Cold planer material transport management system

A management system for a cold planer is disclosed. The management system may include one or more sensors located onboard the cold planer and configured to generate data regarding at least one of cold planer operating parameters and milled material transferred from the cold planer to a plurality of haul vehicles. The management system may also include a locating device configured to generate a signal indicative of a cold planer location, a communication device configured to transfer information from the cold planer to a plant, and a controller in electronic communication with the one or more, the locating device, and the communication device. The controller may be configured to determine a rate of material transfer from the cold planer to the plurality of haul vehicles based on the data, and transmit the rate of material transfer and the cold planer location to the plant via the communication device.

TECHNICAL FIELD

The present disclosure relates generally to a management system and, more particularly, to a material transport management system for a cold planer.

BACKGROUND

Asphalt-surfaced roadways are built to facilitate vehicular travel. Depending upon usage density, base conditions, temperature variation, moisture levels, and/or physical age, the surfaces of the roadways eventually become misshapen and unable to support wheel loads. In order to rehabilitate the roadways for continued vehicular use, spent asphalt is removed in preparation for resurfacing.

Cold planers, sometimes also called road mills or scarifiers, are used to break up and remove layers of an asphalt roadway. A cold planer typically includes a frame propelled by tracked or wheeled drive units. The frame supports an engine, an operator's station, a milling drum, and conveyors. The milling drum, fitted with cutting tools, is rotated through a suitable interface with the engine to break up the surface of the roadway. The broken up roadway material is deposited by the milling drum onto the conveyors, which transfer the broken up material into haul trucks for removal from the worksite. As haul trucks are filled, they are replaced with empty haul trucks. The filled trucks transport the broken up material to a different location to be reused as aggregate in new asphalt or otherwise recycled. This transport process repeats until the milling process is finished.

Operators may wish to coordinate the timely arrival of empty haul trucks at the milling site with the pace of the milling process in order to improve the overall efficiency of the operation. On one hand, having too few empty trucks at the milling site can lead to increased down time when an operator must stop the cold planer to wait for an empty truck to arrive. On the other hand, too many empty trucks at the milling site can result in the wasteful under-utilization of resources. Cold planer operators typically communicate with a truck dispatcher at a material processing plant in an attempt to coordinate the movement of trucks to and from the jobsite. However, calls to the dispatcher from jobsite personnel may not always provide the dispatcher with enough information or enough time to efficiently coordinate movement of the trucks to and from the jobsite.

One attempt to monitor the production of a milling machine is disclosed in U.S. Patent Application Publication No. 2008/0216021 A1 of Berning et al. that published on Sep. 4, 2008 (“the '021 publication”). In particular, the '021 publication discloses a system for monitoring the operating parameters of the milling machine, the loading of a haul truck, and the surfaces in front of and behind a milling rotor of the milling machine. The system includes a number of sensors configured to measure operating parameters, including ambient conditions, engine parameters, and the position of a number of actuators that are configured operate tools and implements of the milling machine. The system also includes a number of cameras configured to observe the loading of milled material into a haul truck via a conveyor system, an unmilled surface in front of the milling rotor, and a milled surface behind the milling rotor. A processing unit transmits data from the sensors to a memory for data storage, as well as to a display in an operator station of the milling machine. A number of switches associated with the display allow the operator to select which parameters and camera feeds to observe on the display while operating the milling machine. The processing unit can establish a remote data transmission connection in order to communicate data from the sensors and cameras with a control center or another machine.

While the system of the '021 publication may allow for the observation of some milling parameters, it may not be optimum. In particular, information transmitted by the system of the '021 publication may be limited to data generated by the sensors and cameras. Further, the cameras may only allow for the observance of qualitative information, which may not be quickly and/or easily analyzed by offboard entities for other purposes.

SUMMARY

In one aspect, the present disclosure is related to a management system for a cold planer and a plurality of haul vehicles configured to transport milled material from the cold planer to a plant. The management system may include one or more sensors located onboard the cold planer and configured to generate data regarding at least one of cold planer operating parameters and milled material transferred from the cold planer to the plurality of haul vehicles. The management system may further include a locating device configured to generate a signal indicative of a cold planer location, a communication device configured to transfer information from the cold planer to the plant, and a controller in electronic communication with the one or more and the locating device. The controller may be configured to determine a rate of material transfer from the cold planer to the plurality of haul vehicles based on the data, and transmit the rate of material transfer cold planer location to the plant via the communication device.

In another aspect, the present disclosure is related to a method of managing material transport from a cold planer to a plant. The method may include milling a work surface, transferring milled material from the work surface into a transport vehicle, generating data regarding at least one of cold planer operating parameters and the milled material transferred from the cold planer to the haul vehicle, and determining a rate of material transfer from the cold planer to the haul vehicle based on the data. The method may further include determining a location of the cold planer, and transmitting the rate of material transfer and the location of the cold planer to a plant.

In yet another aspect, the present disclosure is directed to a cold planer. The cold planer may include a frame, a milling drum connected to the frame, a conveyor pivotally connected to the frame and configured to load milled material into a transport vehicle, and one or more sensors located onboard the cold planer and configured to generate data regarding at least one of cold planer operating parameters and milled material transferred from the cold planer to the plurality of haul vehicles. The cold planer may further include a locating device configured to generate a signal indicative of a cold planer location, a communication device configured to transfer information from the cold planer to a plant, and a controller in electronic communication with the one or more sensors and the locating device. The controller may be configured to determine a rate of material transfer from the cold planer to the plurality of haul vehicles based on the data, determine a material ID associated with the material transfer rate based on the cold planer location, and transmit one or more of the rate of material transfer, the material ID, and the cold planer location to the plant via the communication device.

DETAILED DESCRIPTION

For the purpose of this disclosure, the term “asphalt” is defined as a mixture of aggregate and asphalt cement. Asphalt cement is a brownish-black solid or semi-solid mixture of bitumens obtained as a byproduct of petroleum distillation. The asphalt cement can be heated and mixed with the aggregate for use in paving roadway surfaces, where the mixture hardens upon cooling. A “cold planer” is defined as a machine used to remove layers of hardened asphalt from an existing roadway. It is contemplated that the disclosed cold planer may also or alternatively be used to remove cement and other roadway surfaces, or to remove non-roadway surface material such as in a mining operation.

FIG. 1shows a cold planer10employed at a worksite12, such as, for example, a roadway milling operation. As part of the milling operation, cold planer10may mill a surface14of the roadway and transfer milled material into a first of a plurality of haul vehicles (“haul vehicle”)16. In some situations, a second haul vehicle18may be in a standby position near cold planer10, and a third haul vehicle19may be located at or near plant20, such as at an associated dispatch facility21. It is understood that any number of haul vehicles may be positioned near cold planer10(e.g., in the standby position) and/or at plant20(e.g., awaiting dispatch). It is also understood that the dispatch facility may be located at plant20or at a different location. Plant20may be any location where milled material is delivered for storage, processing, recycling, disposal, etc. When full, haul vehicle16may depart from cold planer10to deliver the milled material to plant20, and haul vehicle18may approach cold planer10to replace haul vehicle16so the milling operation may continue. Haul vehicle19may be dispatched to cold planer10to replace transport vehicle18in the standby position.

Haul vehicles16-19may be mobile machines (e.g., dump trucks, articulated dump trucks, tractor-trailers, etc.) configured to transport material from a first location to a second location. Haul vehicles16-19may also be configured to communicate with plant20and/or cold planer10during milling operations. For example, haul vehicles16-19may include a communication device22configured to exchange information with plant20and/or cold planer10, a locating device24configured to generate a signal indicative of a haul vehicle location, and a controller26in electronic communication with devices22-24(22-26shown only inFIG. 3). It is understood that haul vehicles16-19may also include input devices (buttons, keyboards, switches, knobs, levers, pedals, etc.) and output devices (e.g., displays, lights, speakers, etc.) for operating haul vehicles16-19and communicating with plant20and/or cold planer10, as desired.

Plant20may include one or more facilities configured to receive milled material from haul vehicles16-19. For example, plant20may include one or more material storage sites at each facility for storing different types of milled material (e.g., milled asphalt, milled concrete, etc.) delivered by haul vehicles16-19. In some situations, plant20may also include one or more paving material production sites where milled material may be reincorporated into fresh paving material mixtures (e.g., asphalt, concrete, etc.).

The dispatch facility21associated with plant20may house equipment for organizing the movement of haul vehicles16-19between cold planer10and plant20. For example, plant20may include a storage facility for a number of haul vehicles and include communication equipment for receiving information from cold planer10and sending dispatch signals to haul vehicles16-19. Referring toFIG. 3, dispatch facility21may include a communication device27configured to exchange information with cold planer10and haul vehicles16-19, a locating device28configured to generate a signal indicative of a plant and/or dispatch facility location, an interface device30for controlling plant20and/or dispatch operations, and a controller32in electronic communication with devices27-30(27-32shown only inFIG. 3). Interface device30may include, among other things, a display34and an input device36(34-36shown only inFIG. 3). In other embodiments, interface device30may embody a remote control, such as a handheld controller, that may be used from anywhere on or off worksite12. Interface device30may alternatively embody a software program and user interface for a computer, and may include a combination of hardware and software.

FIG. 2illustrates an exemplary cold planer10having a frame38supported by one or more traction devices40, a milling drum42rotationally supported under a belly of frame38, and an engine44mounted to frame38and configured to drive milling drum42and traction devices40. Traction devices40may include either wheels or tracks connected to actuators46that are adapted to controllably raise and lower frame38relative to a ground surface. It should be noted that, in the disclosed embodiment, raising and lowering of frame38may also function to vary a milling depth of milling drum42into surface14. In some embodiments, the same or different actuators46may also be used to steer cold planer10and or to adjust a travel speed of traction devices40(e.g., to speed up or brake traction devices40), if desired. A conveyor system48may be pivotally connected at a leading end to frame38and configured to transport material away from milling drum42and into a receptacle, such as haul vehicle16(referring toFIG. 1).

Frame38may also support an operator station50. Operator station50may house any number of interface devices52used to control cold planer10. In the disclosed example, interface devices52may include, among other things, a display54and an input device56(54-56shown only inFIG. 3). In other embodiments, operator station50may be offboard cold planer10. For example, operator station50may embody a remote control, such as a handheld controller, that an operator may use to control cold planer10from anywhere on worksite12. Operator station50may alternatively embody a software program and user interface for a computer, and may include a combination of hardware and software. In other embodiments, cold planer10may be autonomous and may not include operator station50.

Display54may be configured to render the location of cold planer10(e.g., of milling drum42) relative to features of the jobsite (e.g., milled and/or unmilled parts of surface14), and to display data and/or other information to the operator. Input device56may be configured to receive data and/or control instructions from the operator of cold planer10. Other interface devices (e.g., control devices) may also be possible, and one or more of the interface devices described above could be combined into a single interface device, if desired.

Input device56may be, for example, an analog input device that receives control instructions via one or more buttons, switches, dials, levers, etc. Input device56may also or alternatively include digital components, such as one or more soft keys, touch screens, and/or visual displays. Input device56may be configured to generate one or more signals indicative of various parameters associated with cold planer10and/or its surrounding environment based on input received from the operator. For example, input device56may be configured to receive inputs indicative of milled material density p, a material ID (i.e., a type of material being milled), and parameters of haul vehicle16(e.g., dimensions, volume capacity, weight capacity, legal weight limit etc.). Input device56may also be configured to allow the operator to indicate when a receptacle is empty or full, for example, by pressing a button associated with input device56. The information received via input device56may be sent to and/or stored in a controller57(referring toFIG. 3) and used for further processing.

Conveyor system48may include a first conveyor58adjacent milling drum42that is configured to transfer milled material to a second conveyor60. Conveyors58and60may each include a belt62that is supported on a plurality of roller assemblies64and driven by a motor66. Motor66may embody, for example, a hydraulic motor66powered by a hydraulic system (not shown). In other embodiments, motor66may be an electric motor or another type of motor. Motor66may be powered by engine44or by another power source.

As illustrated inFIG. 3, a material transport management system68(“management system”) may be associated with cold planer10and include elements that cooperate to monitor and analyze material transfer into haul vehicle16and facilitate communication between cold planer10and plant20. Management system68may facilitate the communication of data from cold planer10to plant20regarding operating parameters of cold planer10and/or milled material transferred into haul vehicles16-19. Based on the data, dispatch signals may be generated and communicated to haul vehicles16-19from plant20in order to facilitate the timely arrival of haul vehicles16-19to worksite12, as well as to provide instructions for transporting milled material away from worksite12.

Elements of management system68may cooperate to generate data regarding cold planer10and the transference of material into haul vehicles16-19and communicate the data to plant20. For example, management system68may determine a location of cold planer10, a rate of material transfer Δ (e.g., a mass flow rate {dot over (m)} and/or a volume flow rate {dot over (V)}, weight per unit of time, a number of haul vehicles per unit time, etc.), a total weight Wm(“weight”) of milled material that has been transferred, a fill level Σ of haul vehicle16, an amount of remaining time TFuntil haul vehicle16is full, and/or other statistical information that may be used by plant20to determine when to dispatch haul vehicles16-19. Elements of management system68may include interface devices52, one or more sensors70, a locating device72, a communication device74, and controller57electronically connected with each of the other elements. Information, including the rate of material transfer Δ, the weight Wm, the fill level Σ, the remaining time TF, and the location of cold planer10may be shown to the operator of cold planer10via display54and/or transmitted to plant20via communication device74for further processing.

Sensors70may include one or more sensors and/or systems of sensors configured to generate a signal indicative of cold planer operating parameters and/or the rate of material transfer into haul vehicle16via conveyor system48. In one embodiment, for example, sensors70may include a belt scale and belt speed sensor configured to generate signals that may be used to determine how much material is on conveyor system48and at what rate Δ the material is being transferred into haul vehicle16. In another embodiment, sensors70may generate signals indicative of a power and speed of motor66, such as a hydraulic pressure sensor and a motor speed sensor. Sensors70may alternatively include an electrical voltage sensor or another type of sensor configured to measure the power output of motor66. The signals generated by sensors70may be utilized by controller57in conjunction with other sensed or known parameters (e.g., belt speed, conveyor incline, hydraulic fluid flow rate, motor speed, motor displacement, electrical resistance, electrical current, etc.) to determine the rate of material transfer Δ into haul vehicle16.

Sensors70may alternatively embody other types of sensors that are configured to determine the amount of material being transferred by conveyor system48without contacting any moving parts of conveyor system48. For example, sensors70may include a radioactive detection system, a laser scanning system, an optical scanner, a camera, and/or an ultrasonic sensor that is configured to generate a signal indicative of an amount of material (e.g., an area or volume) that has been milled and subsequently transferred via conveyor system48. Signals from sensors70may be used in conjunction with additional parameters (e.g., ground speed, belt speed, milling time, etc.) to determine a volume of material transferred into haul vehicle16.

In some embodiments, management system68may include one or more additional sensors in electronic communication with controller57. For example, management system68may include a milling drum speed sensor76, a milling drum depth sensor78, and a ground speed sensor80. Milling drum speed sensor76may be a magnetic pickup or other type of sensor configured to generate a signal indicative of a rotational speed of milling drum42. Milling drum depth sensor78may be associated with actuators46and configured to generate a signal indicative a height of frame38above surface14, which may be used to determine the depth of milling drum42below surface14based on known offsets between milling drum42and frame38. Ground speed sensor80may be a magnetic pickup or other type of sensor associated with traction devices40or another drive component of cold planer10(e.g., engine44, a transmission, etc.). Ground speed sensor80may be configured to generate a signal indicative of a ground speed of cold planer10. Signals generated by sensors76-80may be utilized by controller57in conjunction with signals generated by sensors70to determine the rate of material transfer Δ into haul vehicle16.

Locating device72may be configured to generate a signal indicative of a geographical position of the cold planer10relative to a local reference point, a coordinate system associated with the work area, a coordinate system associated with Earth, or any other type of 2-D or 3-D coordinate system. For example, locating device72may embody an electronic transponder configured to communicate with one or more satellites, or a local radio or laser transmitting system used to determine a relative geographical location of itself. Locating device72may receive and analyze high-frequency, low-power radio or laser signals from multiple locations to triangulate a relative 3-D geographical position. The signal indicative of this geographical position may be communicated from locating device72to controller57for further processing.

Communication device74may include hardware and/or software that enables sending and receiving of data messages between controller57and plant20. The data messages may be sent and received via a direct data link and/or a wireless communication link, as desired. The direct data link may include an Ethernet connection, a connected area network (CAN), or another data link known in the art. The wireless communications may include one or more of satellite, cellular, Bluetooth, WiFi, infrared, and any other type of wireless communications that enables communication device74to exchange information.

Controller57may embody a single microprocessor or multiple microprocessors that include a means for monitoring operator and sensor input, and responsively adjusting operational characteristics of cold planer10based on the input. For example, controller57may include a memory, a secondary storage device, a clock, and a processor, such as a central processing unit or any other means for accomplishing a task consistent with the present disclosure. Numerous commercially available microprocessors can be configured to perform the functions of controller57. It should be appreciated that controller57could readily embody a general machine controller capable of controlling numerous other machine functions. Various other known circuits may be associated with controller57, including signal-conditioning circuitry, communication circuitry, and other appropriate circuitry. Controller57may be further communicatively coupled with an external computer system, instead of or in addition to including a computer system, as desired.

Controller57may be configured to determine the rate of material transfer Δ into haul vehicle16, an amount of material yet to be milled, and an ID of material being transferred into haul vehicle16based on one or more of the data generated by sensors70and76-80and the location of cold planer10. For example, controller57may receive the signals from sensors70and determine the mass m of material on belt62based on the signals. Using the mass m in conjunction with other information received from sensors70and/or sensors76-80(e.g., belt speed, ground speed, etc.), controller57may be configured to determine the mass flow rate {dot over (m)} of material being transferred by conveyor system48into haul vehicle16. Controller57may continually determine the mass flow rate {dot over (m)} and determine the total weight Wmof material transferred by multiplying the mass flow rate {dot over (m)} by an elapsed period of milling time and summing the total over a period of conveying time.

In embodiments where sensors70are configured to generate signals indicative of an area or volume V of milled material (i.e., instead of the mass m), controller57may be configured to determine the rate of material transfer Δ into haul vehicle16based on the area or volume V of material transferred. For example, controller57may be configured to determine the area or volume V of material transferred based on the signals from sensors70, and multiply the area by a linear speed (e.g. belt speed, ground speed, etc.) or dividing the volume V by a milling time, respectively, to determine the volume flow rate {dot over (V)}. Controller57may determine the total weight Wmof milled material by multiplying the volume flow rate {dot over (V)} by a period of milling time and the density ρ of the milled material, and summing the total over a period of conveying time. The density ρ may be received by controller57from input device56or may be stored within its memory.

Controller57may be configured to determine the fill level Σ of haul vehicle16based on the mass flow rate {dot over (m)}, the volume flow rate {dot over (V)}, and/or the total weight Wmof the milled material and known features of haul vehicle16(e.g., geometry, volumetric capacity, shape, weight capacity, etc.) received via input device56or retrieved from its memory. In other embodiments, features of haul vehicle and/or other information (e.g., the density ρ of milled material) may be automatically received from haul vehicles16-19via communication device74. Using this information, controller57may be configured to determine the remaining time TFuntil haul vehicle16is full (i.e., reaches a threshold fill level, a desired fill level, a maximum fill level, etc.). For example, controller57may compare the mass flow rate {dot over (m)}, volume flow rate {dot over (V)}, total weight Wm, and/or fill level Σ to a target value over a period of conveying time, and determine how much time remains until haul vehicle16will become full.

Based on one or more of the rate of material transfer Δ, the total weight Wm, and the information received from locating device72, controller57may be configured to determine the amount of material yet to be milled. For example, controller57may track the location data of cold planer10during the milling operation and determine an area of worksite12that has been milled based on the location data and an area yet to be milled based on known geographic information of worksite12. Using this information and information from sensors76-80, controller57may determine a volume and/or a weight of material yet to be milled. Alternatively, controller57may determine the amount of material yet to be milled based on a difference between known milling operation plans (e.g., a known area volume, weight, etc., to be milled) and the total weight Wmand/or other information.

Controller57may be configured to communicate one or more of the fill level Σ, the remaining time TFuntil haul vehicle16is full, the rate of material transfer Δ (e.g., volume flow rate {dot over (V)} or mass flow rate {dot over (m)}), the total weight Wm, and/or other information to plant20via communication device74. Controller57may be configured to show this information to the operator of plant20via display34associated with plant20and/or communicate it to controller32for further processing. In this way, operators of plant20and/or controller32may be able to monitor and control dispatching of haul vehicles16-19with accurate data received in real-time.

Management system68may also include locating device28, interface device30, and controller32associated with plant20. For example, controller32may be configured to receive the data from controller57via communication device27for further processing. Controller32may show the data to the operator of plant20via display34, thereby allowing the operator to generate dispatch signals for haul vehicles16-19based on the data received in real-time. Controller32may also or alternatively generate the dispatch signals automatically based on the data received from controller57, thereby allowing the operator of plant20to focus on other tasks.

For example controller32may receive the location of cold planer10and the data via communication device27and determine a distance between plant20and cold planer10in conjunction with information received from locating device28. The data from cold planer10may include the ground speed of cold planer10, a heading of cold planer10(e.g., a compass direction), and/or multiple location and time data points that may be used to determine a heading of cold planer10. Based on this information, controller32may be configured to determine the distance between cold planer10and plant20, as well as a travel time of a haul vehicle traveling from plant20to cold planer10based on the distance and heading of cold planer10. In other embodiments, the distance and travel time between cold planer10and plant20may be determined by controller57and received as an input by controller32via communication devices74and27.

Controller32may also be configured to select a travel route from plant20to cold planer10based on information received from locating device28in conjunction with one or more of the data received from cold planer10, the distance from plant20to cold planer10, and the travel time. For example, controller32may select a route that ensures the travel time is within a desired limit or threshold, such as the remaining time TFuntil haul vehicle16is full. Other time thresholds may be used, if desired. Controller32may be configured to determine the desired travel route based also on known geographical, terrain, and road information that is stored within its memory, associated with locating device28(e.g., stored within a memory of locating device28), or received via communication device27.

Controller32may also be configured to track a number of haul vehicles16-19currently located at worksite12and determine a desired number of haul vehicles16-19to be located at worksite12in order to ensure a continuous workflow. For example, controller32may track the location of each haul vehicle16-19based on signals generated by locating devices24associated with each haul vehicle16-19, and determine the number of vehicles currently located at worksite12based on the signals and the known location of worksite12. Based on the rate of material transfer Δ received from cold planer10, controller32may determine a rate at which milled material is hauled away from worksite12, and determine a rate at which empty trucks (e.g., having known weight and/or volume capacities) should be delivered to worksite12in order to accommodate the rate of material transfer Δ. Based on the travel time of haul vehicles16-19from plant20to cold planer10and the rate of material transfer Δ, controller32may determine a desired number of haul vehicles16-19to be located at worksite12in the standby position at any given time. When the number of haul vehicles16-19currently located at worksite12is less than the desired number of haul vehicles16-19, controller32may determine that additional haul vehicles16-19should be sent to worksite12and dispatch additional haul vehicles16-19. In this way, operation of cold planer10may be continuous during a shift and may not have to be paused to wait for empty haul vehicles16-19.

When controller32determines that additional haul vehicles16-19should be sent to worksite12, controller32may generate a first dispatch signal indicative of a request for one or more empty haul vehicles16-19to travel to cold planer10at worksite12. Controller32may direct the first dispatch signal to a particular one or more of haul vehicles16-19via communication device27, and the dispatch signal may include one or more of the location of cold planer10, the desired travel route, the distance to cold planer10, and the travel time. The dispatch signal may include other data and/or instructions, if desired.

When, for example, haul vehicle16is full and departs cold planer10to return to plant20, controller32may be configured to generate a second dispatch signal based on data received from cold planer10and/or other information. For example, controller32may receive the material ID associated with the milled material loaded into haul vehicle16from cold planer10, and determine a location to deliver the milled material based on the material ID. When plant20has available space to receive material having the ID associated with the milled material in haul vehicle16, controller32may direct haul vehicle16via the second dispatch signal to return to plant20. In some embodiments, controller32may direct haul vehicle16to a particular location within plant20based on the associated material ID.

In other situations, however, controller32may determine that plant20cannot receive additional material having the associated ID and direct haul vehicle16to an alternate location via the second dispatch signal. For example, controller32may determine that plant20cannot receive additional material based on known stock quantities, the total weight Wmof milled material having the associated ID, a number of full haul vehicles16-19in transit, the rate of material transfer Δ, etc. In these situations, the second dispatch signal may include details regarding the alternate location (e.g., the grid location, a travel route, a travel time, etc.). It should be noted that first and second dispatch signals may be generated manually by the operator of plant20.

INDUSTRIAL APPLICABILITY

The disclosed management system may be used with any cold planer where achieving continuous milling operations by reducing waiting time for transport vehicles is important. The disclosed management system may determine the rate material transfer into a haul vehicle and the location of the cold planer, and communicate this information to a dispatch facility associated with a plant where dispatch signals for haul vehicles may be manually or automatically generated. A controller associated the plant may generate dispatch signals based on data received from the cold planer in order to ensure the timely arrival of a desired number of haul vehicles to support continuous milling operations of the cold planer. The controller associated with the plant may determine the distance and travel time between the plant and the cold planer and the number of desired haul vehicles, and generate dispatch signals based on this information. A controller associated with the cold planer may determine a material ID associated with the material transferred into the haul vehicle and communicate the material ID to the plant. The plant may generate dispatch signals indicative of a location for the haul vehicle to deliver the milled material based on the material ID. Operation of management system68will now be explained.

During operation of cold planer10, material from surface14may be removed by milling drum42as cold planer10is propelled across surface14by traction devices40. The milled material may be loaded into haul vehicle16by conveyor system48while empty haul vehicle18waits in a standby position. Haul vehicle19may initially be located at plant20or another location awaiting a dispatch signal from dispatch facility21.

As milled material is loaded into haul vehicle16, controller57of cold planer10may generate data regarding at least one of cold planer operating parameters and milled material transferred from cold planer10to haul vehicle16. For example, controller may receive signals from sensors70indicative of an amount of milled material on conveyor system48and/or being transferred into haul vehicle16. Controller57may also or alternatively receive signals from one or more of sensors76-80indicative of the speed of milling drum42, the depth of milling drum42, and the ground speed of cold planer10. Based on the signals from one or more of sensors70and76-80, controller57may determine the rate of material transfer Δ (e.g., the mass flow rate {dot over (m)}, the volume flow rate {dot over (V)}, etc.) into haul vehicle16. Based on the material transfer rate, controller57may then determine additional data, such as the total weight Wmof milled material, the fill level Σ of haul vehicle16, and the remaining time TFuntil haul vehicle16is full.

Controller57may also generate cold planer location data during the milling operation based on signals received from locating device72. The location data may include geographic position of cold planer10and/or the heading of cold planer10, which may be used to generate further data. For example, controller57may determine a material ID of the milled material being transferred into haul vehicle16based on the location of cold planer10. Known locations of different material types may be stored within the memory of controller57or received by controller57via locating device72and/or communication device74. Controller57may associate the material ID with the milled material based on this information.

Controller57may also determine an amount of material yet to be milled based on the location data and/or information received from sensors70and76-80. For example, controller57may track the position cold planer10during the milling operation based on the signals from locating device72and determine an area of worksite12that has been already milled. Based on known geographic information of worksite12, controller57may then compare the milled area and the known information of worksite12to determine a difference between them as the area yet to be milled. Alternatively, controller57may continually determine and track how much material has been milled, such as the total weight Wmof milled material, and compare that amount to known milling operation parameters (e.g., a targeted weight, volume, mass, etc.).

Controller57may then communicate the generated data to plant20via communication devices74and27. Once the data is received via communication device27, operators of plant20and/or controller32of plant20may analyze the data and generate dispatch signals (e.g., first and second dispatch signals) to haul vehicles16-19. In one example, an operator of plant20may view the data in real-time via display34and determine when to send additional haul vehicles to worksite12. The operator may also view the data and determine when to send dispatch signals to, for example, haul vehicle16as it returns to plant20from cold planer10.

In another example, controller32may receive the data from cold planer10via communication device27and automatically generate dispatch signals to haul vehicles16-19based on the data. For example, controller32may receive the rate of material transfer Δ from cold planer10and determine a rate at which material is being hauled away from worksite12(e.g., a number of haul vehicles per unit time, an amount of material per unit time, etc.). Controller32may also determine a distance and travel time between plant20and cold planer10based on the location data received from cold planer10. Based on this information, controller32may be able to determine how quickly material is being hauled away from worksite12and how quickly replacement haul vehicles should be sent to worksite12to allow for a continuous milling operation.

For example, controller32may determine when to send additional haul vehicles to worksite12in order to accommodate the rate at which milled material is being hauled away from worksite12. That is, as a quantity of material is hauled away or as each or a number of haul vehicles leaves worksite12, controller32may send empty haul vehicles to replace the full haul vehicle(s) so the total number of haul vehicles at worksite12remains within a constant or desired range. In some circumstances, controller32may determine the travel time from plant20to cold planer10in order to ensure, for example, haul vehicle19can arrive at worksite12before the remaining time TFuntil haul vehicle16is full will expire. As cold planer10traverses surface14or moves to different locations at worksite12, the distance between cold planer10and plant20may continually change. Thus, controller32may continually determine the distance and travel time to ensure the timely arrival of haul vehicles16-19and to minimize the amount of time that cold planer10must wait for an empty haul vehicle to arrive.

Based on the distance and travel time, controller32may then select a travel route between plant20and cold planer10that will allow a haul vehicle to arrive at cold planer10within the desired time limit. Based on the location information received from cold planer10and information received via locating device28and/or communication device27, controller may select the travel route. Information received from locating device28and/or communication device may include known geographic and road information, as well as current traffic details (e.g., congested areas, closed roads, posted detours, restricted areas, etc.). Such information may also or alternatively be stored within the memory of controller32and accessed when determining the desired travel route. In this way, pauses in the milling operation caused by traffic delays may be avoided.

Controller32may receive a location signal from each of haul vehicles16-19and track their positions during the milling operation. Based on the location signals, controller32may determine how many haul vehicles are at worksite12and at plant20(and in transit) at any given time. Based on the data from cold planer10(e.g., one or more of the material transfer rate Δ, the remaining time TFuntil haul vehicle16is full, the distance and travel time between plant20and cold planer10, and/or the heading of cold planer10), controller32may determine a desired number of haul vehicles to be located at worksite12in order to allow for a continuous milling operation, and compare the desired number to the number of haul vehicles currently located at worksite12. When the desired number is greater than the current number, controller32may increase the rate at which empty haul vehicles are dispatched to worksite12. When the desired number is less than the current number, controller32may reduce the rate at which haul vehicles are dispatched to worksite12and, at times, may recall one or more haul vehicles to plant20.

Based on the data received from cold planer10(e.g., the material transfer rate, the amount of material yet to be milled, and the cold planer location) and other information determined by controller32(e.g., travel distance and time between plant20and cold planer10, the desire travel route, desired number of haul vehicles, the rate at which to dispatch more haul vehicle etc.), controller32may automatically generate first dispatch signals indicative of a request for one or more of haul vehicles16-19to travel to cold planer10. In this way, operators of plant20may be allowed to focus on additional or other tasks while first dispatch signals are generated based on real-time data received from cold planer10.

When one or more of haul vehicles16-19become full and is returning to plant20, controller32may then generate second dispatch signals indicative of a location for haul vehicles16-19to deliver milled material received from cold planer10. For example, controller32may generate the second dispatch signals based on the material ID associated with the milled material removed by cold planer10. The material ID may be indicative of the type of material removed from surface14, and may also correspond to a specified storage location at plant20. In this way, operators and controller32of plant20may not have to wait for haul vehicles16-19to return to plant20before deciding where to store the milled material. Determining where to send the returning haul vehicle while it is still in transit may allow the haul vehicle to travel directly to that location instead of requiring the material to be inspected or otherwise checked. This may reduce time and effort spent by operators in determining the contents of each haul vehicle16-19and deciding where to store the material. Also, when plant20is no longer capable of storing additional material having a particular ID, the second dispatch signal may be sent while haul vehicles16-19are still in transit, allowing them to proceed to an alternate location, as desired.

Several advantages may be associated with the disclosed management system. For example, because controller57may generate data regarding operation of cold planer10and the milled material, this information may be communicated to plant20in real-time for use by operators and controller32in generating dispatch signals to haul vehicles16-19. Because the data may include material transfer rate and location information, controller32may be able to generate dispatch signals to ensure the desired number of haul vehicles are present near cold planer10at worksite12, and pauses in the milling operation may be avoided or minimized. Also, because controller57may determine and communicate the material ID to plant20, dispatch signals may be generate to haul vehicles returning to plant20instructing them of an available location to receive the milled material, thereby reducing confusion and wasted travel time. Further, since controller32may automatically generate the dispatch signals, the operators of plant20may be able to efficiently focus on more or other tasks.