U.S. patent application number 14/933534 was filed with the patent office on 2017-05-11 for truck position control system for milling operations.
This patent application is currently assigned to Caterpillar Paving Products Inc.. The applicant listed for this patent is Caterpillar Paving Products Inc.. Invention is credited to Eric S. ENGELMANN.
Application Number | 20170130405 14/933534 |
Document ID | / |
Family ID | 58662600 |
Filed Date | 2017-05-11 |
United States Patent
Application |
20170130405 |
Kind Code |
A1 |
ENGELMANN; Eric S. |
May 11, 2017 |
TRUCK POSITION CONTROL SYSTEM FOR MILLING OPERATIONS
Abstract
A control system is disclosed for a mobile machine configured to
transfer material into a receptacle. The control system may include
a first sensor configured to generate a first signal indicative of
one of a speed of the mobile machine and a distance between the
mobile machine and the receptacle, a display system having at least
one display device configured to show information relating to one
or more of the mobile machine and the receptacle to an operator of
the receptacle, and a controller electronically connected to the
first sensor and the display system. The controller may be
configured to determine a relative speed of the receptacle with
respect to the mobile machine based at least in part on the first
signal and generate on the at least one display device a first
visual indicator indicative of the relative speed of the receptacle
with respect to the mobile machine.
Inventors: |
ENGELMANN; Eric S.; (Delano,
MN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Caterpillar Paving Products Inc. |
Brooklyn Park |
MN |
US |
|
|
Assignee: |
Caterpillar Paving Products
Inc.
Brooklyn Park
MN
|
Family ID: |
58662600 |
Appl. No.: |
14/933534 |
Filed: |
November 5, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 9/261 20130101;
E01C 23/088 20130101; E02F 9/265 20130101; B60R 2300/50 20130101;
E02F 9/2054 20130101; E01C 23/127 20130101; B65G 67/22 20130101;
B60R 1/00 20130101; E01C 2301/00 20130101 |
International
Class: |
E01C 23/088 20060101
E01C023/088; E01C 23/12 20060101 E01C023/12; B65G 67/22 20060101
B65G067/22; B60R 1/00 20060101 B60R001/00 |
Claims
1. A control system for a mobile machine configured to transfer
material into a receptacle, the control system comprising: a first
sensor configured to generate a first signal indicative of one of a
speed of the mobile machine and a distance between the mobile
machine and the receptacle; a display system having at least one
display device configured to show information relating to one or
more of the mobile machine and the receptacle to an operator of the
receptacle; and a controller electronically connected to the first
sensor and the display system and configured to: determine a
relative speed of the receptacle with respect to the mobile machine
based at least in part on the first signal; and generate on the at
least one display device a first visual indicator indicative of the
relative speed of the receptacle with respect to the mobile
machine,
2. The control system of claim 1, wherein: the first signal is
indicative of the distance between the mobile machine and the
receptacle; the first sensor is one of an ultrasonic sensor, an
optical sensor, and a laser sensor; and the controller is
configured to determine the relative speed of the receptacle with
respect to the mobile machine based on a comparison of successive
iterations of the first signal.
3. The control system of claim 1, wherein: the first sensor is
indicative of the speed of the mobile machine; and the control
system includes a communication device electronically connected to
the controller, wherein the controller is configured to: receive
via the communication device a second signal indicative of a speed
of the receptacle; and determine the relative speed of the
receptacle with respect to the mobile machine based on a comparison
of the speed of the mobile machine and the speed of the
receptacle.
4. The control system of claim 3, wherein the second signal is
generated by a second sensor associated with the receptacle or an
off-board computer.
5. The control system of claim 4, wherein the first visual
indicator is a qualitative indicator indicative of OM or more of a
degree to which the receptacle is traveling faster than the mobile
machine, a degree to which the receptacle is travelling slower than
the mobile machine, or when the speed of the receptacle relative to
the mobile machine is within a threshold range.
6. The control system of claim 1, wherein the controller is
configured to generate on the at least one display device at least
a second visual indicator indicative of a reference point location
with respect to the receptacle.
7. The control system of claim 6, wherein the reference point
location is one of a point location of material being transferred
into the receptacle from the mobile machine, a calibration set
point location, and a location of a component of the mobile
machine.
8. The control system of claim 1, wherein the controller is
configured to generate on the at least one display device at least
a second visual indicator indicative of a distribution of time or a
distribution of transferred material along at least one dimension
of the receptacle.
9. The control system of claim 1, wherein the at least one display
device is located on one or more of a mirror assembly of the mobile
machine and a conveyor assembly of the mobile machine.
10. The control system of claim 9, wherein the at least one display
device is pivotally connected to the conveyor assembly and movable
from one side of the conveyor assembly to another side of the
conveyor assembly.
11. The control system of claim 1, wherein the at least one display
device includes a plurality of display devices connected to the
mobile machine.
12. A method, comprising: transferring material from a mobile
machine into a receptacle; receiving a first signal indicative of
one of a speed of the mobile machine and a distance between the
mobile machine and the receptacle; determining a relative speed of
the receptacle with respect to the mobile machine based at least on
part on the first signal; and displaying on at least one display
device a first visual indicator indicative of the relative speed of
the receptacle with respect to the mobile machine.
13. The method of claim 12, wherein: the first signal is indicative
of the distance between the mobile machine and the receptacle; and
the method further includes: receiving successive iterations of the
first signal; and determining the relative speed of the receptacle
with respect to the mobile machine based on a comparison of
successive iterations of the first signal.
14. The method of claim 12, Wherein: the first signal is indicative
of the speed of the mobile machine; and the method further
includes: receiving a second signal indicative of a speed of the
receptacle; and determining the relative speed of the receptacle
with respect to the mobile machine based on a comparison of the
speed of the mobile machine and the speed of the receptacle.
15. The method of claim 14, wherein the second signal is generated
by a second sensor associated with the receptacle or an off-board
computer.
16. The method of claim 12, wherein the first visual indicator is a
qualitative indicator of the relative speed of the receptacle with
respect to the mobile machine and is indicative of one or more of a
degree to which the receptacle is traveling faster than the mobile
machine, a degree to which the receptacle is travelling slower than
the mobile machine, or when the relative speed of the receptacle
with respect to the mobile machine is within a threshold range.
17. The method of claim 12, further including generating on the at
least one display device at least a second visual indicator
indicative of a reference point location with respect to the
receptacle.
18. The method of claim 17, wherein the reference point location is
one of a point location of material being transferred into the
receptacle from the mobile machine, a calibration set point
location, and a location of a component of the mobile machine.
19. The method of claim 12, further including generating on the at
least one display device at least a second visual indicator
indicative of a distribution of time or a distribution of
transferred material along at least one dimension of the
receptacle.
20. A mobile machine configured to transfer material into a
receptacle, comprising: a cutting system; a conveyor assembly
configured to transfer material into the receptacle; a control
system associated with the mobile machine and including: a first
sensor configured to generate a first signal indicative of one of a
speed of the mobile machine and a distance between the mobile
machine and the receptacle; a display system having at least one
display device configured to show information relating to one or
more of the mobile machine and the receptacle to an operator of the
receptacle; and a controller electronically connected to the first
sensor and the display system and configured to: determine a
relative speed of the receptacle with respect to the mobile machine
based at least in part on the first signal; and generate on the at
least one display device a first visual indicator indicative of one
or more of a degree to which the receptacle is traveling faster
than the mobile machine, a degree to which the receptacle is
travelling slower than the mobile machine, or when the relative
speed of the receptacle with respect to the mobile machine is
within a threshold range.
Description
TECHNICAL FIELD
[0001] The present disclosure relates generally to a control system
and, more particularly, to a truck position control system for
milling operations.
BACKGROUND
[0002] Asphalt-surfaced roadways are built to facilitate vehicular
travel. Depending upon usage density, base conditions, temperature
variation, moisture levels, and/or physical age, the surfaces of
the roadways eventually become misshapen and unable to support
wheel loads. In order to rehabilitate the roadways for continued
vehicular use, spent asphalt is removed in preparation for
resurfacing.
[0003] Cold planers, sometimes also called road mills or
scarifiers, are used to break up and remove layers of an asphalt
roadway. A cold planer typically includes a frame propelled by
tracked or wheeled drive units. The frame supports an engine, an
operator's station, a milling drum, and conveyors. The milling
drum, fitted with cutting tools, is rotated through a suitable
interface with the engine to break up the surface of the roadway.
The broken up roadway material is deposited by the milling drum
onto the conveyors, which transfer the broken up material into haul
trucks for removal from the worksite. As haul trucks are filled,
they are replaced with empty haul trucks. The tilled trucks
transport the broken up material to a different location to be
reused as aggregate in new asphalt or otherwise recycled. This
transport process repeats until the milling process is
finished.
[0004] To remove a layer of asphalt from the roadway, the cold
planer travels forward at a generally constant speed while the
milling drum is in a lowered position and rotating. As the cold
planer travels forward, the haul truck must also travel forward in
order to continually receive the broken up material ejected from
the conveyor of the cold planer. To avoid situations where material
spillage can occur, such as when the haul truck is too far from or
too close to the cold planer, operators have implemented signaling
techniques that allow cold planer operators to communicate to haul
truck operators when to speed up or slow down during a milling
operation. Known signaling techniques typically require the cold
planer operator to continually monitor the distance between the
cold planer and the haul truck and manually send positioning
signals to the haul truck operator, such as with the blast of a
horn. However, these techniques can distract the cold planer
operator from other important aspects of operating the cold planer
and involve the operator's subjective interpretation of proper
distancing between the cold planer and haul truck. Further, the
manual signals can be difficult for truck operators to interpret at
times, resulting in miscalculated control and material
spillage.
[0005] One attempt to provide automated position signaling to a
haul truck during a milling operation is disclosed in U.S. Patent
Application Publication No. 2013/0076101 A1 of Simon that published
on Mar. 28, 2013 ("the '101 publication"). In particular, the '101
publication discloses a system for automatically determining a
distance between a milling machine and haul truck and
simultaneously triggering control commands to the operator of the
haul truck. The system includes a milling machine equipped with an
ultrasonic sensor attached to the front of the milling machine for
determining the distance between the milling machine and a haul
truck. A controller connected to the sensor determines when the
haul truck reaches a minimum or maximum allowable distance from the
milling machine and generates "forward" and "stop" signals to
command the haul truck operator to move forward or stop moving when
the minimum or maximum distance is reached, respectively. This
stop-and-go process continues until the haul truck is filled.
[0006] While the system of the '101 publication may allow for
automated command signal generation to the haul truck operator, it
may not be optimum. In particular, the "forward" and "stop"
commands generated by the system of the '101 publication may cause
the haul truck operator to react too quickly, too slowly, or in a
jerky manner to the command signals. Further, the system of the
'101 publication may deprive cold planer and haul truck operators
of the ability to control material distribution within the haul
truck and may limit them to the use of stop-and-go filling
techniques.
[0007] The truck position control system of the present disclosure
solves one or more of the problems set forth above and/or other
problems in the art.
SUMMARY
[0008] In one aspect, the present disclosure is related to a
control system for a mobile machine configured to transfer material
into a receptacle. The control system may include a first sensor
configured to generate a first signal indicative of one of a speed
of the mobile machine and a distance between the mobile machine and
the receptacle, a display system having at least one display device
configured to show information relating to one or more of the
mobile machine and the receptacle to an operator of the receptacle,
and a controller electronically connected to the first sensor and
the display system. The controller may be configured to determine a
relative speed of the receptacle with respect to the mobile machine
based at least in part on the first signal and generate on the at
least one display device a first visual indicator indicative of the
relative speed of the receptacle with respect to the mobile
machine.
[0009] In another aspect, the present disclosure relates to a
method. The method may include transferring material from a mobile
machine into a receptacle, receiving a first signal indicative of
one of a speed of the mobile machine and a distance between the
mobile machine and the receptacle, determining a relative speed of
the receptacle with respect to the mobile machine based at least on
part on the first signal, and displaying on at least one display
device a first visual indicator indicative of the relative speed of
the receptacle with respect to the mobile machine.
[0010] In yet another aspect, the present disclosure relates to a
mobile machine configured to transfer material into a receptacle.
The mobile machined may include a cutting system, a conveyor
assembly configured to transfer material into the receptacle, and a
control system associated with the mobile machine. The control
system may include a first sensor configured to generate a first
signal indicative of one of a speed of the mobile machine and a
distance between the mobile machine and the receptacle. The control
system may further include a display system having at least one
display device configured to show information relating to one or
more of the mobile machine and the receptacle to an operator of the
receptacle and a controller electronically connected to the first
sensor and the display system. The controller may be configured to
determine a relative speed of the receptacle with respect to the
mobile machine based at least in part on the first signal and
generate on the at least one display device a first visual
indicator indicative of one or more of a degree to which the
receptacle is traveling faster than the mobile machine, a degree to
which the receptacle is travelling slower than the mobile machine,
or when the relative speed of the receptacle with respect to the
mobile machine is within a threshold range.
BRIEF DESCRIPTION OF THE DRAWINGS
[0011] FIG. 1 is a side view illustration of an exemplary disclosed
cold planer and haul truck;
[0012] FIG. 2 is a diagrammatic illustration of an exemplary
disclosed truck position control system that may be used with the
cold planer of FIG. 1;
[0013] FIG. 3 is a top view illustration of the cold planer and
haul truck of FIG. 1;
[0014] FIG. 4 is a front view illustration of an exemplary
disclosed display system that may be used with the cold planer of
FIG. 1; and
[0015] FIGS. 5 and 6 are pictorial illustrations of exemplary
disclosed display devices and visual indicators that may be used
with the control system of FIG. 2.
DETAILED DESCRIPTION
[0016] For the purpose of this disclosure, the term "asphalt" is
defined as a mixture of aggregate and asphalt cement. Asphalt
cement is a brownish-black solid or semi-solid mixture of bitumens
obtained as a byproduct of petroleum distillation. The asphalt
cement can be heated and mixed with the aggregate for use in paving
roadway surfaces, where the mixture hardens upon cooling. A "cold
planer" is defined as a machine used to remove layers of hardened
asphalt from an existing roadway. It is contemplated that the
disclosed cold planer may also or alternatively be used to remove
cement and other roadway surfaces, or to remove non-roadway surface
material such as in a mining operation.
[0017] FIG. 1 shows a cold planer 10 employed at a worksite 12,
such as, for example, a roadway milling operation. As part of the
milling operation, cold planer 10 may mill a surface 14 of the
roadway and transfer milled material into a bed 16 of a haul truck
18. Haul truck 18 may be controlled by an operator from within an
operator station of haul truck 18. The haul truck operator may use
mirrors 19 attached to haul truck 18 and one or more control
devices (e.g., a throttle control, a braking control, a steering
device, etc.) within the operator station to cause haul truck 18 to
travel in front of or alongside cold planer 10 to receive milled
material as cold planer 10 traverses surface 14. When full, haul
truck 18 may depart from cold planer 10 to deliver the milled
material to a storage site, processing plant, or other facility,
and a second transport vehicle may approach cold planer 10 to
replace haul truck 18 so the milling operation can continue.
[0018] Cold planer 10 may have a frame 20 supported by one or more
traction devices 22, a drum housing 24 that contains a milling drum
having a plurality of cutting tools for breaking up surface 14, and
an engine 26 mounted to frame 20 and configured to drive traction
devices 22, the milling drum within drum housing 24, and/or other
components. Traction devices 22 may include either wheels or tracks
connected to actuators 28 that are adapted to controllably raise
and lower frame 20 relative to a ground surface, it should be noted
that, in the disclosed embodiment, raising and lowering of frame 20
may also function to vary a milling depth of the milling drum into
surface 14. In some embodiments, the same or different actuators 28
may also be used to steer cold planer 10 and or to adjust a travel
speed of traction devices 22 (e.g., to speed up or brake traction
devices 22), if desired. A conveyor assembly 30 may be pivotally
connected at a leading end to frame 20 and configured to transport
material away from drum housing 24 and into a receptacle, such as
haul truck 18. Other cold planer configurations (e.g.,
rear-loading) and/or types of receptacles may be used, if
desired.
[0019] Frame 20 may also support an operator station 32. Operator
station 32 may house any number of interface devices 34 (shown only
in FIG. 3) used to control cold planer 10. Interface devices 34 may
include, among other things, one or more displays, warning devices,
and an input devices (e.g., buttons, levers, dials, switches,
knobs, keyboards, touch screen devices, pedals steering wheels,
etc.). In some embodiments, operator station 32 may be offboard
cold planer 10. For example, operator station 32 may embody a
remote control, such as a handheld controller, that an operator may
use to control cold planer 10 from anywhere on worksite 12.
Operator station 32 may alternatively embody a software program and
user interface for a computer, and may include a combination of
hardware and software. In other embodiments, cold planer 10 may be
autonomous and may not include operator station 32,
[0020] Conveyor assembly 30 may include a first conveyor 36
adjacent drum housing 4 that is configured to transfer milled
material to a second conveyor 38. Conveyor 38 may be pivotally
attached to frame 20 so that the height at which milled material
leaves conveyor 38 can be adjusted. That is, a pivotal orientation
of conveyor 38 in the vertical direction may be adjusted to raise
and lower conveyor 38. Conveyor 38 may also be pivotally attached
to frame 20 so that the lateral location at which milled material
leaves conveyor 38 may be adjusted, That is, a pivotal orientation
of conveyor 38 in the horizontal direction may be adjusted to move
conveyor 38 from side to side.
[0021] As illustrated in FIG. 2, a truck position control system 40
("control system") may be associated with cold planer 10 and
include elements that cooperate to monitor and analyze aspects of
transferring material into haul truck 18 and facilitate
communication between cold planer 10 and haul truck 18. For
example, elements of control system 40 may cooperate to determine
one or more of a distance D between cold planer 10 and haul truck
18, a speed V.sub.CP of cold planer 10, a speed V.sub.HT of haul
truck 18, and a relative speed V.sub.REL of haul truck 18 with
respect to cold planer 10. Elements of control system 40 may
include a position sensor 42 connected to cold planer 10, one or
more speed sensors 44, 46, an off-board computer 47, one or more
locating devices 48, 50, one or more communication devices 52, 54,
a display system 56 having one or more display devices 58, and one
or more controllers 60, 62 in electronic communication with one or
more of the other components. Information based on and/or including
D, V.sub.CP, V.sub.HT, and V.sub.REL may be shown to the operators
of haul truck 18 and/or cold planer 10 via display system 56 and
used to control the position of haul truck 18 with respect to cold
planer 10 during milling processes.
[0022] Position sensor 42 may be a device configured to generate a
signal indicative of a distance between itself and another object
by physically sensing the location of the other object. For
example, position sensor 42 may be an optical sensor, an ultrasonic
sensor, a laser sensor, or another type of sensor that is
configured to generate a signal indicative of a distance between.
another object and itself. Position sensor 42 may be connected to a
component of cold planer 10 (e.g., conveyor 38) and configured to
determine a distance between cold planer 10 and another object,
such as haul truck 18. Position sensor 42 may be mounted to
conveyor 38 or at another component of cold planer 10 where it is
able to detect objects in front of and/or to the side of cold
planer 10. The signal generated by position sensor 42 may be sent
to controller 60 for further processing.
[0023] In some embodiments, position sensor 42 may be located on
cold planer 10 at a known distance from a reference point cold
planer 10 (e.g., an end of conveyor 38) such that the signal
generated by position sensor 42 can be used to determine a distance
between the reference point of cold planer 10 and other objects,
such as haul truck 18 and/or its various features. For example,
position sensor 42 may be located a known offset distance from the
end of conveyor 38 so that the signal generated by position sensor
42 can be used by controller 60 in conjunction with the known
offset distance to determine a distance between the end of conveyor
38 and, for example, the back of haul truck 18. In some
embodiments, position sensor 42 may be configured to identify or
allow for the identification of profiles, edges, and/or other
features of haul truck 18 and generate a signal indicative of a
distance between those features and the reference point. For
example, the signal generated by position sensor 42 may be
indicative of the distance between the end of conveyor 38 and one
or more of the lateral sides of haul truck 18 (e.g., left, right,
front, back, etc.), which may be utilized ensure proper loading of
haul truck 18 and to prevent spillage of milled material.
[0024] The signal generated by position sensor 42 may be utilized
to generate a quantitative and/or qualitative representation of the
distance between components of cold planer 10 (e.g., the end of
conveyor 38) and haul truck 18. For example, the signal generated
by position sensor 42 may be utilized to determine an actual
distance between conveyor 38 and haul truck 18. The actual distance
or the original signal may also or alternatively be utilized to
generate audible and/or visible indicia of distance, such as by
varying sounds (e.g., beeps, tones, etc.) and/or lights (e.g.,
flashes, bars, colors, etc,) or by creating graphical or other
visual indicators configured to communicate speed and/or distance
information. Such indicia may allow operators to manually maintain
a desired distance between, for example, conveyor 38 and haul truck
18 during a milling operation to ensure that haul truck 18 is
properly loaded with milled material. This information may also be
used to prevent unintended spillage of milled material or contact
between cold planer 10 and haul truck 18.
[0025] The signal generated by position sensor 42 may be combined
with other information, such as a mass flow rate or other
production rate metric of milled material and known dimensions of
haul truck 18, to determine and/or monitor the distribution of
material within bed 16 of haul truck 18. For example, in some
embodiments, cold planer 10 may include a sensor or system
configured to determine an amount of material that is being and/or
has been transferred into bed 16 by conveyor 38. For example, such
a sensor or system may include a radioactive detection system, a
laser scanning system, an optical scanner, a camera, an ultrasonic
sensor, a belt scale, a conveyor motor power sensory system, a
material profile measurement system, and or combinations thereof
configured to generate a signal indicative of amounts of material
that are being or have been transferred into bed 16. This
information may be used by controller 60 in conjunction with
signals from position sensor 42 and/or other information over a
period of time to determine the distribution of material within bed
16 of haul truck 18.
[0026] The signal generated by position sensor 42 may also or
alternatively be combined with other information for characterizing
how much time haul truck 18 spends at certain distances from cold
planer 10. For example, when information indicative of how much
material is being or has been transferred into haul truck 18 is not
readily available, the distribution of material in bed 16 may be
estimated or qualitatively understood by operators based on an
understanding of how much time haul truck 18 spent at certain
distances from cold planer 10 during a milling operation. The
amount of time that haul truck spends at a certain distance from
cold planer 10 may relate to or be indicative of how much material
was transferred into a certain area of bed 16 that corresponds to
the distance measured by position sensor 42 during that time.
[0027] Speed sensors 44, 46 may be associated with one or more of
cold planer 10 and haul truck 18 and configured to determine the
speed V.sub.CP of cold planer 10 and the speed V.sub.HT of haul
truck 18, respectively. Speed sensor 44 may be associated with one
or more traction devices 22 of cold planer 10 and configured to
generate a signal indicative of V.sub.CP. For example, speed sensor
may be a magnetic pickup-type sensor in communication with a magnet
embedded within a rotational component of traction device 22. Speed
sensor 44 may alternatively be associated with a different
component of cold planer 10 (e.g., a driveshaft, a transmission,
flywheel, etc.), or embody a different type of sensor. In some
embodiments, speed sensor 44 may be a GPS device, Doppler device,
or other type of position detecting device that is configured to
generate successive position signals that can be used to determine
a change in the position of cold planer 10 with respect to
time.
[0028] Speed sensor 46 may be associated haul truck 18 and
configured to generate a signal indicative of V.sub.HT, Speed
sensor 46 may be associated with a component of haul truck 18, such
as tractions devices (e.g., wheels, tracks, a transmission, etc.)
whose behavior can be sensed and used to determine V.sub.HT. For
example, speed sensor 46 may be a magnetic pickup-type sensor in
communication with a magnet embedded within a rotational component
of haul truck 18. In some embodiments, speed sensor 46 may be a GPS
device, Doppler device, or other type of position detecting device
that is configured to generate successive position signals that can
be used to determine a change in the position of haul truck 18 with
respect to time.
[0029] Off-board computer 47 may be a component of a data
collection and/or analysis network associated with one or more of
cold planer 10 and haul truck 18. Off-board computer 47 may be
configured to receive data generated by cold planer 10 and/or haul
truck 18 via communication devices 52, 54. In some situations,
off-board computer 47 may facilitate transferring data between cold
planer 10 and haul truck 18. For example, off-board computer 47
maybe configured to receive, among other things, the signal from
speed sensor 46 and transfer the same signal to controller 60 for
further processing. In some situations, off-board computer 47 may
receive the signal from speed sensor 46, process it, and transfer a
different signal to controller 60 indicative of the speed V.sub.HT
of haul truck 18. Off-board computer 47 may also be configured to
receive, process, and/or transfer other or additional information
associated with cold planer 10 and/or haul truck 18. In some
embodiments, off board computer 47 may be onboard cold planer 10 or
the functions of off board computer 47 may be performed by
controller 60 or another onboard device.
[0030] Off-board computer 47 may embody a single microprocessor or
multiple microprocessors that include a means for receiving,
processing, and transferring data and other information generated
by cold planer 10 and/or haul truck 18. For example, off-board
computer 47 may include a memory, a secondary storage device, a
clock, and a processor, such as a central processing unit or any
other means for accomplishing a task consistent with the present
disclosure. Numerous commercially available microprocessors can be
configured to perform the functions of off board computer 47.
Various other known circuits may be associated with off-board
computer 47, including signal-conditioning circuitry, communication
circuitry, and other appropriate circuitry. Off board computer 47
may be further communicatively coupled with an external computer
system, as desired,
[0031] Locating devices 48, 50 may be associated with one or more
of cold planer 10 and haul truck 18 and configured to generate a
signal indicative of a geographical position of cold planer 10 or
haul truck 18, respectively, relative to a local reference point, a
coordinate system associated with a work area, a coordinate system
associated with Earth, or any other type of 2-D or 3-D coordinate
system. For example, locating devices 48, 50 may embody an
electronic transponder configured to communicate with one or more
satellites, or a local radio or laser transmitting system used to
determine a relative geographical location of itself. Locating
devices 48, 50 may receive and analyze high-frequency, low-power
radio or laser signals from multiple locations to triangulate a
relative 3-D geographical position. Signals generated by one or
more of locating devices 48, 50 may be communicated to controller
60 for further processing.
[0032] Communication devices 52, 54 may include hardware and/or
software that enables sending and receiving of data messages
between controller 60 and controller 62 or between one or more of
controllers 60, 62 and off-board entities. The data messages may be
sent and received via a direct data link and/or a wireless
communication link, as desired. The direct data link may include an
Ethernet connection, a connected area network (CAN), or another
data link known in the art. The wireless communications may include
one or more of satellite, cellular, Bluetooth, WiFi, infrared, and
any other type of wireless communications that enables
communication devices 52, 54 to exchange information. between each
other and/or other devices. For example, communication device 52
may be associated with cold planer 10 and configured to communicate
with communication device 54 associated with haul truck 18. In this
way, information contained within or collected by controller 62 may
be communicated to controller 60 (and vice versa) via communication
devices 52, 54.
[0033] Display system 56 may include at least one display device 58
configured to show information relating to one or more of cold
planer 10 and haul truck 18 to an operator of haul truck 18. When
information sharing between cold planer 10 and haul truck 18 via
communication devices 52, 54 is not available, display system 56
may include one or more display devices disposed on cold planer 10
such that each display device 58 can be visible to the operator of
haul truck 18 while the operator is positioned for controlling haul
truck 18. For example, as shown in FIG. 3, display devices 58 may
be connected to exterior components of cold planer 10 that are
visible from within haul truck 18. In the example of FIG. 3,
display devices 58 may be configured to extend outwardly from first
and second sides of cold planer 10 such that they can be seen by
the operator of haul truck 18 via one or more mirrors 64 of haul
truck 18, in this way, operators of haul trucks not equipped with
communication device 54 may be allowed to receive and view
information on display devices 58 through the familiar use of their
mirrors while operating haul truck 18 at a desired distance from
cold planer 10.
[0034] In the example of FIG. 3, display devices 58 are attached to
frame 20 (referring to FIG. 1) or a body component of cold planer
10. It is understood, however, that display devices 58 may be
attached to or integral with other components of cold planer 10.
For example, display devices 58 may be configured to attach to
mirrors of cold planer 10 that are used by operators of cold planer
10. That is, display devices 58 may be configured to attach to a
rear side (from the point of view of an operator of cold planer 10)
of a mirror assembly. Alternatively, display devices 58 may be
integral with a mirror assembly such that one side contains a
mirror visible to the operator of cold planer 10 and another side
contains display device 58. When attached to or combined with a
mirror assembly, the position of display device 58 may be
adjustable to permit the mirror and display device to be
independently positioned for optimal viewing by the operators of
cold planer 10 and haul truck 18. in some embodiments, display
devices 58 may be attached to multiple sides of cold planer 10 to
allow operators of haul truck 18 to view information from either
mirror as required for certain. maneuvering or by preference, Other
locations and configurations of display devices 58 on cold planer
10 may be used, as desired, to allow display device 58 to be seen
by the operator of haul truck 18 (and/or the operator of cold
planer 10) during operation.
[0035] In the example of FIG. 3, display devices 58 extend from
opposite sides of cold planer 10. It is understood, however, that
display devices may be attached to other components of cold planer
10 and that only one display device may be used, if desired. For
example, as shown in FIG. 4, display device 58 may be attached to
conveyor assembly 30 of cold planer 10. Because conveyor assembly
is generally central to cold planer 10, display system 56 may
include mounting components 66 configured suspend display device
outwardly from conveyor assembly 30 so it may be visible to the
operator of haul truck 18. Mounting components 66 may be adjustable
to allow display device 58 to be tilted (e.g., forward, backward,
side-to-side, etc.), rotated (e.g., on a vertical axis, on a
horizontal axis, etc.), and/or raised and lowered, as desired.
Mounting components 66 may be articulated or otherwise adjustable
(e.g., by hinges) to allow display device to be tucked near or
against conveyor assembly for storage, during relocation, or when
conveyor assembly is folded up.
[0036] Mounting components 66 may also be pivotally connected to
conveyor assembly 30 and movable from one side of conveyor assembly
30 to another side of conveyor assembly 30. In this way, at least
one display device 58 may be moved from a first side of cold planer
10 to another side of cold planer 10 to accommodate turning or
side-specific operations. In some embodiments, the at least one
display device 58 includes a plurality of display devices 58
connected to the mobile machine to provide additional visibility.
For example, a first display device 58 is shown in FIG. 3 in solid
lines to indicate the at least one display device 58 connected to
conveyor assembly 30, A second display device 58 is shown in
phantom lines to indicate an optional second display device 58 in a
location that may otherwise be occupied by the at least one display
device 58 when moved from the opposite side of conveyor assembly 30
via mounting components 66.
[0037] Referring again to FIG. 2, controllers 60, 62 may each
embody a single microprocessor or multiple microprocessors that
include a means for monitoring operator and sensor input. For
example, controllers 60, 62 may include a memory, a secondary
storage device, a clock, and a processor, such as a central
processing unit or any other means for accomplishing a task
consistent with the present disclosure. Numerous commercially
available microprocessors can be configured to perform the
functions of controllers 60, 62. It should be appreciated that
controllers 60, 62 could readily embody a general machine
controller capable of controlling numerous other machine functions,
Various other known circuits may be associated with controllers 60,
62, including signal-conditioning circuitry, communication
circuitry, and other appropriate circuitry, Controller 60, 62 may
be further communicatively coupled with an external computer
system, instead of or in addition to including a computer system,
as desired.
[0038] Controller 60 may be configured to receive as inputs the
signals or information, such as D, V.sub.CP, and V.sub.HT,
generated by one or more of position sensor 42, speed sensors 44,
46, locating devices 48, 50, and/or other devices, Controller 60
may also be configured to determine, among other things, the
relative speed V.sub.REL of haul truck 18 with respect to cold
planer 10 based at least in part on one or more of the inputs
received from position sensor 42, speed sensors 44, 46, or
combinations thereof. For example, when communication with haul
truck 18 via communication devices 52, 54 is unavailable,
controller 60 may be configured to determine the distance D between
cold planer 10 and haul truck 18 based on the signal generated by
position sensor 42. Controller 60 may be configured to compare
successive iterations of the signal generated by position sensor 42
(i.e., successive distance measurements) and determine V.sub.REL
based on the comparison. That is, controller 60 may be configured
to compare values of the distance D determined from multiple
signals received successively at a certain frequency (i.e. at
regular known time intervals) from position sensor 42 to determine
a change in the distance D between cold planer 10 and haul truck 18
over the frequency period, which can be used to determine the
relative speed V.sub.REL of haul truck 18 with respect to cold
planer 10.
[0039] When communication with haul truck 18 via communication
devices 52, 54 is available, and haul truck 18 is equipped with one
or more of speed sensor 46 and locating device 50, controller 60
may be configured to compare speed signals from speed sensors 44
and 46 or compare locating signals from locating devices 46 and 50
in order to determine V.sub.REL. For example, V.sub.REL may be
equal to the difference between V.sub.CP, and V.sub.HT, as
determined by a comparison of the signals from speed sensors 44 and
46, respectively. V.sub.REL may also be equal to the difference
between V.sub.CP, and V.sub.HT, where V.sub.CP, and V.sub.HT are
each determined by calculating a change in position (e.g., based on
a difference between successive location signals that has been
translated into a distance) over a change in time (e.g., a known
locating signal sample rate period) for cold planer 10 and haul
truck 18, respectively. Other ways of determining V.sub.REL may be
used.
[0040] Controller 60 may be configured to receive other or
additional inputs from haul truck 18 and/or other off-board
entities (e.g., off-board computer 47) via communication device 52.
Such inputs may include for example, a vehicle ID of haul truck 18,
dimensions of haul truck 18, and capacities of haul truck 18.
Dimensions of haul truck 18 may include an overall length, a bed
length, an overall height, a bed depth, an overall width, a bed
width, and or other dimensions. Capacities of haul truck 16 may
include a volumetric capacity (otherwise determinable based on the
dimension of haul truck 18), a tare weight, a weight limit, and/or
other capacities. Other inputs may include special instructions or
information relating to haul truck 18, its operator, or its
payload. Such information may be included in a profile of haul
truck 18 associated with a unique identifier (e.g., the ID of haul
truck 18). In some embodiments, controller 60 may store the
associated profile of any number of receptacles, such as haul truck
18, and reference them by ID so that only the ID and/or new
information needs to be communicated via communication device 52
during the milling operation. Profile information may be
periodically updated by connecting controller 60 to a server, a
data bank, or a receptacle controller (e.g., controller 62 of haul
truck 18) via communication device 57.
[0041] Controller 60 may be configured to generate on at least one
display device 58 a first visual indicator 68 indicative of the
relative speed V.sub.REL of haul truck 18 with respect to cold
planer 10 using one or more of the inputs discussed above. As shown
in FIG. 5, visual indicator 68 may be or include a qualitative
indicator of the relative speed V.sub.REL of haul truck 18 with
respect to cold. planer 10 configured to allow the operator of haul
truck 18 to visualize the extent to which haul truck 18 is moving
too quickly, too slowly, or at a speed within an acceptable range
(e.g., a range in which V.sub.HT approximately matches V.sub.CP).
For example, visual indicator 68 may include an image of a dial 70
with an arrow, a line, or another shape configured to pivot from a
neutral point (e.g., where V.sub.CP and V.sub.HT are approximately
equal) to areas 72 indicative of when between V.sub.REL is positive
(i.e., when V.sub.HT is greater than V.sub.CP) and when V.sub.REL
is negative (i.e., when V.sub.HT is less than V.sub.CP).
[0042] Areas 72 of visual indicator 68 indicative of positive and
negative V.sub.REL may be graded to convey an extent or degree to
which V.sub.CP and V.sub.HT differ. For example, visual indicator
68 may be indicative of a degree to which the receptacle is
traveling faster than the mobile machine, a degree to which the
receptacle is travelling slower than the mobile machine, or when
the speed of the receptacle relative to the machine is within a
threshold range. Visual indicator 68 may be divided into demarcated
sections, each being associated with a different size, different
color, a different relative speed range, different levels of
brightness, or other indicia of magnitude. Alternatively, visual
indicator 68 may be graded according to a fluid transition through
a. number of colors, sizes, relative speeds, brightness, or other
indicia of magnitude.. In this way, visual indicator 68 may allow
operators to visualize the extent or degree to which their actions
of controlling haul truck 18 (e.g., by manipulating the accelerator
and/or braking control) translate into changes of V.sub.REL. This
may allow operators to quickly and easily understand how to
manipulate the controls of haul truck 18 to achieve a desired
change in V.sub.REL with accuracy and precision. This may also
allow the operator of cold planer 10 to focus on other tasks by
relieving the operator from the duty of monitoring the distance D
between cold planer 10 and haul truck 18 and providing speed
commands to the operator of haul truck 18.
[0043] Visual indicator 68 may also or alternatively include other
types of qualitative indicia, such as escalating bars 74, a value
76 of V.sub.REL, a number of illuminating symbols, an image of haul
truck 18 leading or lagging behind an image of cold planer 10
(e.g., to convey V.sub.REL), or other types of indicia. Escalating
bars 74 may include space for a plurality of bars to light up or
turn off successively as V.sub.REL increases or decreases,
respectively. In one example, a first set of bars 78 may illuminate
as V.sub.REL increases in positive values, and a second set of bars
80 may illuminate as V.sub.REL increases in negative values, No
bars may be illuminated when V.sub.CP and V.sub.HT are
substantially equal or when V.sub.REL is within a threshold range.
Value 76 of V.sub.REL may be a numeric indicia with an associated
sign indicative of whether value 76 is positive (i.e., when
V.sub.HT>V.sub.CP) or negative (Leo, when V.sub.HT<V.sub.CP).
When position sensor 42 and communication devices 52, 54 are not
available to supply information to controller 60, visual indicator
may 68 be configured to display V.sub.CP (not shown in FIG. 5) to
allow the operator of haul truck 18 to more clearly understand how
fast cold planer 10 is traveling for purposes of more accurately
matching V.sub.HT to V.sub.CP while also relieving the operator of
cold planer 10 of the duty of sending signals to the operator of
haul truck 18. Other types of indicia may be used, if desired.
[0044] As shown in FIG. 6, controller 60 may also be configured to
generate on at least one display device 58 at least a second visual
indicator 82 indicative of a reference point location 84 with
respect to haul truck 18. Reference point location 84 may be shown
on second visual indicator 82 in conjunction with a graphical image
86 of haul truck 18 to allow the operator of haul truck 18 to
visualize changes in the distance D between haul truck 18 and cold
planer 10 as a result of V.sub.REL being greater than or less than
zero. Reference point location 84 may represent the location of a
reference point related to loading haul truck 18, such as the end
of conveyor 38 (referring to FIG. 2), a point location of material
that is currently entering bed 16 of haul truck 18, or another
reference point of interest. Controller 60 may be configured to
move reference point location 84 in response to changes in
V.sub.REL, as determined based on signals from one or more of
position sensor 42, speed sensors 44, 46, and/or locating devices
48, 50.
[0045] In some embodiments, reference point location 84 may be a
calibration set point location established at the beginning of a
milling operation. For example, when haul truck 18 is initially
placed in a proper location to begin receiving material from
conveyor 38, the operator of cold planer 10 may press a button
associated with interface devices 34 or provide another kind of
input receivable by controller 60 indicative of a calibration set
point selection. Upon receiving the operator's input, controller 60
may be configured to determine changes in the distance D between
cold planer 10 and haul truck 18 with respect to the set point
location represented by reference point location 84. The set point
location may assume a default location as the center of bed 16, or
a different location (e.g., any location between the front and back
of bed 16) may be selected by the operator of cold planer 10 via
interface devices 34.
[0046] For example, in some embodiments, reference point location
84 may be associated with a fixed target location that represents,
for example, the calibration set point established by the operator
of cold planer 10. The operator of haul truck 18 may control
V.sub.HT in order to keep the reference point location 84 on the
associated target location. When the operator of cold planer 10
determines that more material should be distributed in a particular
area of bed 16 (e.g., a front section, a middle section, a rear
section, etc.), the operator may cause controller 60 to move the
target position (e.g., by pressing a button associated with
interface devices 34). In this way, the operator of haul truck 18
may be able to understand clearly where material should be
distributed within bed 16 while also having the ability to
accurately and precisely control V.sub.HT and V.sub.REL to achieve
the desired distribution.
[0047] Controller 60 may also be configured to generate on at least
one display device 58 another or an additional visual indicator
indicative of a distribution 88 of time or of transferred material
along at least one dimension (e.g., a length, a width, a height,
etc.) of haul truck 18 or its bed 16. That is, distribution 88 may
be a visual indicator configured to show how much material (e.g.,
determined in conjunction with equipment and methods configured to
determine a material mass flow rate or volumetric flow rate over
time, as discussed above) has been transferred into bed 16 at
various positions along its length.
[0048] Alternatively, distribution 88 may be configured to show how
much time the reference point location 84 has spent located at
various positions along the length of bed 16, which may allow
operators to estimate or qualitatively understand the material
distribution within bed 16 as a function of time. For example, as
controller 60 determines changes in V.sub.REL and resulting changes
in the distance B between cold planer 10 and haul truck 18 over
time, controller 60 may be configured to coordinate each measured
distance D with time spent at each measured distance B and/or with
an actual amount of material transferred at each measured distance
D. Controller 60 may be configured to then generate distribution 88
based on each measured distance D (e.g., in conjunction with known
offsets or the set point location) and the amount of material
deposited and/or time spent at each measured distance D to show or
allow operators to estimate the material distribution along bed
16.
INDUSTRIAL APPLICABILITY
[0049] The disclosed control system may be used with any cold
planer where efficiently loading a receptacle, such as a haul
truck, is important. The disclosed control system may determine a
speed of the haul truck relative to the cold planer based on inputs
received entirely from the cold planer or from inputs received from
the cold planer and the haul truck. The disclosed control system
may generate at least one visual indicator indicative of the speed
of the receptacle relative to the mobile machine that can be easily
viewed by the operator of the haul truck during milling operations
to provide an easily understandable and usable indication of the
relative speed to the haul truck operator. The disclosed control
system may also relieve the operator of the cold planer from a need
to constantly monitor the distance between the cold planer and the
haul truck and from the duty of communicating speed commands to the
operator of the haul truck. The disclosed control system may
improve the quality of information relating to the relative speed
of the haul truck to the haul truck operator, thereby allowing haul
truck operators to improve accuracy and precision of haul truck
position control. Operation of control system 40 will now be
explained.
[0050] At the beginning of the milling process, haul truck 18 may
approach cold planer 10 and be aligned with conveyor 38 at a
desired initial distance .D for receiving milled material. In some
embodiments, cold planer 10 may establish a communication link with
haul truck 18 at about this time for exchanging information, such
as the dimensions of haul truck 18, payload information, driver
information, special instructions, and/or other profile
information. The communication link may be automatically
established when haul truck 18 is within a threshold distance of
cold planer 10.
[0051] In some embodiments, the operator of cold planer 10 may set
a calibration set point position at about this time. To establish
the calibration set point, the operator of cold planer 10 may press
a button associated with interface devices 34 or provide another
kind of input receivable by controller 60 indicative of a desire to
set the calibration set point based on the current positioning of
haul truck 18 relative to cold planer 10. Upon receiving the
operator's input, controller 60 may determine future changes in the
distance D between cold planer 10 and haul truck 18 with respect to
the set point location.
[0052] As the milling operation commences, cold planer 10 may
travel forward and remove a portion of surface 14 in its path.
Milled material may be transferred by first conveyor 36 to second
conveyor 38, and second conveyor 38 may discharge the material into
bed 16 of haul truck 18. As material is transferred into haul truck
18, controller 60 may continually determine the relative speed
V.sub.REL of haul truck 18 with respect to cold planer 10. For
example, controller may determine V.sub.REL based on a calculated
difference between successive measurements by position sensor 42 of
the distance D between haul truck 18 and cold planer 10 over a
period of time. Alternatively, controller 60 may determine
V.sub.REL based on a comparison of speed signals from speed sensors
44 and 46 or a comparison of locating signals from locating devices
48 and 50.
[0053] Controller 60 may then generate visual indicator 68 on at
least one display device 58 to allow the operator of haul truck 18
to visualize changes in V.sub.REL as the operator controls the
speed V.sub.HT of haul truck 18. Visual indicator 68 may allow the
operator of haul truck 18 to visualize the extent to which haul
truck 18 is moving too quickly, too slowly, or at a speed within an
acceptable range (e.g., a range in which V.sub.HT approximately
matches V.sub.CP). This may allow operators of haul truck 18 to
quickly and easily understand how to manipulate the controls of
haul truck 18 to achieve a desired change in V.sub.REL with
accuracy and precision. This may also allow the operator of cold
planer 10 to focus on other tasks by relieving them from the duty
of constantly monitoring the distance D between cold planer 10 and
haul truck 18 and providing speed commands to the operator of haul
truck 18.
[0054] In some embodiments, as conveyor 38 discharges material into
haul truck 18 and controller 60 determines the distance D between
haul truck 18 and cold planer 10, controller 60 may also determine
the amount of material that is being or has been transferred into
haul truck 18 and/or the amount of time haul truck 18 spends at
each measured distance D from cold planer 10. Based on signals
received front mass flow rate or volume flow rate sensory equipment
in conjunction with the calibration set point location and/or known
dimensions of haul truck 18, controller 60 may then coordinate each
measured distance D with the quantity of material and/or time
accumulated at each distance D to track the distribution of
material within bed 16 of haul truck 18. Using this information,
controller 60 may then generate visual indicator 82 on at least one
display device 58 to allow the operator of haul truck 18 to
visualize an actual material distribution within bed 16 or to
estimate the material distribution based on an understanding of how
much time haul truck 18 spent at each measured distance D. Visual
indicator 82 may also allow the operator of haul truck 18 to
visualize changes in the position of haul truck 18 relative to the
set point location, cold planer 10, or a component of cold planer
10 (e.g., conveyor 38).
[0055] The operator of haul truck 18 may view display device 58
through mirrors 19, 64 of haul truck 18 during the milling
operation. Display devices 58 may be positioned on one or more
sides of cold planer 10 to allow the operator of haul truck 18 to
use minors 19, 64 on either side of haul truck 18. Display devices
58 may be fully adjustable at their mounting location to allow
operators of haul truck 18 to easily see display devices 58. When
only one display device 58 is available, an operator or other
personnel may adjust mounting components 66 of display system 56 as
needed to allow display device 58 to be viewed by the operator of
haul truck 18 from a desired side of cold planer 10. Display device
58 may be manually adjustable by personnel or with the assistance
of motorized control equipment having wired or wireless controllers
available to operators of cold planer 10 and/or haul truck 18 or
other personnel. In some situations, such as when cold planer 10
and haul truck 18 are owned and/or operated by the same entity,
display device 58 may be positioned within haul truck 18 and
configured to communicate with controller 60 in order to display
information to the operator of haul truck 18.
[0056] Several advantages may be associated with the disclosed
control system 40. For example, because control system 40 may
determine the relative speed V.sub.REL of haul truck 18 with
respect to cold planer 10, and generate visual indicators 68, 82
based on V.sub.REL, operators of haul truck 18 may be able to
easily ascertain and understand changes in V.sub.REL that result
from their control of haul truck 18. This may allow operators to
more accurately and precisely control the distance D between cold
planer 10 and haul truck 18. This may also relieve operators of
cold planer 10 from needing to constantly monitor the distance D
and communicate speed commands to the operator of haul truck 18.
Because visual indicators 68, 82 may include qualitative
representations of V.sub.REL and/or other information, control
system 40 may improve the quality of information relating to
V.sub.REL and other aspects of the milling operation that are
shared with the haul truck operator, thereby allowing haul truck
operators to improve accuracy and precision of haul truck position
control.
[0057] It will be apparent to those skilled in the art that various
modifications and variations can be made to the disclosed control
system without departing from the scope of the disclosure. Other
embodiments of the control system will be apparent to those skilled
in the art from consideration of the specification and practice of
the control system disclosed herein. It is intended that the
specification and examples be considered as exemplary only, with a
true scope of the disclosure being indicated by the following
claims and their equivalents.
* * * * *