Abstract: An excavating machine can conduct an excavation cycle that can be distinguished in a plurality of work cycle segments. To maneuver an excavation tool with respect the work surface during the excavation cycle, the excavation machine includes an excavation linkage powered by a primary electrical power source. The excavation machine can be operatively associated with a battery management system that can identify a high load condition associated with the excavation cycle and can responsively connect an auxiliary electrical power source to the hydraulic system to delivery supplemental power during the high load condition.

Abstract: A system for identifying an improper implement on a machine includes a machine configured for performing one or more tasks, the machine including: a movable link configured to change a position of an implement installed on the machine; a hydraulic system for moving the link, the hydraulic system including a hydraulic valve and a hydraulic pump; and a pressure sensor configured to detect a pressure of hydraulic fluid for the hydraulic system and output a signal according to the detected pressure. The system further includes a controller configured to receive the signal from the pressure sensor, determine that the implement is improper due to being oversized, overweight, undersized or underweight, based on the signal from the pressure sensor, and generate a notification in response to determining that the implement is improper.

Abstract: A collision detection system including a proximity sensor, positioning sensor, and controller. The controller includes a memory storing instructions, and a model of the machine that includes dimension information of the machine, location information of the proximity sensor, and pose information of movable portions of the machine. A processor is connected to the proximity sensor, positioning sensor, and memory, and is configured to update pose information of the model based on the pose of the movable portions determined using the positioning sensor. The processor may receive a detection of the object from the proximity sensor. The processor may determine an expected detection result of the proximity sensor using the model, and based on the location information of the proximity sensor and the updated pose information. The processor may compare the detection with the expected detection result to determine whether the detection results from the movable portion or a foreign object.

Abstract: A control system for a machine includes a machine body, a linkage assembly, a bucket coupled to the machine body via the linkage assembly, a user interface remote from the machine body, and a controller in communication with the user interface. The controller is configured to receive one or more signals defining a dump region. The dump region includes a front-most end point and a rear-most end point. The controller is also configured to receive one or more signals defining a dump order or dump specification and initiate an autonomous digging and dumping procedure.

Abstract: Autonomous systems enable a machine, such as an excavator, to dig in a specified area with little to no human intervention. However, conventional autonomous systems require costly exteroceptive systems to monitor the terrain surface during the autonomous dig operation. Accordingly, embodiments are disclosed for estimating a terrain surface using only proprioceptive sensors, such as the linkage sensors on the work implement of an excavator. The terrain surface may be estimated by fitting a surface to one or more touchpoints collected using the work implement. The estimated terrain surface may be updated during a dig operation using a model of material flow and/or by collecting additional touchpoints. Embodiments enable a remote operator to visualize this terrain surface in a camera view by projecting the estimated terrain surface onto an image plane with a representation that depicts one or more terrain parameters.

Abstract: A system for monitoring a work area of a work machine includes a sensor system. The sensor system generates one or more input signals corresponding to a position of at least one object present in at least one of the work area and a predetermined area. The input signals are indicative of the position of the object at different instances of time. The system also includes a controller communicably coupled to the sensor system. The controller includes one or more memories and one or more processors. The one or more processors receive the one or more input signals, determine a moving route of the object based on the receipt of the one or more input signals, and generate a response signal if a start point of the object is located in the predetermined area and an end point of the object is located at the work area.

Abstract: A collision detection system including a proximity sensor, positioning sensor, and controller. The controller includes a memory storing instructions, and a model of the machine that includes dimension information of the machine, location information of the proximity sensor, and pose information of movable portions of the machine. A processor is connected to the proximity sensor, positioning sensor, and memory, and is configured to update pose information of the model based on the pose of the movable portions determined using the positioning sensor. The processor may receive a detection of the object from the proximity sensor. The processor may determine an expected detection result of the proximity sensor using the model, and based on the location information of the proximity sensor and the updated pose information. The processor may compare the detection with the expected detection result to determine whether the detection results from the movable portion or a foreign object.

Abstract: A collision avoidance system and method for a mobile machine includes determining a boundary zone and providing a notification and/or control command to prevent a collision with another object. A first safety zone associated with a first and second portion of the mobile machine is determined. A second safety zone associated with the second portion of the mobile machine is determined. A boundary zone is determined as a function of a combination of the first and second safety zone. A notification and/or a control command is provided based on a relationship of an object to the boundary zone.

Abstract: An apparatus can include sensor circuitry to detect a machine movement of a work machine along a surface. The apparatus can also include processing circuitry to receive machine movement information or force-related information and to determine probability that unwanted movement will occur. The processing circuitry can also provide a mitigation control signal to mitigate unwanted movement responsive to determining that the probability that unwanted movement will occur is above a threshold.

Abstract: A system to control operation of a machine having a ground-engaging work implement for moving material about a worksite include a controller configured to determine a feasible target profile for the work implement to engage material. The feasible target profile may include a preload segment, a cut segment, and a loading segment. The controller determines a feasible prospective cut segment from a plurality of prospective cut segments. The controller generates a prospective preloading segment and a prospective loading segment associated with the feasible prospective cut profile. Position points associated with the loading segment are extracted and the controller determines if the ground-engaging work implement will align with the plurality of position points. The controller may also determine whether the load volume for the prospective cut segment is efficient.

Abstract: A method includes sensing, with a sensor, an outer surface of a pile of material, with a controller located on an at least partially autonomously-controlled machine, a midpoint of the pile of material based on the sensed outer surface; determining, with the controller, a plurality of potential loading paths around the midpoint for loading the machine; selecting, with the controller, a primary loading path of the potential loading paths based on a cost function analysis, and causing, with the controller, the machine to perform a loading instance as defined by the primary loading path.

Abstract: A system for moving material from a first work area to a second work includes a material moving machine, a machine position sensor and a controller system. The controller system performs first material moving operations including determining a premature termination of a material stacking operation. The controller system performs additional material moving operations including instructing a material moving machine in response to the premature termination of a material stacking operation.

Abstract: A guide system for planning missions of autonomous or semi-autonomous material displacement machines includes an operator interface and at least one computer coupled with the operator interface. The at least one computer is structured to receive working elevation information associated with missions executed by machines and indicative of working elevation parameters dependent upon disposition of a material displaced by the machines. The guide system is further structured to receive surrounding terrain information and compare the working elevation parameters to a surrounding elevation parameter. The guide system produces elevation variance alerts based on the comparison, and displays the elevation variance alerts in an operator-perceptible form such as graphically on a display in an operator interface.

Abstract: A method includes sensing, with a sensor, an outer surface of a pile of material, with a controller located on an at least partially autonomously-controlled machine, a midpoint of the pile of material based on the sensed outer surface; determining, with the controller, a plurality of potential loading paths around the midpoint for loading the machine; selecting, with the controller, a primary loading path of the potential loading paths based on a cost function analysis, and causing, with the controller, the machine to perform a loading instance as defined by the primary loading path.

Abstract: A system for moving material from a first work area to a second work includes a material moving machine, a machine position sensor and a controller system. The controller system performs first material moving operations including determining a transition location from an inclined material stack operation to a flat material stack operation. The controller system performs second material moving operations including controlling the material moving machine.

Abstract: A system to control operation of a machine having a ground-engaging work implement for moving material about a worksite include a controller configured to determine a feasible target profile for the work implement to engage material. The feasible target profile may include a preload segment, a cut segment, and a loading segment. The controller determines a feasible prospective cut segment from a plurality of prospective cut segments. The controller generates a prospective preloading segment and a prospective loading segment associated with the feasible prospective cut profile. Position points associated with the loading segment are extracted and the controller determines if the ground-engaging work implement will align with the plurality of position points. The controller may also determine whether the load volume for the prospective cut segment is efficient.

Abstract: A system for controlling operation of a machine having a frame supported by ground engaging members and a work implement movably supported by the frame includes a machine position sensor and an implement position sensor to output data pertaining to a position and orientation of the machine and the work implement within a worksite. The system further includes a controller that receives the data output by the machine position sensor and the implement position sensor. The controller computes an amount of gap that is required for alignment of the machine and the work implement with a slot based on the received data. The controller then controls a movement of the ground engaging members for positioning the machine at the computed amount of gap from a cut point located within the slot prior to the work implement entering a cut position for performing a cut within the slot.

Abstract: A system for automated control of a machine along a first slot in a work surface includes a machine position sensor and a controller. The controller is configured to determine an elevation difference between each pair of laterally aligned positions of the first slot and a second adjacent slot, generate a first propulsion command to operate the machine according to a first propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is less than a slot elevation difference threshold, and generate a second propulsion command to operate the machine according to a second propulsion mode while the machine is disposed along the first slot adjacent each pair of laterally aligned positions at which the elevation difference is greater than the slot elevation difference threshold.

Abstract: A system for moving material with a ground engaging work implement determines a topography of the work surface, a maximum cutting capacity for a cutting operation, and a maximum carrying capacity for a carrying operation. A first double cut location is determined based upon the maximum carrying capacity and the topography of the work surface and a second double cut location is determined based upon the maximum carrying capacity and a modified topography of the work surface. Individually, the amount of material from each of the first and second double cut locations is less than the maximum cutting capacity, and combined is less than the maximum carrying capacity. A first forward double cut command moves the first double cut material to an intermediate position and a second forward double cut command moves the first double cut material and the second double cut amount of material to a dump location.

Abstract: A method of controlling a machine through an interrupted operation of the machine is provided. The method includes retrieving an existing load signal indicative of an existing external load on the machine by a controller prior to the interrupted operation. The method includes calculating an available load capacity for the machine defined as a difference between a maximum load capacity of the machine and the existing external load by the controller. Further, the method includes controlling the machine to execute a working operation by the controller corresponding to the available load capacity of the machine.