TECHNICAL FIELD
The present disclosure relates generally to operating autonomous machines at a work site, and more particularly, to systems and methods for automatically performing preventive ripping passes.
BACKGROUND
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 sections of hard material can cause unwanted interruptions and hinder overall productivity. If left unattended, for instance, hard materials 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 periodically engage a ripping pass between normal cuts to loosen the terrain and avoid profile deviations caused by hard material.
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 and automated approach for minimizing operator involvement and improving 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, the system in Shintani, et al. still requires manual intervention by the operator to not only identify hard material in a given terrain, but also to initiate the automated ripping sequence. Furthermore, schemes as disclosed in Shintani, et al. still demand frequent interruptions, unwanted delays and a decrease in overall productivity.
In view of the foregoing inefficiencies and disadvantages associated with conventional autonomous machines and control systems therefor, a need exists for more intuitive automatic systems and methods which minimize operator involvement and improve overall efficiency and productivity.
SUMMARY OF THE DISCLOSURE
In one aspect of the present disclosure, a controller-implemented method for automatically performing preventive ripping passes using a machine along a work surface is provided. The controller-implemented method may include defining a ripper control depth, a minimum control depth, and a maximum control depth, generating a first ripping pass command for performing a first ripping pass and a first set of cut commands for performing a first set of normal cuts, tracking one or more of machine parameters of the machine and profile parameters of the work surface to detect failed cuts, and modifying the ripper control depth by an adjustment value that is determined based on any detected failed cuts.
In another aspect of the present disclosure, a control system for automatically performing preventive ripping passes using 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 define a ripper control depth, a minimum control depth, and a maximum control depth, issue a first ripping pass to be performed along the work surface, issue a first set of normal cuts to be performed after the first ripping pass, track one or more of machine parameters of the machine and profile parameters of the work surface to detect failed cuts, and modify the ripper control depth by an adjustment value that is determined based on any detected failed cuts.
In yet another aspect of the present disclosure, a controller for automatically performing preventive ripping passes using a machine along a work surface is provided. The controller may include a control depth module configured to define at least a ripper control depth, a minimum control depth, and a maximum control depth, a command module configured to generate a first ripping pass command for performing a first ripping pass along the work surface and a first set of cut commands for performing normal cuts, a tracking module configured to track one or more of machine parameters of the machine and profile parameters of the work surface to detect failed cuts, and an adjustment module configured to modify the ripper control depth by an adjustment value that is determined by any detected failed cuts.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a pictorial illustration of an exemplary worksite;
FIG. 2 is a pictorial illustration of a raised surface disposed along one exemplary work surface at a worksite that may be caused by a section of hard material;
FIG. 3 is a diagrammatic illustration of an exemplary control system that may be used at a worksite to automatically perform preventive ripping passes;
FIG. 4 is a diagrammatic illustration of an exemplary controller of a control system that may be used to automatically perform preventive ripping passes;
FIG. 5 is a pictorial illustration of a machine automatically performing preventive ripping passes along a work surface; and
FIG. 6 is a flowchart depicting an exemplary method that may be performed by a control system or a controller of the present disclosure to automatically perform preventive ripping passes.
DETAILED DESCRIPTION
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 FIG. 1, one exemplary worksite 100 is illustrated with one or more machines 102 performing predetermined tasks. The worksite 100 may include, for example, a mine site, a landfill, a quarry, a construction site, or any other type of worksite. The predetermined task may be associated with altering the geography at the worksite 100, such as a dozing operation, a grading operation, a leveling operation, a bulk material removal operation, or any other type of operation that results in geographical modifications within the worksite 100. The machines 102 may be mobile machines configured to perform operations associated with industries related to mining, construction, farming, or any other industry known in the art. The machines 102 depicted in FIG. 1, for example, may embody earth moving machines, such as dozers having fraction devices 104 for causing motion, as well as implements, such as blades 106 for cutting terrain and rippers 108 for loosening hard material in terrain, which may be movable by way of one or more actuators 110. The machines 102 may also include manned machines or any type of autonomous or semi-autonomous machine.
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 referred to 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 FIG. 2, one embodiment of a machine 102, such as a dozer having a blade 106 and a ripper 108, is shown as positioned on a work surface 126 of a worksite 100 and configured to perform normal cuts therealong according to a target profile 130. The machine 102 may be configured to begin cutting and loading material at positions proximate to the loading area 132 of the work surface 126, and carry the load toward and along the carry surface 134 for removal. Each normal cut that is performed may be planned to step through or gradually excavate sections of the work surface 126, for example, according to the intermediate cut profiles 136 shown. While performing normal cuts, the machine 102 may encounter sections of hard material along the work surface 126 which may hinder the ability of the machine 102 to perform a normal cut as planned and leave behind unwanted raised surfaces 138 along the carry surface 134 as shown. Such hard material may be loosened and/or removed, for instance, by intermittently performing a ripping pass using a ripper implement 108 of the machine 102. However, rather than applying such a responsive approach to performing ripping passes, overall efficiency and productivity may benefit from more automatic and systematic approaches of performing preventive ripping passes as disclosed below.
With reference to FIG. 3, one exemplary embodiment of a control system 112 that may be used in conjunction with one or more machines 102 within a worksite 100 to provide optimized and preventive automatic ripping is diagrammatically illustrated. As shown, the control system 112 may generally include, among other things, a controller 140, a memory 142, and a communications device 144. More specifically, the controller 140 may be configured to operate according to one or more algorithms that are retrievably stored within the memory 142. The memory 142 may be provided on-board the controller 140, external to the controller 140, or otherwise in communication therewith. The communications device 144 may be configured to enable the controller 140 to communicate with one or more of the machines 102, and provide parameters or information pertaining to the position and/or orientation of the machines 102 and the machine implements 106, 108, for example, via satellites 118, or any other suitable means of communication. Moreover, the controller 140 may be implemented using any one or more of a processor, a microprocessor, a microcontroller, or any other suitable means for executing instructions stored within the memory 142. Additionally, the memory 142 may include non-transitory computer-readable medium or memory, such as a disc drive, flash drive, optical memory, read-only memory (ROM), or the like.
Referring to FIG. 4, the controller 140 of the control system 112 may be configured to automatically perform preventive ripping passes in a manner which reduces interruptions due to sections of hard material and optimizes overall efficiency and productivity. Specifically, the controller 140 may be preprogrammed to operate according to one or more algorithms, which may generally be categorized into, for example, a control depth module 146, a command module 148, a tracking module 150, and an adjustment module 152. The control depth module 146 may be configured to define constraints or parameters that may be used for ripper control, such as a ripper control depth 154, a minimum control depth 156 and a maximum control depth 158, as illustrated for example in FIG. 5. The ripper control depth 154 may correspond to the effective ripping depth, or the depth through which a single ripping pass is able to loosen the work surface 126 as well as the target ripping depth according to which the machine 102 and the ripper 108 is guided. The minimum control depth 156 may correspond to the depth that has been substantially cleared of hard material and through which normal cuts can likely be performed according to plan without substantial interruptions. The maximum control depth 158 may be indicative of the maximum depth to which normal cuts may be performed without requiring a new ripping pass, or the depth beyond which normal cuts may be subjected to failed cuts due to hard material.
The control depth module 146 may initially define one or more of the ripper control depth 154, the minimum control depth 156 and the maximum control depth 158 prior to beginning work at a new worksite 100, work surface 126 or slot 128. For example, prior to performing the initial ripping pass or normal cut, the control depth module 146 may preliminarily define the ripper control depth 154 as the minimum control depth 156. The control depth module 146 may also define, modify or update one or more of these ripper control parameters as the machine 102 progresses deeper into a given work surface 126 or slot 128. For example, the control depth module 146 may adjust the value of the ripper control depth 154 intermittently, periodically or continuously during each ripping pass and/or normal cut that is executed within the work surface 126 of FIG. 5. In other embodiments, the control depth module 146 may adjust or update the ripper control depth 154 after each ripping pass or normal cut that is executed. Additionally, any one or more of the ripper control parameters may be defined or adjusted according to machine parameters associated with the machine 102, profile parameters associated with the work surface 126 or the work progress, any manual operator input, or the like.
The command module 148 of FIG. 4 may be configured to generate any one or more commands or electronic signals that may be used to engage the machine 102 and its implements 106, 108 to perform ripping passes and normal cuts. For example, when an initial ripping pass should be performed, the command module 148 may generate the appropriate first ripping pass command and communicate the command to the machine 102 and the appropriate actuators 110 thereof. Once the first ripping pass has been completed and/or when one or more normal cuts should be performed, the command module 148 may then generate a first set of cut commands and communicate the cut commands to the machine 102 and its actuators 110. Furthermore, if all of the requested first ripping pass and the first set of normal cuts have been performed, and if additional material remains to be removed from the given slot 128, the command module 148 may be guided by one or more of the control depth module 146, the tracking module 150 and the adjustment module 152 to correspondingly generate a second ripping pass command and a second set of cut commands. The command module 148 may continue in such a manner, for example, until a target profile 130 is achieved for a given slot 128.
The tracking module 150 may be configured to intermittently, periodically or continuously track machine parameters associated with the machine 102 and/or profile parameters associated with the work surface 126, and detect for any failed cuts. The tracking module 150 may receive the machine parameters and/or the profile parameters from any one or more of the feedback devices 114, locating devices 116, satellites 118, sensors 120, command centers 122, and the like. Machine parameters may include information pertaining to traction, mobility, orientation, position, speed, acceleration, or any other operating parameter of the machine 102. Profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or sensory data, geometries of the work surface 126 or slots 128 therein, locations of any previously performed ripping passes, or the like. Profile parameters may also include information derived from productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other guide that may help determine the progress of the work being performed. Moreover, based on any one or more of such parameters, the tracking module 150 may be able to detect a failed cut based on any significant deviations observed between the actual work progress observed and the target work plan.
As the machine 102 progresses along a given slot 128, the adjustment module 152 of FIG. 4 may be configured to modify the ripper control depth 154 by an adjustment value that is determined at least partially based on the information tracked and provided by the tracking module 150. In its simplest form, the adjustment module 152 may increment or decrement the ripper control depth 154 by predefined adjustment values which effectively cause the machine 102 and the ripper 108 to perform deeper or shallower ripping passes. Moreover, the adjustment module 152 may opt for deeper or shallower ripping passes to compensate for any previously detected failed cuts and to ensure optimized and effective use of each ripping pass. For instance, if no failed cuts are detected, the adjustment module 152 may increment the ripper control depth 154 by an adjustment value to a comparatively deeper depth that effectively causes the machine 102 and the ripper 108 to loosen the next layer of potentially hard material. If a failed cut was detected, however, the adjustment module 152 may decrement the ripper control depth 154 by an adjustment value to a shallower depth that aims to loosen the hard material which likely caused the failed cut. In further modifications, the adjustment module 152 may further refine the adjustment value based on any other characteristics observed in relation to the machine 102, the ripper 108, the work surface 126, the slot 128, a detected failed cut, or the like, as disclosed further below.
Other variations and modifications of 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 perform preventive ripping passes using a machine 102 along a work surface 126 is discussed in more detail below.
INDUSTRIAL APPLICABILITY
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 provides more systematic or automatic means for performing preventive ripping passes, which clear obstructions and sections of hard material prior to performing normal cuts. By performing preventive rather than responsive ripping passes based on a more intuitive monitoring process, obstructions in the work surface caused by sections of hard material are more efficiently and proactively addressed, and the excess time typically spent on manual correction or other reparative techniques is substantially reduced.
One exemplary algorithm or controller-implemented method 160 for automatically performing preventive ripping passes using a machine 102 along a work surface 126 is diagrammatically provided in FIG. 6, according to which, for example, the control system 112 or the controller 140 thereof may be configured to operate. As shown in block 160-1 of FIG. 6, the controller 140 may initially receive machine parameters associated with the machine 102 and profile parameters associated with the work surface 126, such as provided through the communications device 144 and from any of the feedback devices 114, locating devices 116, satellites 118, sensors 120, command centers 122, and the like. The machine parameters may include information pertaining to fraction, mobility, orientation, position, speed, acceleration, or any other operating parameter of the machine 102. The tracked profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or other sensory data, geometries of the work surface 126 or slots 128 therein, locations of any previously performed ripping passes, or the like. The profile parameters may also include any information derived from anticipated productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other parameter that may be used to track work progress.
As shown in block 160-2 of FIG. 6, the controller 140 may also define one or more constraints or parameters that may be used for ripper control, such as the ripper control depth 154, the minimum control depth 156 and the maximum control depth 158 as illustrated for example in FIG. 5. The controller 140 may define the ripper control depth 154 according to the effective ripping depth, or the depth through which a single ripping pass is expected to loosen the work surface 126. The controller 140 may define the minimum control depth 156 as the depth that is expected to be substantially clear of hard material and through which normal cuts can likely be performed according to plan without substantial interruptions. The controller 140 may define the maximum control depth 158 as the maximum depth beyond which the machine 102 should not progress without first performing a new ripping pass. The controller 140 may operate the machine 102 and the ripper implement 108 to perform ripping passes and normal cuts using one or more of the ripper control depth 154, the minimum control depth 156 and the maximum control depth 158 as guidance. It will be understood that other variables, constraints or parameters may also be implemented and used by the controller 140 to control the machine 102 and/or the ripper 108.
Upon reaching a new work surface 126 or slot 128 and before performing a first ripping pass, the controller 140 may initially set one or more of the ripper control depth 154, the minimum control depth 156 and the maximum control depth 158 to predefined default values. For example, prior to performing the initial ripping pass or normal cut, the controller 140 may preliminarily define the ripper control depth 154 as the minimum control depth 156. As the machine 102 progresses deeper into the work surface 126 or slot 128, the controller 140 may redefine, modify or update one or more of the ripper control parameters based on changes observed in the machine 102 and/or the work surface 126. For instance, the controller 140 may adjust or update the value of the ripper control depth 154 intermittently, periodically or continuously as the machine 102 performs the ripping passes and/or the normal cut operations, and as the geometry of the work surface 126 is changed thereby. In other embodiments, the controller 140 may adjust or update the ripper control depth 154 once after each ripping pass or series of normal cuts are executed within the given work surface 126. Additionally, any one or more of the ripper control parameters may be defined or adjusted based on machine parameters associated with the machine 102, profile parameters associated with the work surface 126, manual overrides via operator input, or the like.
As shown in block 160-3 of FIG. 6, the controller 140 may generate a first ripping pass command based on the ripper control parameters defined in block 160-2. More specifically, the controller 140 may generate and communicate to the machine 102 one or more electronic signals configured to engage the machine 102 and the appropriate actuators 110 thereof to perform a ripping pass along the work surface 126. As the machine 102 performs the first ripping pass, the controller 140 may continue monitoring the machine parameters and/or the profile parameters as in block 160-1. Once the machine parameters and/or the profile parameters suggest that the first ripping pass is complete, the controller 140 in block 160-4 may generate a first set of cut commands which may also be determined based on the ripper control parameters defined in block 160-2. For example, the controller 140 may generate and communicate to the machine 102 one or more electronic signals configured to engage the machine 102 and the appropriate actuators 110 thereof to perform a series of normal cuts through the ripped work surface 126. As the machine 102 performs the first set of normal cuts, the controller 140 may also monitor the machine parameters and/or the profile parameters to ensure that the machine 102 does not perform normal cuts beyond the maximum control depth or beyond the target profile 130 for the given slot 128.
While the machine 102 performs the first set of normal cuts, the controller 140 may additionally monitor and track the machine parameters and/or profile parameters for any failed cuts as shown in blocks 160-5 and 160-6 of FIG. 6. Specifically, the controller 140 may intermittently, periodically or continuously track the actual progress of the machine 102 and/or work surface 126 or slot 128 to determine whether there are any significant deviations between the actual work progress and the target work plan. For example, although relatively insignificant deviations may be normal and permissible, more significant deviations may suggest sections of hard material in the work surface 126 in need of a ripping pass. Moreover, the controller 140 may generally be preprogrammed with threshold values that render the controller 140 relatively more sensitive to failed cuts such that resulting ripping passes are more preventive than reparative. Furthermore, in one embodiment, the controller 140 may track and detect failed cuts as they are encountered during, before or after each normal cut that is performed. In other embodiments, the controller 140 may make a cumulative determination and compare the actual work progress to the target work plan after the first set of normal cuts is complete. Other arrangements may also be implemented to achieve comparative results.
Once the first series of normal cuts is complete, and if no failed cuts are detected, the controller 140 may update or increment the ripper control depth 154 by an adjustment value as shown in block 160-7 of FIG. 6 so as to prepare the machine 102 for a new iteration of the method 160, such as a second ripping pass and a second set of normal cuts. The controller 140 may define the adjustment value as a predetermined fraction of the difference between the maximum control depth 158 and the minimum control depth 156 defined in block 160-2. The predetermined fraction may be fixed or determined based on the number of cuts or steps between the minimum control depth 156 and the maximum control depth 158, where each step has a known or predefined advance depth. In block 160-8 of FIG. 6 for instance, the adjustment value may be configured to increment the ripper control depth 154 by the difference between the minimum control depth 156 and the maximum control depth 158, divided by the number of steps therebetween. The controller 140 may further update the minimum control depth 156 and the maximum control depth 158 according to the updated ripper control depth 154, and apply the updated ripper control parameters for subsequent iterations as necessary. Furthermore, each of the ripper control parameters may be updated to the extent allowed by the work plan, or more particularly, so that the machine 102 does not perform ripping passes or normal cuts beyond the target profile 130.
If, however, one or more failed cuts are detected in block 160-6, the controller 140 may decrement the ripper control depth 154 by an adjustment value as shown in block 160-9 of FIG. 6. More specifically, the controller 140 may recognize that a failed cut suggests sections of hard material in the work surface 126 that can potentially cause significant delays and setbacks if left untreated. Accordingly, the controller 140 in block 160-9 may adjust the ripper control depth 154 in a manner which causes the machine 102 to automatically perform a preventive ripping pass and clear any hard material or other obstacles in the work surface 126 before proceeding further. As shown in block 160-10 of FIG. 6, the controller 140 may define the adjustment value such that the ripper control depth 154 is decremented or raised by at least half of a prior advance depth, or the depth the machine 102 was advanced in the most recent normal cut operation. By decrementing the ripper control depth 154, the controller 140 may be able to cause the machine 102 and the ripper 108 to perform a subsequent or second ripping pass that is more focused on sections within the work surface 126 where hard material likely reside. In other embodiments, the controller 140 may decrement the ripper control depth 154 by other adjustment values that are fixed, determined based on one or more machine parameters and/or profile parameters, or the like.
As shown in block 160-11 of FIG. 6, the controller 140 may further vary the adjustment value based on the type or magnitude of the failed cut detected. For instance, if the machine parameters associated with the machine 102 and/or the profile parameters associated with the work surface 126 indicate that there was a failed cut, but do not indicate any signs of the machine 102 being stuck at any point during the normal cut operation, the controller 140 may set the adjustment value to the default value of approximately half of the prior advance depth as in block 160-10, or alternatively, set the adjustment value to the approximate maximum depth of the missed cut as in block 160-12. If, however, the machine parameters associated with the machine 102 indicate that the machine 102 is or was stuck during any point while performing a normal cut, the controller 140 may determine that there is a greater amount of hard material in the work surface 126 and decrement the ripper control depth 154 by more than the default adjustment value. As shown in block 160-13 for example, the controller 140 may set the adjustment value to approximately the entire prior advance depth rather than the default value of approximately half of the prior advance depth of block 160-10.
In other embodiments, the controller 140 in block 160-11 may additionally or alternatively detect for indications, other than whether the machine 102 was stuck, to gauge the severity of a failed cut. In still further modifications, the controller 140 may decrement the ripper control depth 154 to other adjustment values that are fixed, determined based on one or more machine parameters and/or profile parameters, or the like. Based on the updated ripper control depth 154, the controller 140 may further update the minimum control depth 156 and the maximum control depth 158 accordingly, and apply the decremented ripper control parameters for a subsequent or a second iteration as necessary. Furthermore, the ripper control parameters may be updated to the extent allowed by the work plan, or more particularly, so that the machine 102 does not perform ripping passes or normal cuts beyond or deeper than the target profile 130. Additionally, if the machine parameters and/or profile parameters indicate that the target profile 130 for the given slot 128 has already been achieved upon completion of the first set of normal cuts, the controller 140 may omit any one or more of the processes following block 160-5 and return to block 160-1. Although the method 160 of FIG. 6 illustrates one possible iteration for automatically performing preventive ripping passes, it will be understood that other arrangements are capable producing comparative results. In addition, any one or more of the block functions disclosed in FIG. 6 may be omitted, combined with other block functions, or performed in sequences other than as illustrated.
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.
Patent Application
20170030052
