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CN-116802363-B - Speed control for construction machinery

CN116802363BCN 116802363 BCN116802363 BCN 116802363BCN-116802363-B

Abstract

Systems, methods, and other techniques for controlling the speed of a construction machine operating within a construction site are described herein. Sensor data is captured using one or more sensors of the construction machine while the construction machine is moving in a forward or rearward direction at the speed. An actual surface of the construction site is estimated based on the sensor data. A deviation between the target surface and the actual surface is calculated. An actual performance metric is calculated based on the deviation. The actual performance metric is compared to the target performance metric to determine a speed adjustment. The speed of the construction machine is adjusted by the speed adjustment.

Inventors

  • JASON HILL
  • ALBERT RAY

Assignees

  • 卡特彼勒特林布尔控制技术有限责任公司

Dates

Publication Date
20260505
Application Date
20211119
Priority Date
20201124

Claims (17)

  1. 1. A computer-implemented method of controlling a speed of a construction machine operating within a construction site, the method comprising: capturing sensor data using one or more sensors of the construction machine while the construction machine is moving in the forward or rearward direction at the speed; Estimating an actual surface of the construction site based on the sensor data captured using the one or more sensors; Calculating a deviation between a target surface and the actual surface; Calculating an actual performance metric based on the deviation; Comparing the actual performance metric to a target performance metric to determine a speed adjustment, wherein the speed adjustment is determined so as to reduce an error between the actual performance metric and the target performance metric, and Adjusting the speed of the construction machine by the speed adjustment, wherein adjusting the speed of the construction machine by the speed adjustment includes providing the speed adjustment to a speed controller of the construction machine.
  2. 2. The computer-implemented method of claim 1, wherein the deviation comprises a plurality of distances between the target surface and the actual surface.
  3. 3. The computer-implemented method of claim 1, wherein the one or more sensors comprise an inertial sensor mounted to a tool of the construction machine.
  4. 4. A computer-implemented method according to claim 3, wherein the inertial sensor is configured to detect vertical movement of the tool while the construction machine is moving.
  5. 5. The computer-implemented method of claim 1, wherein comparing the actual performance metric to the target performance metric to determine the speed adjustment comprises: calculating the error between the actual performance metric and the target performance metric, and The speed adjustment is determined based on the error.
  6. 6. The computer-implemented method of claim 1, wherein the actual performance metric is an increasing function of the deviation.
  7. 7. The computer-implemented method of claim 6, wherein: If the actual performance metric is less than the target performance metric, the speed is adjusted to positive, and If the actual performance metric is greater than the target performance metric, the speed adjustment is negative.
  8. 8. The computer-implemented method of claim 1, wherein the actual performance metric is a decreasing function of the deviation.
  9. 9. The computer-implemented method of claim 8, wherein: If the actual performance metric is less than the target performance metric, the speed adjustment is negative, and If the actual performance metric is greater than the target performance metric, the speed is adjusted to be positive.
  10. 10. A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for controlling a speed of a construction machine operating within a construction site, the operations comprising: capturing sensor data using one or more sensors of the construction machine while the construction machine is moving in the forward or rearward direction at the speed; Estimating an actual surface of the construction site based on the sensor data captured using the one or more sensors; Calculating a deviation between a target surface and the actual surface; Calculating an actual performance metric based on the deviation; Comparing the actual performance metric to a target performance metric to determine a speed adjustment, wherein the speed adjustment is determined so as to reduce an error between the actual performance metric and the target performance metric, and Adjusting the speed of the construction machine by the speed adjustment, wherein adjusting the speed of the construction machine by the speed adjustment includes providing the speed adjustment to a speed controller of the construction machine.
  11. 11. The non-transitory computer-readable medium of claim 10, wherein the deviation comprises a plurality of distances between the target surface and the actual surface.
  12. 12. The non-transitory computer readable medium of claim 10, wherein the one or more sensors comprise an inertial sensor mounted to a tool of the construction machine.
  13. 13. The non-transitory computer readable medium of claim 12, wherein the inertial sensor is configured to detect vertical movement of the implement while the construction machine is moving.
  14. 14. A system, comprising: One or more processors, and A computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: Capturing sensor data using one or more sensors of a construction machine while the construction machine is moving in a forward or rearward direction at a speed; estimating an actual surface of a construction site based on the sensor data captured using the one or more sensors; Calculating a deviation between a target surface and the actual surface; Calculating an actual performance metric based on the deviation; Comparing the actual performance metric to a target performance metric to determine a speed adjustment, wherein the speed adjustment is determined so as to reduce an error between the actual performance metric and the target performance metric, and Adjusting the speed of the construction machine by the speed adjustment, wherein adjusting the speed of the construction machine by the speed adjustment includes providing the speed adjustment to a speed controller of the construction machine.
  15. 15. The system of claim 14, wherein the deviation comprises a plurality of distances between the target surface and the actual surface.
  16. 16. The system of claim 14, wherein the one or more sensors comprise an inertial sensor mounted to a tool of the construction machine.
  17. 17. The system of claim 16, wherein the inertial sensor is configured to detect vertical movement of the tool while the construction machine is moving.

Description

Speed control for construction machinery Cross Reference to Related Applications The present application claims priority from U.S. provisional patent application No.17/103281 entitled "speed control for construction machinery" filed on month 11 and 24 of 2020, the entire contents of which are incorporated herein by reference for all purposes. Background Modern construction machines greatly increase the efficiency of executing various construction projects. For example, an earthmoving machine employing an automatic grade control system can use fewer channels to grade an item area than has been previously done manually. As another example, modern asphalt pavers and other road stripers have allowed replacement of old roads and construction of new roads to occur in the order of hours and days, rather than weeks and months before. Due to the automation of the various aspects, building projects may be performed by fewer building personnel than previously required. Most of the technical advances in construction machines are due in part to the availability of accurate sensors that allow real-time monitoring of the condition and position of machine components and/or the environment surrounding the machine. Despite improvements in modern construction machinery, there remains a need for new systems, methods, and techniques. Disclosure of Invention The present disclosure relates broadly to techniques for controlling the speed of heavy equipment (heavy equipment). In particular, many of the embodiments described herein relate to speed adjustment techniques for earthmoving construction machines. The following provides a summary of various embodiments of the invention as an example list. As used below, any reference to a series of examples should be understood as a separate reference to each of these examples (e.g., "examples 1 through 4" should be understood as "examples 1, 2, 3, or 4"). Example 1 is a computer-implemented method of controlling a speed of a construction machine operating within a construction site, the method comprising capturing sensor data using one or more sensors of the construction machine while the construction machine is moving in a forward or rearward direction at a speed, estimating an actual surface of the construction site based on the sensor data captured using the one or more sensors, calculating a deviation between a target surface and the actual surface, calculating an actual performance metric based on the deviation, comparing the actual performance metric to the target performance metric to determine a speed adjustment, wherein the speed adjustment is determined to reduce an error between the actual performance metric and the target performance metric, and adjusting the speed of the construction machine by the speed adjustment. Example 2 is the computer-implemented method of example 1, wherein the deviation comprises a plurality of distances between the target surface and the actual surface. Example 3 is the computer-implemented method of example 1, wherein adjusting the speed of the construction machine via the speed adjustment includes providing the speed adjustment to a speed controller of the construction machine. Example 4 is the computer-implemented method of example 1, wherein the one or more sensors include an inertial sensor mounted to a tool of the construction machine. Example 5 is the computer-implemented method of example 4, wherein the inertial sensor is configured to detect vertical movement of the tool while the construction machine is moving. Example 6 is the computer-implemented method of example 1, wherein comparing the actual performance metric to the target performance metric to determine the speed adjustment comprises calculating an error between the actual performance metric and the target performance metric, and determining the speed adjustment based on the error. Example 7 is the computer-implemented method of example 1, wherein the actual performance metric is an increasing function of the deviation. Example 8 is the computer-implemented method of example 7, wherein the speed adjustment is positive if the actual performance metric is less than the target performance metric, and the speed adjustment is negative if the actual performance metric is greater than the target performance metric. Example 9 is the computer-implemented method of example 1, wherein the actual performance metric is a decreasing function of the deviation. Example 10 is the computer-implemented method of example 9, wherein the speed adjustment is negative if the actual performance metric is less than the target performance metric, and the speed adjustment is positive if the actual performance metric is greater than the target performance metric. Example 11 is a non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for controlling a speed of a construction machine operating within a