Operator assist algorithm for an earth moving machine

Patent metadata

Field	Value
Publication number	US-9404237-B2
Application number	US-201414304550-A
Country	US
Kind code	B2
Filing date	Jun 13, 2014
Priority date	Jun 13, 2014
Publication date	Aug 2, 2016
Grant date	Aug 2, 2016

Abstract

A system and method are provided for assisting a machine operator in controlling a work tool of the machine. In an embodiment, the work tool is set at a first height and the machine is travelling at a first machine speed, resulting in a first work tool or machine load. Based on these factors, a first work tool control mode or second work tool control mode is chosen. In the first work tool control mode, the work tool is manually controlled within a load limit and a work tool height limit, whereas in the second work tool control mode, the work tool load is controlled toward the first work tool load. Based on operator inputs and machine state, as well as other factors such as ground surface, the machine may switch between control modes, or out of automatic work tool control entirely.

First claim

What is claimed is:

1. A method of assisting a machine operator in controlling a work tool of the machine the method comprising:
a controller configured to execute computer-executable instructions read from a non-transient computer-readable medium, the controller configured to perform the steps of the method including;
determining that automatic tool control is desired;
determining a target machine operating state;
detecting an active operator commanded work tool motion;
detecting a last operator commanded work tool position;
detecting that the machine is operating at a first machine operating state; and
based on the detected active operator commanded tool motion and first machine operating state, selecting a work tool control mode, from a first work tool control mode and a second work tool control mode, wherein in the first work tool control mode, manual control of the work tool is maintained except that the work tool is automatically moved to adjust the machine state when an undesirable machine state is detected, and wherein in the second work tool control mode, the work tool position is adjusted to control the machine operating state toward the target machine operating state.

2. The method in accordance with claim 1 , wherein the selected work tool control mode is the first tool control mode and wherein the machine operating state includes a machine speed, the method further comprising determining whether a manual tool control command is given by the operator, and if a tool lower command is given and the machine speed is less than a predetermined threshold machine speed, attenuating the operator command.

3. The method in accordance with claim 1 , wherein the selected tool control mode is the first tool control mode and wherein the machine operating state includes a machine speed, the method further comprising determining whether the tool position is greater than the last operator commanded tool position, and determining whether the machine speed is greater than a predetermined threshold machine speed, and if the tool position is greater than the last operator commanded tool position and the machine speed is greater than a predetermined threshold machine speed, lowering the tool.

4. The method in accordance with claim 1 , wherein the selected tool control mode is the first tool control mode and wherein the machine operating state includes a machine speed, the method further comprising determining whether the machine speed is less than a predetermined threshold machine speed, and if the machine speed is less than a predetermined threshold machine speed, raising the tool.

5. The method in accordance with claim 1 , wherein the selected tool control mode is the second tool control mode, the method further comprising determining whether a manual tool lower command is given by the operator, and if a manual tool lower command is given, inhibiting manual tool lowering.

6. The method in accordance with claim 5 , further comprising receiving a manual tool command and determining whether the magnitude of the manual tool command exceeds a predetermined threshold for longer than a predetermined threshold time.

7. The method in accordance with claim 6 , further comprising deactivating the manual tool lowering inhibition if it is determined that the magnitude of the manual tool command exceeds the predetermined tool command threshold for longer than the predetermined threshold time.

8. The method in accordance with claim 6 , further comprising controlling the tool position based on machine operating state regardless of manual commands if it is determined that the magnitude of the manual tool command does not exceed the predetermined tool command threshold for longer than the predetermined threshold time.

9. The method in accordance with claim 1 , wherein the selected tool control mode is a selected one of the first tool control mode and the second tool control mode, the method further comprising determining that conditions for the selected one of the first tool control mode and the second tool control mode are no longer met, and thereafter switching to the other of the first tool control mode and the second tool control mode.

10. The method in accordance with claim 9 , wherein the selected tool control mode is the first tool control mode and wherein determining that conditions are no longer met comprises detecting receipt of a manual tool lowering command of greater than a predetermined threshold for longer than a predetermined threshold time, and determining that the machine speed is less than a first machine speed threshold.

11. The method in accordance with claim 9 , wherein the selected tool control mode is the second tool control mode and wherein determining that conditions are no longer met comprises determining that the machine speed exceeds a second machine speed threshold.

12. The method in accordance with claim 9 , wherein the selected tool control mode is the second tool control mode, and wherein determining that conditions are no longer met comprises detecting receipt of a manual tool raising command of greater than a predetermined blade raising threshold for longer than a predetermined threshold time.

Assignees

• Caterpillar Inc
• Caterpillar Inc

Inventors

• Faivre Joseph L
• Krone Bradley

Classifications

• E02F3/43

  Control of dipper or bucket position; Control of sequence of drive operations · CPC title

• B62D6/002

  computing target steering angles for front or rear wheels (B62D7/159 takes precedence) · CPC title

• E02F3/434

  providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig · CPC title

• E02F3/437

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title

• E02F9/225

  Control of steering, e.g. for hydraulic motors driving the vehicle tracks (steering in general B62D) · CPC title