Patent Application
20160069045
The present disclosure relates generally to operating autonomous machines at a work site, and more particularly, to systems and methods for automatically detecting ripping pass locations based on predefined conditionals.
Machines such as, for example, track-type tractors, dozers, motor graders, wheel loaders, and the like, are used to perform a variety of tasks. For example, these machines may be used to move material and/or alter work surfaces at a worksite. The machines may be manned machines, but may also be semi-autonomous or autonomous vehicles that perform these tasks in response to commands remotely or locally generated as part of a work plan for the machines. Moreover, the machines may receive instructions in accordance with the work plan to at least partially autonomously perform repetitive and relatively localized operations such as cutting, digging, loosening, loading, carrying, and any other manipulation of materials at the worksite.
Among other things, autonomous machines, such as dozers, are frequently used to perform normal cuts along a work surface and in accordance with predetermined pass or cut profiles. While performing cuts, however, these machines often encounter sections of hard material which cannot be cut or removed using the normal cut routines and blade implements. Such hard sections cause unwanted interruptions and hinder overall productivity. If left unattended, for instance, these hard sections may leave undesirable raised surfaces in the terrain that become more pronounced with every pass, or cause other deviations from the planned course or target profile. Thus, it is typical for operators to manually intervene and engage a ripping pass for every 3 to 10 normal cuts so as to loosen the terrain and avoid profile deviations caused by hard sections.
With the frequency to which such ripping passes are performed per work site and the frequency to which manual operator involvement is required by conventional systems, there is a need to provide a more intuitive automated scheme to minimize operator involvement as well as to improve overall efficiency. Some conventional systems may provide partial automated ripper control, such as disclosed in U.S. Pat. No. 8,616,297 (“Shintani, et al.”). While automated ripper control may help reduce operator involvement, there is still substantial room for improvement. The system in Shintani, et al., for instance, still requires manual intervention by the operator to not only identify hard sections in a given terrain, but also to initiate the automated ripping sequence.
In view of the foregoing inefficiencies and disadvantages associated with conventional autonomous machines and control systems therefore, a need exists for more intuitive automatic control systems which minimize operator involvement and improve overall efficiency and productivity.
In one aspect of the present disclosure, a computer-implemented method for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The method may include monitoring one or more of machine parameters of the machine and profile parameters of the work surface, determining whether one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and generating a ripping pass request if one or more of the trigger conditions are satisfied.
In another aspect of the present disclosure, a control system for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The control system may include a memory configured to retrievably store one or more algorithms, and a controller in communication with the memory. Based on the one or more algorithms, the controller may be configured to at least monitor one or more of machine parameters of the machine and profile parameters of the work surface relative to one or more predefined trigger conditions suggestive of the need for the ripping pass, and generate a ripping pass request if at least one of the machine parameters and the profile parameters meet one or more of the trigger conditions.
In yet another aspect of the present disclosure, a controller for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The controller may include a tracking module configured to monitor one or more of machine parameters associated with the machine and profile parameters associated with the work surface, a detection module configured to detect when one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and a request module configured to generate a ripping pass request if one or more of the trigger conditions are met.
Although the following sets forth a detailed description of numerous different embodiments, it should be understood that the legal scope of protection is defined by the words of the claims set forth at the end of this patent. The detailed description is to be construed as exemplary only and does not describe every possible embodiment since describing every possible embodiment would be impractical, if not impossible. Numerous alternative embodiments could be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims defining the scope of protection.
It should also be understood that, unless a term is expressly defined herein, there is no intent to limit the meaning of that term, either expressly or by implication, beyond its plain or ordinary meaning, and such term should not be interpreted to be limited in scope based on any statement made in any section of this patent (other than the language of the claims). To the extent that any term recited in the claims at the end of this patent is referred to herein in a manner consistent with a single meaning, that is done for sake of clarity only so as to not confuse the reader, and it is not intended that such claim term be limited, by implication or otherwise, to that single meaning.
Referring now to
The overall operations of the machines 102 and the machine implements 106, 108 within the worksite 100 may be managed by a control system 112 that is at least partially in communication with the machines 102. Moreover, each of the machines 102 may include any one or more of a variety of feedback devices 114 capable of signaling, tracking, monitoring, or otherwise communicating relevant machine parameters or other information to the control system 112. For example, each machine 102 may include a locating device 116 configured to communicate with one or more satellites 118, which in turn, may communicate to the control system 112 various parameters and information pertaining to the position and/or orientation of the machines 102 relative to the worksite 100. Each machine 102 may additionally include one or more implement sensors 120 configured to track and communicate position and/or orientation information of the implements 106, 108 to the control system 112.
The control system 112 may be implemented in any number of different arrangements. For example, the control system 112 may be at least partially implemented at a command center 122 situated locally and/or remotely relative to the worksite 100 with sufficient means for communicating with the machines 102, for example, via satellites 118, or the like. Additionally or alternatively, the control system 112 may be implemented using one or more computing devices 124 with means for communicating with one or more of the machines 102 or one or more command centers 122 that may be locally and/or remotely situated relative to the worksite 100. In still further alternatives, the control system 112 may be at least partially implemented on-board any one or more of the machines 102 that are also provided within the worksite 100. Other suitable modes of implementing the control system 112 are possible and will be understood by those of ordinary skill in the art.
Using any of the foregoing arrangements, the control system 112 may generally be configured to monitor the positions of the machines 102 and/or machine implements 106, 108 relative to the worksite 100 and a predetermined target operation, and provide instructions for controlling the machines 102 and/or machine implements 106, 108 in an efficient manner in executing the target operation. In certain embodiments, the machines 102 may be configured to excavate areas of a worksite 100 according to one or more predefined excavation plans. The excavation plans may include, among other things, information relating to a location, size, and shape of a plurality of cuts into an intended work surface 126 at the worksite 100 along a plurality of spaced apart locations known as slots 128. The control system 112 may also function as a means for monitoring progress of the excavation. For instance, the control system 112 may oversee gradual changes in the location, size, and shape of the cuts in the work surface 126 within the slots 128 so as to enable identification of any deviations in the progress of the excavation as compared with the planned target operation or profile. While described in connection with slot-based excavation planning, the control system 112 may similarly be employed in conjunction with other types of work surfaces 126.
Turning to
With reference to
Referring to
Based on the machine and profile parameters received and monitored by the tracking module 146, the detection module 148 of
Other trigger conditions may be assessed based on video feed data of the work surface 126, which may be captured using cameras provided on-board the machine 102, and used at least partially to identify regions of interest resembling a hard section 138 via image processing or related schemes. For example, regions within the video images exhibiting a consistent shine, contrast or other visual distinctions beyond predefined upper thresholds may suffice to trigger a condition suggesting a need for a ripping pass. Trigger conditions may also be satisfied if the machine and/or profile parameters indicate significant loss of traction between the tracks or traction devices 104 of the machine 102 and the work surface 126. Frequent or prolonged slipping which exceed predefined upper limits or thresholds may suggest that a raised surface or hard section 138 exists along the work surface 126. Similarly, a trigger condition may be satisfied if the machine and/or profile parameters indicate that the machine 102 repeatedly becomes stuck or otherwise hesitates at the same location along the work surface 126 for more than a predefined upper threshold. In addition, the geometries of the work surface 126 and/or the slots 128 as determined via the machine and/or profile parameters may also satisfy a trigger condition, such as when a given slot 128 rolls in excess of a corresponding predefined upper threshold, or when the terrain is relatively inconsistent and contains a number bumps and curvatures which exceed corresponding predefined upper thresholds.
The trigger conditions may also be assessed based on other influences. In one embodiment, a trigger condition may be satisfied if the work surface 126 requires a grade control pass, and if the grade control pass specifies the need for an initial ripping pass to be performed. In other embodiments, the detection module 148 may assess trigger conditions based on preprogrammed decision rules or constraints, as defined by, for example, min-max gaming rules, or the like, to decide whether the combination of machine and profile parameters received at a given instance weighs in favor of or against a need for a ripping pass. Other trigger conditions may be satisfied if productivity assessments or indices calculated for a planned pass or target profile suggest that a ripping pass should improve overall productivity. In still further embodiments, trigger conditions may incorporate one or more learning algorithms which decide in favor of or against a need for a ripping pass based on a given set of machine and/or profile parameters, as well as any behavioral or performance history related thereto. The detection module 148 may similarly assess other trigger conditions, other combinations of trigger conditions, or fewer or more trigger conditions than presented herein. The detection module 148 may also assess trigger conditions based on other predefined thresholds, other combinations of predefined thresholds, or fewer or more predefined thresholds than disclosed above. Furthermore, the sensitivity of the detection module 148, or the predefined thresholds thereof, may be configurable and customized to any given application.
Still referring to
Furthermore, the request module 150 may be configured to request either manual or automatic ripping passes. For instance, the ripping pass requests may invoke notifications that are communicated to one or more of the machine 102, command center 122 and any available computing devices 124 to request operator input and control for a manual ripping pass at the flagged locations. For automatic ripping passes, the ripping pass requests may invoke, for example, the ripping pass module 152 of
Additionally, any one or more of the functions or tasks of the control system 112, such as the request module 150 and the ripping pass module 152, may be performed as a multi-machine operation, or implemented across two or more machines 102 working in conjunction with one another within a given worksite 100. In particular, locations previously flagged for a ripping pass by one machine 102 may be ultimately executed by another machine 102, which may be selected based on factors expected to improve overall productivity and efficiency, such as relative machine location, anticipated machine path, machine position, machine condition, and the like. Previously generated ripping pass requests may also be fulfilled by other machines 102 in cases where the machine 102 that originally requested the ripping pass was unable to perform the ripping pass due to machine limitations, preprogrammed thresholds, or other restrictions. For example, a machine 102 that detects a need for a ripping pass in a given slot 128 may be unable to execute the ripping pass if it reaches a threshold position or elevation, at which point the machine 102 may be forced or preprogrammed to move onto another slot 128 or otherwise cease work in that slot 128. In such cases, the next machine 102 which enters that slot 128 may be used to perform the ripping pass according to the location previously flagged by the prior machine 102. Multi-machine operations may also be used to further improve the ripping pass detection capabilities or algorithms For example, the ripping pass needs detected by multiple machines 102 for a given worksite 100 may be collectively monitored for patterns or characteristics which the control system 112 or any learning algorithm preprogrammed therein may use to progressively improve detection accuracy and provide a more intuitive detection algorithm
Other variations and modifications to the algorithms or methods employed to operate the controllers 140 and/or control systems 112 disclosed herein will be apparent to those of ordinary skill in the art. One exemplary algorithm or method by which the controller 140 may be operated to automatically detect a hard section 138 along a work surface 126 and a corresponding need for a ripping pass is discussed in more detail below.
In general terms, the present disclosure sets forth methods, devices and systems for planned excavations or material moving operations where there are motivations to improve overall productivity and efficiency. Although applicable to any type of machine, the present disclosure may be particularly applicable to autonomously or semi-autonomously controlled dozing machines where the dozing machines are controlled along particular travel routes within a worksite to excavate materials. Moreover, the present disclosure may provide means for enabling automatic and early-detection of hard sections along a work surface which may require a ripping pass to more efficiently achieve the end target profile. By providing more intuitive automatic control systems, inconsistencies in the work surface caused by hard sections are more efficiently and proactively addressed, and the excess time typically spent on manual intervention by operators is substantially reduced.
One exemplary algorithm or computer-implemented method 154 for automatically detecting a need for a ripping pass is diagrammatically provided in
As shown in block 154-2 of
If, however, the detected events are sufficient to suggest the presence of a hard section 138 in the work surface 126, the controller 140 may proceed to block 154-7 to determine whether a ripping pass was previously performed at the same location. More specifically, the controller 140 may compare the currently flagged location, or the location along the work surface 126 at which the trigger conditions were satisfied, to the locations of any previously performed ripping passes which may have been stored in memory 142. If the currently flagged location is relatively close to a previously performed ripping pass location, the controller 140 may deem that the new ripping pass is unnecessary and perform a normal cut in accordance with block 154-8. If, however, the currently flagged location is relatively distanced from previously performed ripping pass locations, or if no ripping passes have been previously performed for the given work surface 126 or slot 128, the controller 140 may proceed to block 154-9 to generate a ripping pass request. Moreover, the controller 140 may be configured to generate electronic signals and communicate the signals to the appropriate machines 102, command centers 122, computing devices 124, or the like, via the communications device 144 to request a ripping pass. The ripping pass request may also include additional information, such as the location where the ripping pass should begin and end relative to the work surface 126, or information pertaining to the geometry and/or other features of the detected hard section 138 that may be useful in performing the ripping pass.
Once the ripping pass request is generated, the controller 140 in block 154-10 may be configured to automatically engage the machine 102 to perform the ripping pass at the flagged location according to a ripping pass routine that may be preprogrammed into the controller 140 and/or memory 142. In other embodiments, such as where automatic or predetermined ripping pass routines may not be available, the controller 140 as in block 154-11 may be configured to generate notifications that are communicated to one or more of the machine 102, command center 122 and any available computing devices 124 to request operator input and control for a manual ripping pass at the flagged locations. Once the ripping pass is performed, either by automatic or manual execution, the controller 140 may then resume normal cut operations, such as according to instructions provided by preprogrammed target profiles 130 or cut profiles 136. Furthermore, while resuming normal cut operations, the controller 140 may simultaneously and automatically continue to detect hard sections 138 and any further needs for a ripping pass in subsequent passes or iterations.
Turning now to
As shown in block 156-4 of
According to the particular configuration shown in
Furthermore, although the method 156 illustrated in
From the foregoing, it will be appreciated that while only certain embodiments have been set forth for the purposes of illustration, alternatives and modifications will be apparent from the above description to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of this disclosure and the appended claims.
