System for determining compaction of a terrain based on rolling resistance

Patent metadata

Field	Value
Publication number	US-10829901-B2
Application number	US-201715840625-A
Country	US
Kind code	B2
Filing date	Dec 13, 2017
Priority date	Dec 23, 2016
Publication date	Nov 10, 2020
Grant date	Nov 10, 2020

Abstract

Disclosed herein is a system and method for determining the compaction of terrain based on rolling resistance. The system comprises a work machine configured to move along a route along the terrain, a navigation system configured to generate route data indicative of the route, a sensor configured to generate operating parameter data indicative of an operating parameter of the work machine moving along the route, and a processing unit. The processing unit is configured to process the operating parameter data to generate rolling resistance data indicative of the resistance by the terrain to the movement of the work machine along the route, and to process the rolling resistance data to generate compaction data indicative of the compaction of the terrain along the route.

First claim

What is claimed is:

1. A method for determining the compaction of a terrain of a worksite using at least one work machine moving over the terrain, the method comprising:
operating the at least one work machine to move along a route over the terrain;
generating route data indicative of the route;
generating operating parameter data indicative of at least one operating parameter of the at least one work machine moving along the route;
processing the operating parameter data to generate rolling resistance data indicative of the resistance by the terrain to the movement of the at least one work machine along the route; and
processing the rolling resistance data to generate compaction data indicative of the compaction of the terrain over which the work machine moves along the route,
wherein the at least one work machine comprises a hauling machine or a material handling machine.

2. A method as claimed in claim 1 , further comprising operating at least one work machine based upon the compaction data.

3. A method as claimed in claim 2 , further comprising:
processing the rolling resistance and/or compaction data to identify at least one compaction event, the at least one compaction event being identified where the compaction of the terrain meets a compaction threshold and/or falls within a compaction range;
operating at least one work machine based upon the identification of at least one compaction event.

4. A method as claimed in claim 2 , further comprising operating at least one work machine and/or a compaction machine to move along at least part of the route to adjust the compaction of the terrain of the route.

5. A method as claimed in claim 2 , wherein the at least one work machine comprises at least one tyre and the method further comprises adjusting the air pressure of the at least one tyre based upon the compaction data.

6. A method as claimed in claim 2 , wherein the at least one work machine comprises a pivotable dump body for ejecting material therefrom and the method further comprises processing the compaction data to identify at least one area of the worksite suitable for raising the pivoting the dump body and ejecting material.

7. A method as claimed in claim 1 , further comprising the step of communicating the rolling resistance and/or compaction data to a further work machine from the work machine.

8. A method as claimed in claim 1 , further comprising generating route data indicative of the route and processing the rolling resistance data, compaction data and/or route data to generate a map of the rolling resistance and/or compaction along the route.

9. A method as claimed in claim 8 , further comprising generating compaction data from a plurality of work machines moving along a plurality of routes along the terrain and building a composite map indicative of the compaction of the terrain over the plurality of routes.

10. A method as claimed in claim 8 , further comprising obtaining surface profile data indicative of the three-dimensional profile of the worksite and processing the surface profile data, compaction data and/or rolling resistance data to generate a topographical map of the worksite and compaction and/or rolling resistance.

11. A method as claimed in claim 8 , further comprising displaying the map on a display.

12. A method as claimed in claim 1 , wherein the rolling resistance is calculated based upon the driving force of the at least one work machine and accounting for at least one loss during the movement of the at least one work machine, wherein the at least one loss comprises at least one of aerodynamic drag, inclination force and inertial force.

13. A method as claimed in claim 1 , wherein the compaction data generated by the hauling machine or the material handling machine is combined with compaction data generated by a compaction machine to process the compaction of the terrain.

14. A method as claimed in claim 1 , wherein the route comprises at least one of a haul route between a loading location and an ejection location and a back-to-work route between a park location and a work location.

15. A method as claimed in claim 1 , wherein the compaction data generated by the processing of the rolling resistance data comprises data indicative of looseness or density of soil forming the terrain.

16. A method as claimed in claim 1 , wherein processing the rolling resistance data to generate compaction data indicative of the compaction of the terrain along the route comprises averaging the rolling resistance data to provide an average compaction data for an entire area of the terrain under the hauling machine or material handling machine.

17. A system for determining the compaction of a terrain of a worksite, the system comprising:
at least one work machine configured to move along a route along over the terrain;
a navigation system configured to generate route data indicative of the route;
at least one sensor configured to generate operating parameter data indicative of at least one operating parameter of the at least one work machine moving along the route;
at least one processing unit configured to:
process the operating parameter data to generate rolling resistance data indicative of the resistance by the terrain to the movement of the at least one work machine along the route; and
process the rolling resistance data to generate compaction data indicative of the compaction of the terrain along the route that has been passed over by the work machine as the work machine travels along the route, wherein the at least one work machine comprises a hauling machine or a material handling machine.

18. A system as claimed in claim 17 , further comprising at least one surveying device configured to measure a surface profile of the worksite and generate surface profile data indicative of the measured surface profile.

Assignees

• Caterpillar Sarl

Inventors

• Wisley David
• Looney Michael
• Pugh Russell
• Menold Rodney
• Moses Jonathan
• Abel Tom
• Weltzer Anthony
• Thompson Stephen

Classifications

• E02F9/261

  Surveying the work-site to be treated · CPC title

• E02F9/2045

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• B60W40/068

  Road friction coefficient · CPC title

• B60W40/1005

  Driving resistance · CPC title

• G01N33/42

  Road-making materials (G01N33/38 takes precedence) · CPC title