AU2016231555A1 - Automated, proximity detection and measurement, steering system for a mobile machine - Google Patents

Abstract

There is provided an automated oroxnmi detection and nieasuremen steering system for controlling a mobile machine (10) The system includes means, suh as utrasoncsensor 2), for detecting a structurafeature 32, 36 in proximity to the machine i0) and measuring the distance of the structure teaturefrom the machine The system also includes means such as a PU an an operator interface ti 4 tor controling a steering assembly of the machine (1-) based on the measured distance to maintain a steered position o the machineat a preset distance from the structural feature (32, 36) t '4 N 4' '4 N t/' ~ '4 ~ (4 \ / ~% 'N A 4' N" " s"' ij N;

Description

AU 20 I S 904 243--16 October 2015

The following statement Is a of performing it known to us ADDRESS FOR SERVICE: INVENTION TITLE: 2016231555 22 Sep 2016 AUSTRALIA Patents Act 1990

COMPLETE .SPECIFICATION APPLICANT; INVENTOR: (AON 000 373 151} IBRAHIM, John

Peter Maxwell and Associates Level 6 60 Pitt Street SYDNEY NSW 2000

AUTOMATED, PROXIMITY DETECTION and measurement, steering SYSTEM FOR A MOBILE MACHINE DETAILS OF ASSOCIATED APPLICATION NO: full description of this invention Including the best method ns :\dfics\201 S1014\43242S.doc 2016231555 22 Sep 2016

jEUP QF .INDENTION

The present io automated* proximity detection and measurement steering systems tor mobile; machines and. in particular, to an automated, edge Control steering system foreonstrucyoh: end earth moving 5 machines used especially in mad construction and maintenance work, such as road miters; or compactors,

liCMSWeSI

Automated steering systems for some: road constryctidni machines, tike If sttptdrm: ^ve:^Used;'fpf';ifort{hyoc}s: and: mobile:pouring of concrete:, are: known, but there are as yet no known automated steering systems for ctenstruction and earth rnoving: machines1 used in road; construction and; maintenance world Sllpform pavers move only in a single; ^forward} direction:, and require global positioning systems and other site mapping Information, in lasers, string tines or ether such guidance means to be provided or instalied prior to: their operation. These guide the steering of a;sli;pform payer as It moves along a predetermined or desired path, hut: need to be removed after the road work is completed. 20 mmumy or m&mou it is; an object Qflhe^resentiny^ntiontdfo.yefcdm^, or at least Substantially ameliorate, the aforementioned limitations dftthe prior ait, or provide a useful gfernafive,:

According to the present invention, there Is provided an automated, 2§ ptetemity detection and measurement, steering system for oontmlfihg a; mobile machine;, the system:oomphslng: 2016231555 22 Sep 2016 3 t&) means for ietedli'rtg a; slruefoiaifsatyre in proMmlty to the machine and measuring the distance of the structural' feature from the machine, arid |b) means for centmlting a steering assembly of the machine based: 5 on the measured distance to maintain a steered position of the machine at a pre-set distance from the structural feature Preferably, the autbrnated steerihg sysfem i^rlher bomprises means for controlling the movement of the machine in both a forward direction and a reverse direction, lip It is preferred that the detecting and distance measuring means comprises one dr more of an ultrasonic sensor, an infrared season a thermal ima|ihg camera and: an image recognition camera, log preferred form, the automated steering system can cooperate: with a manual override: system whereby automated operation of at least the steering 13 assembly controlling means can be manually overridden by a person.

Preferably, the steering:assembly controlling means comprises;a central processing umt which stores the; pm-sof distance, and which processes the me a sb red di stance a n# fra n smis; a ignais to the steering assembly,

Fhe operation of the mobile machine, but eycluding is operation; under 20 the control of the automated steering system, may be by a person located remotely of the: machine or by a person located on the machine.

The Jfrucfurai feature may comprise one dr more of an adjacent man made feature, such as an upright edge of concrete pavements, kerbs and gutters, pipes; and darns, gr an adjacent Sand surface feature, such as the 25 slope:, elevation or other aspect or contour of the terrain. 2016231555 22 Sep 2016 1 & 25 4

lO^f^iRY OP THE DRAWINGS

In o:rt!er thsi the invenlidn may be more readily understood and put: into practical efiecf reference wilt now few made to the accompanying: drawings, in M Fig. 1 is a plan view of an artieolsted, vibrating single drum; road roller which uses an automated, proximity detection and measurement, steering system according to one embodiment of the invention, the road: rotter shown in the process of mpvlnf tin a straight line: upon atroad under construction: and being mainlaMed in:a steered position at a premet distance from an upright S edge of a concrete: pavement to the fight side pf tts forwarci direction of :fho#N#nt: ^nd/o:r ata premet distance from atop edge of a downward slope of the terrain to the lei side of its:forward direction of movement,

Fig, 2 Is a frontnriew of the road roller of Fig, i showing schematically the operation of the detecting·and distance-measuring moans of the automated steering: system,

Fi|, 3 ism plan flew of a pneumatic road roller whishgsesfhe: automated, proximity defection and measurement, steering system shown in Figs, 1 and: 2,. the: mad miter shown in the prodesslof movlhgiin a straight line, Fig. 4 is a view similar tothat of Fig, 3 hut showing the road roller in the process of turning, fig, 5 is a; perspective view of a road roller similar to that shown In Ftp, 1 and 2, and which uses an sp$omgied:? proximity detection and measurement, steering systerh ot the preserTi lnvehflon which is constructed and functions1 in a similar manner to that: shown In Figs, 1 and 2, and

Fig, 3 is a flow chart showing the main steps In the operation of an automated, proximity detection and measurement; steering system of the present Invention to control a mobile machine. sweetie 5 2016231555 22 Sep 2016

liT^LlDlE^RiPTiON OF THE INVENTION

Tho articulated, vibrating singledfuro foed roller IB shown In Figs,: 1 and % art: aotomated, proxtrTliiy detection and measurement, steering system for controlling Its operation, that system including means fordeteeftng a S structural feature in proximity to the roller 10 and measuring the distance of that imium from the roller 10. Such moans, in this embodiment: includes four ultrasonic: sensors: 12, j^ut-mw:siiern:atlyely.ef:'aiso:^IUde any one or more fa combination} of an infrared sensor, a thermal imaging camera and an image recognition camera. The Sensors 12 are mounted externally of the: roller 10 10 and at opposed sides of the front and rear ends Of the roller.

The automated steering system also includes means for controlling a steering; assembly of the roller 10 based on the measured distance to maintain a steered position of the roller TP at a pre-set distance from the stryctural feature. Such means,: In this: embodiment, includes a: central processing unit 1S (GPU} Which stores the pre-set distance, and which processes the measured: distanceand transmits Information or signals to the steering assemhlyv The GPU Is efectronlcally connected to a touch screen and/or keyboard Interface: 14 for an operator,: The GPU can also be uploaded with: information about site: plans, including topographical maps end coordinates, which will allow travel: 20 paths tor the roller 10 io be plotted and traced.

In Figs:, 1 and 2. tiie structural features which are to he delected, and Whose distances from the roller 10 are to be measured:, are the upright edge 32 of a concrete paygmern 10 and the top edge 36 of a downward slope IB of the terrain, Accordingly, the: present: Invention, as It is to be particularly described 25 hereinafter, relates more specifically to ah automated, edge control sigenhg system for road rollers. :22/08/48

Through the use nf the four ultrasonici sensors 12, the roller lit can operate independently of known: guidance means of the peer art which: need; to be provided orInstalled^ prior to the operation of the mobile machine and than removed after'the work is completed, 2016231555 22 Sep 2016 $ in this embodiment, the rotter 10, which is drifhanhedi also ifictadesa gjpbai positioning system (GPS), the aerial 20 of which tssimwrt There is also shown an angfe sensor 22 for measuring the steehhg ahgie (m rigid tome mobile machines;) and for measunng/the articulation angie (for articulated mobile machines), WfomardirmmBe Mmcimn contetter 24t and an 10 independent steering controlwaive 26. leparaie infOdnafion from each of the various input sources 12, 20. 22, 24 and 26 is transmitted to the CPU and, where appropriate, is then transmitted feaetoto one or more of the input sources along the communication Unas shewn schematically in Fig, 1 as connecting to the interface 14, 1S Pig. 2 shows sohematicaliy an array 3§, 32 of sensor beams originating from each of the two iron! side sensors If of the rolier 10 which, in this embodiment, ?s moving in a forward direction;, The array 30: has detected an updght edge 32 of a concrete :pauemehf 16:that has been built alone side of the road under construei!on,: and the array 34 has detected a top edge 36 of a 2:0 downward slope; 1S fdf fill baiter) of the terrain: at the opposite side of the road under construction, Tbedistaocesei the respective edgesi^h 36 from the rcfller 10 are meaeured based on this detectedrinforniefion, an#:g steering: assembly of the roller 10 is then coniroiled based: on this measured distance information. The msultfog direction of imovsmentef the roller 10 is: such that 2| the foliar maintains;: a steered position at a pre-set distance tom the edges 32, 36, thus avoiding any colilsioh damage to the concrete pavement: 16 or damage to the downward siope IS if the roller was to move too close to its top 22/09/16 7' 2016231555 22 Sep 2016 edge: 3i, while also reducing the risk of foil over of the roller, igo automated steering system used on the roller 10 can cooperate with a manual override system,: This allows the automated operation of at least ihe steering assembly controlling means to be manually ovemdden by a person, § either located remotely of the roller (e;;g, by remote: control)or located on the roller (mg, by manual control). For example, a person seated in, or otherwise manning, the operator platform or cabin of the roller may override the automated steering system by manually turning the steering wheel 3B of the roller 10,. 10 The automated steering system used on the roller 10 also has the ability to adfost or vary the roller's distance frorma specific structural feature with each pass of the roller (In both forward and reverse directions) beside or proximate to that feature foriotfeefflng purposes. Such offsetting will normally be required because the distance to a specific:stfucfura! feature:from a front left side sensor IS 12 when the roller is moving In a forward direction will be different to the: distance to that feature from a rear left side sensor 12 when the roller Is moving in a reverse direcilon, The automated steering system: will autornaticalty adjust for this offset.

The benefits of having such offsetPdfustment are especially apparent 2ft when the road work being undertaken by the mobile machine: incorporating the automated steering system of the present invention involves road verges and/or large :roadTdrop ofte,ii Such machines as the roller 10 can achieve a consistent and desired compaction width which is equal jfo the: roll width: (or the; width ofthe drum 40 of the mlfer1.6)':wftfoh.:n^y:ba;, say>: 1,.680 mm., plus the width of foe offset adjustment, which may be, say, 32ft mm, thus achieving1 ah effective, compaction width of 2sft0ft mm. Alee, In such oircumsfanees where there Is a high risk of rqlf over of the road; work mobiie machine, use of the 22109/10:; 2016231555 22 Sep 2016 *tdwn*ied ;syafem' and its offset; arijusiment aisfllty maintait-siS: a eorresf and: safe disfeace of: the aiachfae frsrri a: structuiBl faatera that might otherwise if btimsmsfeertog error was avowed to occur, cause roil over of the machine. The automate of the roller’s functions may also extend to direction of 5 movement, speed, vlbratmg status, braking and shut down. fhe automated steering system can Controllhe moyementof the roller 16 in both torward and reverse directions (during normal operations) without a pefsoh needing to pertorrn any action, such as; the pushing of a switchtouffoo or the turning of t''diaijbefore: W'.#^r the- oha^geih direction. information on 10 the reguifed direction of moyementof the; roller 10 is sourced from the ferward/raverse direction ooritroiler 24. fhe automated steering system is flexible and can he operated and managed in various ways for optimal: performance and to suit specific performance regulrements. 10: for esample, a person; operating the roller 10 can select any one of forward and reverse movement control, forward movementcontrol only, reveme movernen; control only, or no movement control. Similarly, a person divratsng the roller 1;0 can select any one or more (a combination) of the sensors (or of the detecting and; distance^measuring means,; more generally) 20 tor operation in any direction of movement and for detecting, and measuring the distance oh structural features in proximity to the foller 10 pn either or both the left side or right side of the roller, A person operating the roller 10, or other authorised person, may Input the desired pre-set distance Into: the interface 14 tor storage by the &PU, and 21 may vary that distance, when required, by first inputting security details, such as passwords and/or personal: identiflcatioh number (PIN) oodes. 22/09/16 g 2016231555 22 Sep 2016

Ifie'CMi can also store, «h as by upeadlng, information about measured distances, direction of movement, QPB coordinates and siterpians, and the Ite, wNtokearflalef be is#^rt§ipfiysioafly retrace (or visually re-play} ttia movementer paid of the machine, sued es when the machine is; required to i again work th;the same location ef road as before | where the same structural features are present);

The (IFU can also vary1 the movement orlmyef path: of the machine, when retracing is desired, to tak;e;;!nio account the requlredoffsef ad|ustmont mentioned earlier, # The: pneomatic read roller 5© shown In Figs, 3 and 4 Includes substantially the same features as are present in the relief Id, other than the drum40 which is replaced by four pneumatic-wheels 52 at each of the front and; rear ends of the roller 50, and the pneumatic read relief SQ functions in a simitar manner to that of the teller fO, Accordingly, like features are identified by like IS numerals In Figs, land 4.

Fig. 5 shows an unmanned mad roller 00, which is similar to road' roller 10:, beingropemted^ remotely and steered automatically by an automated steering system which is also, similar to that used on road relief 10^

Aecamjngfy, like features are identified by tike numerate m Fig, 5. 20 There are four “pick-op" sensors It, each ons being located at a respective cornef of the rolier 80, as shown in Fig, 5, The rotier 8©; is working on a ;road 62 under construction between an upright working edge 32 of a concrete pavement 16 and a "drop off' edge 38 of a downward slope 18 of the terrain- 25 The foliar 89 includes a 6PS antenna 29 (or aerial) located on the; reef of the roller 80, an angle sensor 22 Igoaied/eerifally behind the drum:40, an independent steering cenlrpl valve 28 located under the norma! operator 22/09/16 10 2016231555 22 Sep 2016 pisiform :04 of the roller 80:, a GPU electmhically connected to an operator interface {not shown), and a fewvamffeyerse direction cnotrofler |not:showni In use, the sensors 12 and the; angle sensor 22 relay measured d istance information to the CPU to the attest that them Is a %mp off edge 36 6 to one side and an upright working edge 62 to the other side, and the CPU then; transmits inpFmation to centmithe steering assembly of the roller §0 as desired, and so that, if redoired, the roller steers away Porn, or stops before, the 'drop off' edge 36 to pmuent roll oyer of the roller.

The desired steered position of the roller 00 is msIntaJoed at a pre-set: 16 distance from the edges by the GPU processing information moeivoh by an operator and by the sensors. With this mfermalion, the CPU wiii control the steering assembly so that the roller 60 follows a pre-set distance ideally from the upright working edge 32; The GPU also plots the GPS coordinates to allow for retracing: of the patbiof movement or travel of the roller 60.. T5 Pig. 6; shows e flow chart of the main steps in the operation df the automated steering system described above with reiemhce to Figs, 1 to §.

Those steps may, of course, be varied to suit: speckle regylrcments nr changing circumstances, ft would be readily appa rent to persona skied Irrfhe erf that yahoos 20 modifications may be made: In details:/# design and construction of the automafed . proxirnlty detection; end: measurement, steering system for mobile: machines described above without departing ffptmfhe eodpfcior .#&» present inyention. 22/09/10

Claims (3)

1. THE INVENTION ARE AS PILLOWS:- 1 An automated, proximity detection and measurement, steering system Ids controlling a rnoNe machine: me system comprising: ($} means for detecting a: structurai feature In gmKirnity to the machine and measuring the distance; of the stfu^ machine, and (h|: means for controlling a steering assembly of the machine based in the measured distance to maintain a steered position of the machine at a pre-set distance from the stmeierai: feature. 2;, The automated steering system of claim 1 and further comprising means for controlling the movemenlbf the machine in both a forward dimctlon and a reyarse direction.
2. 3. The automated steehhg system of claim 1 or ctaim 2 wherein the detecting and distance measuring means comprises one or more of an ultrasonic sensor, an infrared sensor, a thermal imaging camera and an image recog nit ion; camera:, 4>, The automated steering system of any one of claims 1 to 3 and further comprising means for cooperating with a manual override system whereby automated operation of at least the steering assembly controlling means can he manually- overridden by a person,
3. 5, The automated steering system of any one of claims 1 to 4 wherein the steering assenmiy controlling means comprises a central processing unit which stems the pre-set distance, and which processes the measured distance and transmits signais td the steering assembly. The automated: steering system of claim 4 wherein the manual ovatnde aystam: ©omprisea aoritfOl m&msiM operatio© % a parson located remotely Of the machine or by a person lobited on the machine, ?. The automated: Steepng system of any one of claims 1 to § wherein: the detecting and distance measuring means is configured ie defect and measure the distance from the machine of:::an edge of a man made feature or of the slope, elevation or contour of a land surface feature.