LOCKING SYSTEMS, METHODS AND CONTROLS FOR A SURFACE INJURY DEVICE OF A MOBILE MACHINE

Abstract

A mobile machine (10) for operation at a worksite having a work surface (12), the mobile machine (10) comprising: a frame (22); a towing device (16) mounted on the frame for moving the mobile machine (10) with respect to the work surface (12); a surface engaging device (18) mounted on the frame (22), the surface engaging device (18) being raisable and lowerable with respect to the frame (18); a first sensor (40, 42) for providing a machine speed (V) of the mobile machine (10); a second sensor (42, 44) for providing a speed of the mobile machine (10); and a controller (46) storing a three-dimensional map (P) associated with the worksite, the three-dimensional map (P) including at least one exclusion zone (Z), the controller (46) receiving the machine speed (V) and the machine location (L).

Description

Area

[0001] The present disclosure generally relates to systems, methods, and controls for assisting a surface engaging device, such as a ripper, mounted on a mobile machine, such as a bulldozer, in avoiding exclusion zones, which may include obstacles in and / or below a work surface on which the mobile machine is working or a soil type that does not need to be worked. background

[0002] Mobile machines, such as bulldozers, agricultural tractors, and scrapers, are often equipped with one or more surface-intervening devices for cultivating, digging, ripping, or otherwise working a work surface, such as a ripper.

[0003] The Fig. 1-2 show schematic views of an exemplary mobile machine 10. The mobile machine 10 may include any mobile machine that performs some type of activity associated with an industry, such as mining, construction, agriculture, or any other industry known in the art. For example, the mobile machine 10 may be a mobile earthmoving machine, such as a bulldozer, a loader, a backhoe, an excavator, a motor grader, or any other earthmoving machine. The mobile machine 10 may traverse a construction site to process material beneath a work surface 12, e.g., transport, cultivate, dig, rip, and / or perform other operations known in the art. The mobile machine 10 may include a power source 14 configured to generate mechanical energy, a traction device 16, at least one surface engaging device, such as aa ripper 18, and an operator station 20 for housing controls. The mobile machine 10 includes a frame 22 for supporting one or more components of the mobile machine 10 (e.g., power source 14, traction device 16, ripper 18, etc.).

[0004] The power source 14 may be any type of internal combustion engine, such as a diesel engine, a gasoline engine, or a gaseous fuel engine. The power source 14 may instead be a non-motor type of power generating device, such as a fuel cell, a battery, a motor, or any other type of power source known in the art. The power source 14 may produce a variable output power that is delivered to the ripper 18 and the tractor 16 in response to one or more inputs.

[0005] The traction device 16 may comprise crawler tracks located on each side of the mobile machine 10 (of which Fig. 1-2 only one side is shown) and driven by one or more sprockets 24. The sprockets 24 may be connected to the power source 14 to receive power therefrom and drive the traction device 16. Movement of the traction device 16 may drive the mobile machine 10 with respect to the work surface 12. It is contemplated that the traction device 16 may additionally or alternatively include wheels, belts, or other traction devices, which may or may not be steerable. It is also contemplated that the traction device 16 may be actuated hydraulically, mechanically, electronically, or in any other suitable manner.

[0006] The surface engaging device, such as the ripper 18, may be mounted directly to the frame 22 or to a frame arm 23, which in turn is connected to the frame 22. In both cases, however, the ripper 18 is rotatable (i.e., about the frame 22 or the frame arm 23). The ripper 18 may be configured to be raised, lowered, and tilted relative to the frame 22. For example, the ripper 18 may include a working tool, such as a shank 26, held in place by a fastener 27. The shank 26 may penetrate the work surface 12 to disturb or tear (or rip) the material beneath the work surface 12 and may move relative to the fastener 27. More specifically, the shank 26 may have multiple configurations relative to the fastener 27. For example, the shaft 26 can be moved higher, lower, away from the frame 22 and towards it.The attachment member 27 may be connected to the frame 22 via a connection system with at least one implement actuator forming an element in the connection system, and / or in any other suitable manner. For example, a first hydraulic actuator 28 may be connected to the lift-and-lower ripper 18, and a second hydraulic actuator 30 may be connected to the tilt ripper 18. It is contemplated that the surface engaging implement 18 may alternatively comprise, in place of the shaft 26, a plow, a tine, a cultivator, and / or other implement known in the art that performs a task.

[0007] The movement of the ripper 18 may correspond to a variety of predetermined positions and / or orientations. For example, the ripper 18 may have a work tool angle α and a frame arm angle β, as shown in the Fig. 1-2, which may be varied based on a material composition of the work surface 12, a size or capacity of the mobile machine 10, the configuration of the shank 26 relative to the fastener 27, and / or one or more operator inputs. In one example, the angle α of the shank 26 of the work tool may be selected such that the shank 26 is substantially vertical to the work surface 12 to enable efficient penetration into the work surface 12 (for example, the angle α of the work tool could be about 30°, as in Fig. 1 so that the shank 26 is vertical to the work surface 12). To maintain such a work tool angle α for each of the available shank configurations, the work tool actuators of the attachment 27 may need to be adjusted based on the current shank configuration. The frame arm angle β of the frame arm 23 may correspond to a forward tilt of the shank 26 to enable efficient digging while preventing the shank 26 from digging under the mobile machine 10 and forcing material against the underbody of the mobile machine 10. To maintain the shank 26 in the correct digging position relative to the underbody of the mobile machine 10, the actuators of the attachment 27 may need to be adjusted based on the current shank configuration.

[0008] In an exemplary digging operation, an operator of the mobile machine 10 may adjust the configuration of the shaft 26. For example, the operator may manually loosen the bolts securing the shaft 26 to the fastener 27 in a first configuration, move the shaft 26 to a specific location on the fastener 27, and tighten the bolts to hold the shaft 26 in place. In another example, the shaft 26 may be movable by a motor, pulley system, or hydraulic actuator to mechanically move from the first configuration to the second configuration. It is contemplated that this sliding mechanism may be electrically or mechanically controlled by the operator and / or a controller. That is, the operator may adjust the configuration of the shaft 26 by actuating a switch, joystick, knob, or other interface known in the art.

[0009] The operator can then control the implement actuators of the fastener 27 to adjust the shank 26 to a digging angle θ associated with the current configuration of the shank 26 with respect to the work surface 12. That is, the operator can control the implement actuators of the fastener 27 to orient the shank 26 relative to the work surface 12 prior to penetration. The operator can then control the implement actuators to lower the shank 26 and penetrate the work surface 12. Once the shank 26 has penetrated the work surface 12, the operator can control the actuators of the fastener 27 to vary the digging angle θ for the current configuration of the shank 26.That is, the operator can control the implement actuators to adjust the shaft 26 to a digging angle θ, a work tool angle α, and / or a frame arm angle β that does not place the shaft 26 under the mobile machine 10 but allows for efficient digging. It is contemplated that all or part of the digging operation described above may be controlled automatically.

[0010] The hydraulic actuators 28, 30 may each include a piston-cylinder assembly, a hydraulic motor, and / or other known hydraulic device having one or more fluid chambers therein. In a piston-cylinder assembly, pressurized fluid may be selectively supplied to and drained from one or more chambers to affect the linear movement of the actuator, as is known in the art. In a hydraulic motor assembly, pressurized fluid may be selectively supplied to and drained from chambers on either side of an impeller to affect the rotational movement of the hydraulic actuators 28, 30. The movement of the hydraulic actuator 28 may contribute to moving the ripper 18 with respect to the frame 22 and the work surface 12, particularly downwardly toward the work surface 12 and upwardly away from it.It is contemplated that an extension of the hydraulic actuator 28 may correlate with a position of the ripper 18 relative to the work surface 12. Likewise, movement of the hydraulic actuator 30 may contribute to orienting the ripper 18 relative to the frame 22 and the work surface 12, particularly decreasing or increasing the digging angle θ and / or the work tool angle α. It is contemplated that an extension of the hydraulic actuator 30 may correlate with an orientation of the ripper 18 relative to the work surface 12.

[0011] The operator station 20 may provide a control interface for an operator of the mobile machine 10. For example, the operator station 20 may include a deceleration pedal 32 and a ripper control 34. Although not shown, it is contemplated that the operator station 20 may additionally include other controls, such as a machine direction control, an accelerator pedal, or other control device known in the art.

[0012] The ripper control 34 may enable the operator of the mobile machine 10 to operate the ripper 18. In particular, the ripper control 34 may control a quantity or pressure of fluid supplied to and discharged from the hydraulic actuators 28, 30. Thus, the ripper control 34 may enable the operator to adjust a height H of the shank 26 of the work tool, as shown in Fig. 2 above or below the work surface 12. For example, the work tool height H could be positive when the shank 26 is positioned above the work surface 12, negative when the shank 26 is positioned below the work surface 12, or zero when it is positioned on the work surface 12. The ripper control 34 also allows the operator to adjust the work tool angle α, the frame arm angle β, and the digging angle θ. The ripper control 34 may allow the operator to move the shank 26 downward from a position above the work surface 12 to penetrate the work surface 12 and to set a cutting depth below the work surface 12 (i.e., a negative work tool height H) so that the shank 26 can disturb or disrupt the material below the work surface 12 during a ripping operation.The ripper control 34 may also allow the operator to change the work tool angle α, the frame arm angle β, and the digging angle θ while the shank 26 is above or below the work surface 12. For example, the operator may actuate the ripper control 34 to set the shank 26 to a digging angle θ before lowering the shank 26 to penetrate the work surface 12. The operator may further actuate the ripper control 34 to set the shank 26 to an optimal digging angle θ once the shank 26 has penetrated the work surface 12 to a desired depth (i.e., the height of the work tool H). The ripper control 34 may, for example, comprise a joystick.It is contemplated that the ripper controller 34 may include any other suitable controller known in the art, and that the ripper controller 34 may alternatively include separate controllers for determining the work tool angle α, the frame arm angle β, the digging angle θ, and the work tool height H, respectively.

[0013] Fig. 3 shows a control system 38 with components that cooperate to move the ripper 18. For example, the control system 38 may include a user interface 39, a first sensor 40 for measuring the machine speed V, a second sensor 42 for measuring a machine position L of the mobile machine 10, a third sensor 44 for monitoring the positions of the hydraulic actuators 28, 30, and a controller 46. The user interface 39 may allow an operator to enter values ​​relevant to the operation of the mobile machine 10, such as an actuation of the shaft 26 and a desired digging angle θ of the shaft 26.It is envisaged that the values ​​for the optimal angle of the working tool α, the angle of the frame arm β, the digging angle θ and the height of the working tool H can be predetermined or automatically calculated by the controller 46, for example on the basis of the configuration of the shaft 26 relative to the fastening element 27.

[0014] Sensors 40, 42, 44 may each include conventional hardware to generate a signal as a function of a sensed physical parameter. Sensor 40 may be arranged to sense the machine speed V of mobile machine 10 relative to work surface 12. For example, sensor 40 may be arranged adjacent to work surface 12 and generate a signal indicative of the machine speed V of mobile machine 10 relative to work surface 12. Sensor 40 may embody any type of motion or speed sensor, such as a global position sensor, an infrared sensor, a Hall sensor, a rotation sensor, or a radar sensor. For example, sensor 40 may respond to fluctuations in a given magnetic field generated by sensor 40 or another component proximate sensor 40.As the sprockets 24 rotate to drive the traction device 16, magnetic elements embedded in the sprockets 24 may cause a fluctuation in a magnetic field. The sensor 40 may then use the frequency of the fluctuations to calculate the speed of the driven component. The sensor 40 could instead be coupled to a transmission of a mobile machine 10 to calculate the machine speed of the mobile machine 10 from the engine speed and gear ratio of the power source 14 or the traction device 16, if so equipped. Alternatively, the sensor 40 may transmit a radio signal with a specific wavelength and frequency to the work surface 12. The radio signal may be reflected back to the sensor 40 from the work surface 12 with a modified wavelength and / or frequency according to the Doppler effect.The sensor 40 can then use the difference between the original wavelength and frequency and the modified wavelength and frequency to calculate the speed of the mobile machine 10. It is contemplated that the sensor 40 may include multiple sensors generating multiple signals, and that the multiple signals may be combined into a common signal if desired.

[0015] The sensor 42 can detect the location L of the mobile machine 10 either globally and / or relative to the work surface 12. The sensor 42 can embody any type of position sensor, such as a satellite positioning unit of a global navigation satellite system, or GNSS. A GNSS is a satellite navigation system with global coverage that can be used to geoposition objects connected to the GNSS, such as a mobile machine 10. An example of a GNSS is a global positioning system, or GPS. The sensor 42 can be embodied as a satellite positioning unit arranged on a mobile machine 10. The satellite positioning unit generates signals indicating the machine location L of the mobile machine 10. The satellite positioning unit can determine and generate signals corresponding to the latitude and / or longitude of the mobile machine 10.The satellite positioning unit may be disposed on an upper portion of the mobile machine 10 to communicate with a number of satellites of the GNSS and receive signals indicative of the machine location L of the mobile machine 10. It is contemplated that the sensor 42 may include a plurality of sensors generating a plurality of signals, and that the plurality of signals may be combined into a common signal if desired.

[0016] The sensor 44 can detect an expansion of one or more chambers of hydraulic actuators 28, 30. As in Fig. 3, sensor 44 may, for example, comprise two individual sensors 44a, 44b, one each connected to the hydraulic actuator 28 and the hydraulic actuator 30, respectively. The sensor 44a may be disposed adjacent to and / or within the hydraulic actuator 28 to generate a signal indicative of an extension of the hydraulic actuator 28. It is contemplated that the signal generated by sensor 44a may represent values ​​proportional to at least one of the following: work tool angle α, frame arm angle β, tilt angle θ, and work tool height H. It is also contemplated that sensor 44a may include any type of sensor known in the art, such as a position sensor. That is, sensor 44a may generate a signal indicative of a longitudinal distance within a chamber of the hydraulic actuator 28.It is contemplated that sensor 44a may selectively include a plurality of sensors each generating a plurality of signals, and that the plurality of signals may be combined into a common signal.

[0017] Sensor 44b may operate similarly to sensor 44a. In particular, sensor 44b may be disposed adjacent and / or within hydraulic actuator 30 to generate a signal indicative of an extension of hydraulic actuator 30. It is contemplated that the signal generated by sensor 44b may represent values ​​proportional to at least one of the following: work tool angle α, frame arm angle β, tilt angle θ, and work tool height H. It is also contemplated that sensor 44b may embody any type of sensor known in the art, such as a position sensor. That is, sensor 44b may generate a signal indicative of a longitudinal distance within a chamber of hydraulic actuator 30.It is contemplated that sensor 44b may selectively include a plurality of sensors each generating a plurality of signals, and that the plurality of signals may be combined into a common signal.

[0018] The mobile machine 10 may include one or more inertial measurement units, or IMUs 45. An IMU is a measurement device that may itself include a number of sensors. The sensors may include accelerometers and / or gyroscopes. The sensors may generate signals indicating various positional characteristics of the object to which they are attached, such as a change in the object's velocity, a change in the object's attitude / orientation, and a change in the object's path of travel. The IMU determines the object's acceleration based on the signals generated by the IMU's sensors. For example, the mobile machine 10 may include a first IMU 45a mounted on the frame 22 and a second IMU 45b mounted on the ripper 18. Optionally, a third IMU 45c could be mounted on the frame arm 23. GNSS and its satellite positioning unit (e.g.,Sensor 42) can be used to correct any distortion in the output of the IMUs 45a, 45b, 45c to obtain more accurate readings and thus enable more precise control of the mobile machine 10 and the ripper 18.

[0019] The controller 46 may receive the signals generated by the sensors 40, 42, 44 to assist in controlling the operation of the mobile machine 10. That is, the controller 46 may be communicatively coupled to the sensors 40, 42, 44, the deceleration pedal 32, the ripper control 34, the hydraulic actuators 28, 30, the user interface 39, and any other component of the mobile machine 10 that may be used to control the operation of the mobile machine 10.

[0020] The controller 46 may include a single microprocessor or multiple microprocessors that provide a means for controlling the mobile machine 10. For example, the controller 46 may include memory, a secondary storage device, and a processor, such as a central processing unit or other means for controlling the mobile machine 10. Numerous commercially available microprocessors may be configured to perform the functions of the controller 46. It should be noted that the controller 46 could include a general purpose power source microprocessor capable of controlling numerous power source functions. Various other known circuits may be coupled to the controller 46, including power supply circuitry, signal conditioning circuitry, solenoid valve driver circuitry, communications circuitry, and other suitable circuitry.It should also be noted that the controller 46 may include one or more application-specific integrated circuits (ASICs), a field-programmable gate array (FPGA), a computer system, and logic circuitry configured to operate the controller 46. For example, the memory of the controller 46 may embody the flash memory of an ASIC, flip-flops in an FPGA, the memory of a computer system, or a memory circuit included in logic circuitry. The controller 46 may further be communicatively coupled to an external computer system, instead of or in addition to a computer system.

[0021] The controller 46 may control the movement of the ripper 18. To this end, the controller 46 may receive input signals from an operator of the mobile machine 10, monitor signals generated by sensors 40, 42, 44, execute one or more algorithms to determine appropriate output signals, and provide the output signals to one or more components of the mobile machine 10 to control the work tool angle α, the frame arm angle β, the digging angle θ, and the work tool height H. For example, the control unit 46 may store a plurality of values ​​representing the possible values ​​for the work tool angle α, the frame arm angle β, the digging angle θ, and the work tool height H in its memory, each value being associated with corresponding configurations and / or modes of operation of the shaft 26.The controller 46 may cause the shaft 26 to move toward one of these values ​​based on the current configuration and / or operation of the shaft 26. More specifically, the controller 46 may monitor the signals generated by the sensors 44a, 44b for the extension of the hydraulic actuators 28, 30, convert these signals into a value of the work tool angle α, the frame arm angle β, the digging angle θ, and / or the work tool height H they represent, and compare them to one or more values ​​stored in the memory of the controller 46. The controller 46 may then control hydraulic actuators 28, 30 to move the shaft 26 until the values ​​indicated by the signal from the sensors 44a, 44b substantially match the values ​​stored in the memory of the controller 46.

[0022] The controller 46 can adjust the cutting depth of the shank 26 (i.e., the height of the work tool H) in a similar manner. More specifically, the controller 46 can monitor the extension signal of the hydraulic actuator 28 generated by sensor 44a, convert it into a value representative of the possible heights H of the work tool, and compare it to one or more values ​​stored in the memory of the controller 46, actuating the hydraulic actuator 28 until the two values ​​are substantially equal. The controller 46 can actuate hydraulic actuators 28, 30 by controlling one or more valves and / or other components of an associated hydraulic system, e.g., pumps, to selectively supply and drain pressurized fluid to and from the hydraulic actuators 28, 30.

[0023] The controller 46 may also control the acceleration and deceleration of the tractor 16. That is, the controller 46 may be communicatively coupled to the power source 14 to affect the operation of the power source 14 by increasing or decreasing the amount of fuel delivered to the power source 14, changing the timing of fuel injections into the power source 14, increasing or decreasing the amount of air delivered to the power source 14, and / or increasing or decreasing the amount of electrical power delivered by the power source 14. It is contemplated that the controller 46 may alternatively control the acceleration and deceleration of the tractor by directly manipulating the position of the deceleration pedal 32, if desired.

[0024] In this configuration, the mobile machine 10 and the ripper 18 can be operated together to loosen and stir the material of the work surface 12 prior to completing earthmoving or other tasks. However, the work surface 12 is typically located on a construction site or mine site. Therefore, the work surface 12 often contains obstructions within the work surface 12 itself and / or beneath the work surface 12 that could potentially come into contact with the ripper 18 during operation, resulting in various undesirable situations. For example, if the shaft 26 of the ripper 18 comes into contact with an underground utility line (e.g., power, water, gas, telecommunications, etc.), the ripper 18 could inadvertently sever or expose the utility line. The ripper 18 could also come into contact with a large object, e.g.,an underground boulder that could damage the ripper 18 and / or the mobile machine 10. Therefore, the operator of the mobile machine 10 must be careful near such obstacles to avoid coming into contact with the shaft 26 of the ripper 18. It is also conceivable that a portion of the work surface 12 includes a soil type that does not need to be worked with the ripper 18. Brief description

[0025] One aspect of the present disclosure relates to a mobile machine for operation at a worksite having a work surface, the mobile machine comprising: a frame; a traction device mounted on the frame, the traction device configured to move the mobile machine with respect to the work surface; a surface engaging device mounted on the frame, the surface engaging device being raisable and lowerable with respect to the frame; a first sensor configured to provide a machine speed of the mobile machine; a second sensor configured to provide a machine location of the mobile machine;and a controller storing a three-dimensional map associated with the work location, the three-dimensional map including at least one exclusion zone, the controller configured to receive the machine speed and the machine location and, based on the machine speed and the machine location relative to the at least one exclusion zone, to perform at least one of the following actions: raising the surface engaging device and maintaining the machine speed, raising the surface engaging device and reducing the machine speed, stopping the mobile machine, or providing an indication to an operator of the mobile machine.;

[0026] Another aspect of the present disclosure relates to a method for operating a mobile machine at a worksite having a work surface, the mobile machine including a surface engaging tool for engaging the work surface, the surface engaging tool being raisable and lowerable with respect to the mobile machine, the method comprising: storing a three-dimensional map associated with the worksite in a controller of the mobile machine, the three-dimensional map including at least one exclusion zone, receiving, by the controller, a machine speed of the mobile machine, receiving, by the controller, a machine location of the mobile machine,Evaluating the machine speed and location relative to the at least one exclusion zone and, in response, taking at least one of the following actions: raising the surface engagement device and maintaining the machine speed, raising the surface engagement device and reducing the machine speed, stopping the mobile machine, or providing an indication to an operator of the mobile machine.

[0027] Another aspect of the present disclosure relates to a controller for a mobile machine having a surface engaging device that can be raised and lowered relative to the mobile machine, the controller configured to: store a three-dimensional map associated with a work location at which the mobile machine can be operated, the three-dimensional map including at least one exclusion zone; receive a machine speed of the mobile machine; receive a machine location of the mobile machine;and evaluating the machine speed and location relative to the at least one exclusion zone, and in response: raising the surface engaging device and maintaining the machine speed, raising the surface engaging device and decreasing the machine speed, stopping the mobile machine, or providing an indication to an operator of the mobile machine; Short description of the drawings Fig. 1 is a side view of a conventional bulldozer, which is an example of a mobile machine; Fig. 2 is a detailed view of the bulldozer from Fig. 1, showing a ripper mounted on the bulldozer; Fig. 3 shows various components of a control system of the bulldozer from Fig. 1; Fig. 4 shows a bulldozer approaching an exclusion zone according to the present disclosure; Fig. 5 shows a three-dimensional site plan of a construction site according to the present disclosure; and Fig. 6 shows a flowchart of a method of operating a mobile machine according to the present disclosure. Detailed description

[0028] This application describes systems, methods, and controls that enable a mobile machine, such as a bulldozer, that includes a surface-engaging implement, such as a ripper, to automatically avoid contact between the surface-engaging implement and obstacles in one or more exclusion zones associated with a worksite at which the mobile machine may be operated. The one or more exclusion zones are features of a three-dimensional site map associated with the worksite. The mobile machine then uses the three-dimensional site map, along with other information associated with the operation of the mobile machine, such as machine speed and machine location, to determine how to automatically control the surface-engaging implement and / or mobile machine.By controlling the surface intervention equipment and / or mobile machine in this manner, the systems, methods and controls of the present application minimize the risk of the surface intervention equipment coming into contact with various obstacles on the jobsite.

[0029] Common examples of such obstructions include underground utilities. By automatically controlling the mobile machine to, for example, raise the surface intervention equipment when approaching such obstructions or even stop the mobile machine completely, the systems, methods, and controls of the present application allow the operator to focus on other tasks related to operating the mobile machine at the jobsite, improving efficiency.

[0030] In addition to information about obstacles on the jobsite, such as buried utilities or large boulders, and the formation of various exclusion zones around these obstacles, the three-dimensional site plan can contain other relevant information about the jobsite and the operation of the mobile machine on the jobsite. For example, the site plan can include topography and elevation data, soil type information, the types of work the mobile machine is expected to perform at specific locations or in specific areas within the site plan, etc. For example, the three-dimensional site plan can indicate that a particular part of the worksite has a soil type that does not require treatment by the mobile machine's surface intervention equipment (e.g., does not require trenching).This part of the construction site can then be marked as a restricted zone on the three-dimensional site plan, reducing the likelihood of the mobile machine and its surface intervention equipment performing unnecessary work in this area.

[0031] The Fig. 4-5 show a mobile machine 10 which, in conjunction with the Fig. 1-3, except that the mobile machine 10 is used in the context of Fig. 4-5 is equipped with technology that facilitates the features of the present disclosure. In particular, the controller 46 of the mobile machine 10 has stored therein (i.e., in its memory) a three-dimensional map associated with a work location, such as the three-dimensional map P shown in Fig. 5. While in Fig. 4 illustrates that the controller 46 is physically located on the mobile machine 10, it is possible for the controller 46 to be remotely located with respect to the mobile machine 10 (e.g., where the mobile machine 10 is operated autonomously from a computer in a control center physically remote from the work site). In practice, however, the concepts described herein are equally applicable regardless of the location of the controller 46 (i.e., physically on the mobile machine 10 or elsewhere).

[0032] The three-dimensional site plan P contains information describing the work location and its work surface 12, including the identification of one or more exclusion zones Z. Exclusion zones Z are three-dimensional zones used to identify the location of one or more obstacles O, such as underground utilities, large boulders, etc. While a three-dimensional site plan P contains more information (e.g., elevation / topographic information, depth below the work surface 12 of obstacles O, etc.) because it is three-dimensional, it is also envisioned that the systems, methods, and controls of the present application could instead use a two-dimensional site plan (e.g., only defining latitude and longitude, but no elevation / depth information). In practice, however, such a simplification could result in less effective control of the mobile machine 10.

[0033] The controller 46 is configured to receive at least a machine speed V of the mobile machine 10 and a machine location L of the mobile machine 10 as inputs. The machine location L could be a global location based on a geographic coordinate system including longitude, latitude, and elevation, an open location code such as plus codes and the like, geo-hashes, a global area reference system, or the like. Alternatively, the machine location L could be associated with the specific work location where the mobile machine 10 is operating.Furthermore, while any point on the mobile machine 10 could be used as the machine location L, it is believed that more precise control is possible if the machine location L corresponds to a location of the ripper 18 and, in particular, to a location of the shaft 26, since this is the component of the mobile machine 10 / ripper 18 most likely to come into contact with the obstacle O or cause problems by entering the exclusion zone Z during operation of the mobile machine 10.

[0034] For example, the controller 46 could receive the machine location L from sensor 42, which can be any location-sensing sensor, such as a satellite positioning unit of a GNSS. Alternatively and / or additionally, the controller 46 could determine the machine location L based on the input from sensor 44, which detects the expansion of the chambers of the hydraulic actuators 28, 30. In particular, the sensors 44a, 44b, which are connected to the hydraulic actuator 28 and the hydraulic actuator 30, respectively, could output values ​​corresponding to their expansion, which values, in turn, correspond to a particular location of either the ripper 18 or the shaft 26. The sensors 44a, 44b could also be used to provide an indication of one or more of the following: angle α of the work tool, angle β of the frame arm, digging angle θ and height H of the work tool to more accurately determine the machine position L.In any case, the outputs of sensors 44a, 44b could be used to determine the machine location L based on the structural geometry of one or more of the frame 22, ripper 18, frame arm 23, hydraulic actuators 28, 30, and shaft 26, as well as other components of mobile machine 10. Using the outputs of sensors 44a, 44b to determine the machine location L could provide a more precise indication of the location of shaft 26 relative to the three-dimensional layout P, ​​and in particular, to obstacles O within exclusion zones Z, compared to using the output of sensor 42 alone.

[0035] However, regardless of which sensors are used to determine the machine location L, any IMUs connected to the mobile machine 10, such as the IMUs 45a, 45b, 45c, could be used to obtain a more accurate determination of the machine location L, regardless of whether the machine location L corresponds to the mobile machine 10 in general, the ripper 18 and / or the shaft 26. Additionally, sensor 42 (i.e., a satellite positioning unit) could be used to further improve the accuracy of the machine location L determination if the machine location L is based primarily on the outputs of sensors 44a, 44b associated with the extension of the hydraulic actuators 28 and 30, respectively. Furthermore, any other location determination methods or techniques known in the art could be used to determine the machine location L.

[0036] In addition to receiving the machine location L, the controller 46 may also receive a machine speed V of the mobile machine 10. The machine speed V may be provided in any of the conventional ways described above, namely by using the sensor 40 and / or the sensor 42.

[0037] Based on the machine speed V and the machine location L relative to one or more exclusion zones Z identified on the three-dimensional map P, the controller 46 may perform one or more operations. For example, upon receiving the machine speed V and the machine location L, the controller 46 may evaluate the three-dimensional map P, the machine speed V, and the machine location L and determine that the mobile machine 10 is adjacent to an exclusion zone boundary B. Za particular restricted zone Z and the associated obstacle O. In response, the controller 46 could then, for example, issue a corresponding command to raise the ripper 18 with respect to the work surface 12 (e.g., by extending one or both hydraulic actuators 28, 30). Issuing such a command would result in the shaft 26 being raised to either a smaller negative work tool height H, a zero work tool height H, or a positive work tool height H. Changing or increasing one or both of the angles, i.e., the work tool angle α (e.g., by retracting both hydraulic actuators 28, 30) and the frame arm angle β (e.g., by retracting the hydraulic actuator 30 but maintaining the same extended position of the hydraulic actuator 28), could also result in a raising of the shaft 26. By raising shaft 26 when approaching the limit BZ In the exclusion zone, shaft 26 no longer comes into contact with the obstacle O, thereby avoiding possible damage to the obstacle O and / or the ripper 18.

[0038] Depending on how close the machine L is to the boundary B at the time of lifting the ripper 18 Zthe exclusion zone, the controller 46 may also issue one or more commands to maintain the machine speed V, to reduce the machine speed V, or to stop the mobile machine 10 (i.e., to reduce the machine speed V to zero). The controller 46 may influence the machine speed V in the usual sense, namely by controlling one or more of the power sources 14, the traction device 16, the deceleration pedal 32, by applying a friction-operated braking force, etc. The function of the controller 46 with respect to the vehicle speed V is related to the time the mobile machine 10 has to sufficiently raise the ripper 18 before the ripper 18 reaches the boundary B Z the exclusion zone, as explained in more detail below.

[0039] In addition, in response to determining that the mobile machine 10 is in close proximity to the boundary of the exclusion zone B, the controller 46 Z also provide an indication I, e.g., an audible and / or visual alarm, either on the user interface 39 or otherwise. In response, the operator of the mobile machine 10 may take action to raise the ripper 18 before the ripper 18 reaches the boundary of the exclusion zone B Z crossed, and / or to ensure that the shaft 26 does not come into contact with the obstacle O.

[0040] In one embodiment, after receiving the machine speed V and the machine location L, the controller 46 may refer to a three-dimensional map P and calculate a distance difference D D between the machine location L and the boundary of the exclusion zone B Z The distance difference D D is in Fig. 5. Although it is represented as two-dimensional (i.e., as a scalar), the distance difference D D also be three-dimensional (ie as a vector). The controller 46 then evaluates the distance difference D D and compares the distance difference D D with one or more distance values ​​V D , which themselves can also be scalars or vectors. For example, if the controller 46 determines that the distance difference D D is smaller than a first distance value V D1 , the controller 46 knows that the mobile machine 10 is approaching the restricted zone Z. The controller 46 can also evaluate the machine speed V to determine how quickly the mobile machine 10 is approaching the restricted zone Z.

[0041] By comparing the distance difference D D with one or more distance values ​​V Dthe controller 46 can determine a suitable procedure required to raise the ripper 18 and its shaft 26 in a timely manner to a suitable height H of the implement (e.g., to avoid contact between the obstacle O and the shaft 26). For example, if it is determined that the distance difference D D is smaller than the first distance value V D1 , the controller 46 knows that the mobile machine 10 is near the restricted zone Z and its restricted zone boundary Bz. If the distance difference D D is still greater than a second distance value V D2 , where the second distance value V D2 is smaller than the first distance value V D1, then the controller 46 knows that it has sufficient time to raise the ripper 18 without simultaneously having to reduce the machine speed V. The controller 46 can then issue one or more commands to raise the ripper 18 while keeping the vehicle speed V relatively constant.

[0042] If the distance difference D D is greater than a third distance value V D3 , where the third distance value V D3 is smaller than the second distance value V D2 , then the controller 46 knows that there is not enough time to raise the ripper 18 without simultaneously reducing the machine speed V. The controller 46 can then issue one or more commands to raise the ripper 18 while simultaneously issuing one or more commands to reduce the machine speed V.

[0043] If the distance difference D Dis greater than a fourth distance value V D3 , where the fourth distance value VV D4 is smaller than the third distance difference V D3 , then the control 46 knows that it does not have enough time to raise the ripper 18 before the boundary of the exclusion zone B Z is achieved, regardless of whether the machine speed V is reduced at the same time. The controller 46 can then issue one or more commands to stop the mobile machine 10 (ie, bring the machine speed V to zero).

[0044] In summary, the closer the mobile machine 10 is to the exclusion zone boundary B Z comes, the more evasive maneuvers are required to ensure that the ripper 18 is raised before the ripper 18 reaches the exclusion zone boundary B Z crossed and / or that the shaft 26 does not come into contact with the obstacle O.

[0045] The above discussion applies equally to a method 600 for operating a mobile machine 10 at a work location having a work surface 12, as in Fig. 6. In step 602 of the method 600, a three-dimensional site plan P associated with the work location is stored in the controller 46 of the mobile machine 10. The three-dimensional site plan P contains at least one exclusion zone Z. In step 604, the controller 46 receives the machine speed V and the machine location L. In step 606, the controller 46 evaluates the machine speed V and the machine location L with respect to at least one exclusion zone Z. The evaluation of the machine location L with respect to at least one exclusion zone Z can determine the distance difference D D between the machine location L and a restricted zone boundary B Z comprise at least one exclusion zone Z.

[0046] In step 608, the controller 46 compares the distance difference D D with one or more distance values ​​V D to determine the appropriate procedure to ensure that the ripper 18 is raised before the ripper 18 reaches the exclusion zone boundary B Z and / or that shaft 26 does not come into contact with obstacle O. More specifically, in step 610, controller 46 compares the distance difference D D with the first distance value V D1 . If the distance difference D D is greater than the first distance value V D1 , the mobile machine 10 is not located near the exclusion zone boundary B Z of at least one exclusion zone Z, and there is no need to raise the ripper 18 or to slow down or stop the mobile machine 10. The controller 46 then continues the comparison of the distance difference D D and the first distance value V D1 away.

[0047] If in step 610 the distance difference D D smaller than the first distance value V D1 is, the mobile machine 10 is located near the boundary B Z the exclusion zone of at least one exclusion zone Z. Method 600 then proceeds to step 612 in which the controller 46 determines the distance difference D D with the second distance value V D2 which is smaller than the first distance value V D1 . If the v D D greater than the second distance value V D2 the controller 46 knows that the mobile machine 10 and / or the shaft 26 of the ripper 18 is close enough to the boundary B Zat least one exclusion zone Z that the ripper 18 must raise, but that the mobile machine 10 and / or the shaft 26 of the ripper 18 are not close enough to the exclusion zone boundary Bz such that the machine speed V must be reduced. Method 600 then proceeds to step 614 in which the controller 46 issues one or more commands to raise the ripper 18 and maintain the machine speed V.

[0048] If the distance difference D D smaller than the second distance value V D2 method 600 continues with step 616, in which the controller 46 calculates the distance difference D D with the third distance value V D3 which is smaller than the second distance value V D2 If the distance difference D D is greater than the third distance value V D3, the controller 46 knows that the mobile machine 10 and / or the shaft 26 of the ripper 18 is close enough to the boundary B Z the restricted zone of at least one restricted zone Z, so that the ripper 18 must be raised and the machine speed V reduced. Method 600 then proceeds to step 618 in which the controller 46 issues one or more commands to raise the ripper 18 and reduce the machine speed V.

[0049] If in step 616 the distance difference D D smaller than the third distance value V D3 method 600 continues with step 620, in which the controller 46 calculates the distance difference D D with the fourth distance value V D4 which is smaller than the third distance value V D4 If the distance difference D D is greater than the fourth distance value V D4, the controller 46 knows that the mobile machine 10 and / or the shaft 26 of the ripper 18 is close enough to the exclusion zone boundary B Z of at least one exclusion zone Z at which the mobile machine 10 must stop (i.e., the machine speed V must be reduced to zero), regardless of whether the ripper 18 is raised. Method 600 then proceeds to step 622, where the controller 46 issues one or more commands to stop the mobile machine 10 (i.e., reduce the machine speed V to zero).

[0050] Other variations of the method 600 are also contemplated and fall within the scope of the present disclosure. Industrial applicability

[0051] In general, the systems, methods, and controls of the present application are applicable to ensuring that a working tool of a surface-engaging device, such as a ripper shank, does not enter a restricted zone. The restricted zone may, for example, be associated with an obstacle that should be avoided or with a soil type that does not need to be addressed by the surface-engaging device. By automating the control of the surface-engaging device in this manner, the systems, methods, and controls of the present application enable more efficient and safer control of the surface-engaging device and the mobile machine to which it is mounted.

[0052] Although the invention has been shown and described in detail in the drawings and the foregoing description, these representations and descriptions are to be considered as illustrative or exemplary and not restrictive. It is understood that changes and modifications may be made by persons of ordinary skill in the art within the scope of the following claims. In particular, the present invention encompasses further embodiments having any combination of features from various embodiments described above and below. Furthermore, the statements made herein to characterize the invention refer to one embodiment of the invention and not necessarily to all embodiments.

[0053] The terms used in the claims should be interpreted to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article "a" or "the" in introducing an element should not be interpreted to exclude a plurality of elements. Similarly, the use of "or" should be interpreted to be inclusive, so that the use of "A or B" does not exclude "A and B" unless it is clear from the context or the foregoing description that only one of A and B is intended.Furthermore, the phrase "at least one of A, B, and C" should be interpreted as one or more elements of a group of elements consisting of A, B, and C, and not as a requirement that at least one of each of the listed elements A, B, and C be present, regardless of whether A, B, and C are related as categories or otherwise. Furthermore, the mention of "A, B, and / or C" or "at least one of A, B, or C" should be interpreted to include any single entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B, and C.

[0054] This disclosure encompasses all modifications and equivalents of the subject matter recited in the appended claims, to the extent permitted by applicable law. Furthermore, any combination of the elements described above, in all possible variations thereof, is encompassed by the disclosure, unless otherwise stated herein or clearly contradicted by context.

Claims

[1] A mobile machine (10) for operation at a work site having a work surface (12), the mobile machine (10) comprising: a frame (22); a traction device (16) mounted on the frame (22), the traction device (16) being configured to move the mobile machine (10) with respect to the work surface (12); a surface engagement device (18) mounted on the frame (22), the surface engagement device (18) being raiseable and lowerable with respect to the frame (18); a first sensor (40, 42) configured to provide a machine speed (V) of the mobile machine (10); a second sensor (42, 44) configured to provide a machine location (L) of the mobile machine (10); and a controller (46) storing a three-dimensional map (P) associated with the work location, the three-dimensional map (P) including at least one exclusion zone (Z), the controller (46) being configured to receive the machine speed (V) and the machine location (L) and, based on the machine speed (V) and the machine location (L), to perform at least one of the following actions with respect to the at least one exclusion zone (Z): to raise the surface engaging device (18) and maintain the machine speed (V), to raise the surface engaging device (18) and reduce the machine speed (V), to stop the mobile machine (10) or to provide a display (I) for an operator of the mobile machine (10). [2] Mobile machine (10) according to claim 1, further comprising: a frame arm (23) connecting the surface engaging device (18) to the frame (22), the frame arm (23) having a frame arm angle (β) with respect to the frame (22), wherein the surface engaging device (18) comprises a working tool (26) for penetrating the working surface (12), the working tool (26) having a working tool angle (α) with respect to the frame arm (23). [3] The mobile machine (10) of claim 2, wherein the surface engaging device (18) is rotatable about the frame arm (23) and wherein the controller (46) is configured to vary at least one of the work tool angle (α) or the frame arm angle (β) based on the machine speed (V) and the machine location (L) with respect to the at least one exclusion zone (Z). [4] The mobile machine (10) of claim 3, wherein varying at least one of the work tool angle (α) or the frame arm angle (β) comprises increasing at least one of the work tool angle (α) or the frame arm angle (β). [5] Mobile machine (10) according to claim 1, wherein the at least one restricted zone (Z) comprises a portion of the working surface (12) containing at least one obstacle (O). [6] Mobile machine (10) according to claim 5, wherein the at least one obstacle (O) is arranged in the working surface (12) and / or below the working surface (12). [7] Mobile machine (10) according to claim 6, wherein the at least one obstacle (O) comprises one or more underground utility lines. [8] Mobile machine (10) according to claim 1, wherein the controller (46) is configured to a distance difference (D D ) between the location of the machine (L) and a boundary (B Z) which determines at least one exclusion zone (Z) and determines that the distance difference (D D ) is smaller than a first distance value (V D1 ) is. [9] Mobile machine (10) according to claim 8, wherein the controller (46) is configured to raise the surface engaging device (18) and maintain the machine speed (V) when the distance difference (D D ) is greater than a second distance value (V D2 ), where the second distance value (V D2 ) is smaller than the first distance value (V D1 ). [10] Mobile machine (10) according to claim 9, wherein the controller (46) is configured to raise the surface engaging device (18) and reduce the machine speed (V) when the distance difference (D D ) is greater than a third distance value (V D3 ), where the third distance value (V D3 ) is smaller than the second distance value (V D2 ).

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