# US 10,119,244 B2 · System and method for controlling a work machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,119,244 B2 - Document ID: US10119244B2 - Status: Granted - Kind: B2 - Application number: 15/455,790 - Filed: 2017-03-10 - Published: 2018-09-13 - Granted: 2018-11-06 - Earliest claimed: 2017-03-10 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Scott A. Elkins - Web page: https://patentgrep.com/patent/US10119244B2 ## CPC - E02F 3/841: {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)} - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - B60W 30/10: Path keeping {(cruise control for automatically following a preceding vehicle B60W30/165)} - B60W 40/02: related to ambient conditions - E02F 3/7609: {Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers} - E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/268: {with failure correction follow-up actions} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - B60W 2300/17: Construction vehicles, e.g. graders, excavators - B60W 2510/20: Steering systems - B60W 2520/06: Direction of travel - B60W 2710/30: Auxiliary equipments - B60W 2720/24: Direction of travel - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A system for moving material at a work site includes: a work machine including a chassis, a material mover defining a material mover position, a location sensor, and a steering mechanism; and a controller system operably coupled to the material mover, the location sensor, and the steering mechanism. The controller system is configured to: store a sequence of travel paths; control the steering mechanism to follow the sequence of travel paths; determine the material mover position; determine followed travel positions of the work machine; generate an as-built map as the work machine follows the sequence of travel paths based on the material mover position and followed travel positions; compare the as-built map to a desired terrain map; generate a revised sequence of travel paths based on the comparison between the as-built map and the desired terrain map; and control the steering mechanism to follow the revised sequence of travel paths. ## Claims ### Claim 1 A system for moving material at a work site, comprising: a work machine comprising a chassis, a material mover carried by said chassis and defining a material mover position, a location sensor carried by said chassis, and a steering mechanism configured to control a travel direction of said work machine; and a controller system operably coupled to said material mover, said location sensor, and said steering mechanism, said controller system configured to: store a sequence of travel paths for said work machine to follow; control said steering mechanism to follow said sequence of travel paths; determine said material mover position; determine followed travel positions of said work machine based on signals from said location sensor; generate an as-built map as said work machine follows said sequence of travel paths based on said material mover position and followed travel positions; compare said as-built map to a desired terrain map; generate a revised sequence of travel paths for said work machine to follow based on said comparison between said as-built map and said desired terrain map, wherein said revised sequence alters a material volume movement sequence of said work machine; and control said steering mechanism to follow said revised sequence of travel paths. ### Claim 2 (depends on 1) The system according to claim 1, wherein said material mover is adjustably carried by said chassis. ### Claim 3 (depends on 2) The system according to claim 2, wherein said work machine further comprises at least one operating parameter sensor and said controller is further configured to: detect a travel anomaly from an output signal of said at least one operating parameter sensor while said work machine follows said revised sequence of travel paths; and adjust said material mover position of said material mover based on said detected travel anomaly. ### Claim 4 (depends on 3) The system according to claim 3, wherein said travel anomaly is at least one of a work machine slip, an undesired fill of said material mover, and an undesired tilt of said work machine. ### Claim 5 (depends on 3) The system according to claim 3, wherein said controller system is configured to adjust at least one of a height and a rake angle of said material mover based on said detected travel anomaly. ### Claim 6 (depends on 1) The system according to claim 1, wherein said controller system is further configured to: receive an override command; generate an override sequence of travel paths subsequently to receiving said override command; and control said steering mechanism to follow said override sequence of travel paths. ### Claim 7 (depends on 1) The system according to claim 1, wherein said controller system is further configured to detect a terrain irregularity as said work machine follows said sequence of travel paths, wherein said terrain irregularity is taken into account during generation of said revised sequence of travel paths. ### Claim 8 (depends on 1) The system according to claim 1, wherein said material mover comprises a blade defining said material mover position. ### Claim 9 (depends on 1) The system according to claim 1, wherein said controller system is carried by said chassis of said work machine. ### Claim 10 A method of controlling a work machine comprising a chassis, a material mover carried by said chassis and defining a material mover position, a location sensor carried by said chassis, and a steering mechanism configured to control a travel direction of said work machine, said method being implemented by a controller system and comprising: storing a sequence of travel paths for said work machine to follow; controlling said steering mechanism to follow said sequence of travel paths; determining said material mover position; determining followed travel positions of said work machine based on signals from said location sensor; generating an as-built map as said work machine follows said sequence of travel paths based on said material mover position and followed travel positions; comparing said as-built map to a desired terrain map; generating a revised sequence of travel paths for said work machine to follow based on said comparison between said as-built map and said desired terrain map, wherein said revised sequence alters a material volume movement sequence of said work machine; and controlling said steering mechanism to follow said revised sequence of travel paths. ### Claim 11 (depends on 10) The method according to claim 10, wherein said material mover is adjustably carried by said chassis. ### Claim 12 (depends on 11) The method according to claim 11, further comprising: detecting a travel anomaly from an output signal of at least one operating parameter sensor of said work machine while said work machine follows said revised sequence of travel paths; and adjusting said material mover position of said material mover based on said detected travel anomaly. ### Claim 13 (depends on 12) The method according to claim 12, wherein said travel anomaly is at least one of a work machine slip, an undesired fill of said material mover, and an undesired tilt of said work machine. ### Claim 14 (depends on 12) The method according to claim 12, further comprising adjusting at least one of a height and a rake angle of said material mover based on said detected travel anomaly. ### Claim 15 (depends on 10) The method according to claim 10, further comprising: receiving an override command; generating an override sequence of travel paths subsequently to receiving said override command; and controlling said steering mechanism to follow said override sequence of travel paths. ### Claim 16 (depends on 10) The method according to claim 10, further comprising detecting a terrain irregularity as said work machine follows said sequence of travel paths, wherein said terrain irregularity is taken into account during generation of said revised sequence of travel paths. ### Claim 17 (depends on 10) The method according to claim 10, wherein said material mover comprises a blade defining said material mover position. ### Claim 18 (depends on 10) The method according to claim 10, wherein said controller system is carried by said chassis of said work machine.