System and method for implement control

Patent metadata

Field	Value
Publication number	US-9624650-B2
Application number	US-201514704401-A
Country	US
Kind code	B2
Filing date	May 5, 2015
Priority date	May 5, 2015
Publication date	Apr 18, 2017
Grant date	Apr 18, 2017

Abstract

A system associated with an implement of a machine is provided. The system includes a ground speed detection module configured to generate a signal indicative of a ground speed of the machine. The system further includes an implement control module coupled to the ground speed detection module. The implement control module receives the signal indicative of the ground speed of the machine. The implement control module detects at least one of the ground speed of the machine being less than a predetermined speed threshold and a rate of change of the ground speed being above a limit. The implement control module determines a presence of an obstruction in a path of the machine based, at least in part, on the detection. The implement control module further select a movement from a plurality of movements associated with the implement and triggers the movement of the implement.

First claim

What is claimed is:

1. A system associated with an implement of a machine, the system comprising:
a ground speed detection module configured to generate a signal indicative of a ground speed of the machine; and
an implement control module coupled to the ground speed detection module, the implement control module configured to:
receive the signal indicative of the ground speed of the machine;
detect at least one of the ground speed of the machine being less than a predetermined speed threshold and a rate of change of the ground speed being above a limit;
determine a presence of an obstruction in a path of the machine based, at least in part, on the detection; and
select a movement from a plurality of movements associated with the implement based on the determination; and
trigger the movement of the implement based on the selection.

2. The system of claim 1 further comprising a tractive force monitoring module configured to generate a signal indicative of a tractive force generated by the machine.

3. The system of claim 2 , wherein the implement control module is further configured to:
receive the signal indicative of the tractive force of the machine;
compare the tractive force with a predetermined threshold;
detect if the tractive force is greater than the predetermined threshold; and
determine the presence of the obstruction based on the detection.

4. The system of claim 2 , wherein the tractive force monitoring module is further configured to generate a signal indicative of a torque associated with the implement.

5. The system of claim 2 , wherein the tractive force monitoring module receives an input from at least one of an engine speed sensor, a transmission output speed sensor, an implement torque sensor, or a combination thereof.

6. The system of claim 1 , wherein the ground speed detection module receives an input from at least one of a ground speed sensor, a gear transmission sensor, an implement position sensor, or a combination thereof.

7. The system of claim 1 , wherein the implement control module is activated manually based on a mode selection.

8. The system of claim 1 , wherein the plurality of movements includes controlling at least one of a pitch, a yaw, or a combination thereof of a blade of the machine.

9. The system of claim 1 further comprising an output module coupled to the implement control module.

10. The system of claim 9 , wherein the implement control module is configured to notify an operator of the presence of the obstruction based on the determination.

11. The system of claim 1 further comprising a perception module coupled to the implement control module.

12. The system of claim 11 , wherein the perception module is further configured to:
receive a signal indicative of an effective density of rocks in a volume of material projected to be moved by the implement of the machine;
determine a tendency of the machine to be obstructed based on the received signal; and
adjust at least one of the predetermined speed threshold and the limit based on the tendency.

13. A method for automatically controlling an implement of a machine, the method comprising:
receiving a signal indicative of a ground speed of the machine;
detecting at least one of the ground speed of the machine being less than a predetermined speed threshold and a rate of change of the ground speed being above a limit;
determining a presence of an obstruction in a path of the machine based, at least in part, on the detection;
selecting a movement from a plurality of movements associated with the implement based on the determination; and
triggering the movement of the implement based on the selection.

14. The method of claim 13 further comprising:
receiving a signal indicative of a tractive force of the machine;
comparing the tractive force with a predetermined threshold;
detecting if the tractive force is greater than the predetermined threshold; and
determining the presence of the obstruction based on the detection.

15. The method of claim 13 , wherein the plurality of movements includes controlling at least one of a pitch, a yaw, or a combination thereof of a blade of the machine.

16. The method of claim 13 further comprising:
receiving a signal indicative of a density of rocks in a volume of material projected to be moved by the implement of the machine;
determining a tendency of the machine to be obstructed based on the received signal; and
adjusting at least one of the predetermined speed threshold and the limit based on the tendency.

17. A machine comprising:
an engine;
an implement;
a ground speed detection module configured to generate a signal indicative of a ground speed of the machine; and
an implement control module coupled to the ground speed detection module, the implement control module configured to:
receive the signal indicative of the ground speed of the machine;
detect at least one of the ground speed of the machine being less than a predetermined speed threshold and a rate of change of the ground speed being above a limit;
determine a presence of an obstruction in a path of the machine based, at least in part, on the detection; and
select a movement from a plurality of movements associated with the implement based on the determination; and
trigger the movement of the implement based on the selection.

18. The machine of claim 17 further comprising a tractive force monitoring module is further configured to generate a signal indicative of a tractive force generated by the machine.

19. The machine of claim 18 , wherein the implement control module is further configured to:
receive the signal indicative of the tractive force of the machine;
compare the tractive force with a predetermined threshold;
detect if the tractive force is greater than the predetermined threshold; and
determine the presence of the obstruction based on the detection.

20. The machine of claim 17 further comprising an output module coupled to the implement control module.

Assignees

• Caterpillar Inc

Inventors

• Stratton Kenneth L

Classifications

• E02F9/265 Primary

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F3/7618

  with the scraper blade adjustable relative to the pivoting arms about a horizontal axis · CPC title

• E02F3/842

  using electromagnetic, optical or photoelectric beams, e.g. laser beams · CPC title

• E02F3/847

  using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams · CPC title

• E02F9/262

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