Patent Application
20230134855
The present disclosure relates to a system and a method for controlling a travel of a work machine during an excavation operation.
Work machines, such as excavators, may be used for various material removal operations. For example, the work machine may be used to perform an excavation operation, such as, a foundation excavation operation or a trench excavation operation. Further, during the excavation operation, the work machine may tram or travel from one excavation location to another excavation location. It may be desirable that, during a tramming of the work machine, the work machine causes minimum disturbance to a ground surface on which the work machine is operating. In some cases, the work machine may inadvertently displace some amount of soil from the ground surface, which may affect an efficiency of the excavation operation. Thus, it may be desirable to move the work machine along an optimal movement path that causes minimum ground surface disturbance.
Further, during the tramming of the work machine, the work machine may unintentionally deviate from the movement path due to one or more factors, such as track slip, drivetrain dynamics, datum uncertainty, measurement errors, operator errors, and the like. Due to a misalignment of the work machine relative to the movement path, soil may fall into an excavated portion from a non-excavated portion and/or soil may erode into the excavated portion. Further, it may be challenging to align work machines, including the tracks for movement purposes, with the movement path. For example, it may be challenging to re-position tracked work machines sideways or turn them at sharp bends. Thus, when such work machines misalign from the movement path, an operator may have to spend additional time and fuel aligning the work machine with the movement path. The misalignment of the work machine from the movement path may affect the efficiency of the excavation operation and may increase operation cost. Moreover, during trench excavation operations, the misalignment of the work machine from the movement path may result in excavation of a crooked trench, which may not be desirable.
U.S. Pat. No. 8,583,326 describes a GNSS-based contour guidance path selection system for guiding a piece of equipment through an operation, such as navigating a guide path, includes a processor programmed for locking onto a particular aspect of the operation, such as deviating from a pre-planned or original guidance pattern and locking the guidance system onto a new route guide path, while ignoring other guidance paths. The system gives a vehicle operator control over a guidance route without the need to re-plan a pre-planned route. The device corrects conflicting signal issues arising when new swaths result in the guidance system receiving conflicting directions of guidance where the new swaths cross predefined swaths. An operator can either manually, or with an autosteer subsystem automatically, maintain a new contour guidance pattern, even while crossing predefined guidance paths that would otherwise divert the vehicle.
In one aspect of the present disclosure, a system for controlling a travel of a work machine during an excavation operation is provided. The system includes one or more sensors to generate data indicative of one or more position parameters of the work machine. The position parameter includes one or more of an orientation of the work machine and a location of the work machine. The system also includes a controller communicably coupled with the sensor. The controller is configured to receive the data indicative of the position parameter of the work machine from the sensor. The controller is also configured to collect data indicative of a desired movement path for the work machine to reach a desired location. The controller is further configured to determine one or more operating parameters of the work machine to reach the desired location based on the data indicative of the position parameter of the work machine and the data indicative of the desired movement path. The operating parameter includes one or more of a desired travel distance of the work machine, a maximum velocity of the work machine, and a desired travel direction of the work machine. The controller is configured to generate a first control signal for controlling the travel of the work machine based on the determination of the operating parameter, such that one or more components of the work machine is in alignment with the desired movement path.
In another aspect of the present disclosure, a method for controlling a travel of a work machine during an excavation operation is provided. The method includes receiving, by a controller, data indicative of one or more position parameters of the work machine from one or more sensors. The position parameter includes one or more of an orientation of the work machine and a location of the work machine. The method also includes collecting, by the controller, data indicative of a desired movement path for the work machine to reach a desired location. The method further includes determining, by the controller, one or more operating parameters of the work machine to reach the desired location based on the data indicative of the position parameter of the work machine and the data indicative of the desired movement path. The operating parameter includes one or more of a desired travel distance of the work machine, a maximum velocity of the work machine, and a desired travel direction of the work machine. The method includes generating, by the controller, a first control signal for controlling the travel of the work machine based on the determination of the operating parameter, such that one or more components of the work machine is in alignment with the desired movement path.
Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.
Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or the like parts. Wherever possible, corresponding or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts.
The work machine 100 defines a front end 102 and a rear end 104. The work machine 100 also includes a movable carrier 106. The movable carrier 106 includes a lower structure 108 and an upper structure 110 movably coupled with the lower structure 108. The upper structure includes a frame 112. The upper structure 110 may support various components of the work machine 100 thereon. The upper structure 110 defines an enclosure 114. The enclosure 114 allows mounting of a power source (not shown). The power source may provide operating power to the work machine 100 for mobility and operational requirements. The power source may include, but is not limited to, a diesel engine, a gasoline engine, a gaseous fuel powered engine, a dual fuel powered engine, an electric motor, a fuel cell, a battery, and/or a combination thereof, based on application requirements. Additionally, the work machine 100 may include components (not shown) and/or systems (not shown), such as a fuel delivery system, an air delivery system, an exhaust system, a drivetrain, a hydraulic system, a transmission system, and so on, based on application requirements.
The work machine 100 may also include a work implement 116 disposed proximate the front end 102. The work implement 116 may be operably connected to the upper structure 110 by a linkage assembly 118. The work implement 116 may be used for various material handling operations, material removal operations, and/or material transportation operations. For example, during an excavation operation, the work implement 116 may contact a ground surface 124 for removing material therefrom. The lower structure 108 includes an undercarriage structure 120. The undercarriage structure 120 provides support and mobility to the work machine 100 on a ground surface 124. The undercarriage structure 120 includes a set of ground engaging members 122 (only one ground engaging member 122 is shown in the accompanying figure). In the illustrated example of
The work machine 100 includes the hydraulic system (not shown). The hydraulic system may include one or more hydraulic circuits and one or more hydraulic actuators. For example, the work implement 116 and the linkage assembly 118 of the work machine 100 may be hydraulically coupled to the hydraulic system. In some examples, the one or more hydraulic actuators may be actuated to move the work implement 116 and the linkage assembly 118 for excavation of materials from the ground surface 124.
The work machine 100 includes a turn table 125. The turn table 125 is mounted on the undercarriage structure 120, upon which the upper structure 114, including an operator cabin 126, may be pivotally mounted. The turn table 125 defines a first axis “A1”. The work machine 100 also includes the operator cabin 126 supported by the frame 112. The operator cabin 126 may move relative to the undercarriage structure 120, about the first axis “A1”. Such a movement of the operator cabin 126 may be referred to as a yaw movement of the operator cabin 126. Further, the operator cabin 126 may include one or more input devices 128 (shown in
Further, the work machine 100 may include a sensor 132 (shown in
The work machine 100 also includes a machine controller 134 (as shown in
Further, the work machine 100 may include an imaging device (not shown). The imaging device may be used to sense a surrounding of the work machine 100. In some examples, the imaging device may be used for object or personnel detection around the work machine 100 as well as terrain mapping, without any limitations. In some examples, the imaging device may capture images or videos of a surrounding area of the work machine 100. The imaging device may include a camera. It should be noted that the imaging device may include any type of imaging device known in the art, without limiting the scope of the present disclosure.
The second sensor 138 may include an inertial measurement unit (IMU), a global positioning system (GPS) module, and the like. In an example, the system 136 may include the IMU as well the GPS module. Alternatively, the system 136 may include the GPS module alone. The IMU may include an electronic device that measures and provides parameters, such as, a velocity of the work machine 100, the orientation of the work machine 100, and the like, using a combination of accelerometers, gyroscopes, and magnetometers. The IMU may be located at the upper structure 110 of the work machine 100. Further, the GPS module may include a known satellite-based radionavigation system. The GPS module may provide parameters, such as, the location of the work machine 100 and/or the orientation of the work machine 100. In some examples, the system 136 may include a pair of GPS modules. For example, such a pair of GPS modules may provide information related to a current heading direction of the work machine 100. In some examples, the operating parameter may be determined based on a combination of the inputs received from the first and second sensors 132, 138.
It should be noted that a type of the second sensor 138 mentioned herein does not limit the scope of the present disclosure. Accordingly, the system 136 may include any other type of sensors or techniques known in the art that may provide data indicative of the orientation of the work machine 100 and the location of the work machine 100.
The system 136 may further include an indication system (not shown). The indication system may include a horn, a speaker, a strobe, and the like. In some examples, the indication system may be activated by the machine operator using one or more levers, switches, buttons, and the like, present in the operator cabin 126 (see
In some examples, the indication system may provide warnings and/or indications if the work machine 100 is not in alignment with a desired movement path 140, 142, 144 (see
The system 136 further includes a controller 146 communicably coupled with the second sensor 138. Further, the controller 146 is communicably coupled with the input device 128, the output device 130, the first sensor 132, the machine controller 134, the imaging device, and the indication system. In the illustrated example of
The controller 146 may include a memory 148. The memory 148 may include a flash memory, a random-access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), and the like. The memory 148 may be used to store data such as algorithms, instructions, arithmetic operations, and the like. The controller 146 may execute various types of digitally-stored instructions, such as a software program or an algorithm program, retrieved from the memory 148, or a firmware program which may enable the controller 146 to perform a wide variety of operations. In some examples, the memory 148 may store data indicative of the desired movement path 140, 142, 144 for the work machine 100.
The controller 146 receives an input “I1” from the machine operator for initiating the travel of the work machine 100, such that the one or more components 116 of the work machine 100 are in alignment with the desired movement path 140, 142, 144 (see
Further, the machine operator may provide the input “I1” to the controller 146 via the input device 128 to initiate the travel of the work machine 100 towards a desired location “L1” (shown in
The desired movement path 140, 142, 144 may be hereinafter interchangeably referred to as a first desired movement path 140, a second desired movement path 142, and a third desired movement path 144, respectively. Further, the term “desired movement path” as defined herein may represent a desired trench path, in other words, a path that is to be excavated by the work machine 100. The desired movement path 140, 142, 144 may include one or more of a straight path, a curved path, a number of straight paths (such as the straight paths 158, 160, 162 illustrated in
The controller 146 may also include a processor 150. The processor 150 may be communicably coupled with the memory 148. The processor 150 may receive and process one or more input signals received from the input device 128, the output device 130, the first sensor 132, the second sensor 138, and the machine controller 134. The processor 150 may include a processing unit such as a digital signal processor (DSP), an application-specific system processor (ASSP), an application-specific instruction set processor (ASIP), and the like. The processor 150 may also include a microprocessor, and/or any processing logic such as a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), and the like. The processor 150 may include an arithmetic logic unit (ALU) to execute one or more arithmetic and logical functions.
The processor 150 may include one or more modules, such as a path planning module 152, a drive module 154, and a path tracker module 156 that may be based on data retrieved from the memory 148. For example, the processor 150 may include the path planning module 152 to plan the travel of the work machine 100 such that the work machine 100 is in alignment with the desired movement path 140, 142, 144. The controller 146 receives the data indicative of the position parameter of the work machine 100 from the sensor 138. The controller 146 also collects data indicative of the desired movement path 140, 142, 144 for the work machine 100 to reach the desired location “L1”. More particularly, in an example, the path planning module 152 may collect data indicative of the desired movement path 140, 142, 144. In some examples, the path planning module 152 may receive the path input “I2” indicative of the desired movement path 140, 142, 144 from the machine operator via the input device 128.
In an example, the path planning module 152 may determine and display the multiple desired movement paths 140, 142, 144 on the output device 130. In such examples, the machine operator may select any one of the desired movement paths 140, 142, 144. Alternatively, the machine operator may generate the desired movement path 140, 142, 144 in real time using touch screen devices present in the operator cabin 126. For example, the ground surface 124 may be depicted on the touch screen device and the operator may draw the desired movement path 140, 142, 144 on the touch screen device. Moreover, in some examples, the machine operator may use the imaging device to generate the desired movement path 140, 142, 144. For example, personnel may generate a design line on the ground surface 124 and the imaging device may be used to capture an image of the design line. Further, the path planning module 152 may analyze the images of the design line captured by the imaging device to generate the desired movement path 140, 142, 144.
In another example, the path planning module 152 may retrieve the desired movement path 140, 142, 144 from the memory 148, based on application requirements. In yet another example, the path planning module 152 may itself determine the desired movement path 140, 142, 144 for the work machine 100. In an example, the desired movement path 140, 142, 144 may be specified off-board, such as, via a desktop application, and the desired movement path 140, 142, 144 may be subsequently loaded onto the memory 148. For example, the memory 148 may store a work plan for the excavation operation and based on the work plan, the path planning module 152 may determine the desired movement path 140, 142, 144.
Further, the controller 146 determines one or more operating parameters of the work machine 100 to reach the desired location “L1” based on the data indicative of the position parameter of the work machine 100 and the data indicative of the desired movement path 140, 142, 144. Specifically, the path planning module 152 may determine the operating parameters to reach the desired location “L1” based on the data indicative of the position parameter of the work machine 100 and the data indicative of the desired movement path 140, 142, 144.
The operating parameter includes one or more of the desired travel distance of the work machine 100, a maximum velocity of the work machine 100, and a desired travel direction of the work machine 100. The term “desired travel distance” may correspond to a distance between the current location of the work machine 100 and the desired location “L1”. The desired travel distance may be determined based on a size of the work machine 100, the geometry of the trench, ditch, or the foundation, such as a depth, the location of the work machine 100, and the desired location “L1”. The size of the work machine 100, the geometry of the trench, ditch, or the foundation, and the desired location “L1” of the work machine 100 may be prestored in the memory 148 and may be retrieved therefrom by the path planning module 152. In some examples, the desired location “L1” may be dynamic in nature and may be provided as an input by the machine operator. Further, the location of the work machine 100 may be received from the second sensor 138.
Moreover, in some examples, a value of the desired travel distance may be prestored in the memory 148 associated with the controller 146. Accordingly, the path planning module 152 may retrieve the value of the desired travel distance from the memory 148. Further, in some examples, the controller 146 receives an input “I3” from the machine operator for one or more of increasing the desired travel distance and decreasing the desired travel distance. It should be noted that the machine operator may increase or decrease the desired travel distance to vary a positioning of the work machine 100 relative to the desired location “L1”. For example, some machine operators may prefer that the work machine 100 is positioned closer to the desired location “L1” for performing the excavation operation, whereas some machine operators may prefer that the work machine 100 is positioned farther from the desired location “L1” for performing the excavation operation. The machine operator may provide the input “I3” via the input device 128.
In other examples, based on operator preferences, the work machine 100 may halt based on an input received from the machine operator. For example, the work machine 100 may keep moving even after the desired travel distance has elapsed and/or the work machine 100 has moved past the desired location “L1”, until the machine operator provides the input for halting the work machine 100. Therefore, in such examples, the work machine 100 may travel more than the desired travel distance. Further, the work machine 100 may halt when the machine operator may release a pedal or move a joystick disposed in the operator cabin 126. In some examples, the work machine 100 may also halt before the work machine 100 has travelled the desired travel distance and/or before the desired location “L1” based on the input received from the machine operator.
In some examples, the controller 146 may also generate a prompt screen that may be displayed on the output device 130. The prompt screen may include different values for the desired travel distance, such that the machine operator may select a desired value for the desired travel distance based on their preference. In such examples, the path planning module 152 may proceed with desired travel distance as selected by the machine operator.
Moreover, the term “maximum velocity” as used herein may relate to a velocity at which the work machine 100 may move to reach the desired location “L1”. In some examples, the path planning module 152 may generate commands to ramp up to a velocity not exceeding the maximum velocity and may also ramp back down so that it achieves zero velocity near the desired location “L1”. Further, the maximum velocity of the work machine 100 may be determined by the path planning module 152 based on the location of the work machine 100, the desired location “L1”, the desired travel distance, one or more characteristics of the ground surface 124, climatic conditions around the work machine 100, and the like. The one or more characteristics of the ground surface 124 may include, for example, an inclination at the worksite, a condition of the soil, and the like.
In some examples, a value of the maximum velocity may be controllable by the machine operator. In such examples, the path planning module 152 may proceed with the input for the maximum velocity received from the machine operator. The machine operator may provide an input indicative of the maximum velocity to the controller 146, via the one or more input devices 128 present in the operator cabin 126.
In an example, the maximum velocity may be dynamically controlled by the machine operator. In some examples, the input indicative of the maximum velocity may be provided by the machine operator using dual control input devices or single control input devices. The dual control input devices may include dual pedal-controls or dual joystick-controls, without any limitations. Further, the single control input devices may include a single pedal-control or a single joystick-control, without any limitations. Furthermore, when using dual control input devices, inputs being received from each of the dual control input devices may be reduced to a single input to indicate the maximum velocity. The single input may be a minimum value of the inputs being received from each of the dual control input devices, a maximum value of the inputs being received from each of the dual control input devices, or an average of the inputs being received from each of the dual control input devices.
In some examples, the controller 146 may also generate a prompt screen that may be displayed on the output device 130. The prompt screen may include different values for the maximum velocity, such that the machine operator may select a desired value for the maximum velocity based on their preference. In such examples, the path planning module 152 may proceed with the desired value for the maximum velocity selected by the machine operator.
In some examples, when the semi-autonomous travel feature is activated and the work machine 100 is moving towards the desired location “L1”, the machine operator may be able to accelerate or decelerate the work machine 100 to increase or decrease the maximum velocity of the work machine 100. Thus, when the semi-autonomous travel feature is activated, the machine operator may be able to increase and/or decrease the maximum velocity and increase and/or decrease the travel distance. In an example, the machine operator may be able to halt the work machine 100 before travelling the desired travel distance and/or before reaching the desired location “L1”. In another example, the machine operator may halt the work machine 100 after the work machine 100 has travelled the desired travel distance and/or after the work machine 100 has moved past the desired location “L1”. However, when the semi-autonomous travel feature is activated, the machine operator may not be able to steer the work machine 100. If desired, the machine operator may activate the brakes to halt the travel of the work machine 100 or disable the semi-autonomous travel feature based on usage of a particular input device 128 dedicated for disabling the semi-autonomous travel feature.
Further, the path planning module 152 may also determine the desired travel direction of the work machine 100. In an example, the desired travel direction may be determined based on the desired location “L1” and the current travel direction of the work machine 100 received from the sensor 138, such that the movement of the work machine 100 in the desired travel direction may allow the work machine 100 to reach the desired location “L1”. Moreover, the path planning module 152 may also determine a position of the operator cabin 126 relative to the undercarriage structure 120. In an example, if the yaw angle of the operator cabin 126 does not lie within the predetermined threshold angle, the path planning module 152 may generate a notification for the operator to adjust the position of the operator cabin 126 before initiating the travel of the work machine 100.
Further, the controller 146 generates a first control signal “O1” for controlling the travel of the work machine 100 based on the determination of the operating parameter, such that the one or more components 116 of the work machine 100 is in alignment with the desired movement path 140, 142, 144. More particularly, the processor 150 may include the drive module 154 that may generate the first control signal “O1” for controlling the travel of the work machine 100. The drive module 154 may be communicably coupled to the path planning module 152 and the machine controller 134. The drive module 154 may receive the operating parameters, i.e., the maximum velocity, and the desired travel distance of the work machine 100 for generating the first control signal “O1”.
In an example, the drive module 154 may convert the maximum velocity into track command values for operation of the ground engaging members 122. For example, the first control signal “O1” may be indicative of the track command values, such as a value of a desired track percentage flow to each ground engaging member 122, that may be required for moving the work machine 100 at the maximum velocity. The drive module 154 may transmit the first control signal “O1” to the machine controller 134. Based on the first control signal “O1”, the machine controller 134 may generate signals, such as voltage signals. The signals generated by the machine controller 134 may be transmitted to machine components, such as, hydraulic valves or hydraulic motors, to operate the ground engaging members 122, so that the work machine 100 moves at the maximum velocity.
The processor 150 may further include the path tracker module 156. The path tracker module 156 may be communicably coupled to the first sensor 132, the second sensor 138, the input device 128, and the output device 130. The controller 146 may receive a feedback from the sensor 132, 138 to determine the alignment of the one or more components 116 of the work machine 100 with the desired movement path 140, 142, 144 during the travel of the work machine 100 along the desired movement path 140, 142, 144. In some examples, the feedback may be received after regular intervals of time.
In the illustrated example of
In some examples, the feedback may be indicative of an amount by which the work machine 100 is offset from the desired movement path 140, 142, 144. In an example, the feedback may be indicative of a current offset distance between a center of the work machine 100 and the desired movement path 140, 142, 144. It should be noted that, in some examples, the path tracker module 156 may retrieve a value for an allowable offset distance from the memory 148. In situations wherein the current offset distance is greater than the allowable offset distance, the path tracker module 156 may determine the misalignment of the work machine 100 with the desired movement path 140, 142, 144.
Further, the controller 146 updates the operating parameter of the work machine 100 if the one or more components 116 of the work machine 100 is not in alignment with the desired movement path 140, 142, 144. More particularly, the path tracker module 156 may transmit information related to the misalignment of the work machine 100 relative to the desired movement path 140, 142, 144 to the path planning module 152. Based on the information from the path tracker module 156, the path planning module 152 may update the operating parameters of the work machine 100. It should be noted that the operating parameters may be updated in a manner that is similar to the determination of the operating parameters as explained earlier in this section. In some examples, the path planning module 152 may generate an improvised travel plan for the work machine 100 based on the feedback received from the path tracker module 156. The improvised travel plan may include the updated operating parameters that may allow the work machine 100 to realign with the desired movement path 140, 142, 144.
Further, the controller 146 may generate a second control signal “O2” for controlling the travel of the work machine 100 based on the updated operating parameters, such that the one or more components 116 of the work machine 100 is in alignment with the desired movement path 140, 142, 144. More particularly, the drive module 154 may generate the second control signal “O2” for controlling the travel of the work machine 100, such that the one or more components 116 of the work machine 100 is in alignment with the desired movement path 140, 142, 144. It should be noted that the second control signal “O2” may be generated in a manner that is similar to the determination of the first control signal “O1” as explained earlier in this section. Further, the drive module 154 may provide the second control signal “O2” to the machine controller 134 to control the ground engaging members 122 for moving the work machine 100 in alignment with the desired movement path 140, 142, 144. In some examples, the path tracker module 156 may provide a visual feed of the travel of the work machine 100 to notify the operator regarding the alignment of the work machine 100 with the desired movement path 140, 142, 144. In an example, the output device 130 may display the visual feed of the work machine 100 and the desired movement path 140, 142, 144. For example, an image or a video including a line/curve representing the desired movement path 140, 142, 144 may be overlayed on the ground surface 124. Such an image or video may additionally or optionally include a graphical representation of the work machine 100 so the machine operator is made aware of the alignment or misalignment of the work machine 100 with the desired movement path 140, 142, 144.
The movement of the work machine 100 along the respective desired movement paths 140, 142, 144 will not be explained in relation to
For reaching the first excavation position “P1”, the work machine 100 may travel in a direction “D1”. Once the work machine 100 reaches the first excavation position “P1”, the work machine 100 may perform excavation operations at the first excavation position “P1”. Further, when the work machine 100 is to be moved from the first excavation position “P1” to the second excavation position “P2”, the operator may send the input “I1” (see
Further, after performing excavation operations at the second excavation position “P2”, the work machine 100 may further move along the desired movement path 140 in the reverse direction for performing excavation operations at one or more excavation points (not shown herein) along the desired movement path 140. In an example, the work machine 100 may move beyond the excavation points “P1”, “P2” to ensure that excavation operations have been performed at all desired locations along the first desired movement path 140. In some examples, the path planning module 152 or the path tracker module 156 may control the movement of the work machine 100 such that, while moving along the first desired movement path 140, the work machine 100 may avoid movement of the work machine 100 over any areas that may have material dumped thereon.
When the excavation operations are concluded at the first excavation position “P1”, the work machine 100 may have to be moved to the second excavation position “P2”. For this purpose, the controller 146 (see
The controller 146 determines a transition path 164 based on the determination of the first straight path 158 and the second straight path 160 for moving the work machine 100 from the first straight path 158 to the second straight path 160. More particularly, the path planning module 152 determines the transition path 164 if the angle “S1” is less than or equal to about 180 degrees. In some examples, the angle “S1” may be less than 90 degrees. It should be noted that the term “transition path” as mentioned herein merely represents a path used by the work machine 100 to reach various excavation positions. It should be noted that the work machine 100 may not perform any excavation operations when the work machine 100 is moving on such transition paths.
In the illustrated example of
Moreover, for moving the work machine 100 from the second excavation position “P2” to the third excavation position “P3”, the controller 146 may generate a transition path 166 for moving the work machine 100 from the second straight path 160 to the third straight path 162. The transition path 166 may be generated by the path planning module 152 in a manner similar to the generation of the transition path 164. Further, for moving the work machine 100 from the second excavation position “P2” to the third excavation position “P3”, the work machine 100 may move in a direction that is opposite to the direction “D4” to reach the location “L3”. From the location “L3”, the work machine 100 may move along a direction “D5” to a location “L4”. The work machine 100 may then move along a direction “D6” from the location “L4” to reach the third excavation position “P3”. Further, after performing excavation operations at the third excavation position “P3”, the work machine 100 may move in a direction opposite to the direction “D6” for performing excavation operations at other excavation points (not shown herein) along the third straight path 162.
In an example, the work machine 100 may move beyond the excavation points “P1”, “P2”, “P3” to ensure that excavation operations have been performed at all desired locations along the second desired movement path 142. In some examples, the path planning module 152 or the path tracker module 156 may control the movement of the work machine 100 such that, while moving along the second desired movement path 142, the work machine 100 may avoid movement of the work machine 100 over any areas that may have material dumped thereon. It should be noted that, for the purpose of clarity, the starting point “SP”, the excavation points “P1”, “P2”, “P3”, and the locations “L3”, “L4”, and “L5” are marked outside of the second desired movement path 142. However, in actuality, the starting point “SP”, the excavation points “P1”, “P2”, “P3”, and the locations “L3”, “L4”, and “L5” may be coincident with the second desired movement path 142.
Further, when the work machine 100 is to be moved from the first excavation position “P1” to the second excavation position “P2”, the machine operator may send the input “I1” (see
Further, after performing excavation operations at the second excavation position “P2”, the work machine 100 may move along the desired movement path 144 in the reverse direction for performing excavation operations at other excavation points (not shown herein) along the desired movement path 144. In some examples, the work machine 100 may move beyond the excavation points “P1”, “P2” to ensure that excavation operations have been performed at all desired locations along the third desired movement path 144. In some examples, the path planning module 152 or the path tracker module 156 may control the movement of the work machine 100 such that while moving along the third desired movement path 144, the work machine 100 may avoid movement of the work machine 100 over any areas that may have material dumped thereon. It should be noted that, for the purpose of clarity, the starting point “SP” and the excavation points “P1”, “P2”, “P3” are marked outside of the third desired movement path 144. However, in actuality, the starting point “SP” and the excavation points “P1”, “P2”, “P3” may be coincident with the third desired movement path 144.
The controller 146 and the machine controller 134 (see
The present disclosure relates to the system 136 and a method 600 for controlling the travel of the work machine 100 during the excavation operation. During excavation operations, it may be desirable that the work machine 100 is in alignment with the desired movement path 140, 142, 144. The system 136 and the method 600 describes techniques that allow alignment of the work machine 100 with the desired movement path 140, 142, 144. Thus, the work machine 100 may cause minimal disturbance to the ground surface 124 which may in turn cause minimal inadvertent displacement of soil from the ground surface 124. Furthermore, the alignment of the work machine 100 with the desired movement path 140, 142, 144 may increase efficiency and productivity of the excavation operation while reducing operation time and operator efforts. Additionally, the work machine 100 aligned with the desired movement path 140, 142, 144 may allow formation of a straighter trench or foundation.
The semi-autonomous travel feature enabled by the system 136 of the present disclosure aligns the work machine 100 with respect to the desired movement path 140, 142, 144 during the travel of the work machine 100. The semi-autonomous travel feature is enabled during the travel of the work machine 100 between various excavation positions. Further, the semi-autonomous travel feature may monitor the alignment of the work machine 100 relative to the desired movement path 140, 142, 144 in real time by providing positioning error feedback. As some work machines, such as the work machine 100 described herein, may not be able to move sideways, the path planning module 152 may generate an improvised travel plan by generating updated operating parameters so that the work machine 100 may realign with the desired movement path 140, 142, 144 without causing disturbances to the ground surface 124. Further, the real time tracking of the alignment by the path tracker module 156 of the controller 146 may reduce operator efforts as the machine operator may not have to spend additional time and fuel aligning the work machine 100 with the desired movement path 140, 142, 144. Moreover, the transition paths 164, 166 may allow the work machine 100 to easily execute the excavation operation on straight paths or curved paths having small radius of curvatures. Additionally, the transition paths 164, 166 may be defined in such a way that the travel of the work machine 100 along the transition paths 164, 166 may create minimum disturbance to the ground surface 124.
Further, the semi-autonomous travel feature may be initiated by the machine operator based on usage of the input devices 128. Furthermore, when the semi-autonomous travel feature is activated, the machine operator may control the maximum velocity of the work machine 100 and increase or decrease the desired travel distance. Moreover, the machine operator may be able to halt the work machine 100 before the work machine 100 has travelled the desired travel distance. Moreover, the machine operator may halt the work machine 100 after the work machine 100 has travelled the desired travel distance. However, when the semi-autonomous travel feature is activated, the controller 146 may not allow the machine operator to steer the work machine 100. In some examples, the machine operator may deactivate the semi-autonomous travel feature based on activation of the brakes or usage of a dedicated input device 128, as per application requirements.
At step 604, the controller 146 collects data indicative of the desired movement path 140, 142, 144 for the work machine 100 to reach the desired location “L1”. Further, the desired movement path 140, 142, 144 is prestored in the memory 148 associated with the controller 146, provided as the path input “I2” by the machine operator, or determined by the controller 146.
At step 606, the controller 146 determines the one or more operating parameters of the work machine 100 to reach the desired location “L1” based on the data indicative of the position parameter of the work machine 100 and the data indicative of the desired movement path 140, 142, 144. The operating parameter includes one or more of the desired travel distance of the work machine 100, the maximum velocity of the work machine 100, and the desired travel direction of the work machine 100. Additionally, the controller 146 may receive the input “I3” from the machine operator for one or more of increasing the desired travel distance and decreasing the desired travel distance. Further, the controller 146 receives the value of the desired travel distance from the memory 148 associated with the controller 146. Moreover, the value of the maximum velocity is controllable by the machine operator.
At step 608, the controller 146 generates the first control signal “O1” for controlling the travel of the work machine 100 based on the determination of the operating parameter, such that the one or more components 116 of the work machine 100 is in alignment with the desired movement path 140, 142, 144. The one or more components 116 of the work machine 100 includes the work implement 116.
Further, in some examples, the controller 146 receives the feedback from the sensor 132, 138 to determine the alignment of the one or more components 116 of the work machine 100 with the desired movement path 140, 142, 144 during the travel of the work machine 100 along the desired movement path 140, 142, 144. Furthermore, the controller 146 updates the operating parameter of the work machine 100 if the one or more components 116 of the work machine 100 is not in alignment with the desired movement path 140, 142, 144. Moreover, the controller 146 generates the second control signal “O2” for controlling the travel of the work machine 100 based on the updated operating parameter, such that the one or more components 116 of the work machine 100 is in alignment with the desired movement path 140, 142, 144.
In some examples, the desired movement path 140, 142, 144 includes one or more of the straight path, the curved path, the number of straight paths 158, 160, 162, and a combination thereof. In an example, the controller 146 determines the one or more first straight path 158 from the number of straight paths 158, 160, 162 and the one or more second straight path 160 from the number of straight paths 158, 160, 162, such that the first straight path 158 and the second straight path 160 are angularly disposed relative to each other. The angle “S1” defined between the first straight path 158 and the second straight path 160 may be less than or equal to about 180 degrees. The controller 146 also determines the transition path 164 based on the determination of the first straight path 158 and the second straight path 160 for moving the work machine 100 from the first straight path 158 to the second straight path 160. The controller 146 generates the third control signal “O3” for moving the work machine 100 along the transition path 164 to dispose the work machine 100 on the second straight path 160.
Unless explicitly excluded, the use of the singular to describe a component, structure, or operation does not exclude the use of plural such components, structures, or operations or their equivalents. The use of the terms “a” and “an” and “the” and “at least one” or the term “one or more,” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B″) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, as used herein, the word “or” refers to any possible permutation of a set of items. For example, the phrase “A, B, or C” refers to at least one of A, B, C, or any combination thereof, such as any of: A; B; C; A and B; A and C; B and C; A, B, and C; or multiple of any item such as A and A; B, B, and C; A, A, B, C, and C; etc.
While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.
