Control System for a Rotating Machine

Abstract

A system for evaluating a position of a target zone relative to a path of a material engaging work implement includes a rotatable implement system, an implement system pose sensor, and a target pose sensor. A controller determines a current pose of a portion of the implement system, determines a first pose of the target zone, determines a plurality of potential paths for moving the work implement to the first pose, and generates an alert command if a kinematic model and desired operating characteristics do not permit movement of the work implement to the first pose.

1 . A system for evaluating a position of a target zone relative to a path of a material engaging work implement comprising:
 a rotatable implement system at a work site, the implement system having a linkage assembly including the work implement;   an implement system pose sensor for generating implement system pose signals indicative of a pose of a portion of the implement system;   a haul truck having the target zone, the target haul truck being movable at the work site;   a target pose sensor for generating target pose signals indicative of a pose of the target zone; and   a controller configured to:
 store a kinematic model and desired operating characteristics of the implement system; 
 determine a current pose of the portion of the implement system based upon the implement system pose signals; 
 determine a first pose of the target zone based upon the target pose signals; 
 determine that no potential paths exist for moving the work implement to the first pose of the target zone based upon the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics of the implement system; and 
 upon determining that the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics do not permit movement of the work implement to the first pose of the target zone along any potential paths to the first pose of the target zone, transmit re-position instructions to the haul track to re-position, the haul truck at the work site. 
   
     
     
         2 . The system of  claim 1 , wherein the target zone is defined by a dump body of the haul truck including a front wall, a rear wall, and a pair of spaced apart sidewalls. 
     
     
         3 . The system of  claim 2 , wherein the target zone is generally centered between the pair of spaced apart sidewalls. 
     
     
         4 . The system of  claim 3 , wherein a desired path for moving the work implement includes moving the work implement so that a lower portion of the work implement passes over the rear wall and is lower than an upper surface of the pair of spaced apart sidewalls. 
     
     
         5 . The system of  claim 3 , wherein the target zone is further generally centered between the front wall and the rear wall. 
     
     
         6 . The system of  claim 1 , further including a rotatable base having the linkage assembly mounted thereon, the linkage assembly including a boom operatively connected to the base, a connecting member operatively connected to the boom and the work implement. 
     
     
         7 . The system of  claim 6 , wherein the implement system pose sensor includes sensors for determining the position of the linkage assembly. 
     
     
         8 . The system of  claim 6 , wherein the boom is fixedly mounted to the base, and the work implement is fixedly mounted on the connecting member. 
     
     
         9 . The system of  claim 8 , wherein the connecting member is slidably mounted on a saddle block and the saddle block is pivotably mounted on the boom. 
     
     
         10 . The system of  claim 6 , wherein the boom is pivotably mounted to the base, and the work implement is pivotably mounted on the connecting member. 
     
     
         11 . The system of  claim 10 , wherein the connecting member is pivotably mounted on the boom. 
     
     
         12 . The system of  claim 1 , wherein the controller is further configured to store an electronic map including the implement system, the target zone, and a work-surface in cylindrical coordinates. 
     
     
         13 . The system of  claim 12 , wherein the controller is further configured to store obstacles within the electronic map, determine that an obstacle is between the work implement and the target zone based upon the kinematic model and the desired operating characteristics, and transmit the re-position instructions upon the obstacle being between the work implement and the target zone based upon the kinematic model and the desired operating characteristics. 
     
     
         14 . (canceled) 
     
     
         15 . The system of  claim 1 , wherein the pose sensor is configured to generate pose signals indicative of the pose of the implement system including a pose of the work implement and wherein the controller is further configured to determine the potential paths for moving the work implement based upon the current pose of the work implement. 
     
     
         16 . The system of  claim 1 , wherein the re-position instructions result in a visual indication. 
     
     
         17 . A controller implemented method of evaluating a position of a target zone of a movable target relative to a path of a material engaging work implement, comprising:
 providing a rotatable implement system at a work site, the implement system having a linkage assembly including the work implement;   providing an implement system pose sensor for generating implement system pose signals indicative of a pose of a portion of the implement system;   providing a haul truck having the target zone, the haul truck being movable at the work site;   providing a target pose sensor for generating target pose signals indicative of a pose of the target zone;   storing a kinematic model and desired operating characteristics of the rotatable implement system;   determining a current pose of a portion of the implement system based upon the implement system pose signals from the implement system pose sensor;   determining a first pose of the target zone based upon the target pose signals from the target pose sensor;   determining that no potential paths exist for moving the work implement to the first pose of the target zone based upon the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics of the implement system; and   upon determining that the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics do not permit movement of the work implement to the first pose of the target zone along any potential paths to the first pose of the target zone, transmitting re-position instructions to the haul truck to re-position the haul truck at the work site.   
     
     
         18 . The method of  claim 17 , further including storing an electronic map including the implement system, the target zone, obstacles, and a work surface in cylindrical coordinates, determining that an obstacle is between the work implement and the target zone based upon the kinematic model and the desired operating characteristics, and transmitting the re-position instructions upon the obstacle being between the work implement and the target zone based upon the kinematic model and the desired operating characteristics. 
     
     
         19 . (canceled) 
     
     
         20 . A machine for use with a haul truck having a target zone, the haul truck being movable at a work site, and the haul truck including a target pose sensor for generating target pose signals indicative of a pose of the target zone, the machine comprising:
 a rotatable base;   a linkage assembly, the linkage assembly including a boom operatively connected to the base, a connecting member operatively connected to the boom, and a material moving work implement operatively connected to the connecting member;   an implement system pose sensor for generating implement system pose signals indicative of a pose of a portion of the implement system; and   a controller configured to:
 store a kinematic model and desired operating characteristics of the implement system; 
 determine a current pose of the portion of the implement system based upon the implement system pose signals; 
 determine a first pose of the target zone based upon the target pose signals; 
 determine that no potential paths exist for moving the work implement to the first pose of the target zone based upon the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics of the implement system; and 
 upon determining that the current pose of the portion of the implement system and the kinematic model and the desired operating characteristics do not permit movement of the work implement to the first pose of the target zone along any potential paths to the first pose of the target zone, transmit re-position instructions to the haul truck to re-position the haul truck at the work site.