Systems and methods for controlling a digging machine

Abstract

A control system for a machine includes a machine body, a linkage assembly, an implement coupled to the machine body via the linkage assembly, an operation console remote from the machine, and a controller in communication with the operation console. The controller is configured to receive one or more signals from the operation console in order to operate the machine in a remote control mode and define a dig region and a dump region. The controller is also configured to operate the machine in an autonomous mode to dig material from the dig region and dump the material to the dump region.

What is claimed is: 
     
         1 . A control system for a machine, comprising:
 a machine body;   a linkage assembly;   an implement coupled to the machine body via the linkage assembly;   an operation console remote from the machine; and   a controller in communication with the operation console, wherein the controller is configured to:
 receive one or more signals from the operation console in order to operate the machine in a remote control mode and define: 
 a dig region; and 
 a dump region; and 
   operate the machine in an autonomous mode to dig material from the dig region and dump the material to the dump region.   
     
     
         2 . The control system of  claim 1 , wherein the controller is configured to monitor the autonomous digging and dumping for one or more notification conditions, and to provide one or more notifications to the operation console. 
     
     
         3 . The control system of  claim 2 , wherein, when the controller detects one or more notification conditions during the autonomous digging and dumping, to end the autonomous digging and dumping. 
     
     
         4 . The control system of  claim 1 , wherein the controller is configured to receive signals indicative of a position of the implement at a first edge position and an second edge position for the dig region. 
     
     
         5 . The control system of  claim 4 , wherein the first position and the second position for the dig region are opposite corners of the dig region. 
     
     
         6 . The control system of  claim 4 , wherein the controller is configured to receive signals indicative of a position of the implement at a first edge position and an second edge position for the dump region. 
     
     
         7 . The control system of  claim 1 , wherein the controller is configured to estimate an amount of material being dug during the autonomous mode. 
     
     
         8 . The control system of  claim 1 , wherein the implement is a bucket, and wherein when the dump region is full during operation of the machine in the autonomous mode, the controller signals the bucket to be positioned in a lowered position and suspends movement of the bucket. 
     
     
         9 . A method of operating a machine with an implement, comprising:
 when operating in a remote control mode:   defining a dig region; and   defining a dump region;   initiating an autonomous digging and dumping mode; and   when operating in the autonomous digging and dumping mode, monitoring the machine for one or more notification conditions, and   when one or more notification conditions are detected, ending the autonomous digging and dumping mode and returning to the remote control mode.   
     
     
         10 . The method of  claim 9 , wherein defining the dig region includes positioning a portion of the implement at a first edge corner of the dig region, storing into a memory the implement position at the first edge corner of the dig region, positioning the portion of the implement at a second edge corner of the dig region, and storing into the memory the implement position at the second edge corner of the dig region. 
     
     
         11 . The method of  claim 10 , wherein defining the dump region includes positioning the portion of the implement at a first end of the dump region, storing the implement position at the first end of the dump region, positioning the portion of the implement at a second end of the dump region, and storing the implement position at the second end of the dump region. 
     
     
         12 . The method of  claim 9 , further comprising an initial step of positioning the machine to a dig site under the remote control mode using one or more cameras on the machine. 
     
     
         13 . The method of  claim 9 , further comprising an initial step of positioning the machine to a dig site under the remote control mode using a remote console in for a line-of-sight control. 
     
     
         14 . The method of  claim 9 , wherein the implement is a bucket, and wherein the bucket is coupled to a body of the machine by a linkage assembly. 
     
     
         15 . The method of  claim 14 , wherein dump region is a bed of a haul truck, and wherein the method further comprises, when loads from the bucket are approaching an end of the dump region, suspending autonomous digging and dumping to replace the haul truck with a new haul truck, wherein suspending autonomous digging and dumping includes positioning the bucket in a lowered position. 
     
     
         16 . The method of  claim 14 , wherein the dump region is a pile. 
     
     
         17 . A digging system, comprising:
 a digging machine, including a machine body, a linkage assembly, a bucket movably coupled to the machine body via the linkage assembly, one or more cameras or sensors, and a controller; and   an operator station that is remote from the digging machine, wherein the operator station is in communication with the one or more cameras or sensors and the controller, wherein the controller is configured to, in a remote operation mode, receive signals from the operator station to define a dig region and a dump region; and   wherein the controller is further configured to, in an autonomous operation mode, control the machine body, the linkage assembly, and the bucket to dig material from the dig region and to dump material to the dump region.   
     
     
         18 . The system of  claim 17 , defining the dig region includes positioning a portion of the bucket at a first corner of the dig region, storing the bucket position at the first corner of the dig region, positioning the portion of the bucket at a second corner of the dig region, and storing the bucket position at the second corner of the dig region. 
     
     
         19 . The system of  claim 18 , wherein defining the dump region includes positioning the portion of the bucket at a first end of the dump region, storing the bucket position at the first end of the dump region, positioning the portion of the bucket at a second end of the dump region, and storing the bucket position at the second end of the dump region. 
     
     
         20 . The system of  claim 19 , further comprising one or more haul trucks, wherein the dump region is a bed of the one or more haul trucks.