System and method for operating a machine

Patent metadata

Field	Value
Publication number	US-9234750-B2
Application number	US-201213561833-A
Country	US
Kind code	B2
Filing date	Jul 30, 2012
Priority date	Jul 30, 2012
Publication date	Jan 12, 2016
Grant date	Jan 12, 2016

Abstract

A system for automated control of a machine within a work area having a crest includes a first data map and a second data map. At least one sensor system generates operating data indicative of a change in terrain and a controller compares the operating data to the first data map while the machine is within a zone adjacent the crest. If the change in terrain exceeds a threshold, the controller generates an alert command signal. A method is also provided.

First claim

The invention claimed is:

1. A system for automated control of a machine within a work area having a crest, comprising:
a position sensing system for generating position signals indicative of the position of the machine;
at least one sensor system for generating operating data indicative of a change in terrain, the at least one sensor system being operative to measure a different characteristic of the machine than the position sensor system and generate second operating data, the operating data and the second operating data being indicative of different types of operating characteristics of the machine, one of the operating data and the second operating data being indicative of a load on a ground engaging work implement and another of the operating data and the second operating data being indicative of a pitch angle of the machine;
a controller configured to:
store a work area for the machine including a crest zone within the work area that extends a predetermined distance from the crest into the work area;
store a first data map of operating data for use while the machine is operating within the crest zone;
store a second data map of operating data for use while the machine is operating outside of the crest zone;
determine whether the machine is within the crest zone based upon the position signals;
compare the operating data to the first data map of operating data while the machine is within the crest zone to determine whether the operating data exceeds a first threshold condition;
generate a first alert command signal if the operating data exceeds the first threshold condition while the machine is operating within the crest zone;
compare the second operating data to the second data map of operating data while the machine is outside of the crest zone to determine whether the second operating data exceeds a second threshold condition; and
generate a second alert command signal if the second operating data exceeds the second threshold condition while the machine is operating outside of the crest zone.

2. The system of claim 1 , wherein the operating data and the second operating data are indicative of the pitch angle of the machine.

3. The system of claim 1 , wherein the controller is further configured to filter the operating data and the second operating data differently.

4. The system of claim 1 , wherein the positioning sensing system includes a GPS sensing system.

5. The system of claim 1 , wherein the at least one sensor system includes an implement load sensor system configured to measure a load on a ground engaging work implement and provide an implement load signal indicative of the load on the ground engaging work implement to the controller, and wherein the operating data is indicative of the load on the ground engaging work implement.

6. The system of claim 1 , wherein the at least one sensor system includes a pitch angle sensor configured to measure a pitch angle of the machine, and the operating data is indicative of the pitch angle of the machine.

7. The system of claim 1 , wherein the at least one sensor system includes a perception sensor configured to measure an angle of terrain adjacent the machine, and the operating data is indicative of the angle of a ground surface adjacent the machine.

8. A machine comprising:
a prime mover;
a position sensing system for generating position signals indicative of the position of the machine;
at least one sensor system for generating operating data indicative of a change in terrain, the at least one sensor system being operative to measure a different characteristic of the machine than the position sensor system and generate second operating data, the operating data and the second operating data being indicative of different types of operating characteristics of the machine, one of the operating data and the second operating data being indicative of a load on a ground engaging work implement and another of the operating data and the second operation data being indicative of a pitch angle of the machine;
a controller configured to:
store a work area for the machine including a crest zone within the work area that extends a predetermined distance from a crest into the work area;
store a first data map of operating data for use while the machine is operating within the crest zone;
store a second data map of operating data for use while the machine is operating outside of the crest zone;
determine whether the machine is within the crest zone based upon the position signals;
compare the operating data to the first data map of operating data while the machine is within the crest zone to determine whether the operating data exceeds a first threshold condition;
generate a first alert command signal if the operating data exceeds the first threshold condition while the machine is operating within the crest zone;
compare the second operating data to the second data map of operating data while the machine is outside of the crest zone to determine whether the second operating data exceeds a second threshold condition; and
generate a second alert command signal if the second operating data exceeds the second threshold condition while the machine is operating outside of the crest zone.

9. The machine of claim 8 , wherein the at least one sensor system includes an implement load sensor system configured to measure a load on a ground engaging work implement and provide an implement load signal indicative of the load on the ground engaging work implement to the controller, and wherein the operating data is indicative of the load on the ground engaging work implement.

Assignees

• Stratton Kenneth L
• Becicka Troy K
• Taylor Michael
• Edara Thandava K
• Caterpillar Inc

Inventors

• Stratton Kenneth L
• Becicka Troy K
• Taylor Michael
• Edara Thandava K

Classifications

• G01B21/20 Primary

  for measuring contours or curvatures, e.g. determining profile · CPC title

• G06F9/00

  Arrangements for program control, e.g. control units (program control for peripheral devices G06F13/10) · CPC title

• E02F9/2029

  Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence) · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F9/2054

  Fleet management · CPC title