System and method for controlling an extending machine

Abstract

A control system (150) for a machine (102) includes a machine body (120), a linkage assembly (130), an implement (132) coupled to the machine body (120) via the linkage assembly (130), an operating console (122) remote from the machine (102), and a controller (152) in communication with the operating console (122). The controller (152) is configured to receive one or more signals from the operating console (122) to operate the machine (102) in a remote control mode and define a digging area (200) and a dumping area (210). The controller (152) is also configured to operate the machine (102) in an autonomous mode to dig material from the dig area (200) and dump material to the dump area (210).

Description

Technical Field

[0001] The present invention relates generally to an excavation machine and, more particularly, to a system and method for controlling an excavation machine under remote control operation and autonomous operation. Background Art

[0002] Machines are used to move material between locations at a work site or onto transport vehicles. For example, rope shovels, mining shovels, hydraulic shovels, and hydraulic excavators can use rotational motion to move material, while material handling machines, such as haul trucks, can load material and then move it via a separate drive path or road. Machines using this rotational capability can excavate material at an excavation site by engaging a work tool and rotating the work tool to a dump or truck loading site, where the work tool is dumped or unloaded into a material handling machine, such as a haul truck. The material handling machine can then be propelled to another location, such as a truck dump site, where the material is dumped or discharged from the machine. This material movement process can be repeated multiple times to move the desired amount of material. Furthermore, excavation machines can operate autonomously, semi-autonomously, or manually, performing these tasks in response to commands generated as part of the machine's work plan. When operating autonomously or semi-autonomously, the work plan can be generated by a planning system that specifies the excavation and dump or truck loading locations.

[0003] U.S. Patent No. 5,065,326 (the "'326 patent") issued to Sahm discloses a control system and method for automatically controlling a work tool of an excavation machine to perform a complete excavation cycle. The control system monitors the position of the work tool and the forces applied to the work tool and actuates the work tool according to predetermined position and force set points. However, the control system and method of the '326 patent may not be able to receive non-line-of-sight operator input to define excavation and dumping areas, and may also not be able to adequately monitor autonomous excavation and dumping to alert a remote operator to one or more warning or alarm conditions.

[0004] Aspects of the present invention may address one or more of the above problems and / or other problems in the art. However, the scope of the present invention is not limited by the ability to solve any particular problem. Summary of the Invention

[0005] According to one aspect of the present invention, a control system for a machine may include a machine body, a linkage assembly, an implement coupled to the machine body via the linkage assembly, an operator's console remote from the machine, and a controller in communication with the operator's console. The controller may be configured to receive one or more signals from the operator's console to operate the machine in a remote control mode and define a digging area and a dumping area. The controller may also be configured to operate the machine in an autonomous mode to dig material from the digging area and dump the material into the dumping area.

[0006] In another aspect of the present invention, a method of operating a machine with an implement may include, while operating in a remote control mode, defining an excavation area and defining a dumping area. The method also includes initiating an autonomous excavation and dumping mode. While operating in the autonomous excavation and dumping mode, monitoring the machine for one or more notification conditions, and when the one or more notification conditions are detected, terminating the autonomous excavation and dumping mode and returning to the remote control mode.

[0007] In another aspect of the present invention, an excavation system may include an excavation machine and an operator station remote from the excavation machine. The excavation machine may include a machine body, a linkage assembly, a bucket movably coupled to the machine body via the linkage assembly, one or more cameras or sensors, and a controller. The operator station may communicate with the one or more cameras or sensors and the controller. The controller may be configured to receive signals from the operator station in a remote operating mode to define an excavation area and a dumping area. The controller may also be configured to control the machine body, the linkage assembly, and the bucket in an autonomous operating mode to excavate material from the excavation area and dump the material into the dumping area. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various exemplary embodiments and, together with the description, serve to explain the principles of the disclosed embodiments.

[0009] According to aspects of the present invention, Figure 1A An exemplary system is shown that includes a machine and a remote control site on a work site; Figure 1B An exemplary control system is shown;

[0010] Figure 2A and 2B is a top view of the machine of FIG. 1 defining a digging area and a dumping area, respectively; and

[0011] Figure 3 Methods of operating the machine of FIG. 1 to perform manual and autonomous operations are shown. DETAILED DESCRIPTION

[0012] Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Generally, throughout the drawings, corresponding or similar reference numerals are used to designate identical or corresponding parts whenever possible. Features in the drawings may not be drawn to scale but are drawn to highlight different aspects of the invention. Throughout this disclosure, relative terms such as "approximately," "generally," and "substantially" are used to indicate a possible variation of ±10% of the stated value.

[0013] FIG1 illustrates an exemplary excavation or mining system 100, which includes a machine 102 and a remote control site 104. Remote control site 104 can be controlled by one or more operators, for example, at a remote control station or operator station 122 (e.g., a remote control console), to operate machine 102 at a work site 110. In some aspects, remote control site 104 can include a wireless communication system 124, which can allow remote control site 104 to wirelessly communicate with one or more aspects of machine 102. Machine 102 can be an excavation machine, such as an excavator (e.g., a hydraulic excavator), a rope shovel, a mining shovel, a hydraulic shovel, etc. Machine 102 can move material from an excavation site 112 at work site 110 to one or more dump locations or one or more transport vehicles, such as haul trucks 106 or other transport vehicles. Work site 110 can be, for example, part of a construction site, a roadwork site, a quarry, a mine, a landfill, or any other type of work site.

[0014] As discussed in detail below, one or more operators at the remote control site 104 can remotely operate the machine 102, for example, via non-line-of-sight ("non-LOS") control or via line-of-sight ("LOS") control (e.g., remote from the machine 102 but within sight of the machine 102). Furthermore, the one or more operators at the remote control site 104 can perform one or more operations to define an excavation area. The one or more operators can also define a dump area (e.g., a haul truck 106, a pile 114, etc.). Based on the operator input, the machine 102 can autonomously perform the excavation operation. As discussed in detail below, the excavation operation can continue for a predetermined amount of time, a predetermined amount of excavation, until a predetermined amount (e.g., volume, weight, etc.) of material has been moved, until one or more error or alarm conditions exist, other notifications, etc.

[0015] Machine 102 includes an undercarriage 116, for example, including one or more ground engaging elements or tracks 118. Machine 102 also includes a machine body 120 that can be rotatable relative to undercarriage 116. Furthermore, machine 102 includes a linkage assembly 130, for example, coupling a work tool or bucket 132 to machine body 120. Linkage assembly 130 can include one or more booms and rods such that linkage assembly 130, and therefore bucket 132, can be movable relative to machine body 120. Linkage assembly 130 and / or bucket 132 can be movable via corresponding hydraulic cylinders. As discussed herein, various aspects of machine 102 can be movable or otherwise controlled both via remote operator control and via autonomous control to perform various excavation or earthmoving operations. Additionally, machine 102 may include one or more cameras 134 , for example, positioned at a forward position of machine body 120 (eg, with bucket 132 and / or linkage assembly 130 in view), which may assist remote operator control, for example, in non-LOS control.

[0016] Additionally, the machine 102 includes a controller 152 that communicates with the operator station 122, for example, via the wireless communication system 124. In these aspects, as Figure 1B As shown, controller 152 is part of control system 150. Controller 152 may be coupled to one or more sensors, control systems, actuators, and the like to help control the position of bucket 132 relative to machine body 120 and / or also control the position of machine body 120 relative to undercarriage 116. Controller 152 may receive one or more inputs and issue one or more outputs, for example, to help position bucket 132 and / or machine body 120. Furthermore, controller 152 may receive one or more operator inputs, for example, during remote operator control. Controller 152 may also issue one or more outputs during autonomous control to help control the position and / or operation of machine body 120, linkage assembly 130, bucket 132, and the like.

[0017] For example, Figure 1BAs shown, control system 150 includes a controller 152 that can receive one or more inputs from one or more operators at operator stations 122. Controller 152 can include control logic and / or instructions for both remote operator control and autonomous control. Alternatively or additionally, in some aspects, controller 152 can receive one or more inputs to control autonomous control operations, such as autonomous control inputs from an autonomous or autonomously controlled electronic control module. Although not shown, the autonomous or autonomously controlled electronic control module can be incorporated into controller 152 or can be separate from controller 152. Additionally, machine 102 can include a plurality of sensors in communication with controller 152. For example, machine 102 can include machine body sensors 154, e.g., configured to detect and / or provide information regarding the position of machine body 120 relative to undercarriage 116 and / or the pitch and / or roll of machine body 120, e.g., relative to an inertial frame. The machine 102 may also include one or more linkage assembly sensors 156, for example, configured to detect and / or provide information regarding the position of one or more portions of the linkage assembly 130 relative to the machine body 120. Additionally, the machine 102 may include one or more bucket sensors 158, for example, configured to detect and / or provide information regarding the position and / or orientation of one or more portions of the bucket 132, for example, relative to the linkage assembly 130 and / or the machine body 120. One or more of the machine body sensors 154, the linkage assembly sensors 156, and / or the bucket sensors may be inertial measurement units (IMUs), hydraulic cylinder displacement sensors, joint angle sensors, or other suitable sensors to measure the position and / or orientation of the corresponding portion of the machine 102.

[0018] In these aspects, controller 152 may also communicate with one or more control units in control system 150. For example, controller 152 may communicate with machine body control unit 160, which may be configured to control the position of machine body 120 relative to undercarriage 116, for example. Controller 152 may communicate with linkage assembly control unit 162, which may be configured to control the position of one or more portions of linkage assembly 130 relative to machine body 120, for example. Additionally, controller 152 may communicate with bucket control unit 164, which may be configured to control the position of one or more portions of bucket 132 relative to linkage assembly 130 and / or machine body 120, for example. In these aspects, control system 150 and controller 152 may facilitate controlling the position and / or operation of machine 102 (e.g., machine body 120, linkage assembly 130, and / or bucket 132) when operating in a remote control mode of operation and / or when operating in an autonomous control mode. For example, when operating in the remote control mode of operation and / or when operating in the autonomous control mode, the control system 150 may receive inputs and issue outputs to control the operation of the machine body 120, the linkage assembly 130, and / or the bucket 132 to excavate or otherwise move material from the work site 110 to, for example, one or more haul trucks 106. Furthermore, as discussed herein, when operating in the remote control mode of operation, the control system 150 may receive one or more inputs or signals to establish operating parameters for when operating in the autonomous control mode.

[0019] Although not shown, the controller 152 can be coupled to or include one or more memory units that can contain instructions for the controller 152 to help control the position or movement of one or more of the machine body 120, the linkage assembly 130, and / or the bucket 132. The controller 152 can be a separate controller on the machine 102 or can be integrated into a central vehicle controller (e.g., a master power controller, an operating controller, etc.). Alternatively, the controller 152 can be integrated into one or more control or management systems or modules of the machine 102 (e.g., for operating the engine), or into another dedicated control module on the machine 102. In one aspect, the machine 102 can be an electric hydraulic excavator, and the controller 152 can control one or more electrical switches or valves to control one or more hydraulic cylinders or electrical components to operate the machine 102.

[0020] The controller 152 may include one or more microprocessors. For example, the controller 152 may be embodied as a single microprocessor or as a plurality of microprocessors. The one or more microprocessors of the controller 152 may be configured to perform any of the operations mentioned herein. For example, the controller 152 may include memory, auxiliary storage devices, and a processor, such as a central processing unit or any other device for performing tasks consistent with the present invention. The memory or auxiliary storage devices associated with the controller 152 may be a non-transitory computer-readable medium that stores data and / or software routines that may assist the controller 152 in performing its functions, such as Figure 3 The functions of the process or method 300 are described below. Further, the memory or secondary storage device associated with the controller 152 may also store data received from various inputs or sensors associated with the machine 102. Many commercially available microprocessors can be configured to perform the functions of the controller 152. It should be understood that the controller 152 can readily be embodied as a general-purpose machine controller capable of controlling many other machine functions. Various other known circuits may be associated with the controller 152, including signal conditioning circuitry, communication circuitry, hydraulic or other actuation circuitry, and other suitable circuitry.

[0021] like Figure 2A As shown, one or more operators (e.g., Figure 1A 10. In one aspect, the one or more operators may control the machine body 120, linkage assembly 130, and / or bucket 132 (e.g., via controller 152 and one or more of machine body control unit 160, linkage assembly control unit 162, and bucket control unit 164) remotely from the machine 102 to define the excavation area 200. Alternatively, the one or more operators may be remote from the machine 102 and control the machine body 120, linkage assembly 130, and / or bucket 132 in LOS teleoperation, for example, without using the one or more cameras 134 or other sensors on the machine 102. In either aspect, the one or more operators may position a portion (e.g., the heel) of the bucket 132 to contact material at one or more points on the work site 110. In one aspect, as Figure 2A As shown, one or more operators may control the machine body 120, the linkage assembly 130, and / or the bucket 132 so that a portion of the bucket 132 contacts material on the work site 110 on one side (e.g., the left side) of the digging area 200, e.g. Figure 2A10 in the figure. For example, one or more operators may control machine body 120, linkage assembly 130, and / or bucket 132 so that a portion of bucket 132 contacts material on work site 110 at a corner of digging area 200. In this regard, the corner may be the left side of the far end (e.g., relative to machine 102) of digging area 200 to define an edge or end 202 of digging area 200 (e.g., a boundary or starting location for digging area 200). For example, one or more operators may position machine body 120, linkage assembly 130, and / or bucket 132 to an edge or end 202 of digging area 200 (e.g., a desired digging start location) and may input one or more indications or selections to set the position as an edge or end of digging area 200 (e.g., a starting location for digging area 200). The one or more indications or selections may include pressing one or more buttons (e.g., on a joystick), inputting one or more commands on a keyboard, etc. For example, indicating or selecting may include momentarily pressing one or more buttons with a portion of the bucket 132 at point 10. Alternatively, indicating or selecting may include a long press of one or more buttons.

[0022] Additionally, one or more operators may control machine body 120, linkage assembly 130, and / or bucket 132 so that a portion (e.g., the heel) of bucket 132 contacts material on work site 110 on the other side (e.g., the right side) of digging area 200, e.g., Figure 2A 20 in the digging area 200. For example, one or more operators may control the machine body 120, linkage assembly 130, and / or bucket 132 so that a portion of bucket 132 contacts material on the work site 110 at another corner of the digging area 200. In this regard, the other corner may be an opposite corner, such as a right side of the proximal end (e.g., relative to the machine 102) of the digging area 200 to define another edge or end 204 of the digging area 200 (e.g., a boundary or end position of the digging area 200). For example, the one or more operators may position the machine body 120, linkage assembly 130, and / or bucket 132 to an edge or end 204 of the digging area 200 (e.g., a desired digging end position) and may input one or more instructions or selections to set the position as the other edge or end of the digging area 200 (e.g., the end position of the digging area 200). The one or more instructions or selections may include pressing one or more buttons (e.g., on a joystick), inputting one or more commands on a keyboard, etc. For example, indicating or selecting may include momentarily pressing one or more buttons with a portion of the bucket 132 at point 20. Alternatively, indicating or selecting may include long pressing one or more buttons while moving the bucket 132 from point 10 to point 20, for example.

[0023] In these aspects, controller 152 may store edge or end position 202 and edge or end position 204 of dig area 200, for example, in a memory of controller 152 or another memory (not shown) within control system 150. For example, as mentioned, controller 152 may include an autonomous or self-controlled electronic control module that may store edge or end positions 202 and 204. Alternatively, although not shown, the autonomous or self-controlled electronic control module may be separate from controller 152. In any of these aspects, controller 152 may also interpolate or extrapolate dig area 200, for example, to include multiple dig paths 206 across dig area 200. For example, dig area 200 may have a dig width, and bucket 132 may have a bucket width. In this regard, controller 152 may determine the number of dig paths 206 based on the dig width divided by the bucket width.

[0024] like Figure 2B As shown in , one or more operators (e.g., Figure 1A 104 in a remote control site 104) can define the dump area 210. For example, using one or more cameras 134 or other sensors on the machine 102 or using LOS control, one or more operators can control the machine body 120, linkage assembly 130, and / or bucket 132 (e.g., via the controller 152 and one or more of the machine body control unit 160, linkage assembly control unit 162, and bucket control unit 164) so ​​that the bucket 132 is positioned at or above one or more (e.g., two or more) points on the work site 110 to define the dump area 210. Alternatively, one or more operators can be remote from the machine 102 and control the machine body 120, linkage assembly 130, and / or bucket 132 in LOS teleoperation, as discussed above, e.g., without using one or more cameras 134 or other sensors on the machine 102. In either aspect, as mentioned, the dump area 210 may be the bed 108 of the haul truck 106, such as the centerline of the bed 108 of the haul truck 106 (as shown). Alternatively, the dump area 210 may be one or more of the piles 114 ( Figure 1A ). In these aspects, one or more operators can position the heel of the bucket 132 at or above one or more locations on the work site 110. In one aspect, as Figure 2B As shown, one or more operators may control the machine body 120, the linkage assembly 130, and / or the bucket 132 so that a portion of the bucket 132 is positioned at or above one end (e.g., the front) of the bed 108 of the haul truck 106, e.g., Figure 2B30 in the dump area 210. For example, one or more operators may position the machine body 120, linkage assembly 130, and / or bucket 132 to a desired dump edge or end location 212 (e.g., a first boundary) and may input one or more indications or selections to set the location as the edge or end location or boundary of the dump area 210. The one or more indications or selections may include pressing one or more buttons (e.g., on a joystick), entering one or more commands on a keyboard, etc.

[0025] Additionally, one or more operators may control the machine body 120, linkage assembly 130, and / or bucket 132 so that a portion of the bucket 132 is positioned at or above the other end (e.g., rear) of the bed 108 of the haul truck 106, e.g. Figure 2B 40 in the dump area 210. For example, one or more operators may position the machine body 120, the linkage assembly 130, and / or the bucket 132 to a desired dump edge or end location 214 (e.g., a second boundary) and may input one or more indications or selections to set the position as an edge or end location or boundary of the dump area 210. The one or more indications or selections may include pressing one or more buttons (e.g., on a joystick), entering one or more commands on a keyboard, etc.

[0026] In these aspects, the controller 152 may store one edge or end position 212 and another edge or end position 214 of the dump area 210, for example, in a memory of the controller 152 or another memory (not shown) within the control system 150. The controller 152 may also interpolate or extrapolate the dump area 210, for example, to include multiple dump positions across the dump area 210. For example, the excavation area 200 may have a dump length. In this regard, the controller 152 may determine the number of loads or dumps, for example, based on the number of excavation paths 216. The controller 152 may determine bucket positions for multiple dumps such that successive dumps are spaced apart along the length of the dump area 210. In other aspects, the controller 152 may estimate the total volume or weight of material delivered to the dump area 210, for example, based on the material properties of the material at the excavation site 112, the size of the bucket 132, the depth of the excavation, etc. In these aspects, if the machine 102 has delivered a weight or volume of material to the dump area 210 that is at or near the maximum weight or volume of material that can be transported by the haul truck 106, the controller 152 may issue or output one or more alarms or notifications. In these aspects, issuing or outputting an alarm or notification may include pausing the autonomous excavation operation and returning to a remote operator control mode. For example, the controller 152 may position the bucket 132 in a lowered position (e.g., with a portion of the bucket 132 on or near the ground) and wait for a signal from the operator station 122. Additionally, the controller 152 may output a signal to the operator station 122, e.g., to signal one or more operators that the machine 102 is now in a remote control mode of operation. Alternatively, if the dump area 210 is a pile 114, the controller 152 may not monitor the weight or volume of material delivered to the dump area 210.

[0027] Figure 3 An exemplary method or process that can be performed by system 100 to operate machine 102 via remote operator control and via autonomous control is shown. In initial step 302, machine 102 is in operator controller remote control mode, and an operator can position (e.g., drive) machine 102 to an excavation site (e.g., excavation site 112) on work site 110. For example, an operator at remote control site 104 can tow or otherwise maneuver machine 102 to excavation site 112. As mentioned, such driving or otherwise maneuvering of machine 102 can be performed using non-LOS control, with the operator relying on one or more cameras 134 or sensors on machine 102. Alternatively, driving or otherwise maneuvering machine 102 can be performed using LOS control, with the operator being remote from machine 102 but within a field of view of machine 102.

[0028] Once the machine 102 is positioned at the excavation site, the operator may define the excavation area in step 304. Figure 2A As shown, the operator can define the dig area 200 by positioning the bucket 132 in a plurality of positions. For example, the operator can position the bucket 132 in a first edge or end position 202 and store the position using one or more button presses or other inputs. The operator can position the bucket 132 in a second edge or end position 204 and store the position using one or more button presses or other inputs. The controller 152 can interpolate or extrapolate the dig area 200 based on the first edge or end position 202 and the second edge or end position 204 and one or more other characteristics or features of the machine 102 (e.g., the size of the bucket 132, the length of the linkage assembly 130, etc.).

[0029] Next, in step 306, the operator can define the dumping area. Figure 2B As shown, the operator can define the dumping area 210 in which the bucket 132 is positioned in a plurality of positions. For example, the operator can position the bucket 132 in a first edge or end position 212 and store the position using one or more button presses or other inputs. The operator can position the bucket 132 in a second edge or end position 214 and store the position using one or more button presses or other inputs. In some aspects, steps 304 and 306 can include the operator remotely controlling the machine 102 to perform one dig (e.g., at the dig site 112) and one dump (e.g., into the bed 108 of the haul truck 106).

[0030] In some aspects, in optional step 308, the operator can define one or more parameters for the material and / or dig path 206. For example, in some aspects, the operator can input or select (e.g., from a set of predetermined options) the type or composition of the material being moved by the machine 102 (e.g., dirt or soil, gravel, sand, etc.). The operator can input a dig depth (e.g., approximately 1 meter to approximately 5 meters) and / or a dig length (e.g., approximately 0.5 meters to approximately 2 meters). In some aspects, the operator can input or select a material angle of repose. Alternatively or additionally, as mentioned above, the operator can perform a dig, and the controller 152 can store the dig depth (e.g., when the machine 102 digs from the bench height and the floor of the dig site 112 is exposed) and / or length for use in subsequent digs during autonomous operation. The operator can input or select whether the load is to be dumped into a haul truck (e.g., haul truck 106) or a pile (e.g., pile 114). In some aspects, the operator can input or select the number of loads and / or the number of loads per minute (or otherwise input a load rate or frequency) that the machine 102 will move, for example, from the digging area 200 to the dumping area 210. For example, the operator can input or select a number of loads that can fit within the haul truck 106 or otherwise be moved by the haul truck 106. In some aspects, the operator can input or select the total payload (e.g., weight) that can be supported and transported by the haul truck 106. In some aspects, the operator can input or select the type and / or size of the haul truck 106, and the controller 152 can store the volume and / or weight of material that can be supported and transported by the haul truck 106.

[0031] Next, in step 310, the operator may initiate autonomous digging and dumping, causing the machine 102 (e.g., via the controller 152 and the control system 150) to perform autonomous digging and dumping. One or more operators may input one or more inputs for the machine 102 to enter the autonomous operating mode. For example, the operator may signal the entry into the autonomous operating mode via a user interface at the operator station 122. For example, one or more operators may press a button or otherwise select the autonomous digging mode.

[0032] As mentioned above, the controller 152 can send signals to one or more of the machine body control unit 160, the linkage assembly control unit 162, and / or the bucket control unit 164 to control the position and operation of the machine 102 and the bucket 132 to dig at the digging area 200 (e.g., within the boundaries of the digging area 200) and dump at the dumping area 210 (e.g., within the boundaries of the dumping area 210). The controller 152 can send signals to one or more of the machine body control unit 160, the linkage assembly control unit 162, and / or the bucket control unit 164 to perform multiple digging cycles, for example, including multiple digging paths 206.

[0033] During autonomous excavation and dumping, method 300 may include an optional step 312, which includes monitoring the excavation and dumping for one or more error or alarm conditions (e.g., notifications). For example, optional step 312 may include monitoring the volume or weight of material delivered to dump area 210. In this regard, controller 152 may receive one or more signals indicating the weight or volume of material in bucket 132 after each excavation path 206. Alternatively or additionally, controller 152 may estimate the weight or volume of material delivered to dump area 210 based on, for example, the size of bucket 132 and the material being excavated. If the measured or estimated weight or volume of material delivered to dump area 210 approaches a maximum weight or volume, controller 152 may suspend autonomous operation. For example, controller 152 may suspend autonomous operation so that a fully loaded or nearly fully loaded haul truck 106 can be replaced with a new, empty haul truck. In this regard, controller 152 may prompt the operator to redefine dump area 210, for example, relative to the position of the bed of the new haul truck. If the machine 102 is in the middle of the dig area 200 , the controller 152 may suspend autonomous operation with the bucket 132 full so that the operator can deliver the material to the next haul truck 106 or other dump area 210 in the remote control mode of operation.

[0034] In some aspects, the controller 152 may detect that the dig area 200 does not have enough material (e.g., to fill the bucket 132). In these aspects, the controller 152 may signal the operator station 122 with an alarm or notification because one or more operators may wish to redefine the dig area 200, reposition the machine 102, etc.

[0035] In other aspects, step 312 may include monitoring the position or orientation of the undercarriage 116 and / or the machine body 120. For example, if the undercarriage 116 and / or the machine body 120 changes position or orientation (e.g., as detected by one or more IMUs, global positioning systems, or other sensors), the machine 102 may pitch or slide relative to the excavation site 112. In these aspects, if the controller 152 detects pitch, slide, or other change in position or orientation, the controller 152 may output an alert or notification, for example, to the operator station 122, to enable one or more operators to review the autonomous operation. Alternatively or additionally, if the controller 152 detects pitch, slide, or other change in position or orientation, the controller 152 may suspend the autonomous operation, for example, if the bucket 132 is empty, so that one or more operators can assess the positioning of the machine 102. The one or more operators may reposition the machine 102, for example, via remote control, and / or may resume the autonomous operation. Furthermore, in some aspects, if the controller 152 detects a risk of the machine 102 tipping over. For example, if the end location 214 of the dump area 210 is too far from the machine 102, there may be a risk that the machine 102 may tip over when the bucket 132 is full. In this regard, the controller 152 may output an alarm or notification to the operator station 122 and / or may suspend autonomous operation.

[0036] Next, in step 314, method 300 includes terminating autonomous excavation and dumping. Terminating autonomous excavation and dumping may include re-entering the operator remote control mode, for example, so that the operator can reposition or reorient the machine 102 and / or define a new excavation and / or dumping area so that the steps of method 300 can be repeated for the new excavation and / or dumping area. Step 314 may correspond to machine 102 completing multiple excavation paths 206 in excavation area 200. Alternatively, as discussed above, controller 152 may detect one or more conditions that require pausing or temporarily terminating autonomous operation. In either aspect, step 314 may include controller 152 signaling operator station 122, for example, by displaying, transmitting, or otherwise providing a signal or notification that machine 102 is in remote control operating mode. Additionally, in remote control operating mode, one or more operators may survey excavation site 112, for example, using one or more cameras 134 or sensors on machine 102. One or more operators can clear excavation site 112 to perform one or more excavations, for example, by controlling machine body 120, linkage assembly 130, and / or bucket 132. Clearing excavation site 112 may be necessary due to material movement during autonomous excavation or other features or contours of excavation site 112.

[0037] Industrial Applicability

[0038] The present invention may be applied to systems and methods for controlling an implement on a machine, such as bucket 132 on machine 102. During operation, control system 150, including controller 152, may alternate between a remotely controlled operating mode and an autonomous mode. As discussed above, an operator (e.g., at operator station 122 in remote control site 104) may navigate or otherwise position machine 102 to dig site 112 on work site 110 (e.g., in step 302). The operator may define dig area 200 (e.g., in step 304) and may also define dump area 210 (e.g., in step 306). In some aspects, the operator may define one or more parameters of the material in the dig area (e.g., in step 308) or other aspects of work site 110. Based on this information, control system 150, including controller 152, may perform autonomous digging and dumping (e.g., in step 310). Control system 150, including controller 152, may monitor autonomous digging and dumping for one or more error or alarm conditions (e.g., in step 312). If such a condition occurs, the controller 152 may provide one or more signals to the operator station 122 and / or halt or suspend the autonomous digging and dumping operation, e.g., returning to a remote operating mode. Additionally, once the autonomous digging and dumping has been performed, e.g., upon completing the digging path 206 in the digging area 200, the control system 150 may end the autonomous digging and dumping (e.g., in step 314).

[0039] In these aspects, the various systems and methods discussed herein can allow one or more remote operators (e.g., via a non-LOS remote control system or via a LOS remote control system) to navigate the machine 102 and also select the digging area 200 and the dumping area 210. Additionally, the various systems and methods discussed herein can allow digging and dumping (e.g., multiple digging and dumping cycles) to be performed autonomously. Thus, the systems and methods discussed herein can reduce the monotony or monotonicity of the cyclic load (e.g., multiple digging and dumping cycles) on the remote operator. Furthermore, the systems and methods discussed herein can allow the remote operator to be more productive and / or more efficient, for example, by simultaneously monitoring multiple machines (e.g., at the work site 110 or another work site). In some aspects, the systems and methods discussed herein can allow the remote operator to interrupt or otherwise reduce the overall stress of operating the excavation machine. Furthermore, the systems and methods discussed herein can allow the autonomous operating mode to return to the remote control operating mode under various conditions. Returning to the remote control operating mode may help allow the remote operator to perform any additional tasks, such as identifying a new excavation or dumping area (e.g., a new bed of haul truck 106), clearing the excavation site 112 of any debris or material, etc.

[0040] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed system without departing from the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It should be considered that the description and examples are exemplary only, with the true scope and spirit of the invention being indicated by the appended claims.

Claims

1. A control system (150) for a machine (102), comprising: Machine body (120); Connecting rod assembly (130); an implement (132) coupled to the machine body (120) via the linkage assembly (130); an operating console (122) remote from the machine (102); and A controller (152) in communication with the operator console (122), wherein the controller (152) is configured to: Receiving one or more signals from the operator console (122) to operate the machine (102) in a remote control mode and defining: Excavation area (200); and a dumping area (210); and The machine (102) is operated in an autonomous mode to excavate material from the excavation area (200) and dump the material into the dumping area (210).

2. The control system (150) of claim 1, wherein the controller (152) is configured to monitor one or more notification conditions of the autonomous digging and dumping and provide one or more notifications to the operator console (122).

3. The control system (150) of claim 2, wherein the autonomous digging and dumping is terminated when the controller (152) detects one or more notification conditions during the autonomous digging and dumping.

4. The control system (150) of claim 1, wherein the controller (152) is configured to receive signals indicating a position of the implement (132) at a first edge location (202) and a second edge location (204) of the digging area (200).

5. The control system (150) of claim 4, wherein the first location (202) and the second location (204) of the dig area (200) are opposing corners of the dig area (200).

6. The control system (150) of claim 4, wherein the controller (152) is configured to receive signals indicative of a position of the implement (132) at a first edge location (212) and a second edge location (214) of the dump area (210).

7. The control system (150) of claim 1, wherein the controller (152) is configured to estimate an amount of material being excavated during the autonomous mode.

8. The control system (150) of claim 1, wherein the implement (132) is a bucket (132), and wherein when the dump area (210) is full during operation of the machine (102) in the autonomous mode, the controller signals the bucket (132) to be positioned in a lowered position and pauses movement of the bucket (132).

9. A method (300) of operating a machine (102) having an implement (132), comprising: When operating in remote control mode: defining an excavation area (200); as well as defining a dumping area (210); Activate autonomous digging and dumping mode; as well as monitoring one or more notification conditions of the machine (102) while operating in the autonomous dig and dump mode, and When one or more notification conditions are detected, the autonomous dig and dump mode is ended and the remote control mode is returned to.

10. The method (300) of claim 9, wherein defining the digging area (200) includes positioning a portion of the implement (132) at a first edge corner (202) of the digging area (200), storing the implement positioned at the first edge corner (202) of the digging area (200) in a memory, positioning the portion of the implement (132) at a second edge corner (204) of the digging area (200), and storing the implement positioned at the second edge corner (204) of the digging area (200) in the memory.

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