Systems and Methods for Constrained Dozing

Patent metadata

Field	Value
Publication number	US-2016201298-A1
Application number	US-201514592684-A
Country	US
Kind code	A1
Filing date	Jan 8, 2015
Priority date	Jan 8, 2015
Publication date	Jul 14, 2016
Grant date	—

Abstract

A computer-implemented method for determining an implement path for a machine implement at a worksite is provided. The computer-implemented method may include identifying a work surface and a pass target of the worksite, defining a loading profile based on one or more curves constrained to the work surface and the pass target, defining a carry profile based on the loading profile and the pass target, and designating the loading profile and the carry profile as the implement path.

First claim

What is claimed is:

1 . A computer-implemented method for determining an implement path for a machine implement at a worksite, comprising:
identifying a work surface and a pass target of the worksite; defining a loading profile based on one or more curves constrained to the work surface and the pass target; defining a carry profile based on the loading profile and the pass target; and designating the loading profile and the carry profile as the implement path.

2 . The computer-implemented method of claim 1 , wherein one or more of the curves of the loading profile are based on a half-Gaussian curve.

3 . The computer-implemented method of claim 1 , wherein the loading profile is constrained to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof.

4 . The computer-implemented method of claim 1 , wherein a general slope of the loading profile is maintained below a predefined maximum threshold.

5 . The computer-implemented method of claim 1 , wherein a general slope of the loading profile is adjusted using a load extent value if the slope exceeds a predefined maximum threshold.

6 . The computer-implemented method of claim 1 , wherein the machine implement is a blade and the implement path corresponds to a blade path, the computer-implemented method further engaging control of the blade using the blade path as a lower-bound.

7 . The computer-implemented method of claim 6 , further enabling sensor-based control of the blade along the blade path such that the blade is automatically raised to a predefined height when a predefined load limit is reached.

8 . A control system for determining an implement path for a machine implement at a worksite, 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: identify a work surface and a pass target of the worksite; define a loading profile based on one or more curves constrained to the work surface and the pass target; and define a carry profile based on the loading profile and the pass target.

9 . The control system of claim 8 , wherein the controller is configured to define the implement path by adjoining the loading profile and the carry profile.

10 . The control system of claim 8 , wherein the controller is configured to generate one or more of the curves of the loading profile based on a half-Gaussian curve.

11 . The control system of claim 8 , wherein the controller is configured to constrain the loading profile to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof.

12 . The control system of claim 8 , wherein the controller is configured to maintain a general slope of the loading profile to be below a predefined maximum threshold.

13 . The control system of claim 8 , wherein the controller is configured to adjust a general slope of the loading profile according to a load extent value if the slope exceeds a predefined maximum threshold.

14 . The control system of claim 8 , wherein the machine implement is a blade and the implement path corresponds to a blade path, the controller being configured to engage control of the blade using the blade path as a lower-bound.

15 . The control system of claim 14 , wherein the controller is configured to enable sensor-based control of the blade along the blade path, and automatically raise the blade to a predefined height when a predefined load limit is detected.

16 . A controller for determining an implement path for a machine implement at a worksite, comprising:
a work surface identification module configured to identify a work surface of the worksite; a pass target identification module configured to identify a pass target of the worksite; a loading profile module configured to define a loading profile based on one or more curves constrained to the work surface and the pass target; and a carry profile module configured to define a carry profile based on the loading profile and the pass target.

17 . The controller of claim 16 , further comprising an implement path module configured to designate the loading profile and the carry profile as the implement path.

18 . The controller of claim 16 , wherein the loading profile module is configured to generate one or more of the curves of the loading profile based on a half-Gaussian curve.

19 . The controller of claim 16 , wherein the loading profile module is configured to constrain the loading profile to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof.

20 . The controller of claim 16 , wherein the loading profile module is configured to adjust a general slope of the loading profile based on a load extent value if the slope exceeds a predefined maximum threshold.

Assignees

• Caterpillar Inc

Inventors

• Taylor Michael A
• Edara Thandara K
• Wei Mo
• Felty Timothy J

Classifications

• E02F9/261 Primary

  Surveying the work-site to be treated · CPC title

• E02F9/2045 Primary

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

• E02F9/262

  with follow-up actions to control the work tool, e.g. controller · CPC title

• G06Q10/04

  Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem" (market predictions or forecasting for commercial activities G06Q30/0202) · CPC title

• E02F3/841

  Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine (construction of roads E01C19/008) · CPC title