Systems and methods for controlling a digging and dumping machine
A control system for a machine includes a machine body, a linkage assembly, a bucket coupled to the machine body via the linkage assembly, a user interface remote from the machine body, and a controller in communication with the user interface. The controller is configured to receive one or more signals defining a dump region. The dump region includes a front-most end point and a rear-most end point. The controller is also configured to receive one or more signals defining a dump order or dump specification and initiate an autonomous digging and dumping procedure.
1 . A control system for a machine, comprising:
a machine body;
a linkage assembly;
a bucket coupled to the machine body via the linkage assembly;
a user interface remote from the machine body; and
a controller in communication with the user interface, wherein the controller is configured to:
receive one or more signals defining a dump region, wherein the dump region includes a front-most end and a rear-most end, wherein receiving one or more signals defining the dump region includes positioning the bucket in the rear-most end of the dump region and positioning the bucket in the front-most end of the dump region, and wherein the rear-most end of the dump region is spaced from a rear-most end of a bed of a haul truck by an offset;
receive one or more signals defining a dump order or dump specification; and
initiate an autonomous digging and dumping procedure.
2 . The control system of claim 1 , wherein the dump order or dump specification includes a first dump position in a midway point of the dump region, a second dump position in the front-most end of the dump region, and a third dump position in the rear-most end of the dump region.
3 . The control system of claim 2 , wherein the dump order or dump specification further includes dumping material in positions bisecting adjacent dump positions.
4 . The control system of claim 1 , wherein the dump order or dump specification includes a first dump position in the front-most end of the dump region, and successive dump positions spaced from the first dump position in a direction toward the rear-most end of the dump region.
5 . The control system of claim 4 , wherein the spacing between successive dump positions is determined based on a volume or a weight of a load in the bucket.
6 . The control system of claim 1 , wherein the dump order or dump specification includes modeling material dumped into a bed of a haul truck, and dumping successive loads in portions of the bed of the haul truck that are not fully loaded.
7 . A method of operating a machine with a bucket, comprising:
defining a dump region, wherein defining the dump region includes positioning the bucket in a rear-most end of the dump region, storing the position with the bucket in the rear-most end of the dump region, then positioning the bucket in the middle of the dump region and dumping a load from the bucket in a first dump position, then positioning the bucket in a front-most end of the dump region, and storing the position of the bucket in the front-most end of the dump region;
defining or selecting a dump order or dump specification; and
initiating an autonomous digging and dumping procedure.
8 . The method of claim 7 , wherein defining the dump region further includes moving an end of the dump region by an offset from one or more of the stored bucket positions.
9 . The method of claim 7 , wherein the dump order or dump specification includes the first dump position in the middle of the dump region, a second dump position in the front-most end of the dump region, and a third dump position in the rear-most end of the dump region.
10 . The method of claim 9 , wherein the dump order or dump specification further includes dumping material in positions bisecting adjacent dump positions.
11 . The method of claim 7 , further comprising, after positioning the bucket in the front-most end of the dump region, dumping a load from the bucket in the front-most end of the dump region.
12 . The method of claim 11 , wherein the dump order or dump specification includes the dump position in the front-most end of the dump region, and successive dump positions spaced from the dump position in the front-most end of the dump region in a direction toward the rear-most end of the dump region.
13 . The method of claim 9 , wherein a spacing between successive dump positions is determined based on a volume or a weight of a load in the bucket.
14 . The method of claim 7 , wherein the dump order or dump specification includes modeling material dumped into a bed of a haul truck, and dumping successive loads in portions of the bed of the haul truck that are not fully loaded.
15 . A digging machine, comprising:
a machine body;
a linkage assembly;
a bucket movably coupled to the machine body via the linkage assembly;
at least one perception system on the digging machine, wherein one of the at least one perception system is positioned on the linkage assembly; and
a controller in communication with the at least one perception system, wherein the controller is configured to:
receive one or more signals defining a dump region, wherein the dump region includes a forward-most end point and a rear-most end point, wherein receiving one or more signals defining the dump region includes positioning the bucket in a rear-most end of the dump region and positioning the bucket in a forward-most end of the dump region, and wherein the rear-most end point of the dump region is spaced from a rear-most end of a bed of a haul truck by an offset;
receive one or more signals defining a dump order or dump specification; and
initiate an autonomous digging and dumping procedure.
16 . The digging machine of claim 15 , wherein the dump order or dump specification includes a first dump position in a midway point of the dump region, a second dump position in a front-most end of the dump region, and a third dump position in a rear-most end of the dump region, and wherein the dump order or dump specification further includes dumping material in positions bisecting adjacent dump positions.
17 . The digging machine of claim 15 , wherein the dump order or dump specification includes a first dump position in a front-most end of the dump region, and successive dump positions spaced from the first dump position in a direction toward the rear-most end of the dump region, and wherein a spacing between successive dump positions is determined based on a volume or a weight of a load in the bucket.
18 . The digging machine of claim 15 , wherein the dump order or dump specification includes modeling material dumped into a bed of a haul truck, and dumping successive loads in portions of the bed of the haul truck that are not fully loaded.
19 . The digging machine of claim 15 , wherein the spacing between successive dump positions is determined based on a volume or a weight of a load in the bucket.
20 . The digging machine of claim 15 , wherein the digging machine is an excavator, a rope shovel, a mining shovel, or a hydraulic shovel.