Autonomous control of a machine performing grading
AssigneeCaterpillar Inc.
InventorMichael Charles Gentle
Life of this patent
Estimating the term…
Abstract
A controller may obtain sensor data collected by one or more sensors of a work machine having a ground-engaging implement positionable at an angle that defines a leading edge and a trailing edge of the ground-engaging implement. The sensor data may relate to material being worked by the work machine using the ground-engaging implement. The controller may detect, based on the sensor data, at least one of an accumulation of the material at the leading edge of the ground-engaging implement or a formation of a ribbon of the material forced from the leading edge of the ground-engaging implement. The controller may cause one or more position adjustments for the ground-engaging implement to resolve the at least one of the accumulation or the formation of the ribbon.
Claims20
A control system for a work machine having a ground-engaging implement positionable at an angle that defines a leading edge and a trailing edge of the ground-engaging implement, the control system comprising:
- one or more implement position sensors configured to detect a position of the ground-engaging implement;
- one or more implement position actuators configured to adjust the position of the ground-engaging implement;
- one or more sensors configured to collect sensor data relating to material being worked by the work machine using the ground-engaging implement;
- and
- a controller configured to:
- obtain the sensor data collected by the one or more sensors;
- detect, based on the sensor data, at least one of an accumulation of the material at the leading edge of the ground-engaging implement or a formation of a ribbon of the material forced from the leading edge of the ground-engaging implement;
- and
- cause at least one of one or more steering adjustments for the work machine or one or more position adjustments for the ground-engaging implement to resolve the at least one of the accumulation or the formation of the ribbon.
A method, comprising:
- obtaining, by a controller, sensor data collected by one or more sensors of a work machine having a ground-engaging implement positionable at an angle that defines a leading edge and a trailing edge of the ground-engaging implement,
- the sensor data relating to material being worked by the work machine using the ground-engaging implement;
- detecting, by the controller and based on the sensor data, at least one of an accumulation of the material at the leading edge of the ground-engaging implement or a formation of a ribbon of the material forced from the leading edge of the ground-engaging implement;
- and
- causing, by the controller, one or more position adjustments for the ground-engaging implement to resolve the at least one of the accumulation or the formation of the ribbon.
A machine, comprising:
- a prime mover;
- a ground-engaging implement positionable at an angle that defines a leading edge and a trailing edge of the ground-engaging implement;
- one or more sensors configured to collect sensor data relating to material being worked by the machine using the ground-engaging implement;
- and
- a controller configured to:
- monitor the sensor data collected by the one or more sensors;
- detect, based on the sensor data, at least one of an accumulation of the material at the leading edge of the ground-engaging implement or a formation of a ribbon of the material forced from the leading edge of the ground-engaging implement;
- and
- cause one or more position adjustments for the ground-engaging implement to resolve the at least one of the accumulation or the formation of the ribbon.
Dependencies are inferred from the claim text.