Site management system and procedures for a mobile machine

Abstract

A site management system (150) controls one or more mobile machines for improving the compaction of the ground surface (102) at a construction site (100). One or more local topography detectors (152), which may be located on a mobile machine without a compactor (120), measure the compaction state of the local topography (216, 316) near the mobile machine. An electronic control unit (140), which may be located on board the mobile machine, detects whether the detected compaction state corresponds to a first topography area (202, 302) associated with a higher compaction state and, if so, directs the mobile machine to a second topography area (204, 304) associated with a lower compaction state.

Description

Technical area

[0001] This patent disclosure relates generally to controlling the operation of mobile machinery on a construction site, and more particularly to controlling mobile machinery to improve the compaction of the land surface on the construction site. State of the art

[0002] Compactors are machines used to compact and compress the material deposited on the land surface of a construction site. For example, compactors are used to compact soil, aggregate, asphalt, and the like on a construction site to improve the topography for subsequent operations if necessary. A common design for a compactor includes a large, cylindrical roller or drum of considerable weight, pivotally mounted on a machine frame, which can be rolled over the surface of the site to compact the underlying material. To achieve the desired degree of compaction, compactors can make multiple passes over the same travel distance, repeatedly compacting the underlying material. Compactors are often dedicated machines designed for the sole task of compacting material on the construction site.

[0003] Several different types of mobile machinery, such as tractors, excavators, bulldozers, and the like, are often used simultaneously and in conjunction with compactors on the construction site. Due to their mobility and heavy weight, these other mobile machines can assist in the compaction of material on the site. U.S. Patent No. 8,639,420 ("the '420 patent") describes a construction site management system for managing the operation of non-compactor mobile machinery that assists in the compaction of the site surface on a construction site. In particular, the '420 patent discloses the use of historical data about the previous locations and travel routes of the mobile machinery to organize and control the travel routes of the machines currently traveling on the site. The '420 patent therefore increases the efficiency of construction site development.The present disclosure also relates to a system and method for managing and coordinating the operation of one or more mobile machines to efficiently improve the development of a construction site. Brief description

[0004] This disclosure, in one aspect, describes a mobile machine having a chassis supported on a plurality of propulsion devices that contact the ground surface of a construction site. The mobile machine may include one or more local topography detectors configured to detect a detected compaction condition of the local topography associated with the ground surface proximate the mobile machine. The mobile machine may also include an electronic controller in electronic communication with one or more local topography detectors. The electronic controller may be programmed to detect whether the detected compaction condition of the local topography corresponds to a first topography region associated with a higher compaction condition.If the electronic control determines that the local topography corresponds to the first area of ​​higher compaction, the electronic control can adjust the route of the mobile machine so that it travels to a second topographical area of ​​lower compaction, thus improving the efficiency of the development of the construction site.

[0005] In another aspect, this disclosure describes a method for compacting a terrain surface on a construction site. According to the disclosed method, a mobile machine can be driven according to a travel distance across the terrain surface. The method further uses one or more local topography detectors to detect the local topography of the terrain surface to determine a detected compaction state. If the detected compaction state of the local topography corresponds to a first topographical area associated with a higher compaction state, the method adjusts the travel distance that leads the mobile machine to a second topographical area associated with a lower compaction state.

[0006] In another aspect, the disclosure describes a construction site management system including one or more local topography detectors configured to detect a compaction condition of a local topography of a terrain surface proximate a mobile machine without a compactor. The construction site management system includes an electronic controller in electronic communication with one or more local topography detectors and programmed to detect whether the detected compaction condition of the local topography corresponds to a first topographical area having a higher compaction condition. If the detected compaction condition corresponds to the first topographical area, the electronic controller is further programmed to adjust a travel path to direct the mobile machine to a second topographical area having a lower compaction condition. Short description of the drawings Fig. Figure 1 is a schematic representation of a construction site with a compactor and a non-compactor mobile machine operating on the site and operatively connected to a site management system designed to improve the compaction of the ground surface on the site. Fig. Figure 2 illustrates adjustments to the planned travel route for the mobile machine based on a detected compaction condition of the local topography associated with the terrain surface. Fig. Figure 3 illustrates in detail one embodiment of the travel path adjustments by shifting the orientation of the traction / drive devices of the mobile machine. Fig. 4 is a flowchart of a possible method for adjusting the planned route for the mobile machine based on the detected compaction variation. Detailed description

[0007] With reference to the drawings, in which like reference numbers refer to like elements where possible, Fig. 1 illustrates a construction site 100 on which a variety of mobile machines may perform operations and tasks associated with the worksite. The worksite may be a construction site where structures such as buildings or roadways are being constructed. However, aspects of this disclosure may also be applicable to other types of construction sites 100, such as mines or quarries for the extraction of material, agricultural land, and the like. The worksite 100 may be associated with a land surface 102 that may have various contours, slopes, and / or elevations, as described in more detail herein. The land surface 102 may be located above and on top of a land substrate 104, which may include various layers of rock or sediment. Typically, the density of the material on the worksite 100 increases from the land surface 102 through deeper layers of the land substrate 104.

[0008] The fleet of mobile machines may be managed by a single fleet operator. However, the multitude of mobile machines may be managed and operated under the direction of different fleet operators. Accordingly, coordination and communication between the multitude of mobile machines may be adversely affected.

[0009] The plurality of mobile machines are configured to travel over the terrain surface 102 while performing operations and tasks at the construction site 100. An example of a mobile machine may be a compactor 110, which is used to reduce the elevation of the terrain surface 102 by compacting it while moving over the construction site 100. In particular, the compactor 110 may compact the soil, aggregate, asphalt, or other material disposed on the terrain surface, thereby reducing its volume. Compacting the terrain surface 102 may enable its use in subsequent operations, such as as a foundation for the construction of structures if the construction site 100 is a building site.

[0010] To compact the land surface 102 and possibly the underlying land substrate 104, the compactor 110 may include a compaction drum 112 attached to a machine frame or chassis 114 supported on the land surface 102 by one or more traction / drive devices 116. Examples of traction / drive devices 116 include wheels and tracks that can translate with respect to the land surface 102 as the compactor 110 traverses and moves across the jobsite 100.

[0011] The compaction drum 112 may be in the form of a large-diameter cylinder that is rotatable relative to the compactor chassis 114 and may be weighted with ballast or additional weight for improved compaction. To accommodate an operator, the compactor 110 may also include an onboard operator cab 118 mounted on the compactor frame 114. This cab contains various controls that enable steering, adjusting the direction of travel, and other operations of the compactor. Alternatively, the compactor 110 could be controlled by a remote operator or operate autonomously.To drive the compressor 110, including providing drive power for the traction / drive devices 116, a drive unit 119 such as an internal combustion engine, a hybrid system comprising an internal combustion engine and an electric drive, or an electric motor can also be arranged on the compressor chassis 114.

[0012] Another example of a mobile machine operating on the construction site 100 may be a mobile machine without a compactor 120. As used herein, the term "mobile machine without a compactor" refers to any mobile machine that is not primarily or exclusively designed for the compaction of a surface. Examples of mobile machines without a compactor include, but are not limited to, transport machines, earthmoving machines, excavators, and loaders. In the particular embodiment of Fig. 1, the mobile machine without a compactor 120 may be a dump truck having an open dump body 122 for receiving material and pivotally connected to the rear of a machine chassis 124 by a hinge 126. The dump body 122 may be tilted relative to the machine chassis 124 to deposit the material onto the ground surface 102 of the construction site 104.

[0013] To support the machine chassis 124 over the terrain surface 102, the non-compactor mobile machine 120 may include one or more traction / propulsion devices 128, such as wheels, as illustrated, or, in other embodiments, tracks or the like. The traction / propulsion devices 128 may translate with respect to the terrain surface 104 to propel the non-compactor mobile machine 120 around the jobsite 100. To power the traction / propulsion devices 128 and other driven components, the non-compactor mobile machine 120 may also include a machine power plant 129, such as an internal combustion engine, a hybrid internal combustion-electric power system, or an electric motor.

[0014] According to various aspects of the disclosure, the mobile non-compactor machine 120 may be configured for fully autonomous, semi-autonomous, or manual operation. In fully autonomous operation, the mobile non-compactor machine operates according to a predetermined work schedule without the assistance of a human operator, whereas in semi-autonomous operation, a human operator, who may be on the machine or at a remote location, is responsible for directing the machine to perform specific tasks, which may be assisted by instruction or partial control from a control system operatively connected to the mobile non-compactor machine 120. In manual operation, the operator is generally responsible for directing all tasks performed by the machine.To accommodate an operator when configured for semi-autonomous or manual operation, the mobile non-compactor machine 120 may include an on-board operator cab 130 disposed on the machine chassis 124. The operator cab 130 may include various controls and input / output devices for controlling the operation of the mobile non-compactor machine 120. The input / output devices may be included, for example, in a steering control system 132, which includes a steering wheel or joystick for adjusting the direction of travel on the terrain surface 102. Other examples of input / output devices may include speed controls 134 such as accelerators or brakes, directional control devices for switching between forward, reverse, and neutral positions, and the like.

[0015] Additionally, the input / output controls for communicating with the operator may include an operator interface display 136, also referred to as a human-machine interface ("HMI"). The operator interface display 136 may be an output device for visually presenting information about the operation of the mobile non-compactor machine 120 to a human operator. The operator interface display 136 may be a liquid crystal display ("LCD") 138 that may display numerical values, text descriptions, graphs, charts, and the like related to operation. The operator interface display 136 may include features such as a touchscreen to receive input from an operator, although other embodiments may include other interface devices such as dials, knobs, switches, keypads, keyboards, mice, printers, etc.

[0016] To facilitate operation of the mobile machines, each of the mobile machines, such as the compressor 110 and the non-compressor mobile machine 120, may be operatively connected to an electronic controller 140, which may also be referred to as an electronic control module ("ECM"), electronic control unit ("ECU"), or simply a controller. The electronic controller 140 may be a programmable computing device and may include one or more microprocessors 142 for executing software instructions and processing computer-readable data. Examples of suitable microprocessors include programmable logic devices such as field-programmable gate arrays ("FPGAs"), dedicated or custom logic devices such as application-specific integrated circuits ("ASICs"), gate arrays, a complex programmable logic device, or any other suitable type of circuitry or microchip.Although illustrated as a single component, in other embodiments, the functionality of electronic controller 140 may be distributed among a plurality of separate components. Additionally, electronic controller 140 may be located onboard the mobile machine, although in other embodiments, some or all of the functionality may occur external to the mobile machine.

[0017] For storing application software and data, the electronic controller 140 may include a non-volatile, computer-readable and / or writable data storage 144, such as read-only memory ("ROM"), random access memory ("RAM"), EPROM memory, flash memory, or other more permanent storage medium such as magnetic or optical storage. For interfacing with other operational systems, the electronic controller 140 may include an input / output interface 146 for electronically sending and receiving non-volatile data and information. The input / output interface 146 may be physically embodied as data ports, serial ports, parallel ports, USB ports, jacks, and the like to communicate via conductive wires, cables, optical fibers, or other communicative bus systems.To communicate with other operational systems, the electronic controller 140 may use any suitable form of communication protocol for data communication, including synchronous or asynchronous transmission and reception of digital or analog signals. To interface with the operator, the electronic controller 140 may communicate with the operator interface display 136. The electronic controller 140 may exchange data and commands with the operator via the operator interface display 136. In one embodiment, to communicate with remote systems and devices that may be located on other mobile machines, for example, the electronic controller 140 may be operatively connected to a transceiver 148 located on the mobile machines and capable of transmitting and receiving communication signals via wireless protocols such as radio, Wi-Fi, Bluetooth, or cellular.In one embodiment, the transceiver 148 may be an antenna that can convert signals and data between radio waves propagating through space and electrical currents that can be transmitted through conductors and processed by the electronic controller 140.

[0018] To improve the compaction of the ground surface 102 around the construction site 100, the electronic controller 140 may be an operative part of a construction site management system 150. The construction site management system 150 may be configured to manage the operation of the mobile machines with respect to the compaction state of the ground surface 102 and possibly the underlying subgrade 104. To this end, the construction site management system 150 may perform a variety of tasks, including receiving information about the compaction state of the ground surface 102, analyzing this information, and executing one or more output functions that enable the operation of the mobile machines with respect to the compaction state of the ground surface 102. In one embodiment, the construction site management system 150 may be part of an enterprise network for monitoring and controlling operations at the construction site 100.The jobsite management system 150 may be managed by the fleet operator of the plurality of mobile machines, by any of the fleet operators of the mobile machines not belonging to the same fleet, or by an application service provider (ASP), or by independent contractors.

[0019] To detect information about the compaction status of the terrain surface 102, the jobsite management system 150 may be operatively connected to a plurality of terrain sensors. In one embodiment, one or more of the terrain sensors may be onboard the mobile machines and configured to detect or measure a physical characteristic associated with the local topography in the vicinity of the mobile machine. The terrain sensors onboard the mobile machines may be operatively connected to the electronic controller 140, which may process and evaluate the information received from the terrain sensors. The electronic controllers 140 may also communicate the information about the physical characteristics of the local topography received from the one or more terrain sensors onboard the non-compactor mobile machine with other operable systems via the transceivers 148.For example, one or more local topography detectors 152 may be disposed on the mobile non-compactor machine 120. The local topography detectors 152 may be fixedly mounted to the machine chassis and directed toward the terrain surface 102 to directly obtain information about the physical characteristics of the local topography in the vicinity of the mobile non-compactor machine. In one embodiment, the physical characteristics detected by the local topography detectors include the compaction state of the local topography.

[0020] For example, in one embodiment, the local topography detectors 152 may operate according to spatial measurement principles, where the local topography detectors 152 may sense or detect the vertical distance between the location of the local topography detector on the machine chassis 124 and the terrain surface 102. For example, the local topography detector 152 may be a rangefinder used to measure the distance to a remote location. Examples of rangefinders include LIDAR (Laser Imaging, Detection and Ranging) systems, in which a pulse of light is emitted toward and reflected back from the terrain surface 102. The time it takes for the pulse to return can be converted into distance based on the known speed of light.Similar examples of rangefinders include acoustic sensors, which emit sound waves and bounce off the terrain surface. RADAR is another suitable example of a rangefinder that utilizes the elapsed time of radio waves between the local topography detector 152 and the terrain surface 102.

[0021] In other examples, the local topography detectors 152 may optically determine the spatial vertical distance between the local topography detector and the terrain surface 102. For example, the local topography detector 152 may be a smart camera capable of analyzing the captured image to determine the distance to the terrain surface 102, for example, by adjusting the focal point until the terrain surface matches an expected or recognizable image. Similarly, a stereo camera may use two or more lenses to create a three-dimensional image that can be analyzed to determine the depth or vertical distance to the terrain surface. Structured light systems are another suitable type of local topography detector 152, in which a predetermined pattern of light from multiple sources is projected onto the terrain surface 102.Depending on the distance between the light sources and the terrain surface, the given pattern can be distorted to varying degrees, and the distortion can be analyzed to determine the vertical distance.

[0022] In other embodiments, the local topography detector 152 may operate according to other principles, such as image pattern recognition or color recognition, i.e., colorimetry. For example, the compaction state of the terrain surface 102 may be determined based on the visually perceivable pattern, coloration, or shading of the terrain surface. The local topography detector 152 may be an image sensor or a light meter that captures and analyzes an image of the terrain surface to detect patterns or colors in the image. The compaction state of the local topography captured in the image may be associated with specific or distinguishable patterns or colors. For example, a higher degree of compaction may be associated with denser or darker patterns or colors.

[0023] In another embodiment, the local topography detector 152 may be in direct physical contact with the terrain surface 102 to detect the compaction state of the local topography. For example, the local topography detector 152 may be a deflection sensor that includes one or more rods that extend from the machine chassis 124 of the mobile non-compactor machine 120 onto the terrain surface 102 and can penetrate the terrain surface by a determined distance. As the mobile non-compactor machine 120 moves across the terrain surface 102, the rod is deflected due to the resistance to movement of the rod by the terrain surface material. The deflection is proportional to the compaction state and, therefore, to the density of the material on the terrain surface 102, which can be analyzed to determine the compaction state.

[0024] In addition to the local topography detectors 152, which may be located onboard the non-compactor mobile machine 120, other terrain sensors associated with the jobsite management system 150 may include topography detectors 154 located external to and remote from the non-compactor mobile machine 120. The remote topography detector 154 may use one of the aforementioned technologies, such as a rangefinder or pattern recognition, to detect the compaction state of the terrain surface remote from the location of the non-compactor mobile machine 120, i.e., the remote topography. The remote topography detectors 154 may also measure other physical properties of the remote topography, such as soil moisture content, which may be analyzed for information about the compaction state of the remote topography.

[0025] The jobsite management system 150 may also be connected to additional operational sensors to monitor and measure operational aspects of the non-compactor mobile machine 120 (only a remote topography detector 154 is shown). For example, to detect the payload or gross weight of the non-compactor mobile machine 120, a payload sensor 156 may be disposed on the machine chassis 124. In the embodiment where the non-compactor mobile machine 120 is a dump truck, material added to the body 122 increases the weight of the non-compactor mobile machine, which may be detected or measured by the payload sensor 156.The data memory 144 of the electronic controller 140 may store the empty or tare weight of the mobile machine without the compactor 120, which may be added to the weight measured by the payload sensor 156 to determine the total or gross weight of the mobile machine without the compactor. As described below, the weight or payload of the mobile machine without the compactor 120 may be significant and may help improve the compaction status of the jobsite 100. Another example of an operational sensor may be a speedometer, a speed sensor, or an accelerometer 158 that provides measurements of the speed, acceleration, or movement of the mobile machine without the compactor 120.Other examples of operational sensors may be directional sensors that measure the direction of movement of the mobile machine without the compactor 120, such as forward or reverse, or the steering angle.

[0026] The construction site management system 150 may also include or be operatively connected to a remote computer system or backend information processing system 160 located external to and remote from the mobile machines. The backend information processing system 160 may include physical components such as processing devices or processors and input / output peripherals (e.g., keyboards, monitors, mice) that enable the input and processing of information and data in computer-readable form. The backend information processing system 160 may also include data storage capabilities to store the software instructions and data in the form of random access memory or other volatile memory, read-only memory or other permanent memory, or any other suitable form of memory.To communicate with the other components of the construction site management system 150, including the mobile machines operating on the construction site, the backend information processing system 160 may be operatively connected to a telematics system 162 or the like. The telematics system 162 may communicate wirelessly with the transceivers 148 on the mobile machines. In one embodiment, the backend information processing system 160 may be managed by the mobile machine fleet management or by various managers of different mobile machine fleets, or it may be managed by an application service provider (ASP) or by independent contractors. To determine the positions or locations of the mobile machines on the construction site 100, the construction site management system 150 may be operatively connected to a positioning system, which may be implemented in any suitable form.For example, the positioning system can be implemented as a global navigation satellite system (GNSS) or global satellite positioning system (GPS) 164. In the GNSS or GPS system 164, a plurality of artificial satellites 166 orbit the Earth on fixed or precise trajectories. Each satellite 166 includes a position transmitter 168 that transmits position signals encoding time and position information toward Earth. By calculating, such as by triangulation, between the position signals received from different satellites, their current location on Earth can be determined. In the present embodiment, the transceivers 148 on the land-based mobile machines can be configured to also receive the position signals from the position transmitters 168. The GPS system 164 can also communicate with the telematics system 162, which is connected to the backend system 160. Industrial applicability

[0027] With reference to Fig. 2, with continued reference to the preceding figures, an example is illustrated of how the construction site management system 150 may facilitate the compaction of the ground surface 102 of the construction site 100. Fig. 2 may depict a site map 200 or an image of the terrain surface 102 of the construction site 100, which may include a first topographical area 202 or a plurality of first topographical areas 202 associated with a higher degree of compaction, as indicated by the darker shading. For example, a compactor 110 with a compaction roller 112 may have already traversed the first topographical area 202 in one or more passes, thereby compacting the material disposed on the terrain surface 102 within the first topographical area. The site map 200 may also include a second topographical area 204 or a plurality of second topographical areas associated with a lower degree of compaction, as indicated by the lighter shading.For example, the compactor 110 may not have traversed the second topographical area 204, leaving the material on the site surface 102 relatively uncompacted and loose. The jobsite management system 150 may advantageously be used with non-compactor mobile machines 120 configured for autonomous operation without an operator on board the non-compactor mobile machine. The non-compactor mobile machine 120 may receive or be programmed with a planned travel path 210 across the site surface 102 of the jobsite 100 configured to guide and direct the non-compactor mobile machine to a desired location or planned destination 212. In the embodiment where the non-compactor mobile machine 120 is a dump truck, the planned destination 202 may be a location on the jobsite 100 to which the dump truck is to deliver material.

[0028] The planned route 210 may include instructions or directions for steering or maneuvering the mobile non-compactor machine 120 along a planned direction of travel 214 across the terrain surface 102 by steering it forward or backward or turning toward a lateral side. The planned direction of travel 214 may correspond to the planned route 210 and may take turns or the like into account. The planned route 210 may be determined in advance to assume the shortest path to the planned destination 212 and to improve efficiency by conserving fuel and reducing travel time. In embodiments where the jobsite management system 150 is connected to a backend system 160, the planned route 210 may be generated by the backend system and transmitted to the mobile non-compactor machine 120.

[0029] However, the planned route 210 may cause the mobile machine without a compactor 120 to travel through the first topographical area 202, which is associated with greater compaction of the material on the terrain surface 102 in that area. The planned route 210 may therefore result in overcompaction of the first topographical area 202 or at least fail to utilize the significant weight of the mobile machine without a compactor 120 to assist in further compaction of other portions of the terrain surface 102.

[0030] Accordingly, in one embodiment, the jobsite management system 150 may utilize the plurality of terrain sensors, including the local topography detectors 152 disposed on the non-compactor mobile machine 120, to detect the local topography 216 of the terrain surface 102 in the vicinity of the non-compactor mobile machine. Fig. 2, the local topography 216 is depicted as a dashed circle that falls within the range of the local topography detector 152 of the mobile machine without a compactor 120. The local topography detectors 152 may utilize any of the aforementioned technologies to detect the degree of compaction associated with the local topography 216 in the vicinity of the mobile machine without a compactor 120.

[0031] The electronic controller 140 may process the information received from the local topography detector 152 in the form of electronic data signals to evaluate or analyze the compaction condition associated with the local topography 216. For example, the data memory 144 of the electronic controller 140 may be preprogrammed with predetermined numerical compaction thresholds indicating that the local topography 216 has already been compacted or has a sufficient degree of compaction. In another example, the electronic controller 140 may perform a comparative analysis of the detected compaction condition of the local topography with detected compaction levels or conditions associated with other topological locations around the jobsite 100 previously obtained when the mobile machine traversed the terrain surface 102 without the compactor 120.The previously detected compaction states may be referred to as historical compaction data. The comparative analysis may determine that the compaction state associated with the local topography 216 exhibits a variation in compaction relative to the other topological locations, and the electronic controller 140 may assign or categorize the local topography 216 to one of the first topographic regions 202 with greater compaction or the second topographic regions 204 with lesser compaction.

[0032] If the electronic controller 140 determines that the local topography 216 is connected to the first topographic area 202 of greater compaction, the construction site management system 150, via the electronic controller 140, can adjust the planned travel path of the mobile machine without a compactor 120 to improve the compaction of the construction site 100. For example, the electronic controller 104 can adjust the planned travel path 210 to steer or maneuver the mobile machine without a compactor 120 toward the second topographic area 204 of lesser compaction. To adjust the planned travel path 210, the electronic controller 140 can generate an adjusted travel path 218 by changing the planned travel direction 214 of the mobile machine without a compactor 120. The weight of the mobile machine without compactor 120 on its traction / drive devices 128 causes compaction of the underlying part of the second topographic area 202.

[0033] To determine whether the adjusted travel route 218 continues to correspond to the second topography area 202 associated with a lower compaction level, the jobsite management system 150 may dynamically and continuously assess the compaction level of the local topography 216. As used herein, the term "dynamic" refers to the responsiveness of the jobsite management system to current objects and conditions on the jobsite via the local topography detectors. For example, the connected electronic controller 140 may continue to assess the compaction level of the local topography 216 using the local topography detectors 152 on the non-compactor mobile machine 120 while the non-compactor mobile machine 120 travels over the terrain surface 102.By continuously comparing the determined compaction state with a compaction threshold or with previously obtained historical compaction data, the electronic controller 140 can dynamically determine whether the local topography 216 corresponds to either the first topographical area 202 with greater compaction or the second topographical area 204 with lesser compaction. The construction site management system 15 can, via the electronic controller 140, make a different or further adjustment to the travel route of the mobile machine without the compactor 120, if desired. Accordingly, the construction site management system 150 reacts to the simultaneously empirically observed compaction states of the local topography 216 of the terrain surface 102 to improve the compaction of the construction site.

[0034] With reference to Fig. 3 and with continued reference to the previous figures, in another embodiment, the construction site management system 150 may utilize a feature referred to as edge detection to enhance the compaction of the terrain surface 102 with a higher degree of precision. Fig. 3 illustrates a location map 300 that may include a first topographical area 302 or first topographical areas associated with a higher degree of compaction and a second topographical area 304 or second topographical areas associated with a lower degree of compaction. In the embodiment of Fig. 3, the traction / drive devices 128 of the mobile machine without compactor 120, which may be wheels, may be aligned on a travel path 310 with respect to the terrain surface 102. Similar to the embodiment of Fig. 2, if the mobile machine without a compactor 120 is autonomous, the travel path 310 may be a pre-planned travel path that guides the mobile machine without a compactor 120 across the terrain surface 102. However, aspects of the present embodiment may also be applicable to manual or semi-autonomous mobile machines without a compactor.

[0035] In the illustrated embodiment, the first topographical areas 302 may directly correspond to the travel paths 310 associated with each of the traction / propulsion devices 128 of the non-compactor mobile machine 120. For example, the travel paths 310 may correspond to areas of the terrain surface 102 previously compacted by a compactor traveling over or traversing the worksite 100. In another example, the non-compactor mobile machine 120 may follow another non-compactor mobile machine 120 with a plurality of traction / propulsion devices 128, or the non-compactor mobile machine 120 may repeatedly travel along the same path, such that the terrain surface 102 has been compacted by previous passes. However, the terrain surface 102 to either side of the travel paths 310 may correspond to the second topographical area 304 with lesser compaction.

[0036] The jobsite management system 150, via the electronic controller 140, can sense the local compaction condition using the local topography detectors 152 onboard the non-compactor mobile machine 120 to determine whether the travel path 310 conforms to the first topography area 302 or the second topography area 304. The local topography sensors 152 can be positioned upstream of the traction / propulsion devices 128 to measure the local topography 316 of the terrain surface 102 before the non-compactor mobile machine 120 travels over it. The local topography detectors 152 can detect the compaction condition using the local topography 316 using any of the aforementioned technologies.If the local topography 316 matches or overlaps with both the first topography region 302 and the second topography region 302, the local topography detectors 152 detect a variation in compaction within the local.

[0037] Topography 316. In a particular embodiment, the variation in compaction may be represented as a compaction edge 320, which may be a one-dimensional line separating the first topography region 304 and the second topography region 302. Although the compaction edges 320 in Fig. 3 are straight, the compaction edges 320 may in other cases be curved or vary in other ways. Furthermore, the compaction edges 320 may have a width resulting from the transition between the first topographic region 302 and the second topographic region 304.

[0038] In one embodiment, the local topography detectors 152 may operate according to spatial measurement principles by measuring the vertical distances between the local topography detectors located on the mobile machine without a compactor 120 and the terrain surface 102. The local topography detectors 152 may measure a first vertical distance 322 associated with the first topography area 302 with greater compaction and a second vertical distance 324 associated with the second topography area 302 with lesser compaction. The electronic controller 140 may compare the first vertical distance 322 and the second vertical distance 324 as measured, and the difference may indicate a variation in the compaction of the local topography 316 and further indicate a compaction edge 320.For example, the first measured vertical distance 322 may be relatively larger due to the larger distance between the first topographic region 302 with greater compaction and the terrain surface 102, and the second measured vertical distance 324 may be relatively smaller due to the smaller distance between the second topographic region 304 and the terrain surface 102.

[0039] If the construction site management system 150 detects a compaction edge 320 and thus detects a variation in compaction associated with the local topography 316, the construction site management system 150 can adjust the travel path 310 of the mobile machine without

[0040] Compactor 120 may be adjusted to improve compaction of construction site 100. For example, electronic controller 140 may adjust the travel paths 310 assigned to traction / drive devices 128 to direct or maneuver them away from first topographical areas 302 with greater compaction and toward second topographical areas 304 with lesser compaction. Traction / drive devices 128 may therefore adopt adjusted travel paths 322 that differ from the original travel paths 310 and correspond to second topographical areas 304 with lesser compaction. Adjusted travel paths 322 may be implemented by steering or maneuvering the mobile machine without compactor 120 to one or the other lateral side.

[0041] To determine whether the adjusted travel routes 322 continue to correspond to the second topography areas 302 associated with a lower compaction state, the construction site management system 150 may dynamically and continuously evaluate the compaction state of the local topologies 316. For example, the electronic controller 140, using the local topography detectors 152 on the mobile machine without a compactor 120, may continuously search for the presence of a compaction edge 320 within the local topography 316, which may indicate variations in the compaction of the local topography as the mobile machine without a compactor 120 travels over the terrain surface 102. If the electronic controller detects a deviation in the compaction of the local topography 316, i.e., the local topography 316 corresponds to or overlaps with both the first topography area 302 and the second topography area 304, the jobsite management system 150 can, via the electronic controller 140, make a different or further adjustment to the travel path 310 of the mobile machine without the compactor 120. The adjusted travel paths 318 of the traction / drive devices 128 are thus continuously and dynamically adjusted in response to the simultaneously empirically measured compaction state of the local topography 316. With reference to . Fig.4 and with continued reference to the preceding figures, an example flowchart 400 of a possible sequence of steps or operations that the construction site management system 150 may perform to improve the compaction of the ground surface 102 around the construction site 100 is illustrated. The steps and processes of the flowchart 400 may be embodied as software instructions constituting a computer-executable program or application written in suitable programming code.

[0042] In one embodiment, the electronic controller 140, which is responsible for executing the steps depicted in flowchart 400, may receive a planned route 210 for the mobile non-compactor 120 in a communication step 402. The planned route 210 may include a series of steering maneuvers to guide the mobile non-compactor 120 to a planned destination 212. The planned route may enable autonomous operation of the mobile non-compactor. The planned route may originate from the backend information processing system 160 connected to the jobsite management system 150 and reflect considerations such as efficiency, fuel consumption, travel time, etc. However, in other embodiments, the mobile non-compactor may be operated according to a random route, for example, in manual mode.

[0043] In a drive step 404, the mobile machine without a compactor 120 can traverse the construction site 100 according to one of the planned travel routes 210 or a (possibly) random travel route 310. To improve compaction on the construction site 100, the construction site management system 150 can use the local topography detectors 152 arranged on the machine chassis 124 to detect the compaction state of the local topography of the terrain surface 102 in the vicinity of the mobile machine without a compactor 120. The local topography detectors 152 can be rangefinders that operate according to spatial measurement principles, they can be image or light sensors that use pattern recognition or color recognition, or they can be a deflection sensor that physically contacts the terrain surface within the local topography. The local topography detectors 152 can detect the compaction state of the local topography in a detection step 406.The local topography detector 152 thereby directly and empirically obtains the detected compaction state associated with the local topography. In a dynamic embodiment 410, the electronic controller 140 may continuously and dynamically analyze the detected compaction state, for example, by continuously comparing the detected compaction state of the local topography with one or more compaction thresholds and historical compaction data 412. The compaction threshold may be a predetermined numerical value associated with a target compaction state for the terrain surface 102 of the construction site 100 and may be stored in the data memory 144 of the electronic controller 140. The construction site management system 150 may have previously obtained the historical compaction data by measuring compaction states at other topographical locations around the construction site.In a comparison step 414, the construction site management system 150 may compare and determine whether the detected compaction level exceeds or is greater than the compaction threshold or the historical compaction data 412. If the comparison step 414 determines that the detected compaction level does not exceed the compaction threshold or the historical compaction data 412, the mobile machine 120 may continue traveling along the original travel route 210, 310 without the compactor. If the comparison step 414 determines that the detected compaction levels exceed the comparison values, this would indicate that the current travel route corresponds to a first topographical area associated with a higher compaction level, and further compaction of the terrain surface is unnecessary.Accordingly, in an adjustment step 420, the construction site management system 150 may adjust the travel path of the mobile machine without a compactor to an adjusted travel path 320 across a second topographical area associated with a lower compaction level. The construction site management system 150 therefore directs the mobile machine without a compactor to assist in compacting the construction site 100. To ensure that the adjusted travel path continues to correspond to the second topographical area, the construction site management system 150 may continuously and repeatedly detect the compaction level of the local topography using the local topography detectors on the mobile machine without a compactor 120.

[0044] In another embodiment, the electronic controller 140 may perform an edge detection routine 430. For example, the detection of the compaction state of the local topography may correspond to both a first topographical region associated with a higher degree or state of compaction and a second topographical region associated with a lower degree or state of compaction. Using the electronic controller 140, the construction site management system 150 may perform a comparison step 432 that compares the first and second topographical regions to determine whether there is a compaction edge indicative of a variation in the compaction of the local topography.The comparison step 432 may be based on measured spatial distances between the local topography detectors 152 and the terrain surface 102, although in other embodiments, pattern recognition, color recognition, and / or physical distraction may be used in the comparison step 432. If the comparison step 432 does not detect a compaction edge or variation in compaction with respect to the local topography, the mobile machine may continue along the original travel path 210, 310 without the compactor 120.

[0045] If the compaction step 432 detects a compaction edge or a variation in compaction, the jobsite management system 150 may again proceed to the adjustment step 420, adjusting the travel path to an adjusted travel path that directs the mobile machine without the compactor 120 toward the second topographic area associated with the lower level of compaction. As before, the jobsite management system 150 may detect the compaction condition associated with the local topography via the local topography sensor 152 to ensure that the adjusted travel path continues to correspond to the second topographic area.

[0046] It is apparent that the foregoing description provides examples of the disclosed system and technique. However, it is conceivable that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to refer to the particular example described at that point and are not intended to imply any limitation on the general scope of the disclosure. Any expression of distinction or disparagement with respect to particular features is intended to indicate no preference for those features, but is not intended to exclude them entirely from the scope of the disclosure unless otherwise indicated.

[0047] The specification of ranges of values ​​is intended merely as a shorthand for referring to each individual value falling within the range, unless otherwise specified herein, and each individual value is included in the description as if listed individually. All procedures described herein may be performed in any convenient order unless otherwise specified or the context clearly indicates otherwise.

[0048] The use of the terms "a," "an," "an," "another," "the," "the," and "at least one," or the term "one or more," and similar references in the context of describing the invention (particularly in the context of the following claims) shall be construed to cover both the singular and the plural, unless otherwise stated herein or clearly contradicted by the context. The use of the term "at least one" followed by a list of one or more items (for example, "at least one of A and B" or "one or more of A and B") shall be construed to mean the selection of one item from the listed items (A or B) or a combination of two or more of the listed items (A and B), unless otherwise stated herein or clearly contradicted by the context.Accordingly, this disclosure includes, to the extent permitted by law, all modifications and equivalents of the subject matter recited in the claims appended hereto. Furthermore, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure, unless otherwise stated herein or the context clearly dictates otherwise. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 8,639,420

[0003]

Claims

[1] Mobile machine, comprising: a machine chassis (124) supported on a plurality of traction / drive devices (116, 128) contacting a ground surface (102) of a construction site (100), wherein the mobile machine is a mobile machine without a compactor (120); one or more local topography detectors (152) configured to detect a detected compaction state of a local topography (216, 316) associated with the terrain surface (102) in the vicinity of the mobile machine; an electronic controller (140) disposed onboard the mobile machine and in electronic communication with the one or more local topography detectors (152) to receive data signals therefrom, wherein the electronic controller (140) is programmed to detect whether the detected compaction condition corresponds to a first topography area (202, 302) associated with a higher compaction condition based on the data signals received from the one or more local topography detectors (152), wherein the electronic controller (140) is further programmed, if the detected compaction condition corresponds to the first topography area (202, 302), to adjust a travel route (310) to direct the mobile machine to a second topography area (204, 304) associated with a lower degree of compaction. [2] The mobile machine of claim 1, wherein the detected compaction condition further corresponds to the second topographic region (204, 304) associated with a lower compaction condition; and the electronic controller (140) is programmed to detect a variation in the compaction of the local topography (216, 316) indicative of the first topographic region (202, 302) and the second topographic region (204, 304). [3] Mobile machine according to claim 2, wherein the electronic controller (140) detects a compaction edge (320) that distinguishes the first topographical area (202, 302) and the second topographical area (204, 304). [4] The mobile machine of claim 3, wherein the first topography region (202, 302) is associated with a first vertical distance (322) between the one or more local topography detectors (152) and the terrain surface (102) and the second topography region (204, 304) is associated with a second vertical distance (324) between the one or more local topography detectors (152) and the terrain surface (102). [5] The mobile machine of claim 4, wherein the electronic controller (140) is programmed to compare the first vertical distance (322) and the second vertical distance (324) to determine the variation in compaction. [6] The mobile machine of claim 1, wherein the travel route (310) is a planned travel route (210) for the mobile machine, and wherein the electronic controller (140) is programmed to adapt the planned travel path (210) to an adapted travel path (218) to guide the mobile machine to the second topographic area (204, 304). [7] The mobile machine of claim 1, wherein the electronic controller (140) is further programmed to compare the detected compaction condition with one or more compaction thresholds and historical compaction data (412). [8] The mobile machine of claim 1, wherein the one or more local topography detectors (152) is / are a rangefinder. [9] Mobile machine according to claim 1, wherein the one or more local topography detectors (152) are designed as an image sensor or light sensor for recognizing patterns or for color recognition. [10] A method for compacting a terrain surface (102) of a construction site (100), comprising: Driving a mobile machine over the terrain surface (102) according to a travel route (310), wherein the mobile machine is a machine without a compactor (120); Detecting a local topography (216, 316) of the terrain surface (102) using one or more local topography detectors (152) disposed on the mobile machine and generating a detected compaction condition; Detecting whether the detected compaction state of the local topography (216, 316) corresponds to a first topography region (202, 302) associated with a higher compaction state; and if it has been detected that the detected compaction state of the local topography (216, 316) corresponds to the first topography area (202, 302), adapting the travel route (310) to an adapted travel route (218) that guides the mobile machine to a second topography area (204, 304) associated with a lower compaction state.

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