Automatic Mode Recovery System for Mobile Machines

Abstract

Disclosed is an automatic mode recovery system for a mobile machine and a method for resuming construction performed by the mobile machine at a construction site. The method may include: storing an interrupted state of the construction performed by the mobile machine when the construction at the construction site is interrupted; displaying a plurality of construction sites on a display of the machine, each construction site including the stored interrupted position and a recovery position; receiving a selection of the construction site from a user input; displaying the interrupted position and the recovery position of the selected construction site on the display; and adjusting the resumption of the construction in an automatic mode of the machine based on whether the machine is located near the interrupted position or the recovery position of the selected construction site.

Description

Technical Field

[0001] The present invention generally relates to mobile machines, such as heavy machinery or equipment, and more particularly to an automatic mode recovery system for mobile machines. Background Art

[0002] Compared to manually operated machines, mobile automatic machines can more consistently perform large and complex tasks automatically. However, in large tasks, there may be situations that cause the machine to stop the automatic mode. An object in the vehicle's path, system problems, construction priority changes, or operator gear shifting may cause the automatic mode of the machine to be stopped during the task. When the automatic mode is interrupted and the machine moves away from the automatic stop position, it may be difficult to effectively and accurately resume or restart construction.

[0003] WIPO Publication No. WO2015 / 119264, published on August 13, 2015 ("the '264 publication") describes a remote operation device for a parallel travel work system. The system includes an automatic travel work vehicle, such as a tractor, which can store the interruption position when the automatic work is interrupted. The system of the '264 publication also discloses identifying the interruption position as a recovery or restart position, and prohibiting automatic travel if the automatic vehicle is not within a predetermined range of the work recovery or restart position. However, the '264 publication fails to address various aspects where the restart or recovery function can benefit the operator identification, machine, and construction efficiency, and the accuracy of the recovery or restart process.

[0004] The systems and methods of the present invention can solve or address one or more of the problems discussed above and / or other problems in the art. However, the scope of the present invention is defined by the appended claims and not by the ability to solve any specific problem. Summary of the Invention

[0005] In one aspect, a method for resuming construction performed by a mobile machine at a construction site is disclosed. The method may include: storing an interruption state of the construction performed by the mobile machine when the construction at the construction site is interrupted; displaying a plurality of construction sites on a display of the machine, each construction site including the stored interruption position and a recovery position; receiving a selection of a construction site from a user input; displaying the interruption position and the recovery position of the selected construction site on the display; and adjusting the resumption of the construction in an automatic mode of the machine based on whether the machine is near the interruption position or the recovery position of the selected construction site.

[0006] In another aspect, a method for resuming construction performed by a mobile machine at a construction site is disclosed. The method may include: performing construction at the construction site using the machine; interrupting the execution of the construction at an interruption location; storing an interruption state, an interruption location, and a resume location, wherein the resume location is offset from the interruption location; moving the machine away from the interruption location; displaying a plurality of construction sites on a display of the machine; receiving a selection of a construction site from a user input; displaying the interruption location and the resume location of the selected construction site and the actual location of the machine on the display; moving the machine to the interruption location in a manual mode; and starting an automatic mode of the machine when the machine is repositioned adjacent to the interruption location of the selected construction site.

[0007] In yet another aspect, an automatic mode resume system for a mobile machine is disclosed. The system may include: a display of the machine; and a controller configured to: store an interruption state of the construction performed by the mobile machine at the construction site when the construction at the construction site is interrupted; display a plurality of construction sites on the display, each construction site including the stored interruption location and resume location; receive a selection of a construction site from a user input; display icons of the interruption location and the resume location of the selected construction site on the display; wherein the icon of the resume location includes the location, orientation, and heading of the machine; and adjust the resume of the construction in an automatic mode of the machine based on whether the machine is located near the interruption location or the resume location of the selected construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings incorporated in and forming a part of this specification illustrate various exemplary embodiments and, together with the specification, serve to explain the principles of the invention.

[0009] Figure 1 A schematic side view of an exemplary mobile automatic machine including an automatic mode resume system in accordance with aspects of the present invention is shown.

[0010] Figure 2 Shows Figure 1 a schematic diagram of the automatic mode resume system.

[0011] Figure 3 A flowchart is provided that describes a method for resuming construction performed by a mobile automatic machine at a construction site using the Figure 1 and Figure 2 automatic mode resume system.

[0012] Figure 4 An exemplary interface of a display of the Figure 1 and Figure 2 automatic mode resume system is provided. DETAILED DESCRIPTION

[0013] The above general description and the following detailed description are merely exemplary and explanatory and do not limit the claimed features. As used herein, the terms "comprising", "which comprises", "having", "including", or other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus. Additionally, relative terms such as "about", "substantially", "generally", and "approximate" are used to represent a possible variation of ±10% of the stated value.

[0014] Figure 1 A schematic side view of an exemplary compactor 10 including an automatic mode recovery system 100 in accordance with aspects of the present invention is shown. As used herein, a mobile machine, heavy machinery, or heavy equipment includes any vehicle used to perform construction tasks such as earthmoving or other construction tasks. In an exemplary embodiment, the mobile heavy machinery may include a compactor 10 for compacting a work area or construction site. However, in general, the present invention may be applied to any mobile heavy machinery or heavy equipment such as a paving material finisher, a rotary mixer, a wheel loader, a self-propelled grader, a backhoe loader, or any other machine or vehicle that may be used in a work area.

[0015] The compactor 10 may include a frame 12 attached to ground engaging mechanisms such as a compaction drum 14 and wheels 16. The frame 12 may support a cab 18 from which a user or operator may manipulate and control the compactor 10 via a user interface and a display. The user interface may include a steering device 20 such as a steering wheel and / or a joystick, and a display 22 such as a touchscreen display device, a keypad with buttons, etc. The frame 12 may also support components of a propulsion system 24 (schematically shown in Figure 1 for propelling the compactor 10 around the ground. The propulsion system 24 may include, for example, an engine, a motor, a battery, and / or any other equipment required to power, move, and / or operate the compactor 10.

[0016] The drum 14 may include a working implement or other device such as components of a vibration system 26. The vibration system 26 may include, for example, a central support structure (not shown) fixedly mounted within the drum 14 and one or more vibration exciters (not shown) that are coupled to the support structure and oscillate via a hydraulic motor or the like. Thus, the vibration system 26 may provide a vibration action through the drum 14 to compact the ground.

[0017] The compactor 10 may also include an automatic mode recovery system 100, as Figure 2As detailed herein, it is used to automatically and / or semi-automatically control various aspects of the compactor 10. As used herein, the terms automatic, automated, automatically, semi-automatic, and / or semi-automatically are used to describe functions performed with no or minimal user intervention. For example, automatic or semi-automatic may include at least automatic control of the steering and propulsion (e.g., speed) of the compactor 10. Additionally, semi-automatic may include at least automatic control of the steering and propulsion of the compactor 10, while requiring user input 108 to verify that the user is in the cab 18 to monitor the automatic mode. Alternatively or additionally, the user may be away from the compactor 10 and may receive user input 108 from a remote device. Each step of the method 300 described below may be performed without user intervention or with minimal user intervention.

[0018] As Figure 1 shown, the automatic mode recovery system 100 may include a controller 104, such as an electronic control module, one or more positioning receivers 50, and one or more systems 24, 26, 28 of the compactor 10. The positioning receiver 50 and systems 24, 26, 28 may communicate with the controller 104 via a wired communication line and / or a wireless component (as Figure 1 shown by the dashed line in).

[0019] The positioning receiver 50 may include any type of sensor for sensing, measuring, calculating, or otherwise determining the geographical location of the compactor 10 (e.g., geographical location). For example, the positioning receiver 50 may include a global positioning system (GPS) receiver that communicates with a global navigation satellite system (GNSS) to receive the geographical location from the global navigation satellite system. The positioning receiver 50 may include a high-precision system, such as real-time kinematic (RTK) positioning, for accurately calculating the geographical location of the positioning receiver 50 within sub-meter to centimeter accuracy. For example, the high precision may be within 3 centimeters or less. It should be understood that the positioning receiver 50 may be located at any position on the compactor 10 and may include any type of sensor (e.g., cellular, Wi-Fi, Bluetooth, etc.) for sensing, measuring, calculating, or otherwise determining the geographical location of the compactor 10 with high precision.

[0020] The compactor 10 may also include any other type of sensor, such as an inertial measurement unit, an object detection sensor (e.g., radar), etc., for sensing or measuring information related to the compactor 10 and providing the information to the controller 104.

[0021] One or more systems 24, 26, 28 of the compactor 10 may include a propulsion system 24, a vibration system 26, and a steering system 28 that communicate with the controller 104 (as Figure 1 shown by the dashed line in) (in Figure 1is schematically shown). The controller 104 can automatically or semi-automatically control various aspects of the systems 24, 26, 28, as detailed below. The propulsion system 24 can include a power source (e.g., an engine, a motor, a battery, etc.) and can convert the power into the movement of the compactor 10 through a shaft (not shown) and the wheels 16, such that the compactor 10 can be propelled around the ground or otherwise moved. The vibration system 26 can include a hydraulic motor for oscillating or otherwise exciting a vibration exciter. The steering system 28 can include a steering device 20 and a system including gears (not shown), joints (not shown), and other components to control the direction of movement of the compactor 10. Thus, the steering system 28 can convert the rotation and / or movement of the steering device 20 into a rotational movement of the wheels 16 to steer the compactor 10. It should be understood that the compactor 10 can include any other type of system for controlling various aspects of the compactor 10.

[0022] The automatic mode recovery system 100 can also include a display 22 for displaying information related to the compactor 10 and receiving input from a user, such as an operator of the compactor 10. The display 22 can communicate with the controller 104 through a wired communication and / or a wireless component (such as Figure 1 shown by the dashed line in the figure). As will be described in more detail below, the display 22 can communicate with the controller 104 to display an "Auto" icon 416 ( Figure 4 ) or a similar interface, such that the operator can activate the "Auto" icon 416 to enter the automatic mode. The display 22 can also communicate with the controller 104 to display the actual position 408, the interruption position 410, and / or the restart position 412 of the compactor 10, as will be described in further detail below with reference to Figure 3 and Figure 4 described in further detail.

[0023] Figure 2 A schematic diagram of an automatic mode recovery system 100 for operating and / or controlling at least a part of the compactor 10 is shown. The automatic mode recovery system 100 can include an input 102, a controller 104, and an output 106. The input 102 can include a user input 108 and a positioning receiver signal 110. The output 106 can include, for example, a display 22, a propulsion command 120, a steering command 122, and a vibration command 124.

[0024] The controller 104 may be embodied as a single microprocessor or multiple microprocessors, which may include components for controlling various aspects of the compactor 10. For example, the controller 104 may include a memory (e.g., non-volatile memory), secondary storage, a processor such as a central processing unit, or any other component for performing tasks consistent with the present invention. The memory or secondary storage associated with the controller 104 may store data and / or software routines that may assist the controller 104 in performing its functions. Additionally, the memory or secondary storage associated with the controller 104 may also store data received from various inputs 102 associated with the automatic mode recovery system 100. Many commercially available microprocessors may be configured to perform the functions of the controller 104. It should be understood that the controller 104 may be easily embodied as a general-purpose machine controller capable of controlling many other heavy machinery functions. Various other known circuits may be associated with the controller 104, including signal conditioning circuits, communication circuits, hydraulic or other actuation circuits, and other suitable circuits.

[0025] The user input 108 may include inputs received from the display 22. The user input 108 may also include inputs received from the steering device 20 and / or any other user interface and / or device. The controller 104 may receive the user input 108 through manual control, such as a joystick, keypad, accelerator and / or brake pedal, emergency stop button or interface, parking brake, or any other user interface and / or device. The input received from the display 22 may include, for example, signals from a touchscreen and / or buttons on the display 22 and / or touchscreens and / or buttons otherwise associated with the display 22. The user input 108 may include the user activation and / or deactivation of the "Auto" icon 416 ( Figure 4 ), as further detailed below.

[0026] The positioning receiver signal 110 may include a signal transmitted from the positioning receiver 50 to the controller 104 that is associated with the geographical location of the compactor 10. For example, the positioning receiver 50 may receive, measure, and / or determine the geographical location, as described above, and may transmit the geographical location to the controller 104. Based on the signal 112, the controller 104 may determine the geographical location provided by the positioning receiver 50. For example, the controller 104 may determine the actual location of the compactor 10 based on the geographical location provided by the positioning receiver 50. The controller 104 may also derive the geographical location of the compactor 10 from other sources including other sensors.

[0027] The input 102 may also include other inputs such as a propulsion signal, a steering signal, and a vibration signal. The propulsion signal represents the propulsion function of the compactor 10 (e.g., the power output or the amount of propulsion of the propulsion system 24 for providing a desired speed of the compactor 10). The steering signal may indicate the steering function of the compactor 10 (e.g., the steering provided by the steering system 28). The vibration signal may indicate the vibration function of the compactor 10 (e.g., the vibration frequency and / or amplitude of the vibration exciter or the speed of the hydraulic motor of the vibration system 26).

[0028] The output 106 from the controller 104 may include display information provided to the display 22. Such display information may include, for example, those aspects described above, including the actual position, the interrupted position, and / or the restart position of the compactor 10. The display information may also include, for example, the construction plan of one or more construction sites, the completion status of the construction, and / or the automatic mode start icon, as further detailed below.

[0029] The propulsion command 120 may control the propulsion system 24 to automatically propel or otherwise move the compactor 10 around the ground. For example, the propulsion command 120 may control the propulsion system 24 (e.g., the engine, the motor, the battery, etc.) to control the power output so as to provide movement to the wheels 16, thereby moving the compactor 10 at a desired speed. The propulsion command 120 may cause the compactor 10 to move forward and / or in reverse. The steering command 122 may control the steering system 28 to automatically steer or otherwise turn the compactor 10 around the ground. For example, the steering command 122 may control the gears, joints, and / or other components of the steering system 28 to control the rotational movement of the wheels 16 to turn the compactor 10. The vibration command 124 may control the vibration system 26 to automatically actuate the vibration motor at a desired or set speed (e.g., revolutions per minute) for automatically providing the vibration action of the vibration exciter at a certain frequency and / or amplitude. The frequency may correspond to the oscillation speed of the vibration exciter and the amplitude may correspond to the amount of force applied to the ground by the drum 14.

[0030] The controller 104 may also include an automatic mode recovery module 126 and one or more stored and / or exported values 128. The automatic mode recovery module 126 may receive the input 102, implement the method 300 for controlling the compactor 10, and control the output 106, as described below with reference to Figure 3The stored and exported value 128 may include a value stored in the memory of the controller 104. The stored and exported value 128 may include, for example, one or more construction plans for one or more construction sites of the compactor 10. For example, the construction plan may include one or more settings such as one or more boundaries, compactor speed, vibration at the construction site, drum overlap, and / or one or more paths or routes of the compactor 10. Each boundary may include a user-defined boundary of the construction site for operating in the automatic mode at the construction site, as detailed below. The compactor speed may include a speed setting for deriving and controlling the propulsion command 120 to control the speed of the compactor 10. The vibration for the construction site may include vibration settings such as the frequency and / or amplitude of the vibration system 26. The vibration settings may include multiple different frequencies and / or amplitudes for different locations of the construction site. The one or more paths may include travel paths within each boundary (e.g., each construction site) generated by the controller 14 for maneuvering the compactor 10 at the construction site. The one or more paths may each correspond to a route for the compactor 10 to perform construction at the construction site. The drum overlap may include a setting for the amount of drum overlap between the routes. As used herein, a route is a directed travel path of the compactor 10 and may define an area for compaction (e.g., vibration activation) or otherwise performing the construction function of the mobile automatic machine.

[0031] Industrial Applicability

[0032] The disclosed aspects of the automatic mode recovery system 100 of the present invention can be used for any type of mobile machine, heavy machinery, and heavy equipment used at a construction site.

[0033] Reference Figure 1, during manual operation of the compactor 10, the operator can maneuver the compactor 10 around the ground by controlling various aspects of the propulsion system 24 and the steering system 28, as described above. Additionally, the operator can maneuver the compactor 10 to initially generate or define the boundaries of a desired construction site. For example, as the operator moves the compactor 10 around the perimeter of the desired construction site, the positioning receiver 50 can record or store (e.g., in the memory of the controller 104) the path traveled by the compactor 10 to generate the boundaries of the construction site. Thus, the boundaries can define the perimeter of the desired construction site. The controller 104 can then generate a construction plan for the construction site that includes one or more paths (e.g., lanes) within the boundaries, compactor speed, compactor vibration (e.g., frequency and / or amplitude), the number of lanes or paths, the orientation of the paths or lanes of the compactor 10, and / or drum overlap. These paths can define areas for maneuvering the compactor 10 along one or more paths (e.g., manually and / or automatically) to complete tasks within the construction site. These paths can also correspond to areas within the boundaries where the vibration system of the compactor 10 is activated (e.g., vibration on), providing the desired compaction operation of the compactor 10. The controller 104 can display the boundaries and paths on the display 22 for the operator to view ( Figure 4 ). The operator can define multiple boundaries for the compactor 10, each boundary corresponding to a different construction site, and the controller 104 can generate and store construction plan settings for each construction site, including the boundaries, compactor speed, compactor vibration, paths (e.g., lanes), and drum overlap for each construction site.

[0034] When the compactor 10 is at a desired construction site, the operator may desire to use the automatic mode such that the controller 104 automatically or semi - automatically controls various aspects of the compactor 10 to complete tasks at the construction site. For example, the controller 104 can automatically control the propulsion system 24, the vibration system 26, the steering system 28, and / or any other system of the compactor 10 to maneuver the compactor 10 at the construction site to complete any task (e.g., compact the construction site). However, the automatic mode may be interrupted before the completion of construction at the construction site (e.g., due to operator override, an object in the path of the compactor 10, system problems, etc.). If the compactor 10 is then moved away from the interrupted position, it may be difficult to effectively and accurately restart the task and / or construction.

[0035] Figure 3A flowchart depicting an exemplary method 300 for restoring construction performed by a mobile machine, such as compactor 10, at a construction site is shown. In start step 305, the controller 104 may set a work plan as detailed above. For example, as the operator maneuvers the compactor 10 around the perimeter of the construction site, the controller 104 may define the boundaries of the construction site. The controller 104 may also receive and / or derive and store settings of the construction site, such as compactor speed, compactor vibration, path (e.g., lane), and drum overlap. The controller 104 may store multiple construction sites and the settings for each construction site. When the construction plan is set and certain conditions are met, the operator may start the automatic mode (step 310). These conditions may include, for example, the compactor 10 being aligned or adjacent to a starting position. The controller 104 may store the starting position as a restart position, as further detailed below.

[0036] During the automatic mode, the controller 104 may automatically control the propulsion, steering, and / or vibration of the compactor 10 based on the construction plan to perform construction at the construction site. In step 315, the controller 104 may interrupt the construction execution at an interruption position. For example, if certain conditions are met, such as an object in the path of the compactor 10, a system problem, and / or a manual override (e.g., received via user input 108), the automatic mode may be disabled.

[0037] When the construction execution is interrupted, the controller 104 may stop the movement of the compactor 10. This stop position may correspond to the interruption position. In step 320, the automatic mode recovery module 126 may store the interruption state, interruption position, and / or recovery position. For example, the interruption state may include the completion state of the construction, which includes the number of remaining lanes, and may also include the remaining amount of time to complete the construction and the interruption position and recovery position of the construction site, as detailed below with reference to Figure 4 detailed. The recovery position may correspond to the position required to position the compactor 10 for resuming the automatic mode at or near the interruption position. The recovery position may be different from the interruption position, as further detailed below. For example, the recovery position may be offset from the interruption position. However, in some embodiments, the recovery position may be defined at the interruption position such that the recovery position and the interruption position are the same. The controller 104 may store the interruption state, interruption position, and / or recovery position for multiple construction sites. For example, each stored construction site may include a stored interruption position, recovery position, and / or restart position, as further detailed below.

[0038] In step 325, the operator may manually move the compactor 10 from the interruption position and / or from the construction site. It should be understood that the controller 104 may also automatically move the compactor 10 from the interruption position, which is an automatic function different from the automatic mode for completing the construction plan.

[0039] The operator can then expect to complete the construction and / or restart the construction at the construction site. Thus, in step 330, module 126 can display multiple construction sites for the user to select. In step 335, module 126 can receive the user's selection of the desired construction site via user input 108. For example, the operator can select a construction site to resume or restart the construction. The operator can then control the compactor 10 to re-enter the selected construction site (e.g., move the compactor 10 within the boundaries of the construction site). Module 126 can display the construction plan and completion status of the construction site on the display 22, including the interruption location. In one aspect, the controller 104 can use the positioning receiver signal 110 to identify when the compactor 10 is at (e.g., at the start phase of the compactor 10) or moving into / entering a specific construction site, and the completion status, interruption location, resume location, and / or restart location of the specific construction site can also be automatically displayed on the display 22.

[0040] Thus, in step 340, module 126 can display the actual position of the compactor 10 and the interruption location and / or resume location of the selected construction site. Module 126 can also display the restart location at the start of the first path or pass for restarting the construction, as detailed below. As used herein, restarting the construction includes resetting the interrupted settings to the start settings (e.g., completing zero passes, zero percent complete, and the maximum remaining time amount). Thus, the restart location can correspond to the start location for starting / restarting the construction. The operator can manually move the compactor 10 and align the compactor 10 with the interruption location, resume location, or restart location. The resume location can be displayed on the display 22 as an icon 410 ( Figure 4 ) that shows the position, orientation, and heading of the compactor 10 at the time of interruption. Similarly, the restart location can be displayed on the display 22 as an icon 412 ( Figure 4 ) that shows the position, orientation, and heading of the compactor 10 for restarting the construction. Thus, the operator can align the compactor 10 in position and orientation according to the icon 410 or icon 412. The position and orientation can also include thresholds for distance and orientation for correctly aligning the compactor 10. For example, the operator can align the compactor 10 at a certain distance from or adjacent to the resume location or interruption location. For example, the resume location can be positioned to be offset from or adjacent to (e.g., behind) the interruption location. The interruption location can be displayed as an icon, such as an arrow, a dot, etc. The operator can also orient the compactor 10 at an angle offset from the interrupted path (e.g., an angular difference). The display 22 can also show the heading of the compactor 10 at the time of interruption to align the compactor 10 in the correct direction for performing the construction. Thus, the operator can align, adjacent to, or offset the compactor 10 with the interruption location and / or resume location.

[0041] In step 345, as described above, the operator can manually move the compactor 10 to the interruption position (e.g., by aligning the actual position with the resume position icon 410). For example, the operator can move the compactor 10 to a position adjacent to or offset from the interruption position or the resume position. In step 350, the module 126 can determine whether the compactor 10 is adjacent to the interruption position and / or the resume position. For example, the module 126 can determine whether the compactor 10 is on the interruption path and located at, adjacent to, or offset from the interruption position or the resume position. If the compactor 10 is not adjacent to the interruption position (step 350: No), the operator can continue to manually move the compactor 10 to align the compactor 10 with the interruption position (step 345). In step 355, when the compactor 10 is adjacent to the interruption position (step 350: Yes), the module 126 can enable and start the automatic mode resume or restart. For example, when the compactor 10 is within a distance and orientation threshold near the interruption position or the resume position and in the correct orientation, the module 126 can enable the automatic mode (e.g., display the automatic icon 416) to resume or restart. The orientation can also be flipped or otherwise changed so that the compactor 10 can move in the opposite direction (e.g., backward instead of forward) as when the construction was interrupted. In an exemplary embodiment, enabling the automatic mode can include the controller 104 displaying the "Automatic" icon 416 ( Figure 4 ) etc. on the display 22. When the operator activates the "Automatic" icon 416, the module 126 can resume or restart (e.g., start) the automatic mode and resume or restart the interrupted construction. For example, the module 126 can display a prompt on the display 22 to confirm the resumption or restart of the construction. Thus, when the user input 108 is received, the module 126 can resume or restart the automatic mode.

[0042] In some embodiments, the automatic mode can be resumed only when the compactor 10 is aligned with, adjacent to, or offset from the interruption position or the resume position, and the automatic mode can be restarted only when the compactor 10 is aligned with, adjacent to, or offset from the restart position. For example, when the compactor 10 is aligned on the interruption path and located at or adjacent to the interruption position or the resume position, the module 126 can only display or enable a resume icon (not shown). Similarly, when the compactor 10 is aligned on the first path and located at or adjacent to the restart position, the module 126 can only display or enable a restart icon. Thus, the module 126 can prevent the operator from restarting the construction at the interruption position and prevent the operator from resuming the construction at the restart position.

[0043] If the compactor 10 is misaligned with the recovery position (e.g., within a threshold distance therefrom) when the automatic mode is resumed or restarted, the module 126 may automatically reverse the compactor 10 before moving forward to continue construction. For example, an operator may align the compactor 10 at or near the interruption position and initiate the automatic mode, and the controller 104 may reverse the compactor 10 to the recovery position before resuming construction. Reversing in this manner may cause the vibration system 26 to gradually increase to the interruption frequency and / or amplitude before passing through the interruption position. This may help ensure uniform ground compaction after an interruption. When the compactor 10 is aligned after the interruption or restart position, the vibration system 26 may similarly increase gradually. It should be understood that the operator may also align the compactor 10 with the recovery position (e.g., after the interruption position), and the module 126 may continue to move the compactor 10 forward without reversing it.

[0044] Figure 4 An exemplary interface 400 showing the interruption position, recovery position, and restart position of a construction site displayed on the display 22 is shown. The interface 400 may include a display of the construction site 402, the boundary 404 of the construction site 402, one or more paths 406, and the actual position 408 of the compactor 10. As described above, the module 126 may also display multiple construction sites on a single interface for the user to select a construction site. As described above, the construction site 402 may be defined by the boundary 404. The path 406 may include an arrow for indicating the forward direction and may correspond to an area where vibration is turned on for compaction or otherwise performing construction. Although Figure 4 the exemplary embodiment in Figure 4 includes 15 paths, it should be understood that the construction site 402 may include any number of paths or passageways generated based on the size of the construction site 402, the size of the compactor 10 and / or the drum 14, the amount of drum overlap of the construction site 402, and / or any other construction site and / or compactor 10 settings. Additionally, although in Figure 4 the boundary 404 is depicted as being generally rectangular in shape, it should be understood that, as described above, the boundary 404 may include any shape defined by the operator moving the compactor 10 around the perimeter of the construction site and may include curved and / or non-linear boundary lines. Similarly, although in

[0045] The actual position 408 can be displayed as an icon or a similar visual indicator, and can include the overall shape of the compactor 10, for indicating the actual position, orientation, and / or heading of the compactor 10 within the construction site (e.g., based on the positioning receiver signal 110). The recovery position can be displayed as a recovery position icon 410 or a similar visual indicator, while the interruption position can be displayed as an interruption position icon 411, which will be discussed in more detail below. Similarly, the restart position can be displayed as a restart position icon 412 or a similar visual indicator, and can include a restart position offset icon 413. As Figure 4 shown, the recovery position icon 410 can be located along the path 406 that is located at or adjacent to the interruption position icon 411. The restart position icon 412 can be located at or adjacent to the start of the first path 406 for restarting the construction. For example, the restart position of the offset icon 413 can be at the start of the first path 406, and the restart position icon 412 can be offset from or adjacent to the restart position offset icon 413.

[0046] As described above, the icons 410, 412 can provide position, orientation, and heading information in an easily recognizable icon or visual indicator. For example, the icons 410, 412 can include the overall shape of the compactor 10, and the operator can control the compactor 10 to align the actual position 408 icon with the recovery position icon 410 or the restart position icon 412. In addition, the icons 410, 412 can include a different color and / or shading from the actual position 408 icon, so as to easily distinguish the icons 410, 412 from the actual position 408. Therefore, the operator can easily and accurately align the compactor 10 with the interruption position, the recovery position, and / or the restart position, and respectively resume and / or restart the automatic mode. The icons 410, 412 can also include a distance and / or orientation offset indicated by dots, arrows, or other similar visual indicators, as detailed above. For example, the recovery position offset can be exactly in front of (e.g., adjacent to) the recovery position (e.g., the recovery position icon 410), and can correspond to the interruption position icon 411. When the recovery position is offset from the interruption position, the controller 104 can also display a line, such as an arrow 415, between the interruption position icon 411 and the recovery position icon 410. For example, the interruption position 411 can be located at the tail end of the arrow 415, and the recovery position icon 410 can be located at the arrowhead (e.g., tip) of the arrow 415. Similarly, the restart position offset can be exactly in front of (e.g., adjacent to) the restart position (e.g., the restart position icon 412), and can correspond to the restart position offset icon 413. When there is an offset, the controller 104 can similarly display a line, such as an arrow 415, between the restart position offset icon 413 and the restart position icon 412.

[0047] The length of arrow 415 can correspond to the distance required to increase the speed of compactor 10 to the compactor speed setting during recovery and / or restart when the compactor 10 is offset from the interruption position 411 and / or the restart position offset icon 413. For example, if the compactor speed setting is a relatively slow speed, arrow 415 can be relatively short, and if the compactor speed setting is a relatively high speed, arrow 415 can be relatively long. Thus, the length of arrow 415 can be proportional to the compactor speed setting. If the operator aligns the compactor 10 with the interruption position icon 411 or along the line of arrow 415, module 126 can reverse the compactor 10 to the recovery position icon 410 (e.g., to the tip of arrow 415) when restoring the automatic mode before moving forward. Thus, when the compactor 10 passes through the interruption position, module 126 can control the vibration system 26 to gradually increase to the interruption vibration setting. If the operator aligns the compactor 10 with the restart position offset icon 413 or along the line of arrow 415, module 126 can similarly reverse to the restart position icon 412 when restarting the automatic mode. It should be understood that arrow 415 can correspond to one or more of the compactor speed, vibration setting, or other machine parameters or settings that require a desired state when the compactor 10 reaches the interruption position 411 or the restart position offset 413. Additionally, based on one or more settings, the length of arrow 415 between icon 411 and icon 410 can be the same as or different from the length of arrow 415 between icon 413 and icon 412.

[0048] As Figure 4 As further shown, the interface 400 can include a status indicator 414 for indicating the interruption status and / or completion status of the construction. For example, the status indicator 414 can include a time remaining indicator 414A, a construction completion indicator 414B, and / or a path completion indicator 414C. The time remaining indicator 414A can indicate the remaining time to complete the construction. The construction completion indicator 414B can indicate the percentage of construction completion. The path completion indicator 414C can indicate the number of paths that have been completed and the total number of construction paths. When certain conditions are met (e.g., the actual position 408 of the compactor 10 is aligned with and / or adjacent to the recovery position icon 410, the interruption position icon 411, or the restart position icon 412), the interface 400 can also display an "Auto" icon 416.

[0049] The automatic mode recovery system 100 may allow for the recovery of the automatic mode at or near the interruption location, the recovery location, and / or the restart of construction at a restart location (e.g., at a construction start location). For example, the system 100 may display icons of the interruption, recovery location, and restart location including position, orientation, and heading to assist the operator in easily aligning the compactor 10 with the interruption location and / or restart. Additionally, the system 100 may enable the storage, display, and selection of multiple construction sites, each having an interruption location, a recovery location, and / or a restart location, to easily resume and / or restart work at each construction site. Displaying the recovery location offset from the interruption location may also enable a work implement system (e.g., the vibration system 26) to gradually increase to the interruption setting as the machine moves through the interruption location. Thus, the system 100 may enable the operator to more effectively and accurately resume and restart construction.

[0050] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed system without departing from the scope of the invention. Considering the specification and practice of the invention disclosed herein, other embodiments of the invention will be apparent to those skilled in the art. For example, the icons and indicators 408 - 416 may include different types of icons or visual indicators and may include different colors and / or shadings. The specification and examples are intended to be considered only exemplary, and the true scope and spirit of the invention are indicated by the following claims.

Claims

1. A method for restoring construction performed by a mobile machine at a construction site, comprising: When moving the mobile machine around the perimeter of a desired construction site, a positioning receiver records or stores the path traveled by the mobile machine to generate the boundary of the construction site; The boundary delimits the perimeter of the desired construction site, and at least partially based on the perimeter, a construction plan is generated for the construction site; When the construction at the construction site is interrupted, the interruption state of the construction performed by the mobile machine is stored; The mobile machine is moved away from the interruption position; A plurality of construction sites are displayed on the display of the mobile machine, each construction site including the stored interruption position and restoration position; A selection of the construction site is received from a user input; The interruption position and restoration position of the selected construction site are displayed on the display; And Based on whether the mobile machine is within a threshold distance and orientation from the interruption position or restoration position and the construction plan, the restoration of the construction is adjusted in the automatic mode of the mobile machine, The automatic mode only performs restoration when the mobile machine is aligned with, adjacent to, or deviated from the interruption position or restoration position, or the automatic mode only performs restart when the mobile machine is aligned with, adjacent to, or deviated from the restart position.

2. The method according to claim 1, wherein the display includes icons for the interruption position, restoration position, and actual position of the mobile machine.

3. The method according to claim 2, wherein the icons for the restoration position and the actual position include the position, orientation, and heading of the mobile machine.

4. The method according to claim 3, wherein the icons for the restoration position and the actual position include the shape of the mobile machine.

5. The method according to any one of claims 1-4, wherein the restoration position is positioned offset from the interruption position.

6. The method according to claim 5, further comprising reversing the mobile machine from the interruption position to the restoration position when starting the automatic mode.

7. The method according to any one of claims 1-4, further comprising displaying the restart position of the construction and allowing the start of the automatic mode of the mobile machine when the mobile machine is positioned adjacent to the restart position.

8. The method according to any one of claims 1-4, wherein displaying the plurality of construction sites includes displaying the plurality of construction sites in a single interface on the display for the user to select a construction site.

9. The method according to any one of claims 1-4, wherein the construction site is a first construction site, the interruption position and restoration position include a first interruption position and restoration position, and the method further comprises displaying a second interruption position and restoration position on the display when a second construction site is selected.

Images