US20160069045A1 - Automatic Ripping Pass Detection - Google Patents
Automatic Ripping Pass Detection Download PDFInfo
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- US20160069045A1 US20160069045A1 US14/481,655 US201414481655A US2016069045A1 US 20160069045 A1 US20160069045 A1 US 20160069045A1 US 201414481655 A US201414481655 A US 201414481655A US 2016069045 A1 US2016069045 A1 US 2016069045A1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/30—Auxiliary apparatus, e.g. for thawing, cracking, blowing-up, or other preparatory treatment of the soil
- E02F5/32—Rippers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2045—Guiding machines along a predetermined path
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
- E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
Definitions
- the present disclosure relates generally to operating autonomous machines at a work site, and more particularly, to systems and methods for automatically detecting ripping pass locations based on predefined conditionals.
- Machines such as, for example, track-type tractors, dozers, motor graders, wheel loaders, and the like, are used to perform a variety of tasks. For example, these machines may be used to move material and/or alter work surfaces at a worksite.
- the machines may be manned machines, but may also be semi-autonomous or autonomous vehicles that perform these tasks in response to commands remotely or locally generated as part of a work plan for the machines.
- the machines may receive instructions in accordance with the work plan to at least partially autonomously perform repetitive and relatively localized operations such as cutting, digging, loosening, loading, carrying, and any other manipulation of materials at the worksite.
- autonomous machines such as dozers
- dozers are frequently used to perform normal cuts along a work surface and in accordance with predetermined pass or cut profiles. While performing cuts, however, these machines often encounter sections of hard material which cannot be cut or removed using the normal cut routines and blade implements. Such hard sections cause unwanted interruptions and hinder overall productivity. If left unattended, for instance, these hard sections may leave undesirable raised surfaces in the terrain that become more pronounced with every pass, or cause other deviations from the planned course or target profile. Thus, it is typical for operators to manually intervene and engage a ripping pass for every 3 to 10 normal cuts so as to loosen the terrain and avoid profile deviations caused by hard sections.
- Some conventional systems may provide partial automated ripper control, such as disclosed in U.S. Pat. No. 8,616,297 (“Shintani, et al.”). While automated ripper control may help reduce operator involvement, there is still substantial room for improvement.
- the system in Shintani, et al. for instance, still requires manual intervention by the operator to not only identify hard sections in a given terrain, but also to initiate the automated ripping sequence.
- a computer-implemented method for automatically detecting a need for a ripping pass to be performed by a machine along a work surface may include monitoring one or more of machine parameters of the machine and profile parameters of the work surface, determining whether one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and generating a ripping pass request if one or more of the trigger conditions are satisfied.
- a control system for automatically detecting a need for a ripping pass to be performed by a machine along a work surface.
- the control system may include a memory configured to retrievably store one or more algorithms, and a controller in communication with the memory. Based on the one or more algorithms, the controller may be configured to at least monitor one or more of machine parameters of the machine and profile parameters of the work surface relative to one or more predefined trigger conditions suggestive of the need for the ripping pass, and generate a ripping pass request if at least one of the machine parameters and the profile parameters meet one or more of the trigger conditions.
- a controller for automatically detecting a need for a ripping pass to be performed by a machine along a work surface.
- the controller may include a tracking module configured to monitor one or more of machine parameters associated with the machine and profile parameters associated with the work surface, a detection module configured to detect when one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and a request module configured to generate a ripping pass request if one or more of the trigger conditions are met.
- FIG. 1 is a pictorial illustration of an exemplary worksite
- FIG. 2 is a pictorial illustration of a raised surface disposed along one exemplary work surface at a worksite that may be caused by a hard section;
- FIG. 3 is a diagrammatic illustration of an exemplary control system that may be used at a worksite to automatically detect ripping pass needs;
- FIG. 4 is a diagrammatic illustration of an exemplary controller that may be used at a worksite to automatically detect ripping pass needs
- FIG. 5 is a flowchart depicting an exemplary disclosed method that may be performed by a control system of the present disclosure to automatically detect ripping pass needs;
- FIG. 6 is a flowchart depicting an exemplary set of trigger conditions that may be used by a control system of the present disclosure to automatically detect ripping pass needs.
- the worksite 100 may include, for example, a mine site, a landfill, a quarry, a construction site, or any other type of worksite.
- the predetermined task may be associated with altering the geography at the worksite 100 , such as a dozing operation, a grading operation, a leveling operation, a bulk material removal operation, or any other type of operation that results in geographical modifications within the worksite 100 .
- the machines 102 may be mobile machines configured to perform operations associated with industries related to mining, construction, farming, or any other industry known in the art.
- the machines 102 may embody earth moving machines, such as dozers having traction devices 104 for causing motion, as well as implements, such as blades 106 for cutting terrain and rippers 108 for loosening hard sections of terrain, which may be movable by way of one or more actuators 110 .
- the machines 102 may also include manned machines or any type of autonomous or semi-autonomous machines.
- each of the machines 102 may include any one or more of a variety of feedback devices 114 capable of signaling, tracking, monitoring, or otherwise communicating relevant machine parameters or other information to the control system 112 .
- each machine 102 may include a locating device 116 configured to communicate with one or more satellites 118 , which in turn, may communicate to the control system 112 various parameters and information pertaining to the position and/or orientation of the machines 102 relative to the worksite 100 .
- Each machine 102 may additionally include one or more implement sensors 120 configured to track and communicate position and/or orientation information of the implements 106 , 108 to the control system 112 .
- the control system 112 may be implemented in any number of different arrangements.
- the control system 112 may be at least partially implemented at a command center 122 situated locally and/or remotely relative to the worksite 100 with sufficient means for communicating with the machines 102 , for example, via satellites 118 , or the like.
- the control system 112 may be implemented using one or more computing devices 124 with means for communicating with one or more of the machines 102 or one or more command centers 122 that may be locally and/or remotely situated relative to the worksite 100 .
- the control system 112 may be at least partially implemented on-board any one or more of the machines 102 that are also provided within the worksite 100 .
- Other suitable modes of implementing the control system 112 are possible and will be understood by those of ordinary skill in the art.
- the control system 112 may generally be configured to monitor the positions of the machines 102 and/or machine implements 106 , 108 relative to the worksite 100 and a predetermined target operation, and provide instructions for controlling the machines 102 and/or machine implements 106 , 108 in an efficient manner in executing the target operation.
- the machines 102 may be configured to excavate areas of a worksite 100 according to one or more predefined excavation plans.
- the excavation plans may include, among other things, information relating to a location, size, and shape of a plurality of cuts into an intended work surface 126 at the worksite 100 along a plurality of spaced apart locations known as slots 128 .
- the control system 112 may also function as a means for monitoring progress of the excavation. For instance, the control system 112 may oversee gradual changes in the location, size, and shape of the cuts in the work surface 126 within the slots 128 so as to enable identification of any deviations in the progress of the excavation as compared with the planned target operation or profile. While described in connection with slot-based excavation planning, the control system 112 may similarly be employed in conjunction with other types of work surfaces 126 .
- FIG. 2 one embodiment of a machine 102 , such as a dozer having a blade 106 and a ripper 108 , is shown as positioned on a work surface 126 of a worksite 100 and configured to perform normal cuts therealong according to a target profile 130 .
- the machine 102 may be configured to begin cutting and loading material at positions proximate to the loading area 132 of the work surface 126 , and carry the load toward and along the carry surface 134 for removal.
- Each normal cut that is performed may be planned to gradually excavate sections of the work surface 126 , for example, according to the intermediate cut profiles 136 shown.
- the machine 102 may encounter hard sections 138 along the work surface 126 which may hinder the ability of the machine 102 to perform a normal cut as planned and leave behind unwanted raised surfaces along the carry surface 134 as shown. Such hard sections 138 may be loosened and/or removed, for instance, by intermittently performing a ripping pass using a ripper implement 108 of the machine 102 . Ripping passes may be manually performed by operator control, or semi-autonomously or autonomously performed according to preprogrammed ripping pass routines to reduce operator involvement. To further reduce operator involvement, the control system 112 associated with the machine 102 may also be configured to detect hard sections 138 and automatically identify a need for a ripping pass as disclosed herein.
- control system 112 may generally include, among other things, a controller 140 , a memory 142 , and a communications device 144 . More specifically, the controller 140 may be configured to operate according to one or more algorithms that are retrievably stored within the memory 142 .
- the memory 142 may be provided on-board the controller 140 , external to the controller 140 , or otherwise in communication therewith.
- the communications device 144 may be configured to enable the controller 140 to communicate with one or more of the machines 102 , and provide parameters or information pertaining to the position and/or orientation of the machines 102 and the machine implements 106 , 108 , for example, via satellites 118 , or any other suitable means of communication.
- the controller 140 may be implemented using any one or more of a processor, a microprocessor, a microcontroller, or any other suitable means for executing instructions stored within the memory 142 .
- the memory 142 may include non-transitory computer-readable medium or memory, such as a disc drive, flash drive, optical memory, read-only memory (ROM), or the like.
- the controller 140 of the control system 112 may be preprogrammed to detect hard sections 138 and automatically determine a need for a ripping pass according to one or more algorithms, which may generally be categorized into, for example, a tracking module 146 , a detection module 148 , a request module 150 , and a ripping pass module 152 .
- the tracking module 146 may be configured to track the progress of normal cut operations by periodically or continuously monitoring parameters associated with the machine 102 and/or profile parameters associated with the work surface 126 .
- the tracking module 146 may receive the machine and profile parameters from any of the feedback devices 114 , locating devices 116 , satellites 118 , sensors 120 , command centers 122 , and the like.
- the tracked machine parameters may include information pertaining to traction, mobility, orientation, position, speed, acceleration, or any other operating parameter of the machine 102 .
- the tracked profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or sensory data, geometries of the work surface 126 or slots 128 therein, locations of any previously performed ripping passes, or the like.
- the profile parameters may also include any information derived from grade control pass requirements for the given work surface 126 , anticipated productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other parameter that may be useful in determining whether a ripping pass is needed.
- the detection module 148 of FIG. 4 may be configured to detect when any one or more predefined trigger conditions are satisfied, suggesting a need for a ripping pass. Specifically, to determine whether a trigger condition is satisfied, the detection module 148 may assess one or more of the available machine and profile parameters against one or more corresponding predefined thresholds. In one example, a trigger condition may be satisfied if the machine and/or profile parameters indicate that the number of normal cuts already performed exceeds a predefined upper limit or threshold for a given work surface 126 , as this may be an indication that a hard section 138 exists and is preventing the machine 102 from making productive cuts and reaching the target profile 130 .
- a trigger condition may also be satisfied if the machine and/or profile parameters indicate that the current cut position is too close to a previous cut position as determined by predefined distance thresholds.
- predefined distance thresholds may be defined at least partially via operator input and/or via factors relating to the terrain or material type, machine specifications, work surface or worksite specifications, and the like.
- Trigger conditions may be assessed based on video feed data of the work surface 126 , which may be captured using cameras provided on-board the machine 102 , and used at least partially to identify regions of interest resembling a hard section 138 via image processing or related schemes. For example, regions within the video images exhibiting a consistent shine, contrast or other visual distinctions beyond predefined upper thresholds may suffice to trigger a condition suggesting a need for a ripping pass. Trigger conditions may also be satisfied if the machine and/or profile parameters indicate significant loss of traction between the tracks or traction devices 104 of the machine 102 and the work surface 126 . Frequent or prolonged slipping which exceed predefined upper limits or thresholds may suggest that a raised surface or hard section 138 exists along the work surface 126 .
- a trigger condition may be satisfied if the machine and/or profile parameters indicate that the machine 102 repeatedly becomes stuck or otherwise hesitates at the same location along the work surface 126 for more than a predefined upper threshold.
- the geometries of the work surface 126 and/or the slots 128 as determined via the machine and/or profile parameters may also satisfy a trigger condition, such as when a given slot 128 rolls in excess of a corresponding predefined upper threshold, or when the terrain is relatively inconsistent and contains a number bumps and curvatures which exceed corresponding predefined upper thresholds.
- the trigger conditions may also be assessed based on other influences.
- a trigger condition may be satisfied if the work surface 126 requires a grade control pass, and if the grade control pass specifies the need for an initial ripping pass to be performed.
- the detection module 148 may assess trigger conditions based on preprogrammed decision rules or constraints, as defined by, for example, min-max gaming rules, or the like, to decide whether the combination of machine and profile parameters received at a given instance weighs in favor of or against a need for a ripping pass.
- Other trigger conditions may be satisfied if productivity assessments or indices calculated for a planned pass or target profile suggest that a ripping pass should improve overall productivity.
- trigger conditions may incorporate one or more learning algorithms which decide in favor of or against a need for a ripping pass based on a given set of machine and/or profile parameters, as well as any behavioral or performance history related thereto.
- the detection module 148 may similarly assess other trigger conditions, other combinations of trigger conditions, or fewer or more trigger conditions than presented herein.
- the detection module 148 may also assess trigger conditions based on other predefined thresholds, other combinations of predefined thresholds, or fewer or more predefined thresholds than disclosed above.
- the sensitivity of the detection module 148 , or the predefined thresholds thereof may be configurable and customized to any given application.
- the request module 150 may be configured to generate a ripping pass request if one or more of the trigger conditions are satisfied as determined by the detection module 148 . For example, if one or more of the trigger conditions are satisfied, the request module 150 may generate an electronic signal that is communicated to the appropriate machines 102 , command centers 122 , computing devices 124 , or the like, via the communications device 144 to request a ripping pass. Alternatively, if no trigger conditions are satisfied, the request module 150 may communicate a request to perform or continue performing a normal cut according to a preprogrammed target profile 130 or cut profile 136 at least until the next pass or iteration.
- the ripping pass request may also include location information, such as where the ripping pass should begin and/or end relative to the work surface 126 .
- location information such as where the ripping pass should begin and/or end relative to the work surface 126 .
- the machine location and/or the location relative to the work surface 126 at which the trigger conditions were satisfied may be flagged as the approximate start location of the ripping pass.
- the ripping pass request may additionally include information pertaining to the geometry and/or other features of the detected hard section 138 which may aid in performing the ripping pass.
- the request module 150 may be configured to request either manual or automatic ripping passes.
- the ripping pass requests may invoke notifications that are communicated to one or more of the machine 102 , command center 122 and any available computing devices 124 to request operator input and control for a manual ripping pass at the flagged locations.
- the ripping pass requests may invoke, for example, the ripping pass module 152 of FIG. 4 to automatically engage the machine 102 to perform the ripping pass at the flagged locations according to predetermined ripping pass routines programmed into the control system 112 thereof.
- the request module 150 may be configured such that any one of the available trigger conditions is sufficient to generate a ripping pass request, or alternatively configured such that multiple trigger conditions may need to be satisfied in order to generate a ripping pass request. In other embodiments, the request module 150 may also be configured to generate a ripping pass request only when select combinations of trigger conditions are satisfied.
- any one or more of the functions or tasks of the control system 112 may be performed as a multi-machine operation, or implemented across two or more machines 102 working in conjunction with one another within a given worksite 100 .
- locations previously flagged for a ripping pass by one machine 102 may be ultimately executed by another machine 102 , which may be selected based on factors expected to improve overall productivity and efficiency, such as relative machine location, anticipated machine path, machine position, machine condition, and the like.
- Previously generated ripping pass requests may also be fulfilled by other machines 102 in cases where the machine 102 that originally requested the ripping pass was unable to perform the ripping pass due to machine limitations, preprogrammed thresholds, or other restrictions.
- a machine 102 that detects a need for a ripping pass in a given slot 128 may be unable to execute the ripping pass if it reaches a threshold position or elevation, at which point the machine 102 may be forced or preprogrammed to move onto another slot 128 or otherwise cease work in that slot 128 .
- the next machine 102 which enters that slot 128 may be used to perform the ripping pass according to the location previously flagged by the prior machine 102 .
- Multi-machine operations may also be used to further improve the ripping pass detection capabilities or algorithms
- the ripping pass needs detected by multiple machines 102 for a given worksite 100 may be collectively monitored for patterns or characteristics which the control system 112 or any learning algorithm preprogrammed therein may use to progressively improve detection accuracy and provide a more intuitive detection algorithm
- controller 140 may be operated to automatically detect a hard section 138 along a work surface 126 and a corresponding need for a ripping pass is discussed in more detail below.
- the present disclosure sets forth methods, devices and systems for planned excavations or material moving operations where there are motivations to improve overall productivity and efficiency.
- the present disclosure may be particularly applicable to autonomously or semi-autonomously controlled dozing machines where the dozing machines are controlled along particular travel routes within a worksite to excavate materials.
- the present disclosure may provide means for enabling automatic and early-detection of hard sections along a work surface which may require a ripping pass to more efficiently achieve the end target profile.
- FIG. 5 One exemplary algorithm or computer-implemented method 154 for automatically detecting a need for a ripping pass is diagrammatically provided in FIG. 5 , according to which, for example, the control system 112 or the controller 140 thereof may be configured to operate.
- the controller 140 may initially be configured to receive machine parameters associated with the machine 102 and profile parameters associated with the work surface 126 , such as provided through the communications device 144 and from any of the feedback devices 114 , locating devices 116 , satellites 118 , sensors 120 , command centers 122 , and the like.
- the machine parameters may include information pertaining to traction, mobility, orientation, position, speed, acceleration, or any other operating parameter of the machine 102 .
- the tracked profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or other sensory data, geometries of the work surface 126 or slots 128 therein, locations of any previously performed ripping passes, or the like.
- the profile parameters may also include any information derived from grade control pass requirements for the given work surface 126 , anticipated productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other parameter that may be useful in determining whether a ripping pass is needed.
- the controller 140 may additionally monitor the machine and profile parameters periodically or continuously for any inconsistencies in the operation of the machine 102 and/or any inconsistencies in the progress of the normal cut operations or profile of the work surface 126 . Based on the information received, the controller 140 in accordance with block 154 - 3 may compare one or more of the machine and profile parameters to corresponding predefined thresholds in an effort to detect signs of hard sections 138 , or raised surfaces and other irregularities in the work surface 126 caused thereby.
- the controller 140 may conclude that there is no hard section 138 and instruct the machine 102 to perform or to continue performing normal cuts according to a preprogrammed target profile 130 or cut profile 136 in block 154 - 4 . If any one or more of the predefined thresholds is exceeded, the controller 140 in block 154 - 5 may be configured to determine if the amount of thresholds that are exceeded and/or the type of parameters that exceeded thresholds suffice to satisfy any one or more preprogrammed trigger conditions for suggesting presence of a hard section 138 along the work surface 126 .
- the controller 140 may again conclude that there is no hard section 138 and instruct the machine 102 to perform or to continue performing normal cuts according to a preprogrammed target profile 130 or cut profile 136 in block 154 - 6 .
- the controller 140 may proceed to block 154 - 7 to determine whether a ripping pass was previously performed at the same location. More specifically, the controller 140 may compare the currently flagged location, or the location along the work surface 126 at which the trigger conditions were satisfied, to the locations of any previously performed ripping passes which may have been stored in memory 142 . If the currently flagged location is relatively close to a previously performed ripping pass location, the controller 140 may deem that the new ripping pass is unnecessary and perform a normal cut in accordance with block 154 - 8 .
- the controller 140 may proceed to block 154 - 9 to generate a ripping pass request. Moreover, the controller 140 may be configured to generate electronic signals and communicate the signals to the appropriate machines 102 , command centers 122 , computing devices 124 , or the like, via the communications device 144 to request a ripping pass.
- the ripping pass request may also include additional information, such as the location where the ripping pass should begin and end relative to the work surface 126 , or information pertaining to the geometry and/or other features of the detected hard section 138 that may be useful in performing the ripping pass.
- the controller 140 in block 154 - 10 may be configured to automatically engage the machine 102 to perform the ripping pass at the flagged location according to a ripping pass routine that may be preprogrammed into the controller 140 and/or memory 142 .
- the controller 140 as in block 154 - 11 may be configured to generate notifications that are communicated to one or more of the machine 102 , command center 122 and any available computing devices 124 to request operator input and control for a manual ripping pass at the flagged locations.
- the controller 140 may then resume normal cut operations, such as according to instructions provided by preprogrammed target profiles 130 or cut profiles 136 . Furthermore, while resuming normal cut operations, the controller 140 may simultaneously and automatically continue to detect hard sections 138 and any further needs for a ripping pass in subsequent passes or iterations.
- FIG. 6 another exemplary algorithm or computer-implemented method 156 for automatically detecting a need for a ripping pass is diagrammatically provided.
- the method 156 shown in FIG. 6 provides one possible implementation of the method 154 of FIG. 5 , and more particularly, one exemplary set of trigger conditions and corresponding predefined thresholds that may be used to detect for ripping pass needs.
- the first trigger condition may be satisfied if the controller 140 determines that the number of normal cuts already performed, as determined by the machine and profile parameters, exceeds a predefined upper count limit or threshold, as specified by operator input and/or other factors relating to the terrain or material type, machine specifications, work surface or worksite specifications, and the like.
- the second trigger condition of block 156 - 2 may be satisfied if the controller 140 determines that a current cut position is too close to a previous cut location.
- the controller 140 may monitor video feed data for visibly distinct features in the work surface 126 which may be indications of embedded obstacles or other surface irregularities that the machine 102 may have failed to remove over one or more consecutive cuts or passes.
- the third trigger condition of block 156 - 3 may be satisfied if, for example, the video feed depicts a previous loading area 132 as being shinier or otherwise more contrasted relative to other areas of the work surface 126 or slot 128 .
- the fourth trigger condition may be satisfied if the controller 140 determines that the machine 102 exhibits an excessive loss of traction, such as in terms of frequency and/or duration, for a given set of passes.
- the fifth trigger condition in block 156 - 5 may be satisfied if the controller 140 detects that a given slot 128 exhibits too much roll.
- the controller 140 may apply preprogrammed decision rules, constraints, conditionals, or other algorithms, such as min-max gaming rules, to a given set of machine and/or profile parameters to determine whether a ripping pass routine is recommended.
- the seventh trigger condition shown in block 156 - 7 may be satisfied if the controller 140 determines that the machine 102 is consistently getting stuck at the same or substantially the same location along the work surface 126 or slot 128 .
- the eighth trigger condition of block 156 - 8 may be satisfied if the controller 140 determines a grade control pass is required, and if the grade control pass specifies a need for an initial ripping pass.
- the ninth trigger condition of block 156 - 9 may be satisfied if the controller 140 determines that a ripping pass would likely improve overall productivity based on a given set of machine and/or profile parameters.
- the tenth trigger condition may be satisfied if the controller 140 finds the terrain or work surface 126 to be too irregular, such as having an excess amount of bumps, curvatures, and the like. Furthermore, the eleventh trigger condition shown in block 156 - 11 may be satisfied if the controller 140 incorporates learning algorithms, and if the learning algorithms favor a ripping pass.
- the controller 140 in block 156 - 12 may determine that no hard section 138 exists and resume normal cut operations, for example, according to preprogrammed target profiles 130 or cut profiles 136 . If, however, any one of the trigger conditions is satisfied, the controller 140 according to block 156 - 13 may determine whether the currently flagged ripping pass location is too close to any previously performed ripping pass locations. If the currently flagged ripping pass location is too close to the location of a previously performed ripping pass, the controller 140 in block 156 - 14 may again resume normal cut operations as planned.
- the controller 140 may proceed to request or engage a ripping pass according to block 156 - 15 .
- the method 156 illustrated in FIG. 6 may suggest that the individual trigger conditions are monitored in succession and in the order shown, it will be understood that any two or more of the trigger conditions shown may be monitored in other sequences and/or monitored simultaneously. Also, while the method 156 shown may suggest that any one of the trigger conditions may invoke a ripping pass to be performed, in other embodiments, combinations of two or more trigger conditions may be required in order to invoke a ripping pass. In still further modifications, the method 156 may incorporate additional trigger conditions, and/or omit one or more of the trigger conditions shown.
Abstract
Description
- The present disclosure relates generally to operating autonomous machines at a work site, and more particularly, to systems and methods for automatically detecting ripping pass locations based on predefined conditionals.
- Machines such as, for example, track-type tractors, dozers, motor graders, wheel loaders, and the like, are used to perform a variety of tasks. For example, these machines may be used to move material and/or alter work surfaces at a worksite. The machines may be manned machines, but may also be semi-autonomous or autonomous vehicles that perform these tasks in response to commands remotely or locally generated as part of a work plan for the machines. Moreover, the machines may receive instructions in accordance with the work plan to at least partially autonomously perform repetitive and relatively localized operations such as cutting, digging, loosening, loading, carrying, and any other manipulation of materials at the worksite.
- Among other things, autonomous machines, such as dozers, are frequently used to perform normal cuts along a work surface and in accordance with predetermined pass or cut profiles. While performing cuts, however, these machines often encounter sections of hard material which cannot be cut or removed using the normal cut routines and blade implements. Such hard sections cause unwanted interruptions and hinder overall productivity. If left unattended, for instance, these hard sections may leave undesirable raised surfaces in the terrain that become more pronounced with every pass, or cause other deviations from the planned course or target profile. Thus, it is typical for operators to manually intervene and engage a ripping pass for every 3 to 10 normal cuts so as to loosen the terrain and avoid profile deviations caused by hard sections.
- With the frequency to which such ripping passes are performed per work site and the frequency to which manual operator involvement is required by conventional systems, there is a need to provide a more intuitive automated scheme to minimize operator involvement as well as to improve overall efficiency. Some conventional systems may provide partial automated ripper control, such as disclosed in U.S. Pat. No. 8,616,297 (“Shintani, et al.”). While automated ripper control may help reduce operator involvement, there is still substantial room for improvement. The system in Shintani, et al., for instance, still requires manual intervention by the operator to not only identify hard sections in a given terrain, but also to initiate the automated ripping sequence.
- In view of the foregoing inefficiencies and disadvantages associated with conventional autonomous machines and control systems therefore, a need exists for more intuitive automatic control systems which minimize operator involvement and improve overall efficiency and productivity.
- In one aspect of the present disclosure, a computer-implemented method for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The method may include monitoring one or more of machine parameters of the machine and profile parameters of the work surface, determining whether one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and generating a ripping pass request if one or more of the trigger conditions are satisfied.
- In another aspect of the present disclosure, a control system for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The control system may include a memory configured to retrievably store one or more algorithms, and a controller in communication with the memory. Based on the one or more algorithms, the controller may be configured to at least monitor one or more of machine parameters of the machine and profile parameters of the work surface relative to one or more predefined trigger conditions suggestive of the need for the ripping pass, and generate a ripping pass request if at least one of the machine parameters and the profile parameters meet one or more of the trigger conditions.
- In yet another aspect of the present disclosure, a controller for automatically detecting a need for a ripping pass to be performed by a machine along a work surface is provided. The controller may include a tracking module configured to monitor one or more of machine parameters associated with the machine and profile parameters associated with the work surface, a detection module configured to detect when one or more predefined trigger conditions suggestive of the need for the ripping pass are met based on the machine parameters and the profile parameters, and a request module configured to generate a ripping pass request if one or more of the trigger conditions are met.
-
FIG. 1 is a pictorial illustration of an exemplary worksite; -
FIG. 2 is a pictorial illustration of a raised surface disposed along one exemplary work surface at a worksite that may be caused by a hard section; -
FIG. 3 is a diagrammatic illustration of an exemplary control system that may be used at a worksite to automatically detect ripping pass needs; -
FIG. 4 is a diagrammatic illustration of an exemplary controller that may be used at a worksite to automatically detect ripping pass needs; -
FIG. 5 is a flowchart depicting an exemplary disclosed method that may be performed by a control system of the present disclosure to automatically detect ripping pass needs; and -
FIG. 6 is a flowchart depicting an exemplary set of trigger conditions that may be used by a control system of the present disclosure to automatically detect ripping pass needs. - Although the following sets forth a detailed description of numerous different embodiments, it should be understood that the legal scope of protection is defined by the words of the claims set forth at the end of this patent. The detailed description is to be construed as exemplary only and does not describe every possible embodiment since describing every possible embodiment would be impractical, if not impossible. Numerous alternative embodiments could be implemented, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims defining the scope of protection.
- It should also be understood that, unless a term is expressly defined herein, there is no intent to limit the meaning of that term, either expressly or by implication, beyond its plain or ordinary meaning, and such term should not be interpreted to be limited in scope based on any statement made in any section of this patent (other than the language of the claims). To the extent that any term recited in the claims at the end of this patent is referred to herein in a manner consistent with a single meaning, that is done for sake of clarity only so as to not confuse the reader, and it is not intended that such claim term be limited, by implication or otherwise, to that single meaning.
- Referring now to
FIG. 1 , oneexemplary worksite 100 is illustrated with one ormore machines 102 performing predetermined tasks. Theworksite 100 may include, for example, a mine site, a landfill, a quarry, a construction site, or any other type of worksite. The predetermined task may be associated with altering the geography at theworksite 100, such as a dozing operation, a grading operation, a leveling operation, a bulk material removal operation, or any other type of operation that results in geographical modifications within theworksite 100. Themachines 102 may be mobile machines configured to perform operations associated with industries related to mining, construction, farming, or any other industry known in the art. Themachines 102 depicted inFIG. 1 , for example, may embody earth moving machines, such as dozers havingtraction devices 104 for causing motion, as well as implements, such asblades 106 for cutting terrain and rippers 108 for loosening hard sections of terrain, which may be movable by way of one or more actuators 110. Themachines 102 may also include manned machines or any type of autonomous or semi-autonomous machines. - The overall operations of the
machines 102 and the machine implements 106, 108 within theworksite 100 may be managed by acontrol system 112 that is at least partially in communication with themachines 102. Moreover, each of themachines 102 may include any one or more of a variety of feedback devices 114 capable of signaling, tracking, monitoring, or otherwise communicating relevant machine parameters or other information to thecontrol system 112. For example, eachmachine 102 may include a locating device 116 configured to communicate with one ormore satellites 118, which in turn, may communicate to thecontrol system 112 various parameters and information pertaining to the position and/or orientation of themachines 102 relative to theworksite 100. Eachmachine 102 may additionally include one or more implement sensors 120 configured to track and communicate position and/or orientation information of theimplements control system 112. - The
control system 112 may be implemented in any number of different arrangements. For example, thecontrol system 112 may be at least partially implemented at acommand center 122 situated locally and/or remotely relative to theworksite 100 with sufficient means for communicating with themachines 102, for example, viasatellites 118, or the like. Additionally or alternatively, thecontrol system 112 may be implemented using one ormore computing devices 124 with means for communicating with one or more of themachines 102 or one ormore command centers 122 that may be locally and/or remotely situated relative to theworksite 100. In still further alternatives, thecontrol system 112 may be at least partially implemented on-board any one or more of themachines 102 that are also provided within theworksite 100. Other suitable modes of implementing thecontrol system 112 are possible and will be understood by those of ordinary skill in the art. - Using any of the foregoing arrangements, the
control system 112 may generally be configured to monitor the positions of themachines 102 and/ormachine implements worksite 100 and a predetermined target operation, and provide instructions for controlling themachines 102 and/ormachine implements machines 102 may be configured to excavate areas of aworksite 100 according to one or more predefined excavation plans. The excavation plans may include, among other things, information relating to a location, size, and shape of a plurality of cuts into an intendedwork surface 126 at theworksite 100 along a plurality of spaced apart locations known asslots 128. Thecontrol system 112 may also function as a means for monitoring progress of the excavation. For instance, thecontrol system 112 may oversee gradual changes in the location, size, and shape of the cuts in thework surface 126 within theslots 128 so as to enable identification of any deviations in the progress of the excavation as compared with the planned target operation or profile. While described in connection with slot-based excavation planning, thecontrol system 112 may similarly be employed in conjunction with other types ofwork surfaces 126. - Turning to
FIG. 2 , one embodiment of amachine 102, such as a dozer having ablade 106 and aripper 108, is shown as positioned on awork surface 126 of aworksite 100 and configured to perform normal cuts therealong according to atarget profile 130. Themachine 102 may be configured to begin cutting and loading material at positions proximate to theloading area 132 of thework surface 126, and carry the load toward and along thecarry surface 134 for removal. Each normal cut that is performed may be planned to gradually excavate sections of thework surface 126, for example, according to theintermediate cut profiles 136 shown. While performing normal cuts, themachine 102 may encounterhard sections 138 along thework surface 126 which may hinder the ability of themachine 102 to perform a normal cut as planned and leave behind unwanted raised surfaces along thecarry surface 134 as shown. Suchhard sections 138 may be loosened and/or removed, for instance, by intermittently performing a ripping pass using a ripper implement 108 of themachine 102. Ripping passes may be manually performed by operator control, or semi-autonomously or autonomously performed according to preprogrammed ripping pass routines to reduce operator involvement. To further reduce operator involvement, thecontrol system 112 associated with themachine 102 may also be configured to detecthard sections 138 and automatically identify a need for a ripping pass as disclosed herein. - With reference to
FIG. 3 , one exemplary embodiment of such acontrol system 112 that may be used in conjunction with one ormore machines 102 within aworksite 100 to at least automatically detect ripping pass needs is diagrammatically provided. As shown, thecontrol system 112 may generally include, among other things, acontroller 140, amemory 142, and acommunications device 144. More specifically, thecontroller 140 may be configured to operate according to one or more algorithms that are retrievably stored within thememory 142. Thememory 142 may be provided on-board thecontroller 140, external to thecontroller 140, or otherwise in communication therewith. Thecommunications device 144 may be configured to enable thecontroller 140 to communicate with one or more of themachines 102, and provide parameters or information pertaining to the position and/or orientation of themachines 102 and the machine implements 106, 108, for example, viasatellites 118, or any other suitable means of communication. Moreover, thecontroller 140 may be implemented using any one or more of a processor, a microprocessor, a microcontroller, or any other suitable means for executing instructions stored within thememory 142. Additionally, thememory 142 may include non-transitory computer-readable medium or memory, such as a disc drive, flash drive, optical memory, read-only memory (ROM), or the like. - Referring to
FIG. 4 , thecontroller 140 of thecontrol system 112 may be preprogrammed to detecthard sections 138 and automatically determine a need for a ripping pass according to one or more algorithms, which may generally be categorized into, for example, atracking module 146, adetection module 148, arequest module 150, and a rippingpass module 152. Thetracking module 146 may be configured to track the progress of normal cut operations by periodically or continuously monitoring parameters associated with themachine 102 and/or profile parameters associated with thework surface 126. Thetracking module 146 may receive the machine and profile parameters from any of the feedback devices 114, locating devices 116,satellites 118, sensors 120, command centers 122, and the like. The tracked machine parameters may include information pertaining to traction, mobility, orientation, position, speed, acceleration, or any other operating parameter of themachine 102. The tracked profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or sensory data, geometries of thework surface 126 orslots 128 therein, locations of any previously performed ripping passes, or the like. The profile parameters may also include any information derived from grade control pass requirements for the givenwork surface 126, anticipated productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other parameter that may be useful in determining whether a ripping pass is needed. - Based on the machine and profile parameters received and monitored by the
tracking module 146, thedetection module 148 ofFIG. 4 may be configured to detect when any one or more predefined trigger conditions are satisfied, suggesting a need for a ripping pass. Specifically, to determine whether a trigger condition is satisfied, thedetection module 148 may assess one or more of the available machine and profile parameters against one or more corresponding predefined thresholds. In one example, a trigger condition may be satisfied if the machine and/or profile parameters indicate that the number of normal cuts already performed exceeds a predefined upper limit or threshold for a givenwork surface 126, as this may be an indication that ahard section 138 exists and is preventing themachine 102 from making productive cuts and reaching thetarget profile 130. Along similar lines, a trigger condition may also be satisfied if the machine and/or profile parameters indicate that the current cut position is too close to a previous cut position as determined by predefined distance thresholds. Each of these predefined thresholds may be defined at least partially via operator input and/or via factors relating to the terrain or material type, machine specifications, work surface or worksite specifications, and the like. - Other trigger conditions may be assessed based on video feed data of the
work surface 126, which may be captured using cameras provided on-board themachine 102, and used at least partially to identify regions of interest resembling ahard section 138 via image processing or related schemes. For example, regions within the video images exhibiting a consistent shine, contrast or other visual distinctions beyond predefined upper thresholds may suffice to trigger a condition suggesting a need for a ripping pass. Trigger conditions may also be satisfied if the machine and/or profile parameters indicate significant loss of traction between the tracks ortraction devices 104 of themachine 102 and thework surface 126. Frequent or prolonged slipping which exceed predefined upper limits or thresholds may suggest that a raised surface orhard section 138 exists along thework surface 126. Similarly, a trigger condition may be satisfied if the machine and/or profile parameters indicate that themachine 102 repeatedly becomes stuck or otherwise hesitates at the same location along thework surface 126 for more than a predefined upper threshold. In addition, the geometries of thework surface 126 and/or theslots 128 as determined via the machine and/or profile parameters may also satisfy a trigger condition, such as when a givenslot 128 rolls in excess of a corresponding predefined upper threshold, or when the terrain is relatively inconsistent and contains a number bumps and curvatures which exceed corresponding predefined upper thresholds. - The trigger conditions may also be assessed based on other influences. In one embodiment, a trigger condition may be satisfied if the
work surface 126 requires a grade control pass, and if the grade control pass specifies the need for an initial ripping pass to be performed. In other embodiments, thedetection module 148 may assess trigger conditions based on preprogrammed decision rules or constraints, as defined by, for example, min-max gaming rules, or the like, to decide whether the combination of machine and profile parameters received at a given instance weighs in favor of or against a need for a ripping pass. Other trigger conditions may be satisfied if productivity assessments or indices calculated for a planned pass or target profile suggest that a ripping pass should improve overall productivity. In still further embodiments, trigger conditions may incorporate one or more learning algorithms which decide in favor of or against a need for a ripping pass based on a given set of machine and/or profile parameters, as well as any behavioral or performance history related thereto. Thedetection module 148 may similarly assess other trigger conditions, other combinations of trigger conditions, or fewer or more trigger conditions than presented herein. Thedetection module 148 may also assess trigger conditions based on other predefined thresholds, other combinations of predefined thresholds, or fewer or more predefined thresholds than disclosed above. Furthermore, the sensitivity of thedetection module 148, or the predefined thresholds thereof, may be configurable and customized to any given application. - Still referring to
FIG. 4 , therequest module 150 may be configured to generate a ripping pass request if one or more of the trigger conditions are satisfied as determined by thedetection module 148. For example, if one or more of the trigger conditions are satisfied, therequest module 150 may generate an electronic signal that is communicated to theappropriate machines 102, command centers 122,computing devices 124, or the like, via thecommunications device 144 to request a ripping pass. Alternatively, if no trigger conditions are satisfied, therequest module 150 may communicate a request to perform or continue performing a normal cut according to apreprogrammed target profile 130 or cutprofile 136 at least until the next pass or iteration. In addition to the request for the ripping pass, the ripping pass request may also include location information, such as where the ripping pass should begin and/or end relative to thework surface 126. For example, the machine location and/or the location relative to thework surface 126 at which the trigger conditions were satisfied may be flagged as the approximate start location of the ripping pass. In other modifications, the ripping pass request may additionally include information pertaining to the geometry and/or other features of the detectedhard section 138 which may aid in performing the ripping pass. - Furthermore, the
request module 150 may be configured to request either manual or automatic ripping passes. For instance, the ripping pass requests may invoke notifications that are communicated to one or more of themachine 102,command center 122 and any available computingdevices 124 to request operator input and control for a manual ripping pass at the flagged locations. For automatic ripping passes, the ripping pass requests may invoke, for example, the rippingpass module 152 ofFIG. 4 to automatically engage themachine 102 to perform the ripping pass at the flagged locations according to predetermined ripping pass routines programmed into thecontrol system 112 thereof. In addition, depending on the desired application, therequest module 150 may be configured such that any one of the available trigger conditions is sufficient to generate a ripping pass request, or alternatively configured such that multiple trigger conditions may need to be satisfied in order to generate a ripping pass request. In other embodiments, therequest module 150 may also be configured to generate a ripping pass request only when select combinations of trigger conditions are satisfied. - Additionally, any one or more of the functions or tasks of the
control system 112, such as therequest module 150 and the rippingpass module 152, may be performed as a multi-machine operation, or implemented across two ormore machines 102 working in conjunction with one another within a givenworksite 100. In particular, locations previously flagged for a ripping pass by onemachine 102 may be ultimately executed by anothermachine 102, which may be selected based on factors expected to improve overall productivity and efficiency, such as relative machine location, anticipated machine path, machine position, machine condition, and the like. Previously generated ripping pass requests may also be fulfilled byother machines 102 in cases where themachine 102 that originally requested the ripping pass was unable to perform the ripping pass due to machine limitations, preprogrammed thresholds, or other restrictions. For example, amachine 102 that detects a need for a ripping pass in a givenslot 128 may be unable to execute the ripping pass if it reaches a threshold position or elevation, at which point themachine 102 may be forced or preprogrammed to move onto anotherslot 128 or otherwise cease work in thatslot 128. In such cases, thenext machine 102 which enters thatslot 128 may be used to perform the ripping pass according to the location previously flagged by theprior machine 102. Multi-machine operations may also be used to further improve the ripping pass detection capabilities or algorithms For example, the ripping pass needs detected bymultiple machines 102 for a givenworksite 100 may be collectively monitored for patterns or characteristics which thecontrol system 112 or any learning algorithm preprogrammed therein may use to progressively improve detection accuracy and provide a more intuitive detection algorithm - Other variations and modifications to the algorithms or methods employed to operate the
controllers 140 and/orcontrol systems 112 disclosed herein will be apparent to those of ordinary skill in the art. One exemplary algorithm or method by which thecontroller 140 may be operated to automatically detect ahard section 138 along awork surface 126 and a corresponding need for a ripping pass is discussed in more detail below. - In general terms, the present disclosure sets forth methods, devices and systems for planned excavations or material moving operations where there are motivations to improve overall productivity and efficiency. Although applicable to any type of machine, the present disclosure may be particularly applicable to autonomously or semi-autonomously controlled dozing machines where the dozing machines are controlled along particular travel routes within a worksite to excavate materials. Moreover, the present disclosure may provide means for enabling automatic and early-detection of hard sections along a work surface which may require a ripping pass to more efficiently achieve the end target profile. By providing more intuitive automatic control systems, inconsistencies in the work surface caused by hard sections are more efficiently and proactively addressed, and the excess time typically spent on manual intervention by operators is substantially reduced.
- One exemplary algorithm or computer-implemented
method 154 for automatically detecting a need for a ripping pass is diagrammatically provided inFIG. 5 , according to which, for example, thecontrol system 112 or thecontroller 140 thereof may be configured to operate. As shown in block 154-1 ofFIG. 5 , thecontroller 140 may initially be configured to receive machine parameters associated with themachine 102 and profile parameters associated with thework surface 126, such as provided through thecommunications device 144 and from any of the feedback devices 114, locating devices 116,satellites 118, sensors 120, command centers 122, and the like. The machine parameters may include information pertaining to traction, mobility, orientation, position, speed, acceleration, or any other operating parameter of themachine 102. The tracked profile parameters may include information pertaining to the number of normal cuts performed, the relative positions of the normal cuts performed, video feed or other sensory data, geometries of thework surface 126 orslots 128 therein, locations of any previously performed ripping passes, or the like. The profile parameters may also include any information derived from grade control pass requirements for the givenwork surface 126, anticipated productivity indices, preprogrammed decision rules or algorithms, preprogrammed learning algorithms, or any other parameter that may be useful in determining whether a ripping pass is needed. - As shown in block 154-2 of
FIG. 5 , thecontroller 140 may additionally monitor the machine and profile parameters periodically or continuously for any inconsistencies in the operation of themachine 102 and/or any inconsistencies in the progress of the normal cut operations or profile of thework surface 126. Based on the information received, thecontroller 140 in accordance with block 154-3 may compare one or more of the machine and profile parameters to corresponding predefined thresholds in an effort to detect signs ofhard sections 138, or raised surfaces and other irregularities in thework surface 126 caused thereby. If no predefined thresholds are exceeded for a given pass or iteration, thecontroller 140 may conclude that there is nohard section 138 and instruct themachine 102 to perform or to continue performing normal cuts according to apreprogrammed target profile 130 or cutprofile 136 in block 154-4. If any one or more of the predefined thresholds is exceeded, thecontroller 140 in block 154-5 may be configured to determine if the amount of thresholds that are exceeded and/or the type of parameters that exceeded thresholds suffice to satisfy any one or more preprogrammed trigger conditions for suggesting presence of ahard section 138 along thework surface 126. If the events detected during block 154-3 are not sufficient to require a ripping pass, thecontroller 140 may again conclude that there is nohard section 138 and instruct themachine 102 to perform or to continue performing normal cuts according to apreprogrammed target profile 130 or cutprofile 136 in block 154-6. - If, however, the detected events are sufficient to suggest the presence of a
hard section 138 in thework surface 126, thecontroller 140 may proceed to block 154-7 to determine whether a ripping pass was previously performed at the same location. More specifically, thecontroller 140 may compare the currently flagged location, or the location along thework surface 126 at which the trigger conditions were satisfied, to the locations of any previously performed ripping passes which may have been stored inmemory 142. If the currently flagged location is relatively close to a previously performed ripping pass location, thecontroller 140 may deem that the new ripping pass is unnecessary and perform a normal cut in accordance with block 154-8. If, however, the currently flagged location is relatively distanced from previously performed ripping pass locations, or if no ripping passes have been previously performed for the givenwork surface 126 orslot 128, thecontroller 140 may proceed to block 154-9 to generate a ripping pass request. Moreover, thecontroller 140 may be configured to generate electronic signals and communicate the signals to theappropriate machines 102, command centers 122,computing devices 124, or the like, via thecommunications device 144 to request a ripping pass. The ripping pass request may also include additional information, such as the location where the ripping pass should begin and end relative to thework surface 126, or information pertaining to the geometry and/or other features of the detectedhard section 138 that may be useful in performing the ripping pass. - Once the ripping pass request is generated, the
controller 140 in block 154-10 may be configured to automatically engage themachine 102 to perform the ripping pass at the flagged location according to a ripping pass routine that may be preprogrammed into thecontroller 140 and/ormemory 142. In other embodiments, such as where automatic or predetermined ripping pass routines may not be available, thecontroller 140 as in block 154-11 may be configured to generate notifications that are communicated to one or more of themachine 102,command center 122 and any available computingdevices 124 to request operator input and control for a manual ripping pass at the flagged locations. Once the ripping pass is performed, either by automatic or manual execution, thecontroller 140 may then resume normal cut operations, such as according to instructions provided bypreprogrammed target profiles 130 or cut profiles 136. Furthermore, while resuming normal cut operations, thecontroller 140 may simultaneously and automatically continue to detecthard sections 138 and any further needs for a ripping pass in subsequent passes or iterations. - Turning now to
FIG. 6 , another exemplary algorithm or computer-implementedmethod 156 for automatically detecting a need for a ripping pass is diagrammatically provided. Specifically, themethod 156 shown inFIG. 6 provides one possible implementation of themethod 154 ofFIG. 5 , and more particularly, one exemplary set of trigger conditions and corresponding predefined thresholds that may be used to detect for ripping pass needs. As shown in block 156-1, for example, the first trigger condition may be satisfied if thecontroller 140 determines that the number of normal cuts already performed, as determined by the machine and profile parameters, exceeds a predefined upper count limit or threshold, as specified by operator input and/or other factors relating to the terrain or material type, machine specifications, work surface or worksite specifications, and the like. The second trigger condition of block 156-2 may be satisfied if thecontroller 140 determines that a current cut position is too close to a previous cut location. In block 156-3, thecontroller 140 may monitor video feed data for visibly distinct features in thework surface 126 which may be indications of embedded obstacles or other surface irregularities that themachine 102 may have failed to remove over one or more consecutive cuts or passes. Moreover, the third trigger condition of block 156-3 may be satisfied if, for example, the video feed depicts aprevious loading area 132 as being shinier or otherwise more contrasted relative to other areas of thework surface 126 orslot 128. - As shown in block 156-4 of
FIG. 6 , the fourth trigger condition may be satisfied if thecontroller 140 determines that themachine 102 exhibits an excessive loss of traction, such as in terms of frequency and/or duration, for a given set of passes. The fifth trigger condition in block 156-5 may be satisfied if thecontroller 140 detects that a givenslot 128 exhibits too much roll. For the sixth trigger condition of block 156-6, thecontroller 140 may apply preprogrammed decision rules, constraints, conditionals, or other algorithms, such as min-max gaming rules, to a given set of machine and/or profile parameters to determine whether a ripping pass routine is recommended. The seventh trigger condition shown in block 156-7 may be satisfied if thecontroller 140 determines that themachine 102 is consistently getting stuck at the same or substantially the same location along thework surface 126 orslot 128. The eighth trigger condition of block 156-8 may be satisfied if thecontroller 140 determines a grade control pass is required, and if the grade control pass specifies a need for an initial ripping pass. Additionally, the ninth trigger condition of block 156-9 may be satisfied if thecontroller 140 determines that a ripping pass would likely improve overall productivity based on a given set of machine and/or profile parameters. According to block 156-10, the tenth trigger condition may be satisfied if thecontroller 140 finds the terrain orwork surface 126 to be too irregular, such as having an excess amount of bumps, curvatures, and the like. Furthermore, the eleventh trigger condition shown in block 156-11 may be satisfied if thecontroller 140 incorporates learning algorithms, and if the learning algorithms favor a ripping pass. - According to the particular configuration shown in
FIG. 6 , if none of the trigger conditions is satisfied, thecontroller 140 in block 156-12 may determine that nohard section 138 exists and resume normal cut operations, for example, according to preprogrammedtarget profiles 130 or cut profiles 136. If, however, any one of the trigger conditions is satisfied, thecontroller 140 according to block 156-13 may determine whether the currently flagged ripping pass location is too close to any previously performed ripping pass locations. If the currently flagged ripping pass location is too close to the location of a previously performed ripping pass, thecontroller 140 in block 156-14 may again resume normal cut operations as planned. However, if no previous ripping passes have been performed for the givenwork surface 126 orslot 128, or if none of the previous ripping pass locations is close to the currently flagged location, then thecontroller 140 may proceed to request or engage a ripping pass according to block 156-15. - Furthermore, although the
method 156 illustrated inFIG. 6 may suggest that the individual trigger conditions are monitored in succession and in the order shown, it will be understood that any two or more of the trigger conditions shown may be monitored in other sequences and/or monitored simultaneously. Also, while themethod 156 shown may suggest that any one of the trigger conditions may invoke a ripping pass to be performed, in other embodiments, combinations of two or more trigger conditions may be required in order to invoke a ripping pass. In still further modifications, themethod 156 may incorporate additional trigger conditions, and/or omit one or more of the trigger conditions shown. - From the foregoing, it will be appreciated that while only certain embodiments have been set forth for the purposes of illustration, alternatives and modifications will be apparent from the above description to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of this disclosure and the appended claims.
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