System and method for controlling a work machine

Patent metadata

Field	Value
Publication number	US-10119244-B2
Application number	US-201715455790-A
Country	US
Kind code	B2
Filing date	Mar 10, 2017
Priority date	Mar 10, 2017
Publication date	Nov 6, 2018
Grant date	Nov 6, 2018

Abstract

A system for moving material at a work site includes: a work machine including a chassis, a material mover defining a material mover position, a location sensor, and a steering mechanism; and a controller system operably coupled to the material mover, the location sensor, and the steering mechanism. The controller system is configured to: store a sequence of travel paths; control the steering mechanism to follow the sequence of travel paths; determine the material mover position; determine followed travel positions of the work machine; generate an as-built map as the work machine follows the sequence of travel paths based on the material mover position and followed travel positions; compare the as-built map to a desired terrain map; generate a revised sequence of travel paths based on the comparison between the as-built map and the desired terrain map; and control the steering mechanism to follow the revised sequence of travel paths.

First claim

What is claimed is:

1. A system for moving material at a work site, comprising:
a work machine comprising a chassis, a material mover carried by said chassis and defining a material mover position, a location sensor carried by said chassis, and a steering mechanism configured to control a travel direction of said work machine; and
a controller system operably coupled to said material mover, said location sensor, and said steering mechanism, said controller system configured to:
store a sequence of travel paths for said work machine to follow;
control said steering mechanism to follow said sequence of travel paths;
determine said material mover position;
determine followed travel positions of said work machine based on signals from said location sensor;
generate an as-built map as said work machine follows said sequence of travel paths based on said material mover position and followed travel positions;
compare said as-built map to a desired terrain map;
generate a revised sequence of travel paths for said work machine to follow based on said comparison between said as-built map and said desired terrain map, wherein said revised sequence alters a material volume movement sequence of said work machine; and
control said steering mechanism to follow said revised sequence of travel paths.

2. The system according to claim 1 , wherein said material mover is adjustably carried by said chassis.

3. The system according to claim 2 , wherein said work machine further comprises at least one operating parameter sensor and said controller is further configured to:
detect a travel anomaly from an output signal of said at least one operating parameter sensor while said work machine follows said revised sequence of travel paths; and
adjust said material mover position of said material mover based on said detected travel anomaly.

4. The system according to claim 3 , wherein said travel anomaly is at least one of a work machine slip, an undesired fill of said material mover, and an undesired tilt of said work machine.

5. The system according to claim 3 , wherein said controller system is configured to adjust at least one of a height and a rake angle of said material mover based on said detected travel anomaly.

6. The system according to claim 1 , wherein said controller system is further configured to:
receive an override command;
generate an override sequence of travel paths subsequently to receiving said override command; and
control said steering mechanism to follow said override sequence of travel paths.

7. The system according to claim 1 , wherein said controller system is further configured to detect a terrain irregularity as said work machine follows said sequence of travel paths, wherein said terrain irregularity is taken into account during generation of said revised sequence of travel paths.

8. The system according to claim 1 , wherein said material mover comprises a blade defining said material mover position.

9. The system according to claim 1 , wherein said controller system is carried by said chassis of said work machine.

10. A method of controlling a work machine comprising a chassis, a material mover carried by said chassis and defining a material mover position, a location sensor carried by said chassis, and a steering mechanism configured to control a travel direction of said work machine, said method being implemented by a controller system and comprising:
storing a sequence of travel paths for said work machine to follow;
controlling said steering mechanism to follow said sequence of travel paths;
determining said material mover position;
determining followed travel positions of said work machine based on signals from said location sensor;
generating an as-built map as said work machine follows said sequence of travel paths based on said material mover position and followed travel positions;
comparing said as-built map to a desired terrain map;
generating a revised sequence of travel paths for said work machine to follow based on said comparison between said as-built map and said desired terrain map, wherein said revised sequence alters a material volume movement sequence of said work machine; and
controlling said steering mechanism to follow said revised sequence of travel paths.

11. The method according to claim 10 , wherein said material mover is adjustably carried by said chassis.

12. The method according to claim 11 , further comprising:
detecting a travel anomaly from an output signal of at least one operating parameter sensor of said work machine while said work machine follows said revised sequence of travel paths; and
adjusting said material mover position of said material mover based on said detected travel anomaly.

13. The method according to claim 12 , wherein said travel anomaly is at least one of a work machine slip, an undesired fill of said material mover, and an undesired tilt of said work machine.

14. The method according to claim 12 , further comprising adjusting at least one of a height and a rake angle of said material mover based on said detected travel anomaly.

15. The method according to claim 10 , further comprising:
receiving an override command;
generating an override sequence of travel paths subsequently to receiving said override command; and
controlling said steering mechanism to follow said override sequence of travel paths.

16. The method according to claim 10 , further comprising detecting a terrain irregularity as said work machine follows said sequence of travel paths, wherein said terrain irregularity is taken into account during generation of said revised sequence of travel paths.

17. The method according to claim 10 , wherein said material mover comprises a blade defining said material mover position.

18. The method according to claim 10 , wherein said controller system is carried by said chassis of said work machine.

Assignees

• Cnh Ind America Llc

Inventors

• Elkins Scott A

Classifications

• B60W2300/17

  Construction vehicles, e.g. graders, excavators · CPC title

• B60W40/02

  related to ambient conditions · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title

• G05D2201/0202

  Physics · mapped topic

• B60W10/30

  including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps · CPC title