Preventive Automatic Ripping for Hard Material
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.
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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.
BACKGROUNDMachines 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 DISCLOSUREIn 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.
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
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
With reference to
Referring to
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
The command module 148 of
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
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 APPLICABILITYIn 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
As shown in block 160-2 of
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
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
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
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
As shown in block 160-11 of
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
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.
Claims
1. A controller-implemented method for automatically performing preventive ripping passes using a machine along a work surface, comprising:
- 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.
2. The controller-implemented method of claim 1, wherein the initial ripper control depth is defined as the minimum control depth, and the adjustment value is configured to increment the ripper control depth by a predetermined fraction of a difference between the maximum control depth and the minimum control depth if no failed cuts are detected, and decrement the ripper control depth by a predetermined fraction of a prior advance depth if a failed cut is detected.
3. The controller-implemented method of claim 2, wherein the adjustment value increments the ripper control depth by the difference between the maximum control depth and the minimum control depth divided by a number of steps therebetween, each step having a predefined advance depth.
4. The controller-implemented method of claim 2, wherein the adjustment value decrements the ripper control depth by approximately half of a prior advance depth if a failed cut is detected, decrements the ripper control depth by a prior advance depth if a failed cut is detected and the machine was stuck, and decrements the ripper control depth by a maximum missed depth if a failed cut is detected and the machine was not stuck.
5. The controller-implemented method of claim 1, wherein the first set of normal cuts is performed until the earliest of when a failed cut has been detected and the machine is stuck, and when the maximum control depth has been reached.
6. The controller-implemented method of claim 1, further generating a second ripping pass command for performing a second ripping pass according to the modified ripper control depth and a second set of cut commands for performing a second set of normal cuts.
7. The controller-implemented method of claim 1, wherein the machine parameters include assessment of any one or more of machine traction, machine mobility, machine orientation, machine position, machine speed, and machine operation, and the profile parameters include assessment of any one or more of a number of normal cuts performed, a position of a current cut relative to a previous cut, video feed data, slot geometry, work surface geometry, prior ripping pass locations, anticipated productivity indices, predetermined decision rules, and predetermined learning algorithms.
8. The computer-implemented method of claim 1, wherein the ripping pass commands are generated as electronic signals configured to automatically engage the machine to perform the ripping pass according to a predetermined ripping pass routine, and the machine parameters and the profile parameters are received as electronic signals from any one or more of feedback devices, locating devices, satellites, sensors, and command centers.
9. A control system for automatically performing preventive ripping passes using a machine along a work surface, comprising:
- a memory configured to retrievably store one or more algorithms; and
- a controller in communication with the memory and, based on the one or more algorithms, 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.
10. The control system of claim 9, wherein the controller is configured to define the initial ripper control depth as the minimum control depth, and define the adjustment value such that the ripper control depth is incremented by a predetermined fraction of a difference between the maximum control depth and the minimum control depth if no failed cuts are detected, and such that the ripper control depth is decremented by a predetermined fraction of a prior advance depth if a failed cut is detected.
11. The control system of claim 10, wherein the adjustment value increments the ripper control depth by the difference between the maximum control depth and the minimum control depth divided by a number of steps therebetween, each step having a predefined advance depth.
12. The control system of claim 10, wherein the adjustment value decrements the ripper control depth by approximately half of a prior advance depth if a failed cut is detected, decrements the ripper control depth by a prior advance depth if a failed cut is detected and the machine was stuck, and decrements the ripper control depth by a maximum missed depth if a failed cut is detected and the machine was not stuck.
13. The control system of claim 9, wherein the controller is further configured to issue a second ripping pass to be performed according to the modified ripper control depth, and issue a second set of normal cuts to be performed after the second ripping pass.
14. The control system of claim 9, wherein the machine parameters include assessment of any one or more of loss of traction, machine mobility, machine orientation, machine position, machine speed, and machine operation, and the profile parameters include assessment of any one or more of a number of normal cuts performed, a position of a current cut relative to a previous cut, video feed data, slot geometry, work surface geometry, prior ripping pass locations, anticipated productivity indices, predetermined decision rules, and predetermined learning algorithms.
15. The control system of claim 9, wherein the controller is configured to receive the machine parameters and the profile parameters from any one or more of feedback devices, locating devices, satellites, sensors, and command centers.
16. A controller for automatically performing preventive ripping passes using a machine along a work surface, comprising:
- 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.
17. The controller of claim 16, wherein the control depth module is configured to define the initial ripper control depth as the minimum control depth, and the adjustment module is configured to define the adjustment value such that the ripper control depth is incremented by a predetermined fraction of a difference between the maximum control depth and the minimum control depth if no failed cuts are detected, and such that the ripper control depth is decremented by a predetermined fraction of a prior advance depth if a failed cut is detected.
18. The controller of claim 17, wherein the adjustment value increments the ripper control depth by the difference between the maximum control depth and the minimum control depth divided by a number of steps therebetween, each step having a predefined advance depth.
19. The controller of claim 17, wherein the adjustment value decrements the ripper control depth by approximately half of a prior advance depth if a failed cut is detected, decrements the ripper control depth by a prior advance depth if a failed cut is detected and the machine was stuck, and decrements the ripper control depth by a maximum missed depth if a failed cut is detected and the machine was not stuck.
20. The controller of claim 16, wherein the command module is further configured to generate a second ripping pass command for performing a second ripping pass according to the modified ripper control depth and a second set of cut commands for performing a second set of normal cuts.
Type: Application
Filed: Jul 28, 2015
Publication Date: Feb 2, 2017
Applicant: Caterpillar Inc. (Peoria, IL)
Inventors: Mo Wei (Dunlap, IL), Michael Taylor (Swissvale, PA)
Application Number: 14/811,141