Control system having obstacle detection and mapping

Abstract

A control system is disclosed for use with a cold planer having a milling drum. The control system may have an obstacle detection sensor mountable to the cold planer at a location forward of the milling drum. The obstacle detection sensor may be configured to generate a first signal indicative of an object detected within a work surface. The control system may also have a locating device mountable to the cold planer and configured to generate a second signal indicative of a location of the cold planer at a time of first signal generation, and a controller in communication with the obstacle detection sensor and the locating device. The cold planer may be configured to generate an electronic map of a work area based on the first and second signals, and to selectively adjust operation of the cold planer based on the electronic map.

What is claimed is: 
     
         1 . A control system for a cold planer having a milling drum, comprising:
 an obstacle detection sensor mountable to the cold planer at a location forward of the milling drum and being configured to generate a first signal indicative of an object detected within a work surface;   a locating device mountable to the cold planer and configured to generate a second signal indicative of a location of the cold planer at a time of first signal generation; and   a controller in communication with the obstacle detection sensor and the locating device, the cold planer being configured to:
 generate an electronic map of a work area based on the first and second signals; and 
 automatically adjust operation of the cold planer based on the electronic map. 
   
     
     
         2 . The control system of  claim 1 , wherein the obstacle detection sensor is a magnetic field detecting sensor. 
     
     
         3 . The control system of  claim 1 , wherein the obstacle detection sensor is ground penetrating radar receiver. 
     
     
         4 . The control system of  claim 1 , wherein:
 the cold planer further includes a traction device;   the control system further includes an actuator associated with the traction device; and   the controller is configured to adjust operation of the cold planer by automatically causing the actuator to change at least one of a travel speed and a milling depth of the cold planer.   
     
     
         5 . The control system of  claim 1 , wherein:
 the control system further includes an actuator associated with the milling drum; and   the controller is configured to affect operation of the cold planer by automatically causing the actuator to adjust at least one of a rotational speed and a depth of the milling drum.   
     
     
         6 . The control system of  claim 1 , wherein:
 the control system further includes a communication device; and   the controller is further configured to communicate the electronic map offboard the cold planer.   
     
     
         7 . The control system of  claim 1 , further including a warning device, wherein the controller is configured to selectively activate the warning device based on proximity of the milling drum to the object. 
     
     
         8 . The control system of  claim 1 , further including a display, wherein the controller is further configured to show the electronic map on the display. 
     
     
         9 . The control system of  claim 1 , further including an input device, wherein the controller is further configured to:
 prompt an operator to provide input via the input device regarding the object; and   to selectively allow the milling drum to engage the object or cause the milling drum to avoid the object based on the input.   
     
     
         10 . The control system of  claim 1 , wherein the controller is further configured to:
 determine features of the object based on the first signal;   make a comparison of the features with features of known objects; and   selectively represent the object in the electronic map as one of the known objects based on the comparison.   
     
     
         11 . The control system of  claim 10 , wherein the controller is configured to selectively allow the milling drum to engage the object or cause the milling drum to avoid the object based on the comparison. 
     
     
         12 . The control system of  claim 10 , wherein the controller is configured to automatically assign a clearance zone around the object based on the comparison. 
     
     
         13 . A method of operating a. cold planer having a milling drum, comprising:
 detecting an object in a work surface being milled by the milling drum;   determining a location of the cold planer when the object is detected;   generating an electronic map of a work area based on detection of the object and the location of the cold planer; and   automatically adjusting operation of the cold planer based on the electronic map.   
     
     
         14 . The method of  claim 13 , wherein detecting the object includes detecting a change in a magnetic field within the work surface. 
     
     
         15 . The method of  claim 13 , wherein detecting the object includes detecting a change in energy waves reflected off the object. 
     
     
         16 . The method of  claim 13 , wherein automatically adjusting operation of the cold planer includes automatically adjusting a travel speed of the cold planer. 
     
     
         17 . The method of  claim 13 , wherein automatically affecting operation of the cold planer includes automatically adjusting at least one of a rotational speed and a depth of the milling drum. 
     
     
         18 . The method of  claim 13 , further including:
 displaying the electronic map inside an operator station of the cold planer; and   communicating the electronic map offboard the cold planer.   
     
     
         19 . The method of  claim 13 , further including activating a warning device based on proximity of the milling drum to the object. 
     
     
         20 . A cold planer, comprising:
 a frame;   a traction device connected to the frame and configured to propel the cold planer;   an engine mounted to the frame and configured to drive the traction device;   a milling drum connected to the frame;   a conveyor located adjacent the milling drum;   a first actuator associated with the traction device and configured to affect at least one of a speed the traction device and a depth of the milling drum;   a second actuator associated with the milling drum and configured to affect at least one of rotational speed and the depth of the milling drum;   an operator station supported by the frame at a side opposite the milling drum;   a display disposed in the operator station;   an obstacle detection sensor mounted forward of the milling drum and being configured to generate a first signal indicative of an object detected within a work surface;   a locating device configured to generate a second signal indicative of a location of the cold planer at a time of first signal generation; and   a controller in communication with the obstacle detection sensor, the locating device, the display, and at least one of the first and second actuators, the controller being configured to:
 generate an electronic map of a work area based on the first and second signals; and 
 show the electronic map on the display; and 
 automatically adjust operation of the at least one of the first and second actuators based on the electronic map.