Control of work machine using ground work recording

Abstract

A controller may obtain one or more ground work records from one or more databases, the one or more ground work records identifying information related to at least one of base course preparation, paving, or compaction of ground performed at a worksite by a plurality of work machines. The controller may determine configuration information for a ground work operation to be performed by a work machine of the plurality of work machines based on the one or more ground work records. The controller may generate a signal based on the configuration information to cause the work machine to perform a ground work operation or to cause the configuration information to be presented on a display of the work machine.

Description

Technical Field

[0001] The present invention generally relates to paving using a work machine and, for example, to controlling a work machine using a ground work record. Background Art

[0002] At a work site, multiple machines may perform a variety of tasks to work the ground to construct a road, highway, parking lot, etc. For example, in a paving operation, a base layer is prepared by one or more motor graders, bulldozers, and / or soil compactors, and a paving machine lays an asphalt mat or another material on the base layer, which is then passed over by one or more compactors. Often, it is difficult to track tasks that have been performed, track the machines that performed the tasks, and / or monitor whether the tasks were performed appropriately (e.g., to a regulatory or agreed-upon quality). As a result, jobs may be repeated unnecessarily, may be performed inefficiently (e.g., in a suboptimal sequence), or may need to be re-performed to meet a target level of quality, thereby using excessive machine time, increasing machine wear, and / or increasing fuel consumption.

[0003] Chinese Patent Application Publication No. 110457391A ('391 Publication) discloses collecting and verifying data of vehicles entering / leaving a construction site and storing the data in a blockchain system. The '391 Publication discloses applying blockchain technology to vehicle management at a construction site to ensure the authenticity of records of construction vehicles entering and leaving the construction site. The '391 Publication does not involve collecting data on vehicle activities while the vehicles are operating at the construction site.

[0004] The worksite control system of the present invention solves one or more of the problems set forth above and / or other problems in the art. Summary of the invention

[0005] The work machine may include a set of ground engaging members, a steering system, and a controller. The controller may be configured to obtain one or more ground work records from one or more databases, the one or more ground work records identifying information related to at least one of base preparation, paving, or compaction of ground performed by multiple work machines at a work site. The controller may be configured to determine configuration information for ground work operations to be performed by the work machine based on the one or more ground work records. The controller may be configured to generate a signal based on the configuration information to cause the work machine to perform the ground work operation.

[0006] The controller may include one or more memories and one or more processors. The one or more processors may be configured to obtain sensor data related to one or more characteristics of the ground on which the machine is operating at the worksite. The one or more processors may be configured to identify one or more settings of the machine used during ground operations. The one or more processors may be configured to generate log information related to the sensor data and the one or more settings. The one or more processors may be configured to send the log information to a data system to add a record identifying the log information to a database.

[0007] A method may include obtaining, by a controller, one or more ground work records from one or more databases, the one or more ground work records identifying information related to at least one of base preparation, paving, or compaction of ground performed by a plurality of work machines at a work site. The method may include determining, by the controller and based on the one or more ground work records, configuration information for ground work operations to be performed by a work machine among the plurality of work machines. The method may include generating, by the controller, a signal based on the configuration information to cause the work machine to perform the ground work operation or to cause the configuration information to be presented on a display of the work machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 is a perspective view of an exemplary machine described herein.

[0009] Figure 2 is a diagram illustrating an exemplary worksite control system described herein.

[0010] Figure 3 is a diagram illustrating an example of blockchain and its use.

[0011] Figure 4 is a flow chart of an exemplary process associated with controlling a work machine using a ground work log. DETAILED DESCRIPTION

[0012] Figure 1 is a perspective view of an exemplary machine 100 described herein. Figure 1 The machine 100 is depicted as a compactor, but the machine 100 may be another type of machine, such as a cold planer, a soil compactor, a bulldozer, a motor grader, a paving machine (e.g., an asphalt paving machine or a concrete paving machine), a pneumatic roller, or the like. The machine 100 may be an asphalt compactor (e.g., a self-propelled double-drum compactor), a vibratory drum compactor, or the like, which may be used to compact various materials, such as soil and / or asphalt, etc.

[0013] The machine 100 has at least one compacting member, such as a compacting drum. For example, as shown, the machine 100 has a front compacting drum 102 and a rear compacting drum 104. The compacting drums 102, 104 are a set of ground engaging members that provide ground engagement of the machine 100 at surfaces 102', 104' of the compacting drums 102, 104, respectively. The surfaces 102', 104' may include cylindrical surfaces that form the exterior of the housings of the compacting drums 102, 104, respectively. As the machine 100 passes over a mat of paving material, the surfaces 102', 104' roll against the paving material and provide compaction force to the paving material due to the weight of the machine 100. One or more of the compacting drums 102, 104 may include a vibrating component that is configured to vibrate the compacting drums 102, 104, thereby further facilitating compaction. In some examples, machine 100 may include one or more other ground engaging members, such as one or more wheels and / or one or more tracks, in addition to or in lieu of front compaction drum 102 or rear compaction drum 104 .

[0014] The machine 100 includes an operator station 106 equipped with various systems and / or mechanisms for controlling the operation of the machine 100. For example, the operator station 106 may include a drive system control 108 (shown as a gear shift lever) and / or a steering system control 110 (shown as a steering wheel). The steering system of the machine 100 may include a steering system control 110, a steering column (e.g., connected to the steering system control 110), a steering actuator (e.g., a steering cylinder for power steering), and / or a steering linkage assembly (e.g., connecting the steering system control 110 or the steering column to a ground engaging member, such as the compaction drums 102, 104, via a plurality of linkage members (e.g., rods). The operator station 106 may also include a display 112 that provides a graphical user interface for operating the machine 100.

[0015] The machine 100 includes an engine 114 and a generator 116 coupled to the engine 114. The engine 114 and the generator 116 are attached to a frame 118 of the machine 100. The generator 116 can be used as a power source for various onboard systems and components of the machine 100. The engine 114 can include any type of engine (e.g., an internal combustion engine, a gasoline engine, a diesel engine, a gas fuel engine, etc.). The engine 114 is configured to drive the movement of the machine 100 (e.g., through the compaction drums 102, 104) and other components of the machine 100, such as the generator 116. In some examples, in addition to or as an alternative to the engine 114, the machine 100 may include an electric motor and an electrical energy storage device (e.g., a battery) and / or a fuel cell power source. The machine 100 also includes a braking system 120, which is configured to receive operator input to reduce or stop the speed of the machine 100.

[0016] As mentioned above, Figure 1 is provided as an example. Other examples may differ from those in combination with Figure 1 as described.

[0017] Figure 2 2 is a diagram illustrating an exemplary worksite control system 200 described herein. As shown, a plurality of machines 205 may perform operations at a worksite 210 to condition a ground surface 215. For example, each machine 205 may perform one or more operations associated with base preparation, paving (e.g., asphalt paving or concrete paving) and / or compaction to condition a ground surface 215. Base preparation may include grading or otherwise shaping a base (e.g., a soil layer) and / or compacting a base to prepare a base for paving. Paving may include laying an asphalt (or other material, such as concrete) mat on a base at a specified depth. Compacting may include compacting an asphalt mat to increase the density of the asphalt mat and / or smoothing the surface of the asphalt mat. The ground surface 215 described herein may refer to a base and / or a paving material mat.

[0018] Machines 205 may include one or more cold planers, one or more soil compactors, one or more bulldozers, one or more motor graders, one or more pavers, one or more compactors, and / or one or more pneumatic rollers, among other examples. For example, machines 205 may include one or more machines 100. Each machine 205 may be equipped with a controller 206 (e.g., an electronic control module (ECM)) and / or one or more sensors 207 to Figure 2Only one machine 205 is shown in the figure. The controller 206 may include one or more memories and one or more processors communicatively connected to the one or more memories. The processor may include a central processing unit, a graphics processing unit, a microprocessor, a controller, a microcontroller, a digital signal processor, a field programmable gate array, an application-specific integrated circuit, and / or another type of processing component. The processor may be implemented in hardware, firmware, or a combination of hardware and software. The processor can be programmed to perform one or more operations or processes described elsewhere herein. The memory may include volatile and / or non-volatile memory. For example, the memory may include a random access memory (RAM), a read-only memory (ROM), a hard drive, and / or other types of memory (e.g., flash memory, magnetic memory, and / or optical memory). The memory may be a non-transient computer-readable medium. The memory may store information, one or more instructions, and / or software (e.g., one or more software applications) related to the operation of the controller 206. Sensor 207 may include a temperature sensor, a density sensor, a hardness tester, a hygroscopic element, a humidity sensor, a speedometer, an accelerometer, an inertial measurement unit, an implement position sensor (e.g., a rotational sensor and / or a linear position sensor), a spectrometer, a magnetometer, a light detector, a microphone, a pressure sensor, a camera, a radar device, a lidar device and / or a global navigation satellite system (GNSS) (e.g., a global positioning system (GPS)), etc.

[0019] The worksite control system 200 may include a data system 220. The data system 220 may include one or more communication devices and / or computing devices that implement one or more data structures, one or more databases, one or more data sources, or another type of data repository. In some implementations, the data system 220 may include a network of computing nodes, and one or more decentralized databases (e.g., one or more blockchains) may be distributed across the network of computing nodes (e.g., each computing node may store a copy of one or more blockchains). Alternatively, the data system 220 may include one or more computing devices that implement one or more centralized databases.

[0020] The site control system 200 may include a controller system 225. The controller system 225 may be a computing device and / or a communication device. For example, the controller system 225 may be a controller including one or more memories and one or more processors communicatively coupled to the one or more memories in a manner similar to that described above. The controller system 225 may be communicatively connected to the machine 205 and the data system 220 (e.g., via a wireless and / or wired connection). For example, the controller system 225 may receive data from the machine 205, format the data for the data system 220, and send the formatted data to the data system 220, as well as receive data from the data system 220 and generate commands for the machine 205 based on the data. In some implementations, the site control system 200 may omit the controller system 225, and the machine 205 may communicate directly with the data system 220.

[0021] The operations described herein may be performed by a controller, which may be a controller system 225 and / or a controller 206 of a machine 205. To initialize a data system 220 related to a worksite 210, the controller may determine that the worksite 210 is logically divided into a plurality of area units 230 (e.g., the worksite 210 may be logically divided into a plurality of area units 230). Each area unit 230 may represent a geographic area of ​​the worksite 210 (e.g., having an area smaller than the total area of ​​the worksite 210). For example, the area unit 230 may be represented by a set of geographic coordinates (e.g., latitude and longitude coordinates) or another type of identifier. The area unit 230 may have uniform or non-uniform sizes. In one example, the area unit 230 may be a 3 m x 3 m square, a 1 m x 1 m square, etc. In some implementations, the controller may determine the logical division of the worksite 210 into a plurality of area units 230 by referring to an external database or other data source indicating the area units 230 (e.g., indicating an existing area unit division of a city, state, country, or the earth).

[0022] The controller may cause multiple databases (e.g., blockchains) to be created in conjunction with the worksite 210. For example, the controller may send a configuration of a database to the data system 220 to create the database at the data system 220. As an example, the configuration may indicate a schema for multiple centralized databases and / or may indicate a generation block for multiple decentralized databases (e.g., blockchains). Each database may be specific to a regional unit 230 of the worksite 210. For example, a first database (e.g., a first blockchain) may be configured to store records only for the first regional unit 230, a second database (e.g., a second blockchain) may be configured to store records only for the second regional unit 230, and so on. The controller may generate and store a mapping of the regional unit 230 to the database. In some implementations, a single database may be used in conjunction with the entire worksite 210 (e.g., without using regional units 230).

[0023] As operations are performed with respect to ground surface 215, records may be created in a database identifying a plurality of parameters (e.g., inputs) involved in converting ground surface 215 into a final paved material (e.g., asphalt) mat (e.g., for a road or parking lot). These parameters may relate to ground surface 215, to operations performed by machine 205, and / or to machine 205. Furthermore, the parameters may be static parameters (e.g., parameters that remain consistent during operations performed by machine 205) and / or dynamic parameters (e.g., parameters that fluctuate during operations performed by machine 205). To identify these parameters, the controller may obtain sensor data (e.g., from one or more sensors 207) relating to one or more characteristics of ground surface 215 being worked on by machine 205 at worksite 210, and / or one or more characteristics of machine 205 (e.g., related to base preparation, paving, and / or compaction of ground surface 215). Additionally or alternatively, the controller may identify one or more settings of the machine 205 used during work on the ground 215 (eg, related to base preparation, paving, and / or compaction of the ground 215 ).

[0024] Parameters associated with machine 205 may include a brand / model of machine 205, a unique identifier of machine 205 (e.g., a serial number), a weight of machine 205, a type of equipment mounted on machine 205, a type of one or more implements mounted on machine 205, a type of prime mover of machine 205, a fuel type of machine 205, and / or a type of ground engaging member of machine 205, etc. In an example where machine 205 performs base preparation (e.g., machine 205 is a bulldozer, a motor grader, or a soil compactor), the parameters may include soil density, soil moisture level, soil material content, blade position (e.g., blade angle, blade pitch, blade tilt, blade side shift, etc.), travel speed, transmission gear ratio, steering angle, turning radius, tire pressure, number of passes, and / or one or more operating modes, among other examples. For example, the operating mode may be an engine mode, an electric mode, an engine-motor hybrid mode, an autonomous mode, a semi-autonomous mode, an operator-assisted mode, and / or a manual mode, among other examples.

[0025] In examples where machine 205 is performing paving (e.g., machine 205 is a paving machine), the parameters may include mat temperature, mat density, mat thickness, mat width, mat material, overall dimensions of the mat material, screed plate position, cross grade setting, travel speed, transmission gear ratio, steering angle, and / or one or more operating modes (as described above), among other examples. In examples where machine 205 is performing compaction (e.g., machine 205 is a compactor), the parameters may include mat temperature, mat density, drum vibration amplitude, drum vibration frequency, travel speed, transmission gear ratio, steering angle, turning radius, tire pressure, number of passes, and / or one or more operating modes (as described above), among other examples.

[0026] The controller may generate log information for a record of a database (e.g., a block of a blockchain) associated with one or more parameters (e.g., multiple parameters), the one or more parameters being identified by the controller in conjunction with operations performed by the machine 205 at the worksite 210 (e.g., in conjunction with base preparation, paving, and / or compaction of the ground 215). The controller may generate such log information throughout the operations performed by the machine 205. For example, the controller may generate log information periodically or upon one or more triggering events, as described below. In addition to the parameters, the log information may also identify a machine identifier of the machine 205, an operator identifier of an operator of the machine 205, a timestamp and / or a location stamp, etc.

[0027] In some implementations, the controller may detect that the machine 205 (e.g., a compactor) has completed a pass of the ground 215 (e.g., according to an operating plan that defines a start and end point of the pass). For example, the controller may monitor location data associated with the machine 205 (e.g., generated by a GPS, etc.), and the controller may detect that the machine 205 has completed a pass based on the location data. Thus, the controller may generate log information for logging in response to detecting that the machine 205 has completed a pass, and the log information may relate to one or more parameters associated with the pass (e.g., one or more parameters sensed, collected, or identified during the pass). Thus, the controller may generate log information for logging associated with each pass of the machine 205. For example, the controller may generate first log information for a first record associated with a first pass of the machine 205, the controller may generate second log information for a second record associated with a second pass of the machine 205, and so on.

[0028] In some implementations, the controller may detect that the machine 205 is located in an area unit 230 (e.g., as described above, according to the logical division of the worksite 210 into a plurality of area units 230). For example, the controller may monitor location data associated with the machine 205, and the controller may detect that the machine 205 has moved from a previous area unit 230 to a current area unit 230 based on the location data in a manner similar to that described above. Thus, the controller may generate record information for recording in response to detecting that the machine 205 is located in the area unit 230, and the record information may relate to one or more parameters associated with the area unit 230 (e.g., one or more parameters sensed, collected, or identified in the area unit 230). Thus, the controller may generate record information for recording associated with each area unit 230 into which the machine 205 travels. For example, the controller may generate first record information about a first record of a first area unit 230, the controller may generate second record information about a second record of a second area unit 230, and so on. In addition, each area unit 230 may be associated with a respective database (e.g., a respective blockchain), as described herein.

[0029] The controller may send the record information generated by the controller to a device of the data system 220 (e.g., to a computing node of a blockchain network) so that the record is added to the database. The controller may send the record information when the controller generates each record information, or the controller may cache the record information and send a batch of record information (e.g., at regular intervals or at a predetermined time). The transmission of the record information from the controller may also indicate the database to which the record is to be added. For example, for record information associated with a particular area unit 230, the transmission may indicate the database associated with the area unit 230, or the transmission may indicate the area unit 230 (e.g., the data system 220 may store a mapping of the area unit 230 to the database). The records added to the database may be referred to herein as "ground operation records" because these records relate to base preparation, paving (e.g., asphalt paving or concrete paving), and / or compaction of the ground 215.

[0030] In this manner, the database may be populated in real-time or near real-time with records related to various aspects of base preparation, paving, and / or compacting ground surface 215. For example, a record may be associated with each base preparation, paving, and / or compacting operation performed by each machine 205 at worksite 210. Thus, when subsequent operations are performed at worksite 210, the subsequent operations may be performed based on the records in the database, and records related to the subsequent operations may also be added to the database, etc.

[0031] As an example, the controller (e.g., in conjunction with subsequent operations) can obtain one or more records from one or more databases. As described herein, the records can identify information related to base preparation, paving, and / or compaction performed by machine 205 at worksite 210 to perform work on ground surface 215. In some implementations, to obtain the records, the controller can generate a query and send it to data system 220, and the controller can receive a response including the records (e.g., including information contained in the records) from data system 220. The controller can obtain the records filtered according to one or more criteria (e.g., by constructing a query). For example, the controller may obtain records associated with one or more specific area cells 230, one or more specific operation types (e.g., base preparation, paving or compaction operation types, etc.), one or more specific machine types (e.g., cold planers, soil compactors, bulldozers, motor graders, pavers, compactors, or pneumatic roller types, etc.), one or more specific time periods, one or more specific areas (e.g., defined by location stamps rather than area cells 230), one or more specific machines 205, and / or one or more specific operators, among other examples. Additionally or alternatively, the records may be filtered by one or more other parameters described herein, such as records associated with a specific mat temperature range, a specific mat density range, etc.

[0032] In some implementations, the controller may obtain multiple records from a single database. Alternatively, the controller may obtain multiple records from multiple databases. For example, the controller may obtain records associated with multiple area units 230, and the records of each area unit 230 may be obtained from a corresponding database (e.g., the controller may obtain multiple records from multiple databases respectively associated with multiple area units 230).

[0033] The controller may determine configuration information for the machine 205 based on the information in the record. The configuration information may be used for an operation to be performed or being performed by the machine 205. In other words, the configuration information may provide a configuration for the machine 205 to perform an operation. For example, the configuration information may indicate the settings of one or more operating parameters for the machine 205 to perform an operation (e.g., settings for travel speed, drum vibration amplitude, drum vibration frequency, number of passes, etc.). The operation may be a base preparation operation, a paving operation, and / or a compaction operation. Therefore, the operation may be referred to herein as a "ground working operation" because the operation involves base preparation, paving (e.g., asphalt paving or concrete paving), and / or compacting the ground 215.

[0034] The controller may determine configuration information based on the parameters indicated in the record, such as pad temperature, pad density, number of passes, etc. In addition, the controller may determine configuration information regarding an operating plan for worksite 210 and / or regarding a particular standard (e.g., quality level, conditioning, etc.) for ground surface 215 (e.g., the configuration information may assist in completing the operating plan and / or achieving the standard). For example, if the operating plan for worksite 210 indicates that five compaction passes of the asphalt pad are to be performed, and if the parameters indicated in the record indicate that four compaction passes have been performed, the configuration information may indicate that one additional compaction pass is to be performed. As another example, if the standard for ground surface 215 indicates a target density for the asphalt pad, and if the parameters indicated in the record indicate that the density of the asphalt pad is below the target density, the configuration information may indicate a drum vibration amplitude and / or a drum vibration frequency for one or more additional compaction passes (e.g., required to achieve the target density). In some implementations, the controller may determine the configuration information using a machine learning model trained from multiple historical records (e.g., related to worksite 210 and / or related to different worksites) that indicate how various parameters of the ground surface change over time when various inputs are provided to the ground surface.

[0035] The controller may use the configuration information to coordinate the operation of the machine 205. For example, the controller may generate a signal based on the configuration information. The signal may cause the machine 205 to perform an operation (e.g., according to the configuration information). Additionally or alternatively, the signal may cause the configuration information to be presented on a display of the machine 205 (e.g., the display 112 of the machine 100). In an example where the controller is a controller system 225, the controller may send a signal to a controller 206 of the machine 205 to cause the machine 205 to perform an operation and / or present the configuration information on the display. In an example where the controller is a controller 206 of the machine 205, the controller may send a signal to a system controller of the machine 205 (e.g., a display system controller, a steering system controller, an implement system controller, etc.) to cause the machine 205 to perform an operation and / or present the configuration information on the display. Thus, the machine 205 may perform an operation based on the signal and / or present the configuration information on the display of the machine 205.

[0036] In some implementations, the controller can perform sensor diagnostics and / or data validation based on records in the database. The controller can perform sensor diagnostics and / or data validation in conjunction with adding records to the database, obtaining records from the database, and / or at another time (e.g., at a set interval or in response to a request by an operator of machine 205 or an administrator of worksite 210).

[0037] To perform sensor diagnostics and / or data validation, the controller may compare sensor data in multiple records to identify a faulty sensor. As an example, a record may identify a first sensor measurement collected by a first sensor for a particular characteristic of the ground 215 (e.g., temperature, density, moisture content, etc.). Continuing with this example, the same record or a different record (e.g., the first sensor and the second sensor may be different sensors of the same machine 205 or sensors of different machines 205) may identify a second sensor measurement collected by a second sensor for the same characteristic of the ground 215. The first sensor measurement and the second sensor measurement may be collected at the same time (e.g., within the same time window) and / or at the same location (e.g., in the same area unit 230). Thus, a difference between the first sensor measurement and the second sensor measurement may indicate a sensor failure.

[0038] Thus, the controller can determine whether the first sensor measurement corresponds to the second sensor measurement (e.g., is the same as the second sensor measurement or is within a tolerance of the second sensor measurement, such as ±1% or ±5%), and the controller can determine that the first sensor or the second sensor is faulty based on the determination that the first sensor measurement and the second sensor measurement do not correspond. For example, if the second sensor measurement corresponds to a third sensor measurement collected by a third sensor for the same characteristic of ground surface 215 (e.g., collected at the same time and / or the same location as the first sensor measurement and the second sensor measurement), the controller can determine that the first sensor is faulty.

[0039] Based on the determination that the sensor has failed, the controller may send a notification indicating that the sensor has failed (e.g., to a backend device), send a service request for the sensor, generate a calendar event for servicing the sensor, and / or disable the sensor (e.g., by turning off the sensor or by discarding measurements collected by the sensor). Additionally or alternatively, based on the determination that the sensor has failed, the controller may correct one or more databases that include records that include sensor data collected by the sensor. In some examples, the controller may determine the time when the sensor first began to fail by comparing the sensor measurements using techniques similar to those described above for determining whether the sensor has failed. To make the correction, the controller may (e.g., by sending a request to the data system 220) fork the one or more databases from the time when the sensor first began to fail to a new database that omits records of sensor measurements collected by the sensor after the time when the sensor first began to fail. Additionally or alternatively, to make the correction, the controller may (e.g., by sending a request to the data system 220) add one or more new records to the one or more databases to invalidate sensor measurements collected by the sensor after the sensor first began to fail.

[0040] In some implementations, the controller can determine whether the operation plan of the worksite 210 has been completed and / or whether a specific standard of the ground 215 has been achieved based on one or more records. Here, the controller can send a notification indicating that the operation plan is completed and / or the standard is achieved to one or more machines 205 and / or background devices (for example, causing one or more machines 205 to stop the operation of the ground 215). In some implementations, the controller can obtain one or more records from a database, can generate information based on the one or more records and / or can format the information in the one or more records, and can transmit the information to the device and / or cause the information to be presented on the display of the device. Therefore, the analyst can use the information to determine whether the operation plan is completed, whether the standard is achieved, and / or perform a forensic analysis of the operation operations performed at the worksite 210. For example, using the database, a security audit and / or tracking of data can be performed by an independent management agency and / or a third-party contractor. In some examples, the audited or tracked data can be old data related to the worksite 210, which is added by an unknown party in conjunction with previous operations performed at the worksite 210. In some examples, an operating plan for worksite 210 (e.g., used by a current contractor at worksite 210) can be based on historical records in a database (e.g., added by one or more previous contractors at worksite 210 and containing information that would not otherwise be known to the current contractor), thereby eliminating the need to conduct a new site survey each time a new entity begins work at worksite 210.

[0041] Additionally, or alternatively, as described above, for a controller that causes a record to be added to a database, the record may be added to the database based on manual input. In this case, the database may employ access security measures to prevent the person or entity that adds the record to the database from retrieving the record of the database (or retrieving the record added by another person or entity). In some examples, the record of one or more machines 205 may be manually added by an operator and / or manager (e.g., based on sensor measurements collected by the machine 205). Thus, the worksite control system 200 may be used with a mixed fleet that includes older equipment and / or includes equipment with different configurations or protocols (e.g., a fleet that includes one or more machines 205 that are not capable of automatically adding records to the database). In some examples, the record may be manually added based on sensor measurements collected by one or more sensors external to the machine 205 (e.g., obtained by a government agent or other compliance management agent). Thus, as described herein, the operation of the machine 205 may be controlled based on a combination of automatically added records and manually added records, or based on manually added records alone (e.g., which may include official sensor measurements taken by a government agent).

[0042] As mentioned above, Figure 2is provided as an example. Other examples may differ from those in combination with Figure 2 as described.

[0043] Figure 3 is a diagram showing an example 300 of a blockchain and its use. Figure 3 As shown, some operations of example 300 can be performed by multiple blockchain nodes (e.g., computing nodes). The blockchain nodes can form a blockchain network, and blockchain 305 can be distributed among the blockchain nodes of the blockchain network (e.g., each node can store a copy of blockchain 305). Blockchain 305 can be a distributed ledger or database that maintains a list of records called blocks that can be linked together to form a chain. Blockchain 305 is a decentralized database distributed on a blockchain network of blockchain nodes.

[0044] As shown at reference numeral 310, the process for adding to the blockchain 305 may begin by generating a block 315. The block 315 may be generated in response to receiving a request (e.g., from the controller system 225 or controller 206 described herein) to add information, called a transaction, to the blockchain 305. In some implementations, the block 315 may be generated by a blockchain node.

[0045] As shown, each block of the blockchain 305 (including the generated block 315) indicates a timestamp, a previous hash, a hash and data, etc. For block 315, the data may include a transaction requested to be added. For example, as described herein, a transaction may indicate one or more parameters involved in converting the ground into a finished asphalt pad. In block 315, the transaction may be grouped with one or more other transactions waiting to be published to the blockchain 305. The timestamp, previous hash, and hash may define the header of the block. The hash of the block may be a hash representation of the block data (e.g., using one or more hashing methods), and the previous hash may be a hash value in the header of the previous block. For example, the previous hash in the header of block B may be a hash value in the header of block A, and so on. Therefore, the blocks may be linked together by each block referencing the hash value of the previous block. In this way, changed blocks may be easily detected and rejected from the blockchain 305 because not all current and previous hash values ​​will correspond.

[0046] As indicated by reference numeral 320, the generated block 315 may be provided (e.g., broadcast) to all blockchain nodes in the blockchain network. As indicated by reference numeral 325, before adding the block 315 to the blockchain 305, the other blockchain nodes may agree that the block 315 is valid. For example, the blockchain nodes may reach a consensus on the validity of the block 315. In order to verify the block 315, the blockchain nodes may utilize one or more consensus technologies, which may utilize a proof of work (PoW) algorithm, a proof of stake (PoS) algorithm, a delegated proof of stake (DPoS) algorithm, and / or a practical Byzantine fault tolerance (PBFT) algorithm, among other examples. As indicated by reference numeral 330, once verified, the blockchain nodes may add the block 315 to their respective copies of the blockchain 305.

[0047] As mentioned above, Figure 3 is provided as an example. Other examples may differ from those in combination with Figure 3 as described.

[0048] Figure 4 is a flow chart of an exemplary process 400 associated with controlling a work machine using a ground work log. Figure 4 One or more process blocks of can be performed by a controller (e.g., controller system 225 or controller 206). Additionally, or alternatively, Figure 4 One or more process blocks may be performed by another device or group of devices separate from or including the controller, such as another device or component internal or external to the machine 205 .

[0049] like Figure 4 As shown, process 400 may include obtaining one or more ground work records from one or more databases, the one or more ground work records identifying information related to at least one of base preparation, paving, or compaction of the ground performed by multiple work machines at the work site (block 410). For example, as described above, the controller may obtain one or more ground work records from one or more databases. The work site may be logically divided into multiple area units, and the one or more databases may include multiple databases respectively associated with multiple area units in the multiple area units. The one or more databases may include one or more distributed databases distributed on a computing node network.

[0050] A ground work record in the one or more ground work records may be associated with a machine in the plurality of work machines and may identify at least one of one or more parameters associated with the ground, one or more parameters associated with an operation performed by the machine, or one or more parameters associated with the machine. A ground work record in the one or more ground work records may relate to a machine in the plurality of work machines and may identify at least one of one or more settings of the machine used during base preparation, paving, or compaction of the ground, or data associated with one or more characteristics of the ground during base preparation, paving, or compaction of the ground.

[0051] like Figure 4 As further shown in FIG. 4 , process 400 may include determining configuration information of a ground working operation to be performed by the working machine based on one or more ground working records (block 420). For example, as described above, the controller may determine configuration information of a ground working operation to be performed by the working machine based on one or more ground working records. The ground working operation may be a base preparation operation, a paving operation, or a compaction operation.

[0052] like Figure 4 As further shown in FIG. 4 , process 400 may include generating a signal based on the configuration information to cause the work machine to perform a ground working operation (block 430 ). For example, as described above, the controller may generate a signal based on the configuration information to cause the work machine to perform a ground working operation.

[0053] The one or more ground operation records may identify a first sensor measurement of a ground feature collected by a first sensor and a second sensor measurement of a ground feature collected by a second sensor. In some examples, process 400 may include determining whether the first sensor measurement corresponds to the second sensor measurement, and determining that the first sensor or the second sensor is faulty based on the determination that the first sensor measurement does not correspond to the second sensor measurement, possibly with reference to a third sensor, as previously discussed. Process 400 may include sending a notification indicating that the first sensor or the second sensor is faulty, or a service request for the first sensor or the second sensor, based on the determination that the first sensor or the second sensor is faulty. Process 400 may include causing a correction to one or more databases, wherein the correction is forking the one or more databases to omit the first sensor measurement or the second sensor measurement, or adding one or more new records to the one or more databases to invalidate the first sensor measurement or the second sensor measurement.

[0054] Although Figure 4 Example blocks of process 400 are shown, but in some implementations, process 400 may include Figure 4More blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in . Additionally, or alternatively, two or more blocks of process 400 may be performed in parallel.

[0055] Industrial Applicability

[0056] The site control system described herein can provide management and / or control of any site where earth-moving machinery is used. For example, a site control system can be used for a site where work machines prepare asphalt pads by performing various tasks associated with base preparation, paving, and / or compaction. Typically, in asphalt paving, it is difficult to track tasks that have been performed, track which machines perform these tasks, and / or monitor whether these tasks are fully performed (e.g., in compliance with regulations or agreed quality). For example, the work machines involved in preparing an asphalt pad may lack the ability to autonomously coordinate task allocations between each other. In addition, communication between machines may be unreliable and may lack the robustness required to effectively manage and control the entire site. As a result, operations may be repeated unnecessarily, may be performed inefficiently (e.g., in a suboptimal order), or may need to be redone to meet a target level of quality, thereby using excessive machine time, increasing machine wear and / or increasing fuel consumption.

[0057] The worksite control system described herein is useful for effectively managing and controlling ground work operations performed at a worksite. Specifically, a work machine performing work on the ground at a worksite may frequently collect sensor data and information related to settings in use of the work machine, and the worksite control system may create records identifying many parameters involved in performing work on the ground (e.g., involved in converting the ground into a finished asphalt pad). Based on these numerous parameters, the worksite control system may closely monitor the progress of the ground work operations performed at the worksite, and the worksite control system may generate control signals for the work machine in order to coordinate and / or control the ground work operations of the work machine in an efficient manner. Thus, the worksite control system may improve the efficiency of ground work operations and / or reduce repetitive work, thereby saving machine time, reducing machine wear and / or saving fuel.

[0058] The above disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementation to the precise form disclosed. Modifications and variations may be made in light of the above disclosure, or may be obtained from the practice of the implementation. In addition, any implementation described herein may be combined, unless the above invention explicitly provides reasons why one or more implementations cannot be combined. Even though specific combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the various implementations. Although each dependent claim listed below may be directly dependent on only one claim, the disclosure of the various implementations includes each dependent claim in combination with all other claims in the claim set.

[0059] As used herein, "a," "an," and "a set" are intended to include one or more items and may be used interchangeably with "one or more." Furthermore, as used herein, the article "the" is intended to include one or more items associated with the article "the," and may be used interchangeably with "the one or more." Furthermore, the phrase "based on" is intended to mean "based at least in part on," unless explicitly stated otherwise. Furthermore, as used herein, the term "or" when used in series is intended to be inclusive and may be used interchangeably with "and / or," unless explicitly stated otherwise (e.g., if used in combination with "one of" or "only one of").

Claims

1. A working machine, comprising: a set of ground engaging members; Steering system; as well as A controller configured to: Obtain one or more ground operation records from one or more databases, The one or more ground work records identify information related to at least one of base preparation, paving, or compaction of ground performed by a plurality of work machines at a work site; determining configuration information for a ground working operation performed by the work machine based on the one or more ground working records; as well as A signal is generated based on the configuration information to cause the work machine to perform the ground working operation.

2. The work machine of claim 1, wherein the ground working operation is a base preparation operation, a paving operation or a compaction operation.

3. The work machine according to any one of claims 1 to 2, wherein a ground work record in the one or more ground work records relates to a machine in the plurality of work machines and identifies at least one of the following: one or more parameters related to the ground surface, one or more parameters related to the operation performed by the machine, or One or more parameters associated with a machine.

4. The work machine according to any one of claims 1 to 3, wherein a ground work record in the one or more ground work records relates to a machine in the plurality of work machines and identifies at least one of the following: One or more settings of a machine used during base preparation, paving or compacting of the ground, or Sensor data relating to one or more characteristics of the ground during base preparation, paving, or compaction of the ground.

5. A work machine according to any one of claims 1 to 4, wherein the one or more ground work records identify a first sensor measurement of a characteristic of the ground surface collected by a first sensor and a second sensor measurement of a characteristic of the ground surface collected by a second sensor, and The controller is further configured to: determining whether the first sensor measurement corresponds to the second sensor measurement; and A determination is made that the first sensor or the second sensor is faulty based on a determination that the first sensor measurement does not correspond to the second sensor measurement.

6. The work machine according to claim 5, wherein the controller is further configured to: causing a correction to one or more databases, The correction is to fork the one or more databases to omit the first sensor measurement or the second sensor measurement, or to add one or more new records to the one or more databases to invalidate the first sensor measurement or the second sensor measurement.

7. A controller comprising: one or more memories; as well as One or more processors configured to: obtaining sensor data related to one or more characteristics of the ground on which the machine is operating at the worksite; identifying one or more settings of the machine in use during ground operations; generating log information associated with the sensor data and the one or more settings; as well as The record information is sent to a data system to add a record identifying the record information to a database.

8. The controller of claim 7, wherein the one or more processors are further configured to: detecting that the machine has completed a traverse of the terrain based on position data associated with the machine, and The one or more processors are used to generate the record information and are configured to: In response to detecting that the machine has completed a traverse of the ground surface, recorded information associated with the traverse of the ground surface is generated.

9. The controller according to any one of claims 7-8, wherein the construction site is logically divided into a plurality of area units, wherein the one or more processors are further configured to: detecting that the machine is located in an area unit of the plurality of area units based on location data associated with the machine, and The one or more processors are used to generate the record information and are configured to: In response to detecting that the machine is located in the zone unit, record information associated with the zone unit is generated.

10. The controller of claim 9, wherein the database is specific to the zone unit.

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