Variable overlap optimized coverage

Abstract

A control system (200) for a construction machine (100) is disclosed. The control system (200) may include a controller (130) configured to: receive a work parameter associated with a work of a work site surface (102) by a surface work member (106); generating an edge-to-edge work plan (107) of the work site surface (102), the edge-to-edge work plan (107) comprising a plurality of paths (108), each path having a centerline of travel (C), where one path of the plurality of paths (108) comprises a first outer edge (140a) defined by a first boundary side (138a) and another path comprises a second outer edge (140b) defined by a second boundary side (138b); and activating the construction machine (100) so as to traverse the travel center line (C) of each of the plurality of paths (108). The plurality of paths (108) may include a first path and a second path, the second path including a second path overlap section (142) overlapping the first path, where a width of the second path overlap section (142) varies along a length of the second path.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to a work machine, and more specifically to controlling path planning, path overlap, and operation of semi-autonomous and / or autonomous paving, construction, mining, and forestry work machines. BACKGROUND

[0002] Generally, parameters used to plan a regional work (e.g., compaction) path include a width of an attachment (e.g., a roller) and an overlap between paths. For example, a compactor is often used to compact soil, gravel, freshly laid asphalt, and other compactable materials associated with a work site surface. During construction of a road, highway, parking lot, etc., one or more compactors can be utilized to compact the soil, stones, and / or recently laid asphalt. Such compactors, which can be semi-autonomous and autonomous machines, travel over the work site surface whereby the weight of the compactors compresses the surface material into a solid mass. Additionally, loose asphalt can then be deposited and spread over the work site surface, and the compactors can travel over the loose asphalt to produce a dense, hard asphalt pavement. Regardless of the machine, existing path planning systems are unable to plan a region with edge-to-edge work regions (e.g., compaction regions) without leaving un-compacted gaps or over-compacted regions, particularly when the shape of the work region is irregular, which results in inefficient run-in and run-out.

[0003] U.S. Patent No. 9,982,397 (the ‘397 patent) discloses a method for planning and implementing a soil compaction process using at least one soil compactor. According to the method of the ‘397 patent, a base region to be compacted is defined, relevant aspects of the soil compaction process are planned, and the process is implemented according to the plan by moving at least the compactor in the base region. While beneficial, there remains a need for a better system. SUMMARY

[0004] In one aspect of the disclosure, a control system for a construction machine is disclosed. The construction machine can include a surface working member configured to work a work site surface as the construction machine traverses the work site surface, the work site surface including a perimeter, the perimeter including a plurality of boundary sides. The control system can include a controller. The controller can be configured to: receive work parameters associated with working the work site surface by the surface working member, the work parameters including a surface working member width, a minimum overlap distance, and a maximum overlap distance; generate an edge-to-edge work plan for the work site surface, the edge-to-edge work plan including a plurality of paths, each path having a travel centerline, wherein one of the plurality of paths includes a first outer edge defined by a first boundary side and another of the plurality of paths includes a second outer edge defined by a second boundary side; and initiate the construction machine to traverse the travel centerline of each of the plurality of paths. The plurality of paths can include: a first path including a first travel centerline; a second path including a second travel centerline and a second path overlap section that overlaps the first path, wherein a width of the second path overlap section varies along a length of the second path.

[0005] In another aspect of the disclosure, a method of controlling a construction machine is disclosed. The construction machine can include a surface working member configured to work a work site surface as the construction machine traverses the work site surface, the work site surface including a perimeter, the perimeter including a plurality of boundary sides. The method can include: receiving, by a controller in operable communication with the machine, work parameters associated with working the work site surface by the surface working member, the work parameters including a surface working member width, a minimum overlap distance, and a maximum overlap distance; generating an edge-to-edge work plan for the work site surface, the edge-to-edge work plan including a plurality of paths, each path having a travel centerline, wherein one of the plurality of paths includes a first outer edge defined by a first boundary side and another of the plurality of paths includes a second outer edge defined by a second boundary side; and initiating the construction machine to traverse the travel centerline of each of the plurality of paths. The plurality of paths can include: a first path including a first travel centerline; and a second path including a second travel centerline and a second path overlap section that overlaps the first path, wherein a width of the second path overlap section varies along a length of the second path.

[0006] In yet another aspect of the disclosure, a control system for a compactor is disclosed. The compactor can include a roller drum rotationally coupled to the compactor and configured to compact a work site surface as the compactor traverses the work site surface. The roller drum can also be configured to impart a vibratory force to the work site surface. The work site surface can include a perimeter including a plurality of boundary sides including a first boundary side, a second boundary side, and a remaining boundary side. The control system can include a controller configured to: receive compaction parameters associated with compaction of the work site surface, the compaction parameters including a roller drum width, a minimum overlap distance, a maximum overlap distance, a vibration of the roller drum, and / or a maximum vibration amplitude of the roller drum; generate an edge-to-edge compaction plan for the work site surface, the edge-to-edge compaction plan including a plurality of paths each having a travel centerline, wherein one of the plurality of paths includes a first outer edge defined by the first boundary side and another of the plurality of paths includes a second outer edge defined by the second boundary side; initiate the compactor to traverse the travel centerline of each of the plurality of paths; and selectively deactivate the vibration of the roller drum, wherein the vibration of the roller drum is in a deactivated state when the roller drum is disposed on a multiple overlap portion. The plurality of paths can include a first path including a first travel centerline; a second path including a second travel centerline and a second path overlap section overlapping the first path, wherein a width of the second path overlap section varies along a length of the second path; and a third path including a third travel centerline and a third path overlap section overlapping the second path, wherein the third path overlap section includes a multiple overlap portion overlapping the second path overlap section, wherein a width of the third path overlap section varies along a length of the third path. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a view of one example construction machine including a control system in accordance with the present disclosure;

[0008] Figure 2 is a schematic view of an example embodiment of a control system in accordance with the present disclosure;

[0009] Figure 3 is a flowchart of one example method of controlling a construction machine in accordance with an embodiment of the present disclosure;

[0010] Figure 4 is a schematic view of an example work site surface 102 and a portion of an edge-to-edge compaction plan in accordance with the present disclosure;

[0011] Figure 5is a schematic diagram of multiple overlapping portions on a job site surface;

[0012] Figure 6 is a schematic diagram of multiple overlapping portions on a job site surface;

[0013] Figure 7 is a schematic diagram of multiple overlapping portions on a job site surface with respect to activation / deactivation of vibration of a vibratory mechanism;

[0014] Figure 8 is a simplified schematic diagram showing a top view of an example construction machine of Figure 1

[0015] Figure 9 shows a top view of another example construction machine including a control system according to the present disclosure; and

[0016] Figure 10 shows a side view of a construction machine of Figure 9

[0017] Figure 11 shows a top view of yet another example construction machine including a control system according to the present disclosure. DETAILED DESCRIPTION

[0018] Reference will now be made in detail to specific implementations or features, examples of which are illustrated in the accompanying drawings. Generally, corresponding reference numbers will be used throughout the drawings and the specification to refer to the same or corresponding parts. In the following description, numerous specific details are discussed to provide a thorough understanding of the embodiments. However, it will be apparent to one of ordinary skill in the art that the embodiments can be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments.

[0019] Figure 1 ​​An exemplary embodiment of a construction machine 100 that can be controlled by the control system 200 of this disclosure is shown. The construction machine 100 includes one or more surface working components 106. In an exemplary embodiment, the construction machine 100 is shown as a compactor 100a. In an exemplary embodiment, the surface working component 106 is a first roller 106a and a second roller 106b. The exemplary compactor 100a can be used for, for example, road construction, highway construction, parking lot construction, and other such paving and / or construction applications. For example, such a compactor 100a can be used in situations where it is necessary to compress loose stones, gravel, soil, sand, concrete, and / or other materials on a work site surface 102 to a state of greater compaction and / or density. As the compactor 100a traverses the work site surface 102, the vibrational forces generated by the compactor 100a and transmitted to the work site surface 102, in conjunction with the weight of the compactor 100a, can compress such loose materials. The compactor 100a may pass over the work site surface 102 once or multiple times to provide the desired level of compaction. Although described above as configured to compact the primary soil-based material of the work site surface 102, in other instances, the compactor 100a may also be configured to compact newly deposited asphalt or other materials set on and / or associated with the work site surface 102. Although the exemplary construction machinery 100 described herein is the compactor 100a, the teachings of this disclosure can be used with other construction machinery 100 (e.g., pavers, bulldozers, etc.) traversing the work site surface 102, and such traversal includes a path 108 that includes overlapping sections.

[0020] like Figure 1 As shown, an exemplary compactor 100a may include a frame 104 and one or more rollers 106 rotatably connected to the frame 104. In an exemplary embodiment, the compactor 100a includes a first roller 106a and a second roller 106b. The first roller 106a and the second roller 106b may each include a generally cylindrical roller and / or other compaction elements of the compactor 100a, and the first roller 106a and the second roller 106b may each be configured to apply vibration and / or other forces to the work site surface 102 to assist in compacting the work site surface 102. Although in Figure 1The first and second roller drums 106a, 106b are shown as having a substantially smooth circumference or outer surface, but in other examples, the first and / or second roller drums 106a, 106b can include one or more tines, spikes, extensions, bosses, pads, and / or other ground engaging tools (not shown) extending from their outer surfaces. Such ground engaging tools can help break up at least some of the material associated with the work site surface 102 and / or can otherwise help compact the work site surface 102. The first and second roller drums 106a, 106b can be rotatably coupled to the frame 104 such that the first and second roller drums 106a, 106b can roll over the work site surface 102 as the compactor 100a traverses the work site surface 102.

[0021] The first roller drum 106a can have the same or different configuration as the second roller drum 106b. In some examples, the first and / or second roller drums 106a, 106b can be elongated hollow cylinders 146 having a cylindrical drum shell that encloses an interior volume. The first roller drum 106a can define a first central axis about which the first roller drum 106a can rotate, and similarly, the second roller drum 106b can define a second central axis about which the second roller drum 106b can rotate. To withstand rolling contact and compact loose material of the work site surface 102, the respective drum shells of the first and second roller drums 106a, 106b can be made of a thick, rigid material such as cast iron or steel.

[0022] The first roller drum 106a can include a first vibration mechanism 110, and the second roller drum 106b can include a second vibration mechanism 116. Although the first and second vibration mechanisms 110, 116 are shown as being located at the front of the compactor 100a, in other examples, the first and / or second vibration mechanisms 110, 116 can be located at other positions on the compactor 100a. For example, the first and / or second vibration mechanisms 110, 116 can be located at the rear of the compactor 100a, at the center of the compactor 100a, and / or at other positions on the compactor 100a. Figure 1The first roller drum 106a is shown with a first vibration mechanism 110 and the second roller drum 106b is shown with a second vibration mechanism 116, but in other embodiments, only one of the first roller drum 106a and the second roller drum 106b can include a respective vibration mechanism 110, 116. Such vibration mechanisms 110, 116 can be disposed inside the interior volume of the first roller drum 106a and the second roller drum 106b, respectively. According to exemplary embodiments, such vibration mechanisms 110, 116 can include one or more counterweights 113 or masses disposed off-center with respect to the respective central axis about which the first roller drum 106a and the second roller drum 106b rotate. The off-center or eccentric position of the masses is configured to induce oscillatory or vibrational forces to the first roller drum 106a and the second roller drum 106b when the first roller drum 106a and the second roller drum 106b are rotating, and such forces are transmitted to the work site surface 102. The counterweights 113 are positioned eccentrically with respect to the respective central axis about which the first roller drum 106 and the second roller drum 106b rotate, and such counterweights 113 are generally movable with respect to one another (e.g., about the respective central axes) to produce varying degrees of imbalance during rotation of the first roller drum 106a and the second roller drum 106b. The amplitude of the vibrations produced by such eccentric rotating counterweights 113 arrangements can be varied by modifying and / or otherwise controlling the position of the eccentric counterweights 113 with respect to one another, thereby varying the average distribution of mass (i.e., the center of mass) with respect to the axis of rotation of the counterweights 113. The amplitude of the vibrations in such a system increases as the center of mass moves further from the axis of rotation of the counterweights 113, and decreases toward zero as the center of mass moves toward the axis of rotation. Changing the rotational speed of the counterweights 113 about their common axis can change the frequency of the vibrations produced by such arrangements of rotating eccentric counterweights 113. In some applications, the eccentrically positioned counterweights 113 are arranged to rotate inside the first roller drum 106a and the second roller drum 106b independently of the rotation of the first roller drum 106a and the second roller drum 106b. The present disclosure is not limited to these embodiments described above. According to other alternative embodiments, the first vibration mechanism 110 and the second vibration mechanism 116 can be replaced by any other mechanism that varies the compaction effort of the first roller drum 106a or the second roller drum 106b. In particular, the amplitude portion of the compaction effort is modified by varying the distance of the eccentric counterweights 113 from the axis of rotation. The frequency portion of the compaction effort is modified by varying the speed of the eccentric counterweights 113 about the axis of rotation.

[0023] With continued reference to Figure 1The compactor 100 can also include an operator station 118. The operator station 118 can include a steering system 120 including a steering wheel, levers, and / or other controls (not shown) for steering and / or otherwise operating the compactor 100a. In such examples, the various components of the steering system 120 can be connected to one or more actuators, throttles of the compactor 100a, engines of the compactor 100a, brake assemblies, and / or other such components of the compactor 100a, and the steering system 120 can be used to adjust the speed, direction of travel, and / or other aspects of the compactor 100 during use.

[0024] The compactor 100a also includes a control system 200. Figure 2 An example control system 200 of the present disclosure is schematically illustrated. The control system 200 can be disposed on the compactor 100a Figure 1 ) and / or disposed away from the compactor 100a. The control system 200 Figure 2 ) includes a controller 130. The control system 200 can also include one or more sensors 112, 114, a user interface 122, and a position sensor 124. The control system 200 can also include a communication device 126. The control system 200 can also include a camera 128.

[0025] According to example embodiments, the sensor 112 Figure 1 ) can be located on the first roller drum 106 and / or the sensor 114 can be located on the second roller drum 106b. In alternative embodiments, multiple such sensors 112, 114 can be located on the first roller drum 106, the second roller drum 108, the frame 104, and / or other components of the compactor 100a.

[0026] As used herein, a work parameter can include: (a) an operating parameter of the surface working member(s) 106 (e.g., the first roller drum 106a and the second roller drum 106b) and / or (b) a characteristic of the work site surface 102 located proximate to the respective surface working member(s) 106 and / or along a path 108 of the construction machine 100 on the work site surface 102, each operating parameter and each characteristic of the work site surface 102 being a work parameter. Operating parameters can include a minimum overlap distance, a maximum overlap distance, a number of static passes, a surface working member width D (e.g., a roller drum width, a blade width, a broom width), a machine propulsion speed, and / or the like.

[0027] When the construction machine 100 is a compactor 100a and the surface working member 106 is a roller drum 106a / b, the surface working member width D is the width of the roller drum 106a / b, and the operating parameters can further include a vibration amplitude, a vibration frequency, a maximum vibration amplitude of the surface working member 106 (roller drum 106a / b). As used herein, the roller drum width D refers to the lateral distance between the left outermost edge and the right outermost edge of the cylinder 146 (roller drum 106). In embodiments utilizing a compactor 100a, the operating parameters can also be referred to as compaction parameters. Figure 8

[0028] When the construction machine 100 is a track-type tractor 100b Figures 9-10 ) or a bulldozer (not shown) and the surface working member 106 is a blade 106t, the surface working member width D can be the width of the blade 106t, and the operating parameters can further include a blade tilt (angle Θ) relative to a horizontal plane H perpendicular to the direction of travel of the construction machine 100, a blade pitch, a maximum cut depth P of each pass of the blade 106t on the work site surface 102 Figure 10 ), and / or an absolute maximum cut depth M of the blade 106t as determined based on a target height of the work site surface 102. As known in the art, the blade pitch controls the angle at which the blade 106t is set relative to the work site surface 102 when viewed from one side.

[0029] When the machine 100 is a compact track loader 100c Figure 10 ) or a skid steer loader (not shown) and the surface working member 106 is a power broom 106r attachment, the surface working member width D can be the width of the broom 106r, and the operating parameters can further include a power state (on / off or high / medium / low / off) of the broom 106r and / or a broom tilt (angle Θ) measured from a horizontal plane H perpendicular to the direction of travel of the construction machine 100. As used herein, the broom width D refers to the longitudinal length of the broom 106r.

[0030] ​The minimum overlap distance is the minimum distance (ten centimeters, one hundred centimeters, etc.) that a given path 108 must overlap with a directly adjacent path 108, as measured in a direction oriented perpendicular to the travel centerline C of the given path 108. In some embodiments, the minimum overlap distance may be zero. When the minimum overlap distance is set to zero, the directly adjacent paths 108 are edge-to-edge. The maximum overlap distance (e.g., one meter) is the maximum distance that a given path 108 can overlap with a directly adjacent path 108, as measured in a direction oriented perpendicular to the travel centerline C of the given path 108. In some embodiments where the minimum overlap is zero, the maximum overlap distance may also be zero. The maximum overlap distance may be greater than or equal to the minimum overlap distance and less than or equal to the width D of the surface working member (e.g., the width D of a roller). As used herein, the term static means rolling without vibration. The characteristics of the work area surface 102 may include density, stiffness, and / or compaction. Any one or more of the work parameters may be retrieved by the controller 130 from the memory component 132.

[0031] User interface 122 communicates with controller 130 and is configured to control various functions of compactor 100. User interface 122 may include display 123. Display 123 may be an analog, digital, and / or touchscreen display. User interface 122 may be configured to receive and display, for example, path 108 of this disclosure (… Figures 4-7 The user interface 122 may be configured to receive and display at least a portion of the edge-to-edge compaction plan 107 and / or at least a portion of the edge-to-edge operation plan 107 (e.g., compaction plan). The user interface 122 may also be configured to receive and display information indicating the location where vibration is deactivated (e.g., in the multiple overlapping portions 144) and / or the location where vibration is activated in the displayed edge-to-edge compaction plan 107 or a portion thereof. The user interface 122 may also support other joint functions, including, for example, sharing various operational data with one or more other machines (not shown) that operate in harmony with the compactor 100a and / or a remote server or other electronic device. The user interface 122 may be located on the compactor 100a or remotely (e.g., a mobile phone, tablet, computer, remote operator station, etc.).

[0032] The user interface 122 can be configured to receive and transmit to the controller 130 user inputs including one or more desired job parameters (in the exemplary embodiment, desired compaction parameters), which can include desired operating parameters and / or desired characteristics of the job site surface 102. The desired operating parameters can include a desired minimum overlap distance, a desired maximum overlap distance, a desired number of static passes, and / or a desired mechanical advance speed. When the construction machine 100 is a compactor 100a and the surface working member 106 is a roller drum 106a / b, the desired operating parameters can further include a vibration amplitude, a vibration frequency, and / or a maximum vibration amplitude of the surface working member 106 (roller drum 106a / b). When the construction machine 100 is a track-type tractor 100b or a bulldozer and the surface working member 106 is a blade 106t, the desired operating parameters can further include a desired blade inclination (angle Θ) relative to a horizontal plane H perpendicular to a direction of travel of the construction machine 100, a desired blade pitch, a desired maximum cut depth P of the blade 106t for each pass over the job site surface 102, and / or an absolute maximum cut depth M of the blade 106t as determined based on a target height of the job site surface 102. When the machine 100 is a compact track loader 100c or a skid steer loader and the surface working member 106 is a power broom 106r attachment, the desired operating parameters can further include a desired power state (on / off or high / medium / low / off) of the broom 106r and / or a desired broom inclination (angle Θ) measured from a horizontal plane H perpendicular to a direction of travel of the construction machine 100. The desired characteristics of the job site surface 102 can include a desired density, a desired stiffness, and / or a desired degree of compaction. Alternatively, the controller 130 can retrieve one or more of the desired job parameters from the memory component 132. The user interface 122 can also receive as user inputs a travel orientation direction T and a starting point, and transmit the travel orientation direction T and the starting point to the controller 130.

[0033] The sensors 112, 114 can be configured to measure, sense, and / or otherwise determine one or more actual work parameters. The sensors 112, 114 are in operable communication with the controller 130 and can be configured to provide one or more actual work parameters to the controller 130. For example, in the exemplary embodiment in which the work machine 100 is a compactor 100a, the sensor 112 coupled to the first roller drum 106a can be configured to measure, sense, and / or otherwise determine actual operating parameters of the first roller drum 106a including actual amplitude of vibration of the roller drum 106a, actual frequency of vibration, actual speed of an eccentric weight 113 of the vibration mechanism 110 associated with the first roller drum 106a, actual distance of such eccentric weight 113 from the axis of rotation, actual speed of rotation of the first roller drum 106a, and / or machine propulsion speed, among others. The sensor 114 coupled to the second roller drum 106b can be configured to measure, sense, and / or otherwise determine actual operating parameters of the second roller drum 106b including actual amplitude of vibration of the roller drum 106b, actual frequency of vibration, actual speed of an eccentric weight 113 of the vibration mechanism 116 associated with the second roller drum 106b, actual distance of such eccentric weight 113 from the axis of rotation, machine propulsion speed, and / or actual speed of rotation of the second roller drum 106b, among others. When the work machine 100 is a track-type tractor 100b or a bulldozer, and the surface working member 106 is a blade 106t, similar or other sensors can be configured to measure, sense, and / or otherwise determine one or more actual work parameters including blade tilt (angle Θ), blade pitch, maximum cut depth P for each pass of the blade 106t over the work site surface 102, and / or absolute maximum cut depth M of the blade 106t. When the machine 100 is a compact track loader 100c or a skid steer loader and the surface working member 106 is a power broom 106r attachment, similar or other sensors can be configured to measure, sense, and / or otherwise determine one or more actual work parameters including power state (on / off or high / medium / low / off) of the broom 106r and / or broom tilt (angle Θ).

[0034] The sensors 112, 114 can also measure, sense, and / or otherwise determine actual characteristics of the work site surface 102. Such characteristics of the work site surface 102 can include actual density, actual stiffness, and / or actual degree of compaction, and can be measured, sensed, or determined by the sensors 112, 114 based on the composition, dryness, and / or other characteristics of the material being compacted. Such characteristics of the work site surface 102 can also be determined based on actual operating parameters of the surface working member 106.

[0035] A position sensor 124 can be provided on the compactor 100a. In one example embodiment, the position sensor 124 can be coupled to the operator station 118 top plate and / or one or more other locations on the frame 104. The position sensor 124 can be configured to determine the position of the compactor 100a and can include one or more components of a global navigation satellite system (GNSS). For example, in one example embodiment, the position sensor 124 can include a GNSS receiver, transmitter, transceiver, or other such device and, as is known in the art, the position sensor 124 can communicate with one or more GNSS satellites 202 to continuously, substantially continuously, or at various time intervals determine the position of the compactor 100a. In other embodiments, other positioning methods (e.g., ranging radios, perception-based positioning, pseudolites, total stations, etc.) can be utilized.

[0036] In embodiments, the position sensor 124 can be configured to determine the position of the compactor 100 as the compactor 100 traverses a perimeter 136 of the work site surface 102, a path(s) 108 inside the perimeter 136 of the work site surface 102, or a perimeter of a keep-out zone (not shown) that can be substantially within the perimeter 136 of the work site surface 102. Such a keep-out zone can include areas and / or locations of the work site surface 102 that the compactor 100a can be prohibited from entering during a compaction operation. For example, such a keep-out zone can include a ditch, a trench, a body of water, a manhole, an electrical connection, a forested area, and / or any other area that can not require compaction.

[0037] As Figure 2As shown in FIG. 1, the position sensor 124 can be in operable communication with one or more satellites 202 or other GNSS components configured to assist the position sensor 124 in determining the position of the compactor 100. In some embodiments, the control system 200 can also include such satellites 202 or other GNSS components. In any of the examples described herein, the position sensor 124, alone or in combination with the satellites 202, can be configured to provide signals including information indicative of the position of the perimeter 136 of the job site surface 102, the position of the perimeter of the avoidance zone, the position of the compactor 100, and / or other information to the controller 130. Such information can include GNSS coordinates for each point along such perimeter and / or each point along the path 108 of the compactor 100. Such information can be determined substantially continuously during movement of the compactor 100. Alternatively, such information can be determined at regular time intervals (milliseconds, seconds, two seconds, five seconds, ten seconds, etc.) as the compactor 100a travels. Further, any such information can be stored in a memory component 132 associated with the controller 130 and retrieved therefrom by the controller 130. Such memory component 132 can be disposed on the compactor 100a and / or can be located in the cloud, on a server, and / or on any other electronic device located remotely from the compactor 100. It should be appreciated that in some embodiments, information indicative of the position of the perimeter 136 of the job site surface 102, the position of the perimeter of the avoidance zone, and / or other information can be pre-loaded within the memory component 132 and can be obtained from one or more professional surveys, topographical maps, and / or other prior analyses of the job site surface 102. In such embodiments, it can not be necessary to traverse the perimeter 136 of the job site surface 102 and / or the perimeter of the avoidance zone to determine such information.

[0038] The communication device 126 is in operable communication with the controller 130 and can be configured to enable the controller 130 to communicate with one or more other machines via the network 206, and / or with one or more computing devices 204 (e.g., servers, processors, or systems) or user interfaces 122 located at the job site and / or located remotely from the job site at which the compactor 100a is being used. In one embodiment, the communication device 126 can include a receiver / transmitter configured to receive / send various electronic signals including position data, navigation commands, real-time information, project-specific information, actual / desired job parameters, and / or other data.

[0039] The camera 128 can be disposed on the compactor 100a or remotely from the compactor 100a. In some embodiments, the camera 128 can include a digital camera configured to record and / or transmit digital video of the work site surface 102 and / or other portions of the work site 102 to the controller 130 in real time. In other embodiments, the camera 128 can include an infrared sensor, thermal imager, or other similar device configured to record and / or transmit thermal images of the work site surface 102 in real time. In some instances, the compactor 100 can include more than one camera 128 (e.g., a camera 128 at a front of the compactor 100a and a camera 128 at a rear of the compactor 100a).

[0040] The controller 130 can be in operable communication with the sensors 112, 114, the vibration mechanisms 110, 116, the steering system 120, the user interface 122, the position sensor 124, the communication device 126, the camera 128, the computing device 204, and / or other components of the compactor 100a.

[0041] The controller 130 can be configured to receive / retrieve one or more desired work parameters (e.g., desired compaction parameters) from the user interface 122 and / or the memory component 132 and one or more actual work parameters (e.g., surface working member width D) from the sensors 112, 114, etc., and / or the memory component 132.

[0042] The controller 130 can be configured to receive a position of the compactor 100a. For example, the controller 130 can be configured to receive a position of the compactor 100 as the compactor 100 traverses a perimeter 136 of the work site surface 102, a path(s) 108 inside the perimeter 136 of the work site surface 102, or a perimeter of a setback zone (not shown) that can be substantially within the perimeter 136 of the work site surface 102.

[0043] The controller 130 can receive an electronic boundary E of activation or determine such a boundary from information received from the user interface 122, the memory component 132, or other computing devices. The controller 130 can be configured to receive a position of the compactor 100a outside of the work site surface 102 and determine whether the compactor 100a is within the electronic boundary.

[0044] The controller 130 can be configured to receive digital video of the work site surface 102 and / or other portions of the work site 102 from the camera 128 in real time to the controller 130.

[0045] The controller 130 can include a processor 134 and a memory component 132. The processor 134 can be a microcontroller, a digital signal processor (DSP), an electronic control module (ECM), an electronic control unit (ECU), a microprocessor, or any other suitable processor 134 known in the art. The processor 134 can execute instructions and generate control signals for determining a work area of the work site surface 102, a starting point, a travel direction orientation T, a maximum width Wmax of the work site surface 102, and a number of paths 108, as well as a travel centerline C, and for generating an edge-to-edge work plan 107 (e.g., a compaction plan) and initiating the construction machine 100 to traverse the work site 102 according to the edge-to-edge work plan 107 (e.g., a compaction plan). Such instructions can be read into or incorporated in a computer readable medium, such as the memory component 132, or disposed outside of the processor 134. In alternative embodiments, hardwired circuitry can be used in place of or in combination with software instructions to implement the control method.

[0046] The controller 130 can be configured to transmit steering instructions for autonomous / semi-autonomous control of the construction machine 100, braking instructions for autonomous / semi-autonomous control of the construction machine 100, and / or other operating parameters of the construction machine 100 (e.g., the compactor 100a). When the construction machine 100 is the compactor 100a and the surface working member 106 is the roller drums 106a / b, the controller 130 can be configured to control the vibration mechanisms 110, 116 to modify at least one of a vibration frequency of the respective first and / or second roller drum 106a, b and a vibration amplitude of the respective first and second roller drums 106a, b based on a desired or actual working parameter when the compactor 100a traverses the path 108. The controller 130 can be configured to selectively deactivate and / or activate the vibration mechanisms 110, 116. More specifically, the controller 130 is configured to selectively deactivate the vibration of the vibration mechanisms 110, 116 of the roller drums 106, where the vibration is deactivated in the multiple overlapping sections 144, and selectively (re)activate the vibration of the vibration mechanisms 110, 116 of the roller drums 106. In embodiments, the controller 130 can be further configured to gradually decrease the vibration of the vibration mechanisms 110, 116 of the roller drums 106 to “no vibration” before or as the multiple overlapping sections 144 are entered, and gradually increase the vibration of the vibration mechanisms 110, 116 of the roller drums 106 before or as the multiple overlapping sections 144 are exited. In some embodiments, the controller 130 can ramp down / ramp up the vibration to make a gradual transition before the compactor 100a enters / exits the multiple overlapping sections 144. When the construction machine 100 is the caterpillar tractor 100b or the bulldozer and the surface working member 106 is the blade 106t, the controller 130 can be configured to modify the blade tilt, the blade pitch, the maximum cut depth P of each pass of the blade 106t on the working site surface 102, and / or the maximum cut depth M of the blade 106t. When the machine 100 is the compact track loader 100c or the skid steer loader and the surface working member 106 is the power sweeper 106r attachment, the controller 130 can be configured to modify the power state (on / off or high / medium / low / off) of the sweeper 106r and / or the sweeper tilt.

[0047] The term "computer readable medium" as used herein refers to any non-transitory medium or combination of media that participate in providing instructions to processors 134 for execution. Such a medium can take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Common forms of computer-readable media include, for example, floppy diskettes, flexible disks, hard disks, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, any other computer- readable medium, etc. The computer-readable medium can be non- transitory.

[0048] The controller 130 is not limited to one processor 134 and memory component 132. The controller 130 can include several processors 134 and memory components 132. In an embodiment, the processor 134 can be a parallel processor capable of accessing the shared memory component(s) 132. In another embodiment, the processor 134 can be part of a distributed computing system, where the processor 134 (and its associated memory component 132) can be located remotely from one or more other processors 134 (and associated memory components 132) that are part of the distributed computing system. The controller 130 can also be configured to retrieve data required for the actions discussed herein from the memory component 132.

[0049] A method of controlling a construction machine 100 is also disclosed, the construction machine including a surface working member 106 configured to work a work site surface 102 as the construction machine 100 traverses the work site surface 102, the work site surface 102 including a perimeter 136 including a plurality of boundary sides 138. The method can include receiving, by a controller 130 in operable communication with the construction machine 100, work parameters associated with working the work site surface 102 by the surface working member 106, the work parameters including a surface working member width D, a minimum overlap distance, and a maximum overlap distance. The method can also include generating an edge-to-edge work plan 107 for the work site surface 102, the edge-to-edge work plan 107 including a plurality of paths 108 each having a travel centerline C, wherein one of the plurality of paths 108 includes a first outer edge 140a defined by a first boundary side 138a and another of the plurality of paths 108 includes a second outer edge 140b defined by a second boundary side 138b. The plurality of paths 108 can include a first path 108 including a first travel centerline C, a second path 108 including a second travel centerline C and a second path overlap section 142 overlapping the first path 108, wherein a width of the second path overlap section 142 varies along a length of the second path 108, and a third path 108 including a third travel centerline C and a third path overlap section 142 overlapping the second path 108, wherein the third path overlap section 142 includes a multiple overlap portion 144 overlapping the second path overlap section 142, wherein a width of the third path overlap section 142 varies along a length of the third path 108. The method can also include initiating the construction machine 100a to traverse the travel centerline C of each of the plurality of paths 108.

[0050] Industrial applicability

[0051] In Figure 3In some embodiments, an exemplary flowchart is shown that illustrates sample blocks that can be followed in a method 300 of controlling a construction machine 100 including a surface working member 106 using a control system 200. For purposes of illustration, the construction machine 100 is a compactor 100a, the surface working member 106 is a roller drum 106a, and the generated edge-to-edge work plan 107 is an edge-to-edge compaction plan. In other embodiments, construction machines 100 other than a compactor 100a can be used, and the edge-to-edge work plan 107 can be different than an edge-to-edge compaction plan. The order of the blocks of the exemplary flowchart is not intended to be limiting, and any number of the described blocks can be combined in any order and / or in parallel to implement the method 300, unless explicitly indicated.

[0052] Block 302 includes receiving, by the controller 130, one or more desired work parameters associated with work by the surface working member 106 on the work site surface 102. In the exemplary embodiment, the work site surface 102 is a shape other than a rectangle. Because the construction machine 100 is a compactor 100a in this exemplary embodiment, the desired work parameters are desired compaction parameters associated with compacting the work site surface 102 by the roller drum(s) 106. The desired compaction parameters can include a roller drum width D, a minimum overlap distance and a maximum overlap distance, one or more desired vibration amplitude settings for the roller drum 106, a maximum vibration amplitude for the roller drum 106, and / or a desired number of static passes. The desired compaction parameters can also include a desired stiffness, a desired density, and / or a desired degree of compaction of the work site surface 102 and / or other requirements.

[0053] At block 302, the controller 130 can receive such desired compaction parameters via the user interface 122 and / or one or more servers, processors, computing devices 204, and / or other components of the control system 200. In some embodiments, such desired compaction parameters can be pre-loaded within a memory component 132 in communication with the controller 130, and received by the controller 130 from such memory component 132. In other embodiments, the compaction parameters can be received by the controller 130 in other manners.

[0054] Block 304 includes determining a work area A of the work site surface 102 (e.g., a compaction area defined by the perimeter 136 of the work site surface 102 minus any exclusion zones inside the perimeter 136). The work area A of the work site surface 102 can be defined using various methods known in the art. For example, in one embodiment, the compactor 100a can be used to set the work area perimeter 136 (boundary) and set the boundaries of any exclusion zones. In such instances, the controller 130 can receive information from at least one of the sensors 114, 116, 124 of the compactor 100a and / or the memory component 132, and / or can receive information from one or more remote servers, processors, computing devices 204, electronic devices 208, and / or other components of the control system 200 to determine the work area A perimeter 136 boundary and / or the boundaries of the exclusion zones. For example, the position sensor 124 and / or other components of the control system 200 can determine the position of the compactor 100a on the work site surface 102 substantially continuously or at predetermined time intervals (e.g., every millisecond, every second, every two seconds, every five seconds, etc.). In this example, the position sensor 124 and / or other components of the control system 200 can be configured to generate one or more signals including information indicative of the position of the compactor 100a, and can provide these signals to the controller 130. Accordingly, the controller 130 can receive one or more signals from the position sensor 124 and / or other components of the control system 200, and these signals can include GNSS coordinates (e.g., latitude and longitude coordinates), map information, and / or other information determined by the position sensor 124 and indicative of the position of the compactor 100a. Such signals can also include timestamp information indicative of the time instance (e.g., hour, minute, second, millisecond, etc.) at which the position information or other information included in the signal was determined. The operator can drive the compactor 100a along the perimeter 136 of the work site surface 102. Such example work site surfaces 102 are shown in FIGS. 1-3. In some embodiments, the work site surface 102 can also include one or more exclusion zones (not shown) as described above. The controller 130 can receive information from the position sensor 124 indicative of the position of the perimeter 136 of the work site surface 102 based at least in part on the compactor 100 traversing the perimeter 136 of the work site surface 102. In such instances, the operator can drive the compactor 100a along the perimeter 136 of the work site surface 102 from an operator station 118 located on the compactor 100a, or, alternatively, from a remote location using a remote user interface 122 in communication with the compactor 100a. Figure 4

[0055] Although Figure 4 ​The perimeter 136 of the job site surface 102 can include one or more boundary sides 138. In one embodiment, the travel direction orientation T can be determined based on the length of the boundary sides 138 or based on the longest boundary side 138 of the perimeter 136 of the job site surface 102. In another embodiment, the travel direction orientation T can be determined based on the slope of the job site surface 102. In still another embodiment, the travel direction orientation T can be determined based on user input received from the user interface 122 in communication with the controller 130. In still another embodiment, the travel direction orientation T can be determined based on a combination of the length of the boundary sides 138, the slope of the job site surface 102, and user input received from the user interface 122 in communication with the controller 130.

[0056] Additionally or alternatively, information indicative of the location of the perimeter 136 of the job site surface 102 and / or the perimeter of the setback zone can be obtained from one or more professional surveys, topographical maps, and / or other prior analyses of the job site surface 102, and such information can be pre-loaded within the memory component 132 in communication with the controller 130. For example, prior analyses of the job site 102 can be generated from position and location data collected by another machine performing a preparatory operation on the job site surface 102 prior to compaction, such as an automatic grader or a rotary mixer. In these instances, the perimeter 136 of the job site surface 102 and / or the perimeter of the setback zone can be calculated or otherwise determined from the path taken by the preparatory machine. In any of the above-described instances, such information can be obtained from the memory component 132 and / or otherwise received by the controller 130.

[0057] Block 306 includes determining, by the controller 130, a starting point B and a travel direction orientation T of the compactor 100a across the job site surface 102 based on the length of the boundary side 138 of the perimeter 136, the slope of the job site surface 102, or user input received from the user interface 122 in communication with the controller 130. The perimeter 136 of the job site surface 102 can include a plurality of boundary sides 138. In one embodiment, the travel direction orientation T can be determined based on the length of the boundary sides 138 or based on the longest boundary side 138 of the perimeter 136 of the job site surface 102. In Figure 4In this embodiment, the first boundary side 138a and the second boundary side 138b have the same length, and the first and second boundary sides can be considered the longest boundary sides 138 when compared with the other remaining boundary sides 138(cd) (not the first / second boundary sides 138(ab)) among the plurality of boundary sides 138 constituting the perimeter 136. In this case, the direction of travel T of the compactor 100a across the work site surface 102 can be determined by the controller 130 based on the longest boundary side 138, which is either the first boundary side 138a or the second boundary side 138b. Figure 4 As shown, the direction of travel T does not mean that all passage must proceed from left to right on the exemplary work site surface 102, but rather, by (in this embodiment) in Figure 4 The direction is lateral rather than vertical. In other embodiments, the direction of travel T can be determined based on the terrain slope of the work site surface 102, which can be based on one or more professional surveys, topographic maps, and / or other analyses of the work site surface 102. In other embodiments, the direction of travel T can be retrieved by the controller 130 from a memory component 132 in communication with the controller 130 or received from a user interface 122. For example, as part of block 306, the controller 130 can display the determined direction of travel T and the starting point B on the user interface 122. Users can override the determined direction of travel T and / or the starting point by inputting a desired starting point B or a desired direction of travel T into the user interface 122 in communication with the controller 130.

[0058] In box 308, controller 130 can receive an activated electronic boundary E (if any) to keep compactor 100a within a defined area. A portion of the electronic boundary E within the defined area may be identical to a portion of the perimeter 136 of the work area surface 102, or multiple electronic boundaries E may each be separated from the perimeter 136 of the work area surface 102 by a buffer distance (e.g., ...). Figure 4 (As shown in the diagram). Such an initiated electronic boundary E can be received from the user via user interface 122, or it can be automatically determined by controller 130 based on a default buffer distance, a calculated buffer distance, or a buffer distance input by the user into user interface 122. In any of the above examples, such information can be obtained from memory unit 132 and / or otherwise received by controller 130. The determination of such electronic boundary E is known in the art and will not be discussed further herein. Controller 130 uses data received from sensors 114, 116, 124 to automatically stop the compactor 100a from traveling outside the electronic boundary E.

[0059] Block 310 includes determining, by the controller 130, a maximum width (Wmax) of the work site surface 102 based on the travel direction orientation T. The maximum Wmax width is a portion of the work site surface 102 having a longest diameter extending in a direction transverse to the travel direction orientation T. For example, as seen in Figure 4 FIG. 6, the maximum width Wmax of the work site surface 102 having the longest diameter extends in a direction transverse to the travel direction orientation T. In the embodiment in Figure 4 FIG. 6, the right and left boundary sides 138 (a, b) have the same length, and thus the length of either can be the maximum width Wmax.

[0060] Block 312 includes determining, by the controller 130, a number P of paths required for the edge-to-edge work plan 107 (in this case, the edge-to-edge compaction plan 107). As used herein, the term “edge-to-edge” in the context of a work plan or compaction plan means that the work / compaction plan provides complete coverage of the work site surface 102 (excluding the keep-out zone). The edge-to-edge compaction plan 107 includes a plurality of paths 108 oriented across the work site surface 102. Figure 4 Two exemplary paths 108 in the present example are shown.

[0061] Each of the plurality of paths 108 has a travel centerline C. In Figure 4 FIG. 6, there are four paths 108 in total. The travel centerline C of each is shown in Figure 4 FIG. 6. The travel centerline C is the “line” at the center of which the compactor 100a is located as it traverses the work site surface 102. One of the plurality of paths 108 includes a first outer edge 140a defined by a first boundary side 138a of the work site surface 102, and another of the plurality of paths 108 includes a second outer edge 140b defined by a second boundary side 138b, where at least one or both of the first and second boundary sides 138a, 138b are longer than the remaining boundary sides 138c, 138d of the plurality of boundary sides 138 making up the perimeter 136. In embodiments, the second boundary side 138b can be disposed opposite the first boundary side 138a.

[0062] In Figure 4In particular, one of the plurality of paths 108 that includes a first outer edge 140a defined by the first border side 138a is a first border path 109a, and another of the plurality of paths 108 that includes a second outer edge 140b defined by the second border side 138b is a second border path 109b. The travel centerline C of the first border path 109a is disposed at one-half of the roller drum width D from the first border side 138a, and the travel centerline C of the second border path 109b is disposed at one-half of the roller drum width D from the second border side 138b. Each of the plurality of paths 108 disposed between the first border path 109a and the second border path 109b is an interior path 111 (as best seen in Figure 5-6 In particular, one of the plurality of paths 108 that includes a first outer edge 140a defined by the first border side 138a is a first border path 109a, and another of the plurality of paths 108 that includes a second outer edge 140b defined by the second border side 138b is a second border path 109b. The travel centerline C of the first border path 109a is disposed at one-half of the roller drum width D from the first border side 138a, and the travel centerline C of the second border path 109b is disposed at one-half of the roller drum width D from the second border side 138b. Each of the plurality of paths 108 disposed between the first border path 109a and the second border path 109b is an interior path 111 (as best seen in Figure 4 In particular, one of the plurality of paths 108 that includes a first outer edge 140a defined by the first border side 138a is a first border path 109a, and another of the plurality of paths 108 that includes a second outer edge 140b defined by the second border side 138b is a second border path 109b. The travel centerline C of the first border path 109a is disposed at one-half of the roller drum width D from the first border side 138a, and the travel centerline C of the second border path 109b is disposed at one-half of the roller drum width D from the second border side 138b. Each of the plurality of paths 108 disposed between the first border path 109a and the second border path 109b is an interior path 111 (as best seen in Figure 5-6 In particular, one of the plurality of paths 108 that includes a first outer edge 140a defined by the first border side 138a is a first border path 109a, and another of the plurality of paths 108 that includes a second outer edge 140b defined by the second border side 138b is a second border path 109b. The travel centerline C of the first border path 109a is disposed at one-half of the roller drum width D from the first border side 138a, and the travel centerline C of the second border path 109b is disposed at one-half of the roller drum width D from the second border side 138b. Each of the plurality of paths 108 disposed between the first border path 109a and the second border path 109b is an interior path 111 (as best seen in

[0063] In one embodiment, the controller 130 can determine the number of paths 108, P, using Equation 1 below. In other embodiments, other equations / methods can be used.

[0064] [Equation 1]

[0065] where

[0066] P is rounded up to the nearest integer,

[0067] Wmax = the maximum width of the work site surface 102,

[0068] L = the minimum overlap distance

[0069] D = the surface working member width (e.g., roller drum width).

[0070] Block 314 includes determining, by the controller 130, the position of each travel centerline C of each of the interior paths 111, where the position of the travel centerline C of an adjacent interior path 111 is offset by a distance S from the travel centerline C of the adjacent interior path 111 (see Figures 4-6 , Figure 4 shows the travel centerlines of all paths, Figure 5 shows one interior path 111, and Figure 6 shows two interior paths 111), and the travel centerline C of an interior path 111 adjacent to each border path 109 is offset from the travel centerline C of the adjacent border path 109 by S. In embodiments, S can be determined by Equation 2:

[0071] [Equation 2]

[0072] wherein

[0073] W = a width of the work site area 102, the width being oriented transverse to the direction of travel,

[0074] D = a surface work member width (e.g., a roller drum width),

[0075] P = a number of paths 108 in the plurality of paths 108.

[0076] Block 316 includes generating an edge-to-edge compaction plan 107 based on the results of blocks 302-314. The edge-to-edge compaction plan 107 includes a plurality of paths 108. In the example of FIG. 1, Figures 4-6 across the work site surface 102, the plurality of paths 108 includes a boundary path 109a (see Figure 4 ) that includes a travel centerline C; a boundary path 109b that includes a travel centerline C (see Figure 4 ); an interior path 111a (see Figure 5 and Figure 6 ) that includes a travel centerline C (shown for clarity as Figure 4 ); and an interior path 111b (see Figure 6 ) that includes a travel centerline C (shown for clarity as Figure 4 ). As shown in Figure 5 , the interior path 111a includes an overlap section 142a that overlaps the boundary path 109a and another overlap section 142a that overlaps the boundary path 109b. As can be seen, the width of the respective overlap sections 142a varies along the length of the interior path 111a as the compactor 100a traverses such an interior path 111a.

[0077] Turning now to Figure 6 , the other interior path 111b also includes an overlap section 142b that overlaps a portion of the interior path 111a, a portion of the boundary path 109a, and a portion of the boundary path 109b. The width of the overlap section 142b varies along the length of the interior path 111b as the machine traverses the interior path 111b. The overlap section 142b includes a portion that overlaps a portion of the overlap section 142a (with Figure 5The multiple overlap portions 144a, 144b can be double or more overlap compaction overlaps. Block 316 can also include displaying the edge-to-edge job plan 107 on the user interface 122 (in this case, the edge-to-edge compaction plan 107).

[0078] Block 318 includes initiating, by the controller 130, travel of the compactor 100a along the centerline of travel C of each of the plurality of paths 108 of the edge-to-edge compaction plan, where the compactor 100a traverses the job site surface 102 according to the edge-to-edge compaction plan.

[0079] Turning now to Figure 7 Block 320 includes selectively deactivating, by the controller 130, the vibration of the roller drum 106 such that the vibration of the roller drum 106 is in a deactivated state when the roller drum 106 is disposed on the multiple overlap portions 144a, 144b, and (re)activating, by the controller 130, the vibration of the roller drum 106 such that the vibration of the roller drum 106 is in an activated state when the roller drum 106 is disposed outside of the multiple overlap portions 144a, 144b. For Figure 7 For the exemplary embodiment of FIG. 1, the multiple overlap portions 144a, 144b occur after traversing the boundary paths 109a, 109b and the inner path 111a when the compactor traverses the inner path 111b. The controller 130 will still traverse the entire inner path 111b, but the vibration mechanisms 110, 112 will be deactivated when the roller drum 106 is disposed on the multiple overlap portions 144a, 144b and activated when the roller drum 106 is disposed outside of the multiple overlap portions 144a, 144b. Alternatively, in some embodiments, the controller 130 can ramp down / ramp up the vibration of the roller drum 106 prior to the compactor 100a entering / leaving the multiple overlap portions 144a, 144b to achieve a more gradual transition from vibration / vibration activated to no vibration (no vibration / vibration deactivated) or from no vibration (no vibration / vibration deactivated) to vibration / vibration activated. Block 320 can also include displaying on the user interface 122 the one or more overlap sections 142 and / or the one or more multiple overlap portions 144 of the edge-to-edge compaction plan and displaying information indicating where vibration is deactivated (e.g., in the multiple overlap portions 144) and / or where vibration is activated in the displayed edge-to-edge compaction plan 107 or portion of the displayed edge-to-edge compaction plan 107.

[0080] In general, the foregoing disclosure finds application in a variety of applications related to control of construction machines 100 and compactor machines 100a. More specifically, the disclosed control system 200 and method can be used to plan, generate, and initiate execution of edge-to-edge job plans 107 (e.g., compaction plans) that allow paths 108 of construction machines 100 (e.g., compactor machines 100a) to substantially cover or completely cover a job site surface 102 to be worked (e.g., compacted) and avoid overworking (overcompacting) certain portions of the job site surface 102. The edge-to-edge job plans 107 generated for a job site surface 102 allow each path 108 to have a different amount of overlap on adjacent paths 108 (if needed) and allow such overlap distances to vary (not a fixed overlap distance) along each path 108 as needed. Further, overworking (compaction) of multiple overlap portions 144 can be avoided, for example, by deactivating the vibration mechanisms 110, 112 of the surface working members 106 (roller drums 106) so that the vibration of the surface working members 106 (roller drums 106) is deactivated when the surface working members 106 (roller drums 106) are disposed on the multiple overlap portions 144 and then reactivating the vibration of the surface working members 106 (roller drums 106) so that the vibration of the surface working members 106 (roller drums 106) is activated when the surface working members 106 (roller drums 106) are outside of the multiple overlap portions 144.

[0081] From the foregoing, it will be appreciated that, although certain embodiments have been described herein for purposes of illustration, various changes and modifications will be apparent to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of the disclosure and appended claims.

Claims

1. A control system (200) for construction machinery (100), the construction machinery including a surface working component (106) configured to perform work on a work site surface (102) when the construction machinery (100) traverses a work site surface (102), the work site surface (102) including a perimeter (136) including a plurality of boundary sides (138), the control system (200) including: Controller (130), the controller is configured to: Receive operation parameters associated with the operation performed by the surface operation member (106) on the work site surface (102), the operation parameters including the surface operation member width (D), minimum overlap distance and maximum overlap distance; An edge-to-edge operation plan (107) is generated for the work site surface (102), the edge-to-edge operation plan (107) including a plurality of paths (108), each path having a travel centerline (C), wherein one of the plurality of paths (108) includes a first outer edge (140a) defined by a first boundary side (138), and another of the plurality of paths (108) includes a second outer edge (140b) defined by a second boundary side (138). The plurality of paths (108) includes: A first path (108) includes a first travel centerline (C); A second path (108) comprising a second travel centerline (C) and a second path overlap segment (142) overlapping the first path (108), wherein the width of the second path overlap segment (142) varies along the length of the second path (108); and The construction machinery (100) is started to traverse the center line (C) of each of the plurality of paths (108).

2. The control system (200) according to claim 1, wherein the controller (130) is further configured to determine the direction of travel across the work site surface (102) based on the slope of the boundary side (138) of the perimeter (136) or the work site surface (102) or user input received from a user interface (122) in communication with the controller (130).

3. The control system (200) according to claim 2, wherein the controller (130) is further configured to: Determine the maximum width of the work site surface (102), the maximum width being oriented in a direction transverse to the direction of travel (T); and The number (P) of the plurality of paths (108) is determined based on the maximum width, the width (D) of the surface working component, and the minimum overlap distance.

4. The control system (200) according to claim 3, wherein the plurality of paths (108) further includes a third path (108), the third path including a third travel centerline (C) and a third path overlap section (142) overlapping the second path (108), wherein the third path overlap section (142) includes multiple overlap portions (144) overlapping the second path overlap section (142), wherein the width of the third path overlap section (142) varies along the length of the third path (108).

5. The control system (200) according to claim 4. One of the plurality of paths (108) that includes the first outer edge (140a) defined by the first boundary side (138) is a first boundary path (109), and another of the plurality of paths (108) that includes the second outer edge (140b) defined by the second boundary side (138) is a second boundary path (109). The travel center line (C) of the first boundary path (109) is set at half the width (D) of the surface working component from the first boundary, and the travel center line (C) of the second boundary path (109) is set at half the width (D) of the surface working component from the second boundary. Each of the plurality of paths (108) located between the first boundary path (109) and the second boundary path (109) is an internal path (111); and The controller (130) is further configured to: determine the position of each travel centerline (C) of each internal path in the internal paths (111), wherein the position offset distance S of the travel centerlines (C) of at least some consecutive internal paths (111) is equal to , where W is equal to the width of the work area, which is oriented laterally to the direction of travel (T), D is the width of the surface work component (D), and P is equal to the number of paths (108).

6. The control system (200) according to claim 5. Wherein the construction machinery (100) is a compactor (100a) and the surface working component (106) is a roller (106a) configured to compact the surface (102) of the work site, The operating parameters are compaction parameters associated with the compaction of the work site surface (102), wherein, further, the width (D) of the surface working member is the width of the roller, and the compaction parameters also include the vibration amplitude of the roller (106) and / or the maximum vibration amplitude of the roller (106). The edge-to-edge operation plan (107) mentioned therein is an edge-to-edge compaction plan. The controller (130) is further configured to selectively disable the vibration of the roller (106), wherein the vibration of the roller (106) is disabled when the roller (106) is positioned on the multiple overlapping portion (144).

7. The control system (200) according to claim 6, wherein the controller (130) is further configured to: gradually reduce the vibration of the roller (106) to no vibration before entering the multiple overlapping portion (144), and to start the vibration of the roller (106) and gradually increase the vibration of the roller (106) before leaving the multiple overlapping portion (144).

8. A method for controlling construction machinery (100), the construction machinery including a surface working component (106) configured to perform work on a work site surface (102) when the construction machinery (100) traverses the work site surface (102), the work site surface (102) including a perimeter (136) including a plurality of boundary sides (138), the method comprising: The controller (130), which is operatively in communication with the construction machinery (100), receives operation parameters associated with the operation of the surface work member (106) on the work site surface (102), the operation parameters including the width (D) of the surface work member, the minimum overlap distance and the maximum overlap distance; An edge-to-edge operation plan (107) is generated for the work site surface (102), the edge-to-edge operation plan (107) comprising a plurality of paths (108), each path having a travel centerline (C), wherein one of the plurality of paths (108) includes a first outer edge (140a) defined by a first boundary side (138), and another of the plurality of paths (108) includes a second outer edge (140b) defined by a second boundary side (138), the plurality of paths (108) comprising: A first path (108), the first path including a first travel centerline (C); and A second path (108) comprising a second travel centerline (C) and a second path overlap segment (142) overlapping the first path (108), wherein the width of the second path overlap segment (142) varies along the length of the second path (108); and The construction machinery (100) is started to traverse the center line (C) of each of the plurality of paths (108).

9. The method according to claim 8, further comprising: The direction of travel (T) across the work site surface (102) is determined by the controller (130) based on either the boundary side (138) of the perimeter (136) or the slope of the work site surface (102) or user input received from the user interface (122) communicating with the controller (130). as well as The controller (130) determines the maximum width of the work site surface (102), which is oriented in a direction transverse to the direction of travel (T).

10. The method of claim 9, further comprising: The controller (130) determines the number of paths (P) based on the maximum width, the width of the surface working component (D), and the minimum overlap distance.

Images