WORK TOOL ENGAGEMENT SYSTEM AND METHOD FOR COMMERCIAL VEHICLES

Abstract

According to an exemplary embodiment, a utility vehicle comprising a main frame; a working tool designed to move relative to the main frame for moving a material on a surface; a ground sensing device located near the working tool, the ground sensing device being designed to detect contact between the working tool and the surface; a non-transient computer-readable memory storing operational information; and an electronic processor designed to: receive image data acquired by the ground sensing device as the working tool moves across the surface, and determine, based on the image data, whether the working tool is in contact with the surface.

Description

Technical FieldThe present disclosure relates generally to a utility vehicle. An embodiment of the present disclosure relates to a work tool engagement system for utility vehicles.BackgroundUtility vehicles such as road planers, dozers, tracked vehicles, felling machines, scraperers, excavators, skid steer and track loaders often use a blade to move material. During operation of the utility vehicle, the position of the operator with respect to the work tool may make it difficult to know whether the work tool is moving material (e.g., in contact with a surface / material) at a particular time. This is particularly true during leveling operations or other precision maneuvers.SummaryVarious aspects of examples of the present disclosure are set forth in the claims.According to a first aspect of the present disclosure, a utility vehicle comprising a main frame; a work tool configured to move relative to the main frame to move a material on a surface; a ground detection device proximate to the work tool, the ground detection device configured to detect contact between the work tool and the surface; a non-transitory computer readable memory storing operating information; and an electronic processor configured to: receive image data captured by the ground detection device while the work tool travels over the surface, and determine, based on the image data, whether the work tool is in contact with the surface.According to a second aspect of the present disclosure, a grading monitoring system for a work vehicle operating on a surface, the control system comprising a work tool configured to move relative to a main frame to move a material on a surface; a ground detector proximate the work tool, the ground detector configured to detect contact between the work tool and the surface; a non-transitory computer readable memory storing operating information; and an electronic processor configured to: receive image data captured by the ground detection device coupled to the work tool while the work tool travels over the surface, determine, based on the image data, whether the work tool is in contact with the surface, and generate, based on the image data, actual data for the surface after the work tool travels over the surface.According to a third aspect of the present disclosure, a method of operating a commercial vehicle, the method comprising moving a work tool over a surface; receiving, by a processor, image data captured by the ground sensing device, determining, by the processor, based on the image data, whether the work tool is in contact with the surface, the actual data being based on the image data, and generating, by the processor, actual data for the surface after the work tool has passed over the surface.The above and other features will become apparent from the following description and the accompanying drawings.Brief Description of the DrawingsThe detailed description of the drawings refers to the accompanying figures, in which: FIG. 1 is a side view of a utility vehicle having a blade in accordance with embodiments of the present disclosure; FIG. 2 is a side view of a utility vehicle having a ground engaging device proximate a work tool in accordance with embodiments of the present disclosure; FIGS. 3A-C are side views of a utility vehicle with the work tool of a utility vehicle moving material over a surface, in accordance with embodiments of the present disclosure; FIG. 4 is a representative view of a display showing an image with the position of the sign relative to the planned surface, in accordance with embodiments of the present disclosure; FIG. 5 is a schematic diagram illustrating a work tool engagement system for a utility vehicle in accordance with embodiments of the present disclosure; and FIG. 6 is a flow diagram of a method of operating a utility vehicle in accordance with embodiments of the present disclosure.Corresponding reference numerals are used throughout the several figures to indicate corresponding elements.DETAILED DESCRIPTIONAt least one exemplary embodiment of the subject matter of this disclosure will be understood with reference to FIGS. 1-6 of the drawings.While the present disclosure has been illustrated and described in detail in the drawings and the foregoing description, this illustration and description is not intended to be limiting, it being understood that (one) illustrative embodiment(s) has been shown and described(s) and that all changes and modifications that are within the spirit of the present disclosure are intended to be protected. Alternative embodiments of the present disclosure may not include all of the described features, but still benefit from at least some of the advantages of these features. Those of ordinary skill in the art can readily devise their own implementations that incorporate one or more of the features of the present disclosure and that are within the spirit and scope of the appended claims.During operation of a commercial vehicle, the position of the operator with respect to the work tool may make it difficult to see the amount of material being moved by the work tool at a particular time. This may be difficult for various reasons. For example, if the operator wishes to make adjustments due to changes in terrain or for other reasons, it may be useful to see how much and / or how little material accumulates in or on the work tool. In a limited view, the operator responds more slowly to condition changes. An improved view of the material being moved through the blade could improve the performance and accuracy of maneuvers performed by the utility vehicle.FIG. 1 is a side view of a utility vehicle having a blade in accordance with embodiments of the present disclosure. FIG. 1 illustrates a utility vehicle in the form of a road planer 10. Although a utility vehicle is illustrated and described as the road planer 10, the utility vehicle may include, for example, dozers, tracked vehicles, rollers, compactors, excavators, loaders, scrapers, excavators, compact and track loaders, milling, or any other utility vehicle that uses a work tool (e.g., a bucket, blade, moldboard, etc.) to move material, including those that perform do dozer operations.The road planer 10 includes a main frame 12 and a knuckle frame 14 pivotable with respect to the main frame 12. The operator's cabin 13 is mounted on top of the knuckle frame 14. The operator cabin 13 includes operating devices, such as a display unit 70 shown in FIG. 4 and described in detail below, such that a human operator may control the vehicle 10.The knuckle frame 14 includes a moldboard 26 (e.g., a shield) attached thereto. The blade 26 is configured to spread, level, or otherwise move soil or other material. To assist in such operations, the shield 26 is secured to the frame 14 such that the shield 26 is selectively movable in a number of directions. A pull frame 22 is coupled to the knuckle frame 14 toward the front side via a ball joint. A rotating frame 28 is coupled to the pull frame 22 to rotate relative thereto using a rim drive 38 attached to the pull frame 22. A tilting frame 40 holds the blade 26 and is pivotally coupled to the rotating frame 28 for pivotal movement of the tilting frame 40 and the blade 26 held thereby relative to the rotating frame 28 about a tilting axis using a tilting cylinder (not shown in FIG. 1 ).The tilt cylinder is connected to the rotating frame 28 and the tilt frame 40 such that actuation of the tilt cylinder 30 changes the inclination of the tilt frame 40 (and thus the moldboard 26) relative to the rotating frame 28. Left and right blade lift cylinders 34 (i.e., hydraulic lift cylinders) are connected to a saddle 36 (which in turn is attached to the knuckle frame 14) and the tow frame 22 such that actuation of the left and right blade lift cylinders 34 raises and lowers the sides of the tow frame 22, and thus the moldboard 26, relative to the knuckle frame 14.FIG. 2 is a side view of the utility vehicle of FIG. 1 with a ground engaging device proximate a work tool in accordance with embodiments of the present disclosure. The utility vehicle 10 may include a ground detection device 50. For example, the ground sensing device 50 may be coupled to the main frame 12 or another location (e.g., below the operator cabin 13 or at the knuckle frame 14, with the pivot frame 28, etc.) at a first position 54, the first position 54 being behind the shield 26 (i.e., behind the shield 26; closer to the rear wheels 18). The position of the ground engaging device 50 may be any suitable location on the work tool or proximate the work tool, on the main frame 12, the pivot frame 28, the dump frame 40, or elsewhere on the work vehicle 10. The ground engaging device 50 may be arranged to view the rear side (i.e., the side closer to the rear wheels 18) of the blade 26 and a surface 56 proximate to the blade 26 (e.g., the surface over which the blade 26 has just traveled or which it has leveled).The ground detector 50 can detect the ground surface location with respect to the sign 26. For example, the ground detection device 50 may detect whether the blade 26 is in contact with the surface to achieve a desired leveling of the surface 56, or whether the blade 26 is not in contact with the surface 56.For example, upcoming terrain may include high points (e.g., hills, clusters, bumps, etc.) and low points (e.g., holes, depressions, etc.). The blade 26, when adjusted to a desired position to create a grade, removes material from the high spots and reduces it to the grade, and at the same time attempts to fill the low spots with material removed from the high spots. In some cases, there may not be enough material conveyed through the blade 26 to fill a deep point, leaving a deep point (although this may or may not be as deep) after the blade 26 has traveled over it. This low point causes an actual planation (i.e., actual planation) to be different from the desired planation (i.e., target planation, planned planation, planation control planation, etc.).FIGS. 3A-C are side views of a utility vehicle with the work tool of a utility vehicle moving material over a surface, in accordance with embodiments of the present disclosure. As the utility vehicle 10 moves, the work tool 26 may be used to move a material 66 (e.g., soil, gravel, etc.) to form the surface 56 onto a target planking 62. The amount of material 66 accumulated by the blade 26 may vary depending on, for example, the type of material, the height of the work tool, the angle of the work tool, the speed of the utility vehicle, weather conditions, material conditions, and other similar parameters.As the material 66 accumulates along the work tool 26, it may be distributed along the surface 56 to achieve the target planking 62. In some areas of the surface 56, a high point may be pushed away (i.e., leveled, smoothed, etc.) as the work tool 26 moves over the surface 56, or a low point may be filled by the material 66 being conveyed through the blade 26. However, there may be areas along the surface 56 that are not scheduled on the target planking 62. For example, there may be deep points that are not filled in this pass, causing an actual planking to be different from the target planking 62, or a piece of foreign matter (e.g., a stone) may be carried along by the work tool 26, preventing the target planking 62 from being reached.The target planking 62 may be adjusted in a planking control system wherein a utility vehicle may plan a surface using planking control data to achieve a target planking. An actual planking is the surface after each planking pass. In an ideal situation, the actual planning corresponds to the desired planning. However, there may be cases where the actual planning deviates from the target planning as described herein.The actual planking may be determined as the utility vehicle 10 moves the material 66 along the surface 56. The actual planking may be different from the target planking when the planned surface varies from the target planking (e.g., when a low point is not filled sufficiently for the actual planking to match the target planking) after the sign 26 travels over the surface 56. The ground detector 52 may capture an image of the planned surface (by capturing a series of images), and each image may be analyzed to determine the actual planning and generate actual data.The actual planning data may be compared to the target planning data, and the comparison may be used to generate corrected planning data. The corrected planking data may be helpful in evaluating next steps in planning the surface because a deviation between the target planking and the actual planking with additional passes generally gets worse. The corrected planation data enables remedial action to address problems with the planned surface.FIG. 4 is a representative view of a display showing an image with the position of the sign relative to the planned surface, in accordance with embodiments of the present disclosure. The display 70 may include an image 62, which may include a position of the sign 26 relative to the surface 56 being planned. The display 70 may also include information regarding the target plan and the actual plan.For example, as the terrain slopes (i.e., descends, slopes, a hole, distance between the blade and the surface increases, etc.), the amount of material 66 moved through the blade 26 may decrease, resulting in less (or no) material 66 exiting an end of the blade 32.Alternatively, as the terrain rises (i.e., rises, a bump, unevenness, hill, cluster, distance between the blade and the surface decreases, etc.), the amount of material 66 moved through the blade 26 may increase, resulting in more material exiting from one end 26A or 26B (or both ends) of the blade 26.The display 70 may display information about the planning monitoring system, such as a system status (e.g., system on, system off, etc.).FIG. 5 is a schematic diagram illustrating a grade monitoring system for a utility vehicle in accordance with embodiments of the present disclosure. The grade monitoring system 80 may include the ground detection device 50 coupled to the work vehicle 10. The ground detector 50 is configured to capture a first image 58 (i.e., image data) that includes the sign 26 and the planned surface, as described above. The ground detection device 50 may include a lidar sensor, a sound sensor, an ultrasonic sensor, or a camera. The ground detector 50 may be used to obtain images (i.e., image data) that are evaluated to determine when the sign 26 plans the surface onto the grading control surface and / or when the planned surface deviates from the grading control surface.The grading monitoring system 80 also includes a non-transitory computer readable memory 82 that stores image data 84. The non-transitory computer readable storage 82 may include electronic storage, non-transitory random access storage, an optical storage device, a magnetic storage device, or other device for storing electronic data on and accessing any writable, rewritable, or readable electronic, optical, or magnetic storage medium.An electronic processor 86 is provided and is configured to perform an operation by controllably adjusting a position of the work tool 26 relative to the utility vehicle 10 and capturing and processing images from the grade monitor of the ground sensing device 50 (and any additional imaging devices). The electronic processor 86 may be located locally as part of the utility vehicle 10 or remotely at a remote processing center (not shown). In various embodiments, the electronic processor 86 may include a microprocessor, a microcontroller, a central processing unit, a programmable logic array, a programmable logic controller, or other suitable programmable circuitry configured to perform data processing and / or system control operations. The electronic processor 86 executes or otherwise relies on computer software applications, components, programs, objects, modules or data structures, etc. Software routines residing in the included memory of the electronic processor 86 or in another memory are executed in response to received signals.The computer software applications may be located in the cloud in other embodiments. The software being executed includes one or more specific applications, components, programs, objects, modules, or sequences of instructions, commonly referred to as "program code.". The program code includes one or more instructions residing in memory and other storage devices that execute the instructions residing in memory that respond to other instructions generated by the system or provided by an operator interface 88 operated by a user (e.g., located in the operator cabin or at a remote location). The electronic processor 86 is configured to execute the stored program instructions.FIG. 6 is a flow diagram of a method of operating a utility vehicle in accordance with embodiments of the present disclosure. The method 100 for monitoring a leveling operation by a utility vehicle may include the step 102 of moving a work tool across a surface, the step 104 of receiving, by a processor, image data captured by the ground sensing device, the step 106 of determining, by the processor, whether the work tool is in contact with the surface based on the image data; and the step 108 of generating, by the processor, actual data for the surface after the work tool has traveled across the surface, the actual data being based on the image data.The method 100 can further comprise a step 110 of comparing the actual data with grading control data and a step 112 of generating corrected data for the surface. Based on an analysis of the image, an estimate for the volume of material moved by the work tool may be determined. The method 100 may further include the step 114 of displaying the corrected data on a display.

Claims

A utility vehicle comprising: a main frame; a work tool configured to move relative to the main frame for moving a material on a surface; a ground detector proximate the work tool, the ground detector configured to detect contact between the work tool and the surface; a non-transitory computer readable memory storing operating information; and an electronic processor configured to: receive image data captured by the ground detector while the work tool travels over the surface, determine, based on the image data, whether the work tool is in contact with the surface.The utility vehicle of claim 1, wherein the work tool comprises one or more of a blade, a shovel, a scraper, and a roller.The commercial vehicle according to claim 1 or 2, wherein the ground detection device comprises a lidar sensor, a sound sensor, an ultrasonic sensor or a camera.The utility vehicle of any preceding claim, wherein the electronic processor is further configured to generate actual data for the surface after the work tool is driven over the surface.The utility vehicle of claim 4, wherein the electronic processor is further configured to compare the actual surface data to grading control surface data and generate corrected surface data.The utility vehicle of claim 4 or 5, further comprising a display, and wherein the processor is further configured to display one or more of the surface, the grading control data, and the actual data on the display.A grading monitoring system for a work vehicle operating on a surface, the grading monitoring system comprising: a work tool configured to move a material on the surface, the work tool configured to move relative to a main frame; a ground detector proximate the work tool, the ground detector configured to detect contact between the work tool and the surface; a non-transitory computer readable memory storing operating information; and an electronic processor configured to: receive image data captured by the ground detection device coupled to the work tool while the work tool is travelling over the surface; determine, based on the image data, whether the work tool is in contact with the surface; generate, based on the image data, actual data for the surface after the work tool is travelling over the surface.The grading monitoring system of claim 7, wherein the work tool comprises one or more of a blade, bucket, scraper, and roller.The grade monitoring system of claim 7 or 8, wherein the ground detection device comprises a lidar sensor, a sound sensor, an ultrasonic sensor, or a camera.The grading monitoring system of any of claims 7 to 9, wherein the electronic processor is further configured to compare the actual data to grading control data and generate corrected data for the surface.The grading monitoring system of any of claims 7 to 10, wherein the electronic processor is further configured to display the actual data on a display.A method of operating a utility vehicle, the method comprising: moving a work tool over a surface; receiving, by a processor, image data captured by a ground sensing device; determining, by the processor, whether the work tool is in contact with the surface based on the image data, wherein the actual data is based on the image data; and generating, by the processor, actual data for the surface after the work tool has traveled over the surface.The method of claim 12, wherein the method further comprises displaying the actual data on a display.The method of claim 12 or 13, further comprising comparing the actual data to grading control data and generating corrected data for the surface.The method of claim 14, further comprising displaying the corrected data on a display.

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