Patent Application
20230087278
The present disclosure relates generally to ground material identification systems, and more particularly to a ground material identification control system and method for a work vehicle.
Work vehicles, such as a crawler or motor grader, can be used in construction and maintenance for grading terrain to a flat surface at various angles, slopes, and elevations. When paving a road for instance, a motor grader can be used to prepare a base foundation to create a wide flat surface to support a layer of asphalt. When controlling a ground engaging tool, it is valuable to know the type of ground material on a surface. As such, there is a need in the art for an improved system and method that identifies the ground material on the surface.
According to one embodiment of the present disclosure, a method is disclosed. The method includes capturing image data with an optical sensor coupled to the work vehicle wherein, the image data includes a ground material. The method further includes identifying a ground material characteristic by processing the image data with an electronic processor, accessing, from a non-transitory computer-readable memory, operation information corresponding to the ground material characteristic, and adjusting an operation of the work vehicle based on the accessed operation information corresponding to the ground material characteristic.
A control system for a work vehicle that operates on a surface is disclosed. The control system comprises an optical sensor coupled to the work vehicle. The optical sensor is configured to capture image data that includes a ground material. A non-transitory computer-readable memory stores operation information. An electronic processor is configured to receive image data captured by the optical sensor, apply an artificial neural network to identify a ground material characteristic based on the image data from the optical sensor, wherein the artificial neural network is trained to receive the image data as input and to produce as the output an indication of the ground material characteristic, access, from the non-transitory computer-readable memory, the operation information corresponding to the ground material characteristic, and adjust an operation of the work vehicle based on the accessed operation information corresponding to the ground material characteristic.
According to another embodiment of the present disclosure, a work vehicle that operates on a surface is disclosed. The work vehicle comprises an optical sensor coupled to the work vehicle. The optical sensor is configured to capture image data that includes a ground material. A non-transitory computer-readable memory is provided for storing operation information. An electronic processor is configured to receive image data captured by the optical sensor, apply an artificial neural network to identify a ground material characteristic based on the image data from the optical sensor, wherein the artificial neural network is trained to receive the image data as input and to produce as the output an indication of the ground material characteristic, access, from the non-transitory computer-readable memory, the operation information corresponding to the ground material characteristic, and adjust an operation of the work vehicle based on the accessed operation information corresponding to the ground material characteristic.
Other features and aspects will become apparent by consideration of the detailed description and accompanying drawings.
The detailed description of the drawings refers to the accompanying figures in which:
Before any embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Further embodiments of the invention may include any combination of features from one or more dependent claims, and such features may be incorporated, collectively or separately, into any independent claim.
The implement 15 may be positioned at a front of the work vehicle 10 and may be attached to the work vehicle 10 in a number of different manners. In this embodiment, the implement 15 is attached to the work vehicle 10 through a linkage which includes a series of pinned joints, structural members, and hydraulic cylinders. This configuration allows the implement 15 to be moved up 55 and down 60 relative to a surface 65 or ground, rotate around a vertical axis 70 (i.e., an axis normal to the ground), rotate around a longitudinal axis 75 (e.g., a fore-aft axis of the work vehicle 10), and rotate around a lateral axis 80 of the work vehicle 10 (i.e., a left-right axis of the work vehicle 10). These degrees of freedom permit the implement 15 to engage the ground at multiple depths and cutting angles. Alternative embodiments may involve implements 15 with greater degrees of freedom, such as those found on some motor graders 40, and those with fewer degrees of freedom, such as “pushbeam” style blades found on some crawlers 35 and implements 15 which may only be raised, lowered, and rotated around a vertical axis as found on some excavators and skidders.
The operator may command movement of the implement 15 from the operator station 20, which may be coupled to the work vehicle 10 or located remotely. In the case of the work vehicle 10, those commands are sent, including mechanically, hydraulically, and/or electrically, to a hydraulic control valve. The hydraulic control valve receives pressurized hydraulic fluid from a hydraulic pump, and selectively sends such pressurized hydraulic fluid to a system of hydraulic cylinders based on the operator's commands. The hydraulic cylinders, which in this case are double-acting, in the system are extended or retracted by the pressurized fluid and thereby actuate the implement 15. Alternatively, electronic actuators may be used.
With reference to FIG.1, the illustrated work vehicle 10 is a crawler 35 for moving material. The crawler 35 includes tracks 45 including a left track 85 and a right track 90. As used herein, “left” and “right” refer to the left and right sides of the operator when the operator is sitting within the operator station 20 that is coupled to the work vehicle 10 and facing the implement 15.
Referring to
With reference to
The control system 90 also has a non-transitory computer-readable memory 130 that stores operation information 135. The non-transitory computer-readable memory 130 may comprise electronic memory, nonvolatile random-access memory, an optical storage device, a magnetic storage device, or another device for storing and accessing electronic data on any recordable, rewritable, or readable electronic, optical, or magnetic storage medium.
An electronic processor 140 is provided. The electronic processor 140 may be arranged locally as part of the work vehicle 10 or remotely at a remote processing center (not shown). In various embodiments, the electronic processor 140 may comprise a microprocessor, a microcontroller, a central processing unit, a programmable logic array, a programmable logic controller, other suitable programmable circuitry that is adapted to perform data processing and/or system control operations.
The electronic processor 140 is configured to receive image data 100 captured by the optical sensor 95 and apply an algorithm of an artificial neural network 145 to identify a ground material characteristic 150 of the ground material 105, based on the image data 100 from the optical sensor 95. The artificial neural network 130 is trained to receive the image data 100 as input and to produce as the output an indication of the ground material characteristic 150.
The ground material characteristic 150 may be a classification of the ground material 105 such as gravel, rock, sand, clay, water, top soil, or other material and the depth or volume of that material. The ground material characteristic 150 may also be a determination of whether the ground material 105 is compactable or otherwise usable for a work vehicle 10 operation. The ground material characteristic 150 may be a determination of the topography including holes, slopes, elevation, objects, or other topographic features.
The electronic processor 140 accesses the operation information 135 corresponding to the ground material characteristic 150 from the non-transitory computer-readable memory 130 and adjusts an operation of the work vehicle 10 based on the accessed operation information 135 corresponding to the ground material characteristic 150. The operation information 135 may include a change to a work vehicle setting 155 such as a depth of the implement 15, a depth of a ripper 160 (
The adjustment may include implementing the operation information 135 on the work vehicle 10 for the given ground material characteristic 150 including adjusting a position of the implement 15 relative to the work vehicle 10, transitioning the control of the work vehicle 10 between a manual control 175 where the operator controls the machine and an automatic control 180, moving the implement 15 up 55 or down 60 to change the depth of the implement 15, moving the ripper 160 up 55 or down 60 to change the depth of the ripper 160, or changing the engine speed 165 of the engine 30.
Referring now to
