck through the pivot point; and

show the travel path on the interface device overlapped with the images generated by the backup camera.