System and method for estimating material characteristics

1. A system for determining material characteristics of a material of a work surface, comprising:

a position sensor associated with a machine for generating position signals indicative of a position of the work surface; and

a controller configured to:

store a first estimate of the material characteristics;

utilize a planning system to determine an expected profile extending along a path, the expected profile based at least in part upon the first estimate of the material characteristics;

receive a plurality of position signals from the position sensor as the machine moves along the work surface and a work implement of the machine moves a volume of material along the path;

determine an actual profile of the work surface based at least in part upon the position signals;

compare the expected profile to the actual profile; and

determine a second estimate of the material characteristics based at least in part upon a difference between the expected profile and the actual profile.

2. The system of claim 1 , wherein the controller is further configured to modify the planning system based at least in part upon the second estimate of the material characteristics.

3. The system of claim 1 , wherein the position sensor is on the machine and the controller is further configured to receive the plurality of position signals as the machine moves along the path.

4. The system of claim 3 , wherein the position sensor generates position signals indicative of a position of the machine and the controller is further configured to determine the actual profile based at least in part upon the position of the machine.

5. The system of claim 1 , wherein the difference between the expected profile and the actual profile defines a cut angle, and the second estimate of the material characteristics reflects softer conditions of the material if the cut angle is steeper than the expected profile.

6. The system of claim 1 , wherein the difference between the expected profile and the actual profile defines a cut angle, and the second estimate of the material characteristics reflects firmer conditions of the material if the cut angle is shallower than the expected profile.

7. The system of claim 1 , wherein the controller is further configured to adjust an angle of at least a portion of a subsequent expected profile relative to the work surface based at least in part on the second estimate of the material characteristics.

8. The system of claim 1 , wherein at least a portion of the expected profile is at an angle to the work surface.

9. The system of claim 1 , wherein the path includes a dump location, and the controller is further configured to move a cut location of the work implement relative to the dump location when determining subsequent expected profiles based at least in part upon the difference between the expected profile and the actual profile.

10. The system of claim 1 , wherein the expected profile has a first section generally at a first angle to the work surface and a second section generally at a second angle to the work surface, and wherein the first angle is greater than the second angle.

11. The system of claim 10 , wherein the path includes a dump location, and the controller is further configured to move a cut location of the work implement relative to the dump location when determining subsequent expected profiles based at least in part upon the difference between the second section of the expected profile and a second section of the actual profile corresponding along the path to the second section of the expected profile.

12. The system of claim 11 , wherein the controller is configured to move the cut location of the work implement towards the dump location if the second section of the actual profile has undulations larger than a predetermined size.

13. The system of claim 12 , wherein the controller is configured to move the cut location of the work implement away from the dump location if the second section of the actual profile has undulations no larger than a predetermined size.

14. The system of claim 1 , wherein the planning system is configured to operate at least in part based upon the first estimate of the material characteristics and operation of the planning system is automatically modified based upon a difference between the expected profile and the actual profile.

15. A controller implemented method for determining material characteristics of a material of a work surface, comprising:

storing a first estimate of the material characteristics;

utilizing a planning system to determine an expected profile extending along a path, the expected profile based at least in part upon the first estimate of the material characteristics;

moving a machine along the work surface with a work implement to modify the work surface;

receiving a plurality of position signals from a position sensor associated with the machine as the machine moves along the work surface, the position signals being indicative of a position of the work surface;

determining an actual profile of the work surface based upon the position signals;

comparing the expected profile to the actual profile; and

determining a second estimate of the material characteristics based at least in part upon the difference between the expected profile and the actual profile.

16. The method of claim 15 , further including modifying the planning system based at least in part upon the second estimate of the material characteristics.

17. The method of claim 15 , further including defining a cut angle based upon a difference between the expected profile and the actual profile, and the second estimate of the material characteristics reflects softer conditions of the material if the cut angle is steeper than the expected profile.

18. The method of claim 15 , further including defining a cut angle based upon a difference between the expected profile and the actual profile, and the second estimate of the material characteristics reflects firmer conditions of the material if the cut angle is shallower than the expected profile.

19. The method of claim 15 , further including adjusting an angle of at least a portion of a subsequent target profile relative to the work surface based at least in part on the second estimate of the material characteristics of the material.

20. A machine comprising:

a prime mover;

a ground engaging work implement for engaging a work surface;

a position sensor for generating position signals indicative of a position of the work surface; and

a controller configured to:

store a first estimate of material characteristics of a material of the work surface;

utilize a planning system to determine an expected profile extending along a path, the expected profile based at least in part upon the first estimate of the material characteristics;

receive a plurality of position signals from the position sensor as the machine moves along the work surface and a work implement of the machine moves a volume of material along the path;

determine an actual profile of the work surface based upon the position signals;

compare the expected profile to the actual profile; and

determine a second estimate of the material characteristics based at least in part upon the difference between the expected profile and the actual profile.