Systems and methods for an autonomous ripper

Abstract

Provided herein are computer-implemented methods, systems, and media for operating a ripper attached to a machine based on an acceleration and one or more working parameters.

1 . A computer-implemented method of operating a ripper attached to a machine, comprising:
 (a) setting, by a computer, a depth of the ripper to an initial depth;   (b) monitoring, by the computer, a ground speed and an acceleration rate of the machine; and   (c) automatically adjusting, by the computer, the depth of the ripper, based at least in part on the acceleration rate, to maintain a target ground speed of the machine.   
     
     
         2 . The method of  claim 1 , wherein the automatically adjusting the depth comprises raising the ripper to a first target depth if the acceleration rate has a negative value. 
     
     
         3 . The method of  claim 2 , wherein the automatically adjusting the depth comprises lowering the ripper to a second target depth if the acceleration rate has a positive value. 
     
     
         4 . The method of  claim 3 , wherein the first target depth is less than the initial depth, and wherein the second target depth is greater than the initial depth. 
     
     
         5 . The method of  claim 1 , wherein a target depth for the ripper is calculated based at least in part on a coefficient and the acceleration rate. 
     
     
         6 . The method of  claim 5 , wherein the target depth increases when the acceleration rate has a positive value. 
     
     
         7 . The method of  claim 6 , wherein the target depth decreases when the acceleration rate has a negative value. 
     
     
         8 . The method of  claim 1 , wherein a target depth of the ripper is calculated based at least in part on a product of the acceleration rate and a coefficient. 
     
     
         9 . The method of  claim 8  wherein the target depth has a proportional relationship to the acceleration rate. 
     
     
         10 . The method of  claim 9 , further comprising, prior to setting the depth of the ripper, determining the coefficient based at least in part on material of the ground. 
     
     
         11 . The method of  claim 8 , wherein the target depth is dependent at least in part on a pitch of the machine, a roll of the machine, or both. 
     
     
         12 . The method of  claim 1 , wherein the target depth is calculated based at least in part on a machine learning algorithm. 
     
     
         13 . The method of  claim 12 , wherein the machine learning algorithm is tuned based at least in part on a hyperparameter. 
     
     
         14 . The method of  claim 1 , further comprising determining a density level of the ground in a vicinity of the machine. 
     
     
         15 . The method of  claim 1 , further comprising monitoring a roll of the machine, a pitch of the machine, or both, wherein the depth of the ripper is determined based at least in part on the pitch, the roll, or both and the acceleration rate. 
     
     
         16 . The method of  claim 1 , wherein the machine includes an excavator, a grader, a loader, crawler, or a bulldozer. 
     
     
         17 . The method of  claim 1 , wherein the ripper is attached to a rear end of the machine. 
     
     
         18 . The method of  claim 1 , further comprising lowering the ripper on a steeper slope when the ripper is going downhill. 
     
     
         19 . The method of  claim 1 , further comprising raising the ripper when the ground speed is slower than a target ground speed. 
     
     
         20 . The method of  claim 19 , further comprising lowering the ripper when the ground speed is faster than the target ground speed. 
     
     
         21 .- 60 . (canceled)