Apparatus and method for limiting movement of a work machine

Abstract

A work machine having a traveling body, a moveable structure coupled to the traveling body, a sensor operable to generate a sensory signal, and a controller. The controller is in communication with the sensor. The controller including a processor and a memory having a position control algorithm stored thereon. The processor is operable to execute the position control algorithm to receive a boundary command establishing a defined boundary; receive a sensory signal from the sensor related to the movement of the movable structure; determine a position of the movable structure relative to the traveling body; and limit movement of one of the ground-engaging mechanism of the traveling body or the actuator of the moveable structure as the traveling body moves along the travel path when the position of the movable structure is within an allowable distance from the defined boundary.

What is claimed is: 
     
         1 . A work machine comprising:
 a traveling body having a ground-engaging mechanism controllable to move the traveling body along a travel path relative to a ground surface;   a moveable structure coupled to the traveling body and having an actuator controllable to move the moveable structure relative to the traveling body;   a sensor operable to generate a sensory signal;   a controller in communication with the sensor, the controller including a processor and a memory having a position control algorithm stored thereon, wherein the processor is operable to execute the position control algorithm to:
 receive a boundary command establishing a defined boundary relative to the ground surface; 
 receive the sensory signal from the sensor, the sensory signal including information related to a movement of the movable structure relative to the defined boundary; 
 determine a position of the movable structure relative to the traveling body; and 
 limit movement of one of the ground-engaging mechanism of the traveling body or the actuator of the moveable structure as the traveling body moves along the travel path when the position of the movable structure is within an allowable distance from the defined boundary to prevent the moveable structure from moving beyond the defined boundary. 
   
     
     
         2 . The work machine of  claim 1 , wherein the processor continuously determines the position of the movable structure relative to the defined boundary as the traveling body moves along the travel path. 
     
     
         3 . The work machine of  claim 1 , wherein the boundary command comprises one or more of a pre-planned path, a worksite instruction, a series of waypoints, and an identification of a worked ground surface. 
     
     
         4 . The work machine of  claim 1 , wherein limiting the movement of the movable structure comprises a movement envelope. 
     
     
         5 . The work machine of  claim 1 , wherein limiting the movement of the movable structure comprises a yaw angle relative to the traveling body. 
     
     
         6 . The work machine of  claim 1 , wherein the sensor comprises a stereo-imaging apparatus coupled to the work machine, wherein the position control algorithm processes the sensory signal to identify the defined boundary from a stereo-image. 
     
     
         7 . The work machine of  claim 6 , wherein the position control algorithm processes the sensory signal to identify a moving object, the sensory signal continuously updating. 
     
     
         8 . The work machine of  claim 1 , wherein the sensor comprises a LIDAR imaging apparatus coupled to the work machine, wherein the position control algorithm processes the sensory signal to identify the defined boundary from a point cloud. 
     
     
         9 . The work machine of  claim 1 , wherein the processor receives an operator input command actuating a movement of the traveling body or the movable structure; and
 wherein the position control algorithm overriding the operator input command when the movable structure is within the allowable distance from the defined boundary.   
     
     
         10 . The work machine of  claim 1 , wherein the processor receives an operator input command actuating movement of the traveling body or the movable structure, the operator input command overriding the position control algorithm when the movable structure is within the allowable distance from the defined boundary. 
     
     
         11 . A method of limiting a movement of a work machine as the work machine travels, wherein the work machine includes a traveling body with a moveable structure couple to the traveling body, the method comprising:
 receiving a boundary command establishing a defined boundary relative to a ground surface;   receiving a sensory signal from a sensor, the sensory signal including information related to a movement of the moveable structure relative to the defined boundary;   determining a position of the movable structure relative to the traveling body; and   limiting movement of one of a ground-engaging mechanism coupled to the traveling body or an actuator of the moveable structure as the traveling body moves along a travel path when the position of the movable structure is within an allowable distance from the defined boundary to prevent the moveable structure from moving beyond the defined boundary.   
     
     
         12 . The method of  claim 11 , wherein determining the position of the movable structure relative to the defined boundary as the traveling body moves is continuous. 
     
     
         13 . The method of  claim 11 , wherein the boundary command comprises one or more of a pre-planned path, a worksite instruction, a series of waypoints, and an identification of a worked ground surface. 
     
     
         14 . The method of  claim 11 , wherein limiting the movement of the movable structure comprises a movement envelope of the traveling body. 
     
     
         15 . The method of  claim 11 , wherein limiting the movement of the movable structure comprises a yaw angle relative to the traveling body. 
     
     
         16 . The method of  claim 11 , further comprising:
 processing the sensory signal to identify the defined boundary from a stereo-image, the sensory signal continuously updating.   
     
     
         17 . The method of  claim 16 , further comprising:
 processing the sensory signal to identify a moving object, the sensory signal continuously updating.   
     
     
         18 . The method of  claim 11 , further comprising:
 processing the sensory signal to identify the defined boundary from a point cloud.   
     
     
         19 . The method of  claim 11 , further comprising:
 receiving an operator input command for actuating the movement of the traveling body or the movable structure; and   overriding the operator input command when the movable structure is within the allowable distance from the defined boundary.   
     
     
         20 . The method of  claim 11 , further comprising:
 receiving an operator input command for actuating movement of the traveling body or the movable structure; and   overriding a movement limit when the movable structure is within the allowable distance from the defined boundary.