Vibration Adjustment in Vibration Limiting Zones of a Work Area

The present disclosure relates generally to work machines and, for example, to vibration adjustment in vibration limiting zones of a work area.

Compaction of a surface material, such as soil or asphalt, can improve strength and stability of the surface. A compactor machine may utilize a vibratory compaction drum in order to perform compaction of a surface, such as a soil surface. Commonly, soil compactors may operate near objects or areas that are sensitive to vibration, such as buildings, statues, utility lines, noise-limited areas, or the like. Thus, high intensity vibrations may result in damage or other disruptions (e.g., excessive noise or excessive shaking) to such objects or areas that are sensitive to vibration.

U.S. Pat. No. 11,054,831 (the '831 patent) discloses a method for controlling an autonomous construction vehicle that may include defining a boundary of a construction site and automatically creating a site plan for navigating the autonomous construction vehicle within the boundary. The '831 patent discloses that the site plan includes a work area within the boundary, a maneuver area positioned between the work area and the boundary, a start point for the autonomous construction vehicle, and a path for the autonomous construction vehicle. The '831 patent discloses that a controller can then provide the site plan for review and activate autonomy mode to automatically control the autonomous construction vehicle according to the site plan.

The control system of the present disclosure solves one or more of the problems set forth above and/or other problems in the art.

A control system for a vibratory compacting component of a compactor machine may include a vibratory system for the vibratory compacting component and a controller. The controller may be configured to obtain information indicating an operating plan for a work area in which the compactor machine is to operate. The controller may be configured to identify a vibration limiting zone within the work area, where the vibration limiting zone is associated with an object or area sensitive to vibration. The controller may be configured to monitor, while the compactor machine is operating in the work area in accordance with the operating plan, a location of the compactor machine in the work area. The controller may be configured to cause, while the location of the compactor machine is in the vibration limiting zone, an adjustment to one or more operating settings of the vibratory system.

A method may include identifying, by a controller, a vibration limiting zone within a work area of a work machine, where the vibration limiting zone is associated with an object or area sensitive to vibration. The method may include monitoring, while the work machine is operating in the work area, a location of the work machine in the work area. The method may include causing, while the location of the work machine is in the vibration limiting zone, an adjustment to one or more operating settings of an implement of the work machine.

A compactor machine may include a frame, a vibratory compacting component connected to the frame, a vibratory system operatively coupled to the vibratory compacting component, and a controller. The controller may be configured to detect that a location of the compactor machine is in a vibration limiting zone of a work area. The controller may be configured to cause, while the location of the compactor machine is in the vibration limiting zone, an adjustment to one or more operating settings of the vibratory system to reduce a vibratory intensity of the vibratory compacting component.

This disclosure relates to a control system, which is applicable to any work machine that includes an implement that produces vibration. For example, the machine may be a compactor machine.

shows a side elevational view of an example machine. While inthe machineis depicted as a soil compactor, the machinemay be another type of machine, such as an asphalt compactor, or the like.

The machineincludes a framethat is supported on ground-engaging members of the machine. The ground-engaging members of the machinemay include a vibratory compacting component, shown as a cylindrical roller drum, and one or more wheels(only a single wheelis shown in). The drumis rotatable about a drum axis oriented generally transverse to a direction of travel of the machine. The drummay be attached to the frameusing a drum support. In this example, the machinemay articulate such that a back section of the machine, including the wheel(s), can articulate relative to a front section of the machinethat includes the drum. In some implementations, the vibratory compacting component may include a vibratory plate or another type of vibratory component.

A vibratory systemis operatively coupled to the vibratory compacting component (e.g., the drum) and is configured to cause the vibratory compacting component to vibrate. For example, the vibratory systemmay be an eccentric weight mechanism or an eccentric shaft mechanism.

The framesupports a prime mover. The prime movermay include an engine (e.g., an internal combustion engine), such as a diesel engine, a gasoline engine, or a gaseous fuel engine, among other examples. Additionally, or alternatively, the prime movermay include an electric motor (e.g., for electric powering of the machineor hybrid powering of the machinewith the engine) that is coupled to an electrical power storage device (e.g., a battery). The prime moveris configured to provide power to the drumand/or the wheel(s). Furthermore, the prime movermay be configured to provide power to an implement (not shown) of the machine, such as a blade.

An operator stationmay be supported on the frame. The operator stationmay include one or more displays and/or one or more operator controls (e.g., one or more joysticks, one or more steering wheels, and/or one or more pedals, among other examples) to operate and/or drive the machine. The machineincludes a controller, attached directly or indirectly to the frame, for electrically controlling various aspects of the machine. For example, the controllermay send and receive signals with various components of the machineduring the operation of the machine.

In some implementations, the machinemay be remotely controllable by an operator located off board the machinevia a remote control device. Based on inputs provided to the remote control device, the remote control device may transmit (e.g., wirelessly, as radio signals) commands to the controller, and the controllermay interpret the commands and cause the machineto operate in accordance with the commands. In some implementations, the controllermay be configured to provide autonomous control of the machineor autonomous control of one or more functions of the machine(e.g., propulsion, braking, steering, or the like).

As indicated above,is provided as an example. Other examples may differ from what is described with regard to.

is a diagram of an example control systemfor the vibratory compacting component (e.g., drum) of the machine. As shown, the control systemmay include the controller, the vibratory system, and/or one or more sensors. The sensorsmay be located on board the machineand/or off board the machine. The sensorsmay include one or more cameras, one or more lidar systems, one or more radar systems (e.g., ground penetrating radar), and/or one or more global navigation satellite systems (GNSSs), among other examples.

The controllermay include one or more memories and one or more processors communicatively coupled to the one or more memories. A processor may include a central processing unit, a graphics processing unit, a microprocessor, a controller, a microcontroller, a digital signal processor, a field-programmable gate array, an application-specific integrated circuit, and/or another type of processing component. The processor may be implemented in hardware, firmware, or a combination of hardware and software. The processor may be capable of being programmed to perform one or more operations or processes described elsewhere herein. A memory may include volatile and/or nonvolatile memory. For example, the memory may include random access memory (RAM), read only memory (ROM), a hard disk drive, and/or another type of memory (e.g., a flash memory, a magnetic memory, and/or an optical memory). The memory may be a non-transitory computer-readable medium. The memory may store information, one or more instructions, and/or software (e.g., one or more software applications) related to the operation of the controller. The controllermay be configured to perform operations described herein. Operations described herein as being performed by the controllermay be performed by one or more controllers individually or in combination.

The controllermay obtain information indicating an operating plan for a work area in which the machineis to operate. The operating plan may indicate a path along which the machineis to travel in the work area. For example, the operating plan may express the path as a series of location coordinates (e.g., geographic coordinates) in the work area. In some examples, the operating plan may indicate a time duration for completing the path, a speed setting, a vibration amplitude setting, a vibration frequency setting, a compaction force setting, a particle velocity setting, and/or a compaction impulse setting, among other examples. The operating plan may be generated off board from the machine(e.g., by a back-office system). For example, to obtain the information indicating the operating plan, the controllermay receive data, such as a file, indicating the operating plan from a back-office system.

Additionally, or alternatively, the operating plan may be generated by the controller. For example, the controllermay generate the operating plan based on one or more images of the work area (e.g., satellite images), perception data (e.g., lidar data and/or radar data) relating to the work area that is collected by the machineor another machine, and/or sensor data relating to a surface of the work area (e.g., relating to a surface hardness, a surface density, or the like) that is collected by the machineor another machine, among other examples. In some implementations, the controllermay be placed in a work area configuration mode, and while in the work area configuration mode, the controllermay track location coordinates indicating a movement of the machinearound a perimeter of the work area and/or a movement of the machinewithin the work area, and the controllermay generate the operating plan based on the location coordinates (e.g., alone or in combination with other data that the controllermay use to generate the operating plan).

The controllermay use the operating plan in connection with an autonomous driving mode or a semi-autonomous driving mode of the machine. In the autonomous driving mode, propulsion, steering, braking, and compaction operation of the machinemay be controlled autonomously by the controller. In the semi-autonomous driving mode of the machine, at least one of propulsion, steering, braking, or compaction operation of the machinemay be controlled autonomously by the controller. Additionally, or alternatively, the controllermay cause display of a representation of the operating plan in a user interface to enable an operator of the machineto follow the operating plan. For example, propulsion, steering, braking, and/or compaction operation of the machinemay be controlled manually by the operator of the machine, who may be stationed on the machineor at a remote console.

Additionally, the controllermay identify a vibration limiting zone (e.g., one or more vibration limiting zones) within the work area defined by the operating plan. The vibration limiting zone may be associated with an object or area (object/area) sensitive to vibration (e.g., susceptible to damage or disruption from vibration). For example, the vibration limiting zone may contain the object/area sensitive to vibration, or the vibration limiting zone may extend adjacent to the object/area sensitive to vibration (e.g., along an edge of the object/area, but without containing the object/area). The object/area sensitive to vibration may include a building, a statue, a utility line (e.g., a gas line), a noise-limited area, a residential zone, or the like. The controllermay cause display of a representation of the vibration limiting zone (e.g., overlaid over the work area) in a user interface to enable an operator of the machineto adjust the vibration limiting zone.

In some implementations, to identify the vibration limiting zone, the controllermay receive an input indicating one or more location coordinates (e.g., geographic coordinates) that indicate the vibration limiting zone. For example, the input may be an operator input, and the controllermay receive the operator input via a control or user interface of the machineor of a remote console for the machine. The controllermay generate a set of location coordinates that define the vibration limiting zone based on the operator input. As another example, the set of location coordinates defining the vibration limiting zone may be generated off board from the machine(e.g., by a back-office system), and the controllermay receive an input of data, such as a file, indicating the set of location coordinates from a back-office system.

In some implementations, the controllermay be placed in a zone configuration mode, and while in the zone configuration mode, the controllermay track location coordinates indicating a movement of the machinearound a perimeter of the vibration limiting zone, and the controllermay generate the set of location coordinates defining the vibration limiting zone based on the location coordinates indicating the movement of the machine.

In some implementations, the controllermay identify the vibration limiting zone automatically (e.g., prior to commencing the operating plan or in real time while executing the operating plan). For example, the controllermay obtain (e.g., generate, capture, and/or receive) work area data relating to the work area. In some examples, the controllermay obtain the work data via the sensor(s)The work area data may include one or more images of the work area (e.g., satellite images and/or ground-based images), one or more maps of the work area (e.g., road maps, topographic maps, zoning maps, property boundary maps, and/or utility maps), and/or sensor data relating to the work area (e.g., lidar data, radar data, and/or ground-penetrating radar data), among other examples. The controllermay process the work area data (e.g., using one or more machine learning models, one or more algorithms, or the like) to identify a boundary of the object/area sensitive to vibration. Accordingly, the controllermay identify the vibration limiting zone based on the boundary of the object/area sensitive to vibration. For example, the controllermay identify the vibration limiting zone as a zone that includes the object/area sensitive to vibration as well as an additional buffer area around the object/area sensitive to vibration. In some implementations, a perimeter of the vibration limiting zone (e.g., a shape of the perimeter) may be based on a shape or boundary of the object/area sensitive to vibration, and/or a shape or boundary of the work area.

When processing the work area data, the controllermay also, or alternatively, identify a type of the object/area sensitive to vibration (e.g., whether the object/area sensitive to vibration is a building, a statue, a residential zone, or the like). In some examples, the controllermay determine a size (e.g., a width or a radius) of the vibration limiting zone in accordance with the type of the object/area sensitive to vibration. For example, a larger additional buffer area may be needed around a statue than what is needed around a building.

In some examples, the controllermay identify a plurality of zone bands in the vibration limiting zone (e.g., the vibration limiting zone may be defined by the plurality of zone bands). The plurality of zone bands may be defined by proximity to the object/area sensitive to vibration. For example, a first zone band may surround the object/area sensitive to vibration, a second zone band may surround the first zone band, a third zone band may surround the second zone band, and so forth. A zone band may have a ring shape, a non-circular ring shape, or a linear shape.

While the machineis operating in the work area in accordance with the operating plan, the controllermay monitor a location of the machinein the work area. For example, the controllermay monitor location coordinates (e.g., geographic coordinates) indicating the location of the machine. Continuing with the example, the controllermay compare the location coordinates indicating the location of the machineto the set of location coordinates that define the vibration limiting zone to identify whether the location of the machineis in the vibration limiting zone. Accordingly, while monitoring the location of the machine, the controllermay detect that the location of the machineis in the vibration limiting zone.

While the location of the machineis in the vibration limiting zone, the controllermay cause an adjustment to one or more operating settings of the vibratory system. For example, the controllermay output a control signal to the vibratory systemthat causes the adjustment to the operating setting(s) of the vibratory system. The controllermay cause the adjustment to the operating setting(s) to reduce a vibratory intensity of the vibratory compacting component (e.g., the drum). For example, while the machineis in the vibration limiting zone, the vibratory intensity may be limited (e.g., attenuated or terminated) to reduce or prevent damage or disruption to the object/area sensitive to vibration. The operating setting(s) may include a vibration frequency and/or a vibration amplitude. In some examples, the controllermay cause the adjustment to the operating setting(s) of the vibratory system, and cause an adjustment to at least one operating setting of the machine, such as a speed of the machine. For example, the controllermay decrease the speed of the machinecommensurate with a decrease to the vibration frequency and/or the vibration amplitude. In this way, the machinemay operate in the vibration limiting zone at a reduced vibratory intensity but for a longer period of time, thereby allowing the machineto achieve a target degree of compaction at the reduced vibratory intensity.

The controllermay cause the adjustment to the operating setting(s) in accordance with the type of the object/area sensitive to vibration. For example, if the object/area sensitive to vibration is a first type, then the controllermay cause adjustment to the operating setting(s) by a first amount or to a first level, whereas if the object/area sensitive to vibration is a second type, then the controllermay cause adjustment to the operating setting(s) by a second amount or to a second level. In some examples, an amount of the adjustment to the operating setting(s) may be based on a current (e.g., calculated) compaction force, particle velocity, compaction impulse, vibration frequency, vibration amplitude, and/or speed of the machine(e.g., sensed, using the sensor(s), at the location of the object/area sensitive to vibration and/or at the location of the machine), among other examples. Additionally, or alternatively, an amount of the adjustment to the operating setting(s) may be based on a target compaction force, particle velocity, compaction impulse, vibration frequency, vibration amplitude, and/or speed of the machine(e.g., indicated in the operating plan), among other examples.

In some examples, an amount of the adjustment to the operating setting(s) may be based on a distance between the machineand the object/area sensitive to vibration (e.g., a proximity of the machineto the object/area sensitive to vibration). For example, an amount of the adjustment may be increased as the machinemoves nearer to the object/area sensitive to vibration, and an amount of the adjustment may be decreased as the machinemoves further from the object/area sensitive to vibration. As an example, the controllermay cause a first adjustment to the operating setting(s) (e.g., by a first amount or to a first level) while the location of the machineis in a first zone band in the vibration limiting zone, may cause a second adjustment to the operating setting(s) (e.g., by a second amount or to a second level) while the location of the machineis in a second zone band in the vibration limiting zone, and so forth.

The controllermay continue to monitor the location of the machinein the work area, and the controllermay detect that the location of the machinehas moved from the vibration limiting zone to outside of the vibration limiting zone. Once the location of the machineis outside of the vibration limiting zone, the controllermay cause a return adjustment to the operating setting(s) of the vibratory systemto return the operating setting(s) to a previous level. For example, the controllermay cause the return adjustment to the operating setting(s) to increase a vibratory intensity of the vibratory compacting component (e.g., the drum). In some examples, the controllermay cause the return adjustment to the operating setting(s) of the vibratory system, and cause a return adjustment to at least one operating setting of the machine, such as a speed of the machine(e.g., if such an operating setting of the machinewas adjusted while the machinewas in the vibration limiting zone).

In some implementations, the control systemmay be used with a different type of machine than a compactor machine. For example, instead of including the vibratory system, the control systemmay include an implement (e.g., a bucket, a blade, or the like), and/or an actuator for the implement, of the different type of machine. Accordingly, the controllermay adjust operating parameters for the implement and/or its actuator in a similar manner as described herein.

As indicated above,is provided as an example. Other examples may differ from what is described with regard to.

is a diagram of an example work area. In accordance with an operating plan, a paththat the machineis to travel along may be defined in the work area. As shown, one or more objects/areas sensitive to vibration,may be located in the work area. In some examples, the object/area sensitive to vibrationmay be a utility line, and the object/area sensitive to vibrationmay be a building. As further shown, respective vibration limiting zones,may be defined around, or adjacent to, each of the objects/areas sensitive to vibration,. While a location of the machineis in a vibration limiting zone(e.g., when following the path) a vibratory intensity of the vibratory compacting component of the machinemay be reduced. Outside of a vibration limiting zone, the vibratory intensity of the vibratory compacting component may be returned to a previous level.

As indicated above,is provided as an example. Other examples may differ from what is described with regard to.

is a flowchart of an example processassociated with vibration adjustment in vibration limiting zones of a work area. One or more process blocks ofmay be performed by a controller (e.g., controller). Additionally, or alternatively, one or more process blocks ofmay be performed by another device or a group of devices separate from or including the controller, such as another device or component that is internal or external to the machine.

As shown in, processmay include identifying a vibration limiting zone within a work area of a work machine, where the vibration limiting zone is associated with an object or area sensitive to vibration (block). For example, the controller (e.g., using a memory, a processor, and/or a communication component) may identify a vibration limiting zone within a work area of a work machine, as described above. Identifying the vibration limiting zone within the work area may include receiving an input indicating one or more location coordinates that indicate the vibration limiting zone. Alternatively, identifying the vibration limiting zone within the work area may include tracking, while the work machine is in a zone configuration mode, location coordinates indicating a movement of the compactor machine around a perimeter of the vibration limiting zone. In some implementations, processmay include processing work area data to identify a boundary of the object or area sensitive to vibration (e.g., and/or to identify a type of the object or area sensitive to vibration), and identifying the vibration limiting zone within the work area may include identifying the vibration limiting zone within the work area based on the boundary of the object or area sensitive to vibration. Additionally, processmay include determining a size of the vibration limiting zone in accordance with a type of the object or area sensitive to vibration.

As further shown in, processmay include monitoring, while the work machine is operating in the work area, a location of the work machine in the work area (block). For example, the controller (e.g., using a memory, a processor, and/or a sensor) may monitor, while the work machine is operating in the work area, a location of the work machine in the work area, as described above.

As further shown in, processmay include causing, while the location of the work machine is in the vibration limiting zone, an adjustment to one or more operating settings of an implement of the work machine (block). For example, the controller (e.g., using a memory and/or a processor) may cause, while the location of the work machine is in the vibration limiting zone, an adjustment to one or more operating settings of an implement of the work machine, as described above. For example, the implement may be a compaction drum and the one or more operating settings may include one or more of a vibration amplitude or a vibration frequency. Causing the adjustment to the one or more operating settings of the implement may include causing the adjustment to the one or more operating settings of the vibratory system in accordance with one or more of a compaction force, a particle velocity, a compaction impulse, a vibration frequency, a vibration amplitude, or a speed of the work machine.

Causing the adjustment to the one or more operating settings of the implement may include causing the adjustment to the one or more operating settings of the implement by an amount based on a distance between the work machine and the object or area sensitive to vibration. Additionally, or alternatively, causing the adjustment to the one or more operating settings of the vibratory system may be in accordance with a type of the object or area sensitive to vibration. In some implementations, causing the adjustment to the one or more operating settings of the vibratory system may include causing a first adjustment to the one or more operating settings of the vibratory system while the location of the work machine is in a first zone band of a plurality of zone bands, and causing a second adjustment to the one or more operating settings of the vibratory system while the location of the work machine is in a second zone band of the plurality of zone bands.

Processmay further include detecting that the location of the work machine has moved from the vibration limiting zone to outside of the vibration limiting zone, and causing, while the location of the work machine is outside of the vibration limiting zone, a return adjustment to return the one or more operating settings of the vibratory system to a previous level.

Althoughshows example blocks of process, in some implementations, processmay include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in. Additionally, or alternatively, two or more of the blocks of processmay be performed in parallel.

The control systemdescribed herein may be used with any machine that utilizes an implement configured to perform work operations, such as an autonomous machine or a machine operating in an autonomous mode. For example, the control systemmay be used with a compactor machine that includes a vibratory compaction member, such as a compaction drum. As an example, the control systemmay be used with a soil compactor that utilizes a vibratory compaction drum. Commonly, soil compactors may operate near objects or areas that are sensitive to vibration, such as buildings, statues, utility lines, noise-limited areas, or the like. Thus, high intensity vibrations may result in damage or other disruptions (e.g., excessive noise or excessive shaking) to such objects or areas that are sensitive to vibration. When operating in an autonomous mode, a soil compactor may lack operator oversight, which may otherwise provide for reduced vibration intensity near objects or areas that are sensitive to vibration.

The control systemdescribed herein is useful for reducing damage and other disruptions cause by a vibratory compaction member. In particular, the control systemmay limit the vibratory intensity of the vibratory compaction member while a machine is in a designated buffer area associated with an object/area sensitive to vibration. In this way, the control systemenables dynamic and automatic control of vibration near objects/areas sensitive to vibration, which otherwise may not be available when the machine is operating in an autonomous mode.

The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementations to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure or may be acquired from practice of the implementations. Furthermore, any of the implementations described herein may be combined unless the foregoing disclosure expressly provides a reason that one or more implementations cannot be combined. Even though particular combinations of features are recited in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of various implementations. Although each dependent claim listed below may directly depend on only one claim, the disclosure of various implementations includes each dependent claim in combination with every other claim in the claim set.

When “a processor” or “one or more processors” (or another device or component, such as “a controller” or “one or more controllers”) is described or claimed (within a single claim or across multiple claims) as performing multiple operations or being configured to perform multiple operations, this language is intended to broadly cover a variety of processor architectures and environments. For example, unless explicitly claimed otherwise (e.g., via the use of “first processor” and “second processor” or other language that differentiates processors in the claims), this language is intended to cover a single processor performing or being configured to perform all of the operations, a group of processors collectively performing or being configured to perform all of the operations, a first processor performing or being configured to perform a first operation and a second processor performing or being configured to perform a second operation, or any combination of processors performing or being configured to perform the operations. For example, when a claim has the form “one or more processors configured to: perform X; perform Y; and perform Z,” that claim should be interpreted to mean “one or more processors configured to perform X; one or more (possibly different) processors configured to perform Y; and one or more (also possibly different) processors configured to perform Z.”

As used herein, “a,” “an,” and a “set” are intended to include one or more items, and may be used interchangeably with “one or more.” Further, as used herein, the article “the” is intended to include one or more items referenced in connection with the article “the” and may be used interchangeably with “the one or more.” Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise. Also, as used herein, the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and/or,” unless explicitly stated otherwise (e.g., if used in combination with “either” or “only one of”).