System and method for controlling operations of a machine

• US 9,663,921 B2
• Filed: 07/09/2015
• Issued: 05/30/2017
• Est. Priority Date: 07/09/2015
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Wei, Mo, Taylor, Michael A.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): GOLDMAN, RICHARD A
• Application Number:
  US14/795,402
• Publication Number:
  US 20170009426A1
• Time in Patent Office: 691 Days
• Field of Search: 37197, 37348, 37364, 701 50, 701 23, 701 25, 701 26, 701 36, 701400, 701 41
• CPC Class Codes: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence
• 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 9/2054 Fleet management

Abstract

A system for controlling an operation of a machine is provided. The system includes a controller to communicate with a positioning module disposed on the machine and a sensor module associated with the implement. The controller determines a start location and an end location of the operation, and determines an operating path therebetween. Further, the controller engages the implement with a work surface and moves the machine from the start location. The controller further determines an interrupted location of the machine based on the positioning module and a load acting on the implement. The controller further resumes the operation of the machine from the interrupted location if a first distance between the interrupted location and the start location is greater than a first threshold distance and a second distance between the interrupted location and the end location is greater than a second threshold distance.

Claims

1. A system for controlling an operation of a machine having an implement configured to selectively engage with a work surface to perform the operation, the system comprising:

a positioning module disposed on the machine to determine a location of the machine;

a sensor module associated with the implement of the machine; and

a controller disposed in communication with the positioning module and the sensor module, the controller configured to;

store a start location and an end location of the operation;

determine an operating path based on the start location and the end location;

engage the implement with the work surface and move the machine from the start location along the operating path to perform the operation;

determine a load acting on the implement based on signals received from the sensor module;

determine an interrupted location of the machine based on signals received from the positioning module and the load acting on the implement, wherein the interrupted location corresponds to a location at which the implement is disengaged from the work surface; and

resume the operation of the machine from the interrupted location if a first distance between the interrupted location and the start location is greater than a first threshold distance and a second distance between the interrupted location and the end location is greater than a second threshold distance.

2. The system of claim 1, wherein the controller comprises a memory module configured to store the start location, the end location, the first threshold distance and the second threshold distance, wherein the first threshold distance is defined with respect to the start location of the operating path, and wherein the second threshold distance is defined with respect to the end location of the operating path.

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

determine a plurality of locations of the machine based on signals received from the positioning module as the machine moves along the operating path while performing the operation; and

store the determined locations of the machine in the memory module.

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

determine an offset location with reference to the interrupted location based on the stored locations of the machine, wherein the offset location is located between the start location and the interrupted location at an offset distance from the interrupted location; and

resume the operation of the machine from the offset location.

5. The system of claim 1, wherein the controller is further configured to repeat the operation of the machine from the start location of the operating path if the first distance is less than or equal to the first threshold distance.

6. The system of claim 1, wherein the controller is further configured to terminate the operation of the machine if the second distance is less than or equal to the second threshold distance.

7. The system of claim 1, wherein the positioning module comprises a satellite positioning device.

8. The system of claim 1, wherein the sensor module comprises a load sensor configured to be in communication with the controller, wherein the load sensor is configured to generate signals indicative of the load acting on the implement.

9. A method of controlling an operation of a machine having an implement configured to selectively engage with a work surface to perform the operation, the method comprising:

storing a start location and an end location of the operation;

determining an operating path based on the start location and the end location;

engaging the implement with the work surface;

moving the machine from the start location of the operating path to perform the operation;

determining an interrupted location of the machine based on signals received from a positioning module and a load acting on the implement, wherein the interrupted location corresponds to a location at which the implement is disengaged from the work surface; and

resuming the operation of the machine from the interrupted location if a first distance between the interrupted location and the start location is greater than a first threshold distance and a second distance between the interrupted location and the end location is greater than a second threshold distance.

10. The method of claim 9 further comprising:

determining a plurality of locations of the machine based on signals received from the positioning module as the machine moves along the operating path while performing the operation; and

storing the determined locations of the machine in a memory module associated with a controller.

11. The method of claim 10 further comprising:

determining an offset location with reference to the interrupted location based on the stored locations of the machine, wherein the offset location is located between the start location and the interrupted location at an offset distance from the interrupted location; and

resuming the operation of the machine from the offset location.

12. The method of claim 9 further comprising repeating the operation of the machine from the start location if the first distance is less than or equal to the first threshold distance.

13. The method of claim 9 further comprising terminating the operation of the machine if the second distance is less than or equal to the second threshold distance.

14. A machine comprising:

a frame;

an implement movably coupled to the frame, the implement configured to selectively engage with a work surface to perform an operation;

a positioning module disposed on the frame to determine a location of the machine;

a sensor module associated with the implement of the machine; and

a controller disposed in communication with the positioning module and the sensor module, the controller configured to;

store a start location and an end location of the operation;

determine an operating path based on the start location and the end location;

engage the implement with the work surface and move the machine from the start location along the operating path to perform the operation;

determine a load acting on the implement based on signals received from the sensor module;

determine an interrupted location of the machine based on signals received from the positioning module and the load acting on the implement, wherein the interrupted location corresponds to a location at which the implement is disengaged from the work surface; and

resume the operation of the machine from the interrupted location if a first distance between the interrupted location and the start location is greater than a first threshold distance and a second distance between the interrupted location and the end location is greater than a second threshold distance.

15. The machine of claim 14, wherein the controller comprises a memory module configured to store the start location, the end location, the first threshold distance and the second threshold distance, wherein the first threshold distance is defined with respect to the start location of the operating path, and wherein the second threshold distance is defined with respect to the end location of the operating path.

16. The machine of claim 15, wherein the controller is further configured to:

determine a plurality of locations of the machine based on signals received from the positioning module as the machine moves along the operating path while performing the operation; and

store the determined locations of the machine in the memory module.

17. The machine of claim 16, wherein the controller is further configured to:

determine an offset location with reference to the interrupted location based on the stored locations of the machine, wherein the offset location is located between the start location and the interrupted location at an offset distance from the interrupted location; and

resume the operation of the machine from the offset location.

18. The machine of claim 14, wherein the controller is further configured to repeat the operation of the machine from the start location if the first distance is less than or equal to the first threshold distance.

19. The machine of claim 14, wherein the controller is further configured to terminate the operation of the machine if the second distance is less than or equal to the second threshold distance.

20. The machine of claim 14, wherein the sensor module comprises a load sensor configured to be in communication with the controller, wherein the load sensor is configured to generate signals indicative of the load acting on the implement.