Tool control system based on anticipated terrain

摘要

A tool control system for controlling a tool of a machine is disclosed. The tool control system includes a tool configured to shape a surface of a worksite. The tool control system also includes a positioning system configured to determine a worksite position of a machine supporting the tool. The tool control system also includes a controller configured to receive a site map containing a profile of the surface, receive the worksite position of the machine, and determine a contour of the surface not yet traversed by the machine. The controller also being configured to anticipate an effect on the contour caused by the tool when the machine traverses the contour, and to move the tool and accommodate the affect before the machine traverses the contour.

主权项

1. A tool control system, comprising:
a tool configured to shape a surface of a worksite; a positioning system configured to determine a worksite position of a machine supporting the tool; and a controller configured to:
receive a terrain profile containing a contour of the surface;receive the worksite position of the machine;determine a contour of the surface not yet traversed by the machine;compensate for an expected effect on the contour caused by the tool when the machine traverses the contour, the effect being based on an anticipated pitching or rolling of the machine that will result from movement of a center of gravity of the machine from a first position on the worksite which has a first contour to a second position on the worksite which has a second contour that is different than the first contour; andmove the tool and accommodate the effect before the machine traverses the contour, wherein tool movement is based primarily on the anticipated pitching or rolling, and secondarily on input from at least one sensor.