Systems and methods for distance control between pipelayers

A pipelayer machine includes a propulsion system, a ranging, and a controller in communication with the propulsion system and the ranging system. The controller is configured to receive a predetermined distance that the pipelayer machine is to maintain between the pipelayer machine and an adjacent pipelayer machine, determine, via the ranging system, a first distance between the pipelayer machine and the adjacent pipelayer machine, and determine that a difference between the first distance and the predetermined distance is outside of a predetermined tolerance range. The controller is further configured to modify a speed of the propulsion system based at least in part on determining that the difference is outside of the predetermined tolerance range, wherein modifying the speed of the propulsion system causes acceleration or deceleration of the pipelayer machine.

TECHNICAL FIELD

The present disclosure relates to a pipelayer machine. More specifically, the present disclosure relates to systems and methods for monitoring and adjusting a distance between pipelayer machines.

BACKGROUND

Pipelayer machines are often used to lay pipes in various pipelaying projects. In such pipelaying projects, sections of a pipe are bent and/or welded, or otherwise joined together, prior to laying the pipe in a trench. Once the pipe has been joined together, the pipe is lowered into the trench by pipelayer machines. Typically, more than one pipelayer machine is used to lower the pipe into the trench. The pipelayer machines work in conjunction with one another in order to safely lay the pipe in the trench. During the lowering process, the pipelayer machines must maintain proper distance from one another in order to prevent overloading one or more of the pipelayer machines. If a pipelayer machine is overloaded, the pipelayer machine may tip into the trench, be damaged, cause damage to the pipe, etc.

Pipelayer machine operators are responsible for the operation of their respective pipelayer machine. Machine operators often communicate with each other, in real time, via radio or other on-board communication devices in order to maintain proper spacing, and to coordinate lowering of the pipe. Thus, navigation of the pipelayer machine and lowering of the pipe into the trench rely on operator-to-operator communication and proper navigation by the machine operator. Any lapses in communication or incorrect navigation by an operator could result in a pipelayer machine being overloaded. Furthermore, pipelayer machines often navigate uneven and/or steep terrain. In such environments, maintaining proper distance between pipelayer machines may be even more difficult.

As mentioned previously, proper distance between pipelayer machines must be maintained to prevent overloading one or more pipelayer machines. Russian Patent Publication RU2018901C1 (hereinafter referred to as the '901 reference) describes a system for adjusting a distance between pipelayer machines. In particular, the '901 reference describes a system for determining the distance between two pipelayers interconnected by a flexible cable and a drum mounted to a sensor. The system described by the '901 reference relays data from the sensor to each of the pipelayers. The system controls the movement of the pipelayer depending on the force exerted on the cable connected between the pipelayer machines. As such, the '901 reference relies upon the force exerted on the cable to control the movement of the pipelayer machines. Thus, the systems and methods of the '901 reference rely on physical means to determine and control the distance between pipelayer machines. The system described in the '901 reference does not, however, allow an operator to seamlessly specify a distance to be automatically maintained between pipelayer machines.

Example embodiments of the present disclosure are directed toward overcoming the deficiencies described above.

SUMMARY

As will be described in greater detail below, an example pipelayer machine includes a propulsion system, one or more traction devices, a ranging system, and a controller in communication with at least one of the propulsion system, the one or more traction devices, or the ranging system. The controller is configured to receive a predetermined distance that the pipelayer machine is to maintain between the pipelayer machine and one or more adjacent pipelayer machines. The controller is further configured to determine, via the ranging system, an actual distance between the pipelayer machine at least one adjacent pipelayer machine, determine whether the actual distance and the predetermined distance are within a predetermined tolerance, and cause, via the controller, output in the propulsion system in order to accelerate or decelerate a ground speed of the pipelayer machine based at least in part on determining that the actual distance and the predetermined distance are outside of the predetermined tolerance.

An example method of automatically regulating distance between a pipelayer machine and at least one adjacent pipelayer machine includes receiving input from an operator of the pipelayer machine indicating a predetermined distance that the pipelayer machine is to maintain between the pipelayer machine and the at least one adjacent pipelayer machine. The method further includes determining, via one or more sensors of the pipelayer machine, a first distance between the pipelayer machine and the at least one adjacent pipelayer machine, determining whether the distance is within a predetermined tolerance of the predetermined distance, and causing, via a controller of the pipelayer machine, the pipelayer machine to adjust output in a propulsion system in order to adjust a position of the pipelayer machine relative to the at least one adjacent pipelayer machine such that a second distance between the pipelayer machine and the at least one adjacent pipelayer machine is within the predetermined tolerance of the predetermined distance.

In a further example, a pipelayer machine includes a propulsion system, a user interface, one or more sensors, and a controller in communication with at least one of the propulsion system, the user interface, or the one or more sensors. The controller is configured to receive, via the user interface, a predetermined distance that the pipelayer machine is to maintain between the pipelayer machine and an adjacent pipelayer machine. The controller is further configured to determine, via the one or more sensors, an actual distance between the pipelayer machine and the adjacent pipelayer machine, determine whether the actual distance is substantially equal to the predetermined distance, and cause, via the controller, output in the propulsion system in order to adjust a position of the pipelayer machine relative to the adjacent pipelayer machine.

DETAILED DESCRIPTION

Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Referring toFIG.1, an example pipelaying system100includes one or more pipelaying machines102. In some examples, the pipelaying machines102may include machines specifically designed to place, position, deposit, stage, or otherwise dispose lengths of pipe into a ditch, trench, or other location during a pipelaying project. Additionally, and/or alternatively, the pipelaying machines102may include alternative types of machinery configured to lay pipe in a pipelaying project. For example, the pipelaying machines102may include excavator(s), loader(s), backhoe(s), etc.

In some examples, the pipelaying machines102include a propulsion system104or other power source housed in an engine compartment or other housing. In some examples, the propulsion system104may include an engine, transmission, a hydrostatic drive system, an electric motor, etc. While the following description is described in reference to the first pipelayer machine102(1), any and/or each of the pipelayer machines102(1),102(2), and102(3) (collectively “pipelayer machines102”) may include the same components described herein. The pipelaying machines102further include one or more traction devices106. Such traction devices106may include tracks, wheels, and/or other types of devices to assist the pipelayer machine102to navigate over terrain. The propulsion system104is operable to drive the traction devices106in order to propel the pipelayer machine102. In some examples, the traction devices106may include sensor(s) to determine movement of the traction devices106and/or determine when the traction devices106lack traction and are unable to propel the pipelayer machine (e.g., if the traction devices106are stuck in mud, a hole, etc.). The pipelayer machines102further include counterweights108. The counterweights108may be designed to counterbalance a weight of a pipe110held by the individual pipelayer machines102. The counterweights108may be movable relative to the pipelayer machine102in order to counterbalance the specific weight held by the pipelayer machine102. The pipelayer machines102further include a cab112in which an operator resides while operating the pipelayer machine102. Additionally, and/or alternatively, the cab112may be omitted, and a remote-control operator may control the pipelayer machines102. Furthermore, the pipelayer machines102may operate autonomously and may not require an operator and/or cab112. In the cab112may be located a user interface, one or more operator controls (e.g., joystick, acceleration pedal(s), deceleration pedal(s), etc.), and/or other controls or interfaces to assist the operator in the operation of the pipelayer machine102. In some examples, such a user interface, operator controls, and/or other controls or interfaces may be located remote from the pipelayer machine102. For example, the interfaces and/or controls may be located on a remote-control console and/or on a remote computer system.

The pipelayer machines102may further include a ranging system114having one or more sensors115configured to determine a distance between the pipelayer machine102and other pipelayer machines, other machinery (e.g., vehicles onsite, excavators, etc.), a trench116, and/or other surrounding environment. The ranging system114may be located on any portion of the pipelayer machines102and/or in multiple locations on the pipelayer machines102. The one or more sensors115of the ranging system114may include one or more non-contact sensors such as location sensors or other types of non-contact sensors. For example, the sensors115of the ranging system114may include proximity sensors, radio detection and ranging (RADAR) sensors, light imaging, detection, and ranging (LIDAR) sensors, sound navigation ranging (SONAR) sensors, cameras, global position systems (GPS), machine to machine communication device(s), universal total station(s) (UTS), geographic information system(s) (GIS), global navigation satellite system (GNSS), etc. In some examples, the sensors115of the ranging system114may include a GPS receiver, transmitter, transceiver, laser prisms, and/or other such devices, and the sensors115may be in communication with one or more GPS satellites140and/or UTS to determine a respective location of the machine to which the location sensor is connected continuously, substantially continuously, or at various time intervals.

The pipelayer machines102may also include a winch118that controls movement of a cable120through a pully system122. The pully system122may be attached at least partially to a boom124of the pipelayer machine102. The boom124of the pipelayer machines102is movable in order to provide accurate placement of the pipe110during the pipelaying process. The pipelayer machine102may also include a hook126with a roller cradle128, harness, or other attachment device attached thereto. In some examples, the hook126may include one or more sensors that determine a weight of a load held by the hook126. The roller cradle128may allow the pipelayer machine102to adjust a position at which the pipelayer machine102lifts the pipe110without having to detach and reattach the harness. In some examples, the roller cradle128may slide along a length of the pipe100as the pipelayer machine102moves relative to the pipe110.

The pipelayer machines102may also include a controller130communicatively coupled to one or more components of the pipelayer machine102as described above. As used herein, the term “controller” is meant in its broadest sense to include one or more controllers, processors, central processing units, and/or microprocessors that may be associated with the pipelayer machines102and/or the pipelaying system100, and that may cooperate in controlling various functions and operations of the pipelaying machines102and/or the pipelaying system100. For example, the controller130may be communicatively coupled to the propulsion system104, the traction devices106, the counterweight108, the ranging system114, the winch118, the boom124, the one or more sensors of the hook126, etc. Furthermore, the controller130may be communicatively coupled to sensor(s) that are configured to monitor performance of the one or more components. The controller130may receive performance data from such sensors. The controller130may be configured to control the function of the one or more components of the pipelayer machine102. For example, the controller130may control output of the propulsion system104, a position of the boom124, movement of the traction devices106, winding or unwinding of the winch118, etc. As will be described further herein, the controller130may determine, from the one or more components of the pipelayer machine, varying metrics related to the pipelayer machine102, and may control operations of the pipelayer machine102based at least in part on such metrics. For example, the controller130may determine, via the ranging system, a distance between a first pipelayer machine102(1) and a second pipelayer machine102(2). Thus, the controller130may determine and/or monitor the distance between pipelayer machines102and their respective adjacent pipelayer machines102. Furthermore, the controller130may determine, via one or more sensors, a load held by the pipelayer machines102. The controller130may adjust a position of one or more of the pipelayer machines102to redistribute the weight of the pipe110between the adjacent pipelayer machines102. Adjusting the relative positions of adjacent pipelayer machines in this way may prevent overloading of the respective pipelayer machines102. In some examples, the controller130may further be communicatively coupled to a display device such as electronic device136that may be disposed within the cab112, and the display device may be configured to display a user interface138to the operator. In some examples, the electronic device136having the user interface may be remote from the pipelayer machine102(1). For example, the electronic device136may be included in a remote-control system and/or other remote location. The user interface138will be described further herein below with respect toFIG.5.

Furthermore, the controller130of each of the respective pipelayer machines102may be in communication with one another. For example, a first controller130(1) of the first pipelayer machine102(1) may be in communication with a second controller130(2) of the second pipelayer machine102(2) via one or more wireless networks operable at the worksite. In such examples, the machines may further include one or more transmitters, receivers, transceivers, or other communications devices operably coupled to the respective controllers130and configured to facilitate the transmission of signals, data, or other methods of device-to-device communication. For example, the controller130and/or other components of the pipelayer machines102may be in communication and/or otherwise operably connected to any other components of the pipelaying system100via a network132. The network132may be a local area network (“LAN”), a larger network such as a wide area network (“WAN”), or a collection of networks, such as the Internet. Protocols for network communication, such as TCP/IP, may be used to implement the network132. Although embodiments are described herein as using a network132such as the Internet, other distribution techniques may be implemented that transmit information via memory cards, flash memory, or other portable memory devices.

The controller130may be in communication, via the network132, with a system controller134. The system controller134may be an electronic controller that operates in logical fashion to perform operations, execute algorithms, store and retrieve data and/or other desired operations. The system controller134may include or access memory, secondary storage devices, processors, and any other components for running an application. The memory and secondary storage devices may be in the form of read-only memory (ROM) or random-access memory (RAM) or integrated circuitry that is accessible by the controller. Various other circuits may be associated with the system controller134such as power supply circuitry, signal conditioning circuitry, driver circuitry, and/or other types of circuitry. The system controller134may be a single controller or may include more than one controller (such as additional controllers associated with components of the pipelaying system100) configured to control various functions and/or features of the pipelaying system100. As used herein, the term “controller” is meant in its broadest sense to include one or more controllers, processors, central processing units, and/or microprocessors that may be associated with the pipelaying system100, and that may cooperate in controlling various functions and operations of the pipelaying system100. The functionality of the system controller134may be implemented in hardware and/or software without regard to the functionality. The system controller134may rely on one or more data maps, look-up tables, neural networks, algorithms, machine learning algorithms, data layers, predictive layers, and/or other components relating to the operating conditions and the operating environment of the pipelaying system100that may be stored in the memory of the system controller134. Each of the data maps noted above may include a collection of data in the form of tables, graphs, and/or equations to maximize the performance and efficiency of the pipelaying system100and its operation.

In any of the examples described herein, the system controller134and/or the controllers130may enable communication with one or more tablets, computers, cellular/wireless telephones, personal digital assistants, mobile devices, or other electronic devices136located at a worksite, on the pipelayer machines102, and/or remote from the worksite. Such electronic devices136may include, for example, mobile phones and/or tablets of project managers (e.g., foremen) overseeing daily paving operations at the worksite. Furthermore, the electronic devices136may include devices of the operators of the pipelayer machines102. The electronic devices136may include a user interface138described above and described further herein below with respect toFIG.5. As mentioned above, the electronic devices136having the user interface138may be included in the cab112of the pipelayer machines102. In some examples, the electronic devices136may be configured to communicate with one another and to provide communication between the controllers130.

FIG.2depicts a schematic illustration of the controller130as described above with respect toFIG.1. While described as a single controller, the controller130may include multiple controllers. Furthermore, the controller130may include one or more computing devices or other controllers that are on-board or incorporated into the pipelayer machines102. Additionally, and/or alternatively, the controller130may include controllers that are off-board and/or partially off-board and/or remote from the pipelayer machines102. The controller130includes one or more processors202, system memory204, and communication interfaces206. The controller may further include an engine control module (ECM)208. The ECM208may include a separate hardware element linked to the other elements of the controller130, such as a dedicated controller with its own processors202, memory204, and/or communication interfaces206. In some examples, the controller130and/or the ECM208include memory204that may store computer-executable instructions and other data associated with operations described herein, and one or more processors202that execute the computer-executable instructions associated with the ECM208and/or the controller130. Additionally, and/or alternatively, the ECM208may include a software module such that computer-executable instructions and other data associated with the ECM208may be stored and/or executed by one or more other controllers.

The processor(s)202may operate to perform a variety of functions, as set forth herein. In some examples, the processor(s)202may include a central processing unit (CPU), a graphics processing unit (GPU), both CPU and GPU, or other processing units or components known in the art. System memory204can be volatile and/or non-volatile computer-readable media including integrated or removable memory devices including random-access memory (RAM), read-only memory (ROM), flash memory, a hard drive or other disk drives, a memory card, optical storage, magnetic storage, and/or any other computer-readable media. The computer-readable media may be non-transitory computer-readable media. The computer-readable media may be configured to store computer-executable instructions that can be executed by the processor(s)202to perform the operations described herein. Additionally, the processor(s)202may possess local memory, which also may store program modules, program data, and/or one or more operating systems.

In some examples, the controller130may be operably connected to the propulsion system104of the pipelayer machine102. In such an example, the propulsion system104may include one or more sensors that are in communication with the controller130. Furthermore, the controller130may control output of the propulsion system104. For example, the controller130may increase or decrease the output of the propulsion system104based on data received from the pipelayer machine102and/or other pipelayer machines. Controlling the output of the propulsion system104may include increasing/decreasing engine speed, increasing/decreasing transmission speed, changing transmission gear, etc. For example, the controller130may determine that the first pipelayer machine102(1) is too far from an adjacent pipelayer machine102(2). In response, the controller130may increase output of the propulsion system104, thereby causing a commensurate increase in the ground speed of the first pipelayer machine102(1), and a reduction in the distance between the first pipelayer machine102(1) and the adjacent pipelayer machine102(2). Furthermore, the controller130may be communicatively coupled to the traction devices106. In such an example, the traction devices106may include one or more sensors that are in communication with the controller130. For example, the one or more sensors of the traction devices106may sense whether the traction devices106are slipping or have adequate traction. In some examples, the controller130may increase or decrease output of the propulsion system104based on a rate of rotation of the traction devices106. Thus, the controller130may adjust ground speed of the pipelayer machine102(1). For example, the controller130may adjust speed of the propulsion system104that is coupled to a transmission that controls rotation of the traction devices106, thereby adjusting the ground speed of the pipelayer machine102(1). The transmission may include any type of transmission including, but not limited to, a continuously variable transmission (CVT), an automated manual transmission (AMT), an automatic transmission, a manual transmission, etc. The controller130may control movement of the pipelayer machine102(1) at least in part on the ground speed of the pipelayer machine102(1) and/or adjacent pipelayer machines102.

The controller130may further be operably coupled to the boom124, the hook126, and/or the winch118. For example, the controller130may be operably coupled to one or more motors210and/or one or more actuators212that are configured to control movement of the boom124, the hook126, the winch118, and/or other components of the pipelayer machine102. In some examples, the boom124, the hook126, and/or the winch118may each include one or more sensors. For example, the hook126may include one or more sensors that monitor or otherwise determine a weight of the load held by the hook126and may send such data to the controller130. Furthermore, the boom124may include one or more sensors that monitor or otherwise determine a position of the boom124and/or a force exerted on the boom124and may send such data to the controller130. Still further, the winch118may include one or more sensors that monitor or otherwise determine an amount of cable120that is held by the winch118, a force exerted on the cable120by a load such as the pipe110, a rate at which the cable120is wound up or let out, etc. The controller130may further be operably connected to other components of the pipelayer machine102. In such examples, the controller130may be configured to control the operations of such components.

The controller130may also be operably coupled to one or more operator controls214. In such an embodiment, the controller130may receive data indicative of operator input received via the one or more operator controls214to control the output and/or operation of the pipelayer machines102. In some examples, input received via the one or more operator controls214may override the controller130. For example, as described above and further herein below, the controller130may be configured to maintain a predetermined distance between a first pipelayer machine102(1) and an adjacent pipelayer machine102(2). However, if the operator of the first pipelayer machine102(1) manually controls the operation and/or movement of the pipelayer machine102(1), via the one or more operator controls214, such manual operation of the pipelayer machine102(1) may override the controller130automatically maintaining the predetermined distance. For example, the controller130may automatically regulate or otherwise maintain a predetermined distance between the first pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). However, if an operator controls the pipelayer machine102(1) via the operator controls214, the operator may seamlessly override the controller130and the predetermined distance. In such an example, if the controller130receives an input via the operator controls214that is indicative of a value (e.g., speed or other movement) that exceeds a predetermined threshold associated with automatic/autonomous control, logic associated with the controller130may cause the pipelayer machine102(1) to operate in accordance with the input, at least temporarily overriding the previous setting (e.g., specified distance). In such an example, the operator may override the predetermined distance automatically maintained by the controller130via the operator controls214and may operate the pipelayer machine102(1) such that a distance between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2) is greater than or less than the predetermined distance. However, if the operator continues to move the pipelayer machine102(1) in a direction that continues to be greater than or less than the predetermined distance, the controller130may regain control of the pipelayer machine102(1) if a predetermined tolerance is reached. For example, the controller130(1) of the first pipelayer machine102(1) may receive an input indicating that the controller130(1) is to maintain a distance of 60 feet between the first pipelayer machine102(1) and the second pipelayer machine102(2). As the pipelayer machines102(1) and102(2) accelerate, decelerate, move at a constant rate, or otherwise navigate, the controller130(1) may maintain a distance of 60 feet between the pipelayer machines102in accordance with such an input. However, if the controller130(1) receives input from an operator via the operator controls214that would cause operation of the pipelayer machine102(1) outside of the above parameter, the operator may override the controller130(1). Following the example above, the operator of the first pipelayer machine102(1) may increase the ground speed of the first pipelayer machine102(1) in order to increase the distance between the first pipelayer machine102(1) and the second pipelayer machine102(2), or vis versa. The operator may be able to override the controller130until a predetermined tolerance (or override tolerance range) is reached. For example, the predetermined tolerance may be approximately 15 feet. Therefore, if the operator controls movement of the first pipelayer machine102(1) such that the distance between the first pipelayer machine102(1) and the second pipelayer machine102(2) reaches and/or exceeds 75 feet, the controller130may then override the operator's control of the first pipelayer machine102(1) and may regulate the distance between the pipelayer machines102within the predetermined tolerance of the predetermined distance. Additionally, and/or alternatively, if the operator controls movement of the first pipelayer machine102(1) such that the distance between the first pipelayer machine102(1) and the second pipelayer machine102(2) reaches and/or is less than 45 feet, the controller130may then override the operator's control of the first pipelayer machine102(1) and may regulate the distance between the pipelayer machines102within the predetermined tolerance of the predetermined distance. It is to be noted that the above values are merely examples and that in operating conditions values greater than or less than those noted above may be used for the predetermined distance and/or the predetermined tolerance.

The controller130may further be communicatively coupled to one or more other controllers130of other pipelayer machines102. Thus, a controller130may be able to monitor and control the operation of a pipelayer machine102(1) in which the controller130is included, and the controller130may also be able to monitor the performance and operation of other pipelayer machines102(2),102(3) and may be able to control operation of the respective pipelayer machine102(1) in which the controller130is included based on the operation of the other pipelayer machines102(2),102(3). For example, if the controller130(1) of the first pipelayer machine102(1) receives an indication from the second controller130(2) of the second pipelayer machine102(2) that the second pipelayer machine102(2) is unable to maintain a predetermined distance between the two pipelayer machines102(1),102(2), the first controller130(1) may control movement of the first pipelayer machine102(1) in order to ensure that the distance between the two pipelayer machines102(1),102(2) does not exceed a predetermined tolerance. This and other operations of the controller130and the pipelayer machines will be described further herein below with respect toFIG.3.

Furthermore, the controller130may be communicatively coupled to the user interface138. In some examples, the controller130may generate data that is displayed to an operator via the user interface138. Additionally, and/or alternatively, the controller130may receive one or more inputs from an operator via the user interface138. Such inputs may include control over the various components of the pipelayer machine102(1) and/or may include various metrics for the controller130to monitor. For example, an operator may specify, via the user interface138, a distance that the pipelayer machine102(1) is to maintain with another pipelayer machine102(2). In such an example, the controller130may automatically control navigation of the pipelayer machine102(1) in order to maintain the specified distance with the other pipelayer machine102(2). Such processes will be described further herein below.

FIG.3shows an exemplary method300for maintaining a predetermined distance between pipelayer machines102, consistent with examples of the disclosure. The example method300is illustrated as a collection of steps in a logical flow diagram, which represents operations that may be implemented in hardware, software, or a combination thereof. In the context of software, the steps represent computer-executable instructions stored in memory. Such computer-executable instructions may include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described steps may be combined in any order and/or in parallel to implement the process. For discussion purposes, and unless otherwise specified, the method300is described with reference to the pipelayer machines102, the controller130, and/or other components shown inFIGS.1and2. In particular, and unless otherwise specified, the method300will be described with respect to the controller130for ease of description.

With reference toFIG.3, at302, the controller130may receive an input indicating a predetermined distance that a pipelayer machine102(1) is to maintain between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). In some examples, the controller130may receive the predetermined distance as input received via the user interface138. An operator of the pipelayer machine102(1) may input the predetermined distance via the user interface138that may be provided in the cab112. Additionally, and/or alternatively, a foreman and/or other jobsite supervisor may specify the predetermined distance and may input such distance data via a user interface138on one or more electronic devices136. In some examples, the controller130may determine the predetermined distance based on a weight and/or other dimensions of the pipe110that is to be laid in the trench116. Additionally, and/or alternatively, the controller130may determine such a distance based on specifications and/or capacities of the pipelayer machines102used in the pipelaying process. In some examples, the controller130may implement a lookup table to determine the predetermined distance to maintain between pipelayer machines102based on various factors of the pipelaying system100. In some examples, the pipelayer machine102may maintain the predetermined distance with at least one adjacent pipelayer machine. Additionally, and/or alternatively, the pipelayer machine102may maintain the predetermined distance with multiple adjacent pipelayer machines102. For example, a plurality of pipelayer machines102may be used to position and/or otherwise deposit a pipe110in a trench116. The plurality of pipelayer machines102may travel in a common direction as they progressively lay the pipe110in the trench116. In such an example, the pipelayer machine102may be a second pipelayer machine102(2) disposed between a first pipelayer machine102(1) and a third pipelayer machine102(3). The predetermined distance may represent a distance that the second pipelayer machine102(2) is to maintain between the first pipelayer machine102(1) and/or the third pipelayer machine102(3).

At304, the controller130may receive from the operator of the pipelayer machine102(1) an acceptable range of variation of the predetermined distance that the controller130is to maintain between pipelayer machines102. For ease of reference, the acceptable range of variation may be referred to herein as a “predetermined tolerance.” For example, the operator may indicate a predetermined tolerance that represents a distance that is greater than and/or less (e.g., +/−10 ft) than the predetermined distance (e.g., 60 ft) that the pipelayer machine102(1) may maintain with at least one adjacent pipelayer machine (e.g.,102(2)). The predetermined tolerance may be based at least in part on a value of the predetermined distance and/or other factors of the pipelaying system100and the environment. In some examples, the controller130may determine the predetermined tolerance based on such factors using a lookup table. Furthermore, the predetermined tolerance may be directly related to the predetermined distance. In such an example, the predetermined tolerance may be a specified percentage (e.g., such as a safety factor percentage) of the predetermined distance. Thus, the controller130may automatically regulate the distance between pipelayer machines102within an acceptable range of variation.

At306, the controller130may determine an actual distance between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). In such an example, the controller130may receive, from the ranging system114, distance data representing at least a distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2). For example, the controller130may receive GPS data indicating positions of the pipelayer machines102and may determine the distance based on the GPS data. Additionally, and/or alternatively, the controller130may receive actual distance data determined by the sensors115(e.g., proximity sensors, LIDAR, RADAR, etc.) of the pipelayer machine102(1) and/or the adjacent machine102(2). In some examples, the controller130may determine an actual distance between the pipelayer machine102(1) and multiple pipelayer machines102(2) and102(3) (or other pipelayer machines not shown inFIG.1). For example, when traveling in a same direction as other pipelayer machines, the controller130may determine a distance between the pipelayer machine102(1) and a pipelayer machine in front of and/or behind the pipelayer machine102(1). Thus, the controller130may determine and/or monitor the distance between the pipelayer machine102(1) and other pipelayer machines. Furthermore, the controller130may determine, via the ranging system114, a distance between the pipelayer machine102and one or more objects or features surrounding the pipelayer machine102, at304. For example, the controller130may receive sensor data from the sensors115and may determine a distance and/or distances between the pipelayer machine102and a trench, another machine, personnel, vegetation, etc. based at least in part on the sensor data. The sensor data may be generated via LIDAR, RADAR, SONAR, proximity sensors, and/or any other sensor types. Such determinations may be used to control movement of the pipelayer machine102(1) and/or individual components of the pipelayer machine102(1).

At308, the controller130may determine whether the actual distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2) is within a predetermined tolerance of the predetermined distance. For example, at302the controller130may receive an indication that the controller is to maintain a predetermined distance of 35 feet between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). The controller130may also receive, at304, an acceptable range of variation from the predetermined distance (e.g., 10 ft) that the controller130may allow between the pipelayer machines102, as specified in the predetermined tolerance. Thus, the controller130may determine whether the actual distance between the pipelayer machine102and the at least one adjacent pipelayer machine is within the predetermined tolerance (or the acceptable range) (e.g., 10 ft.) of the predetermined distance (35 ft.).

If at308, the controller130determines that the actual distance is within the acceptable range of variation from the predetermined distance, at310, the controller130may cause the pipelayer machine102(1) to continue maintaining a current distance between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). As shown inFIG.3, the controller130may continue monitoring the distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2), at306.

If at308, the controller130determines that the actual distance is outside of the acceptable range of variation from the predetermined distance, at312, the controller130may cause the pipelayer machine102to adjust position relative to at least one adjacent pipelayer machine102(2). For example, the controller130may modify output of the propulsion system104based at least in part on determining that the difference between the actual distance and the predetermined distance is outside of the acceptable range of variation. Modifying the output of the propulsion system104may include increasing or decreasing engine speed, transmission speed, changing transmission gear, and/or any other appropriate action. In some examples, modifying output of the propulsion system104may result in increasing or decreasing a ground speed of the pipelayer machine102(1). Furthermore, even though the controller130may modify the output of the propulsion system104, the pipelayer machine102(1) may encounter hinderance(s) that may inhibit adjustment of the ground speed of the pipelayer machine102(1). Following the example described above, if at308the controller130determines that the pipelayer machine102(1) is 50 feet away from an adjacent pipelayer machine102(2), the controller130may increase engine speed, increase transmission speed, change transmission gear, etc., thereby moving the traction devices106. Thus, the controller130may adjust the ground speed of the pipelayer machine102(1) in order to move the pipelayer machine102(1) closer to the adjacent pipelayer machine102(2). In some examples, the controller130may determine a difference between the actual distance and the predetermined distance. The controller130may modify output of the propulsion system104of the pipelayer machine102(1) based on the difference. For example, if the controller130determines that the difference is relatively large, the controller130may correct the position of the pipelayer machine102more aggressively (e.g., higher acceleration or deceleration) than if the difference is relatively small. In such examples, the controller130may access a lookup table that specifies varying differences (or ranges of differences) between the actual distance and the predetermined distance and corresponding accelerations rates based on the determined difference. Furthermore, an operator or other user may specify acceleration and deceleration limits for the pipelayer machines102.

At314, the controller130may determine the distance between the pipelayer machine102(1) and the adjacent pipelayer machine102(2). As described above with respect to308, the controller130may receive distance data and/or location data from the ranging system114and may determine the distance from such data.

At316, the controller130may determine, from the distance, whether modifying the speed of the engine adjusted a position of the pipelayer machine102(1) relative to the adjacent pipelayer machine102(2). If, at316, the controller130determines that the pipelayer machine102(1) is unable to adjust position, the controller130may notify the operator, at318. For example, if the pipelayer machine102(1) is unable to adjust positions (e.g., stuck in mud, hole, obstruction in the way, etc.), the controller130may alert the operator via a notification sent to the electronic device136in the cab112of the pipelayer machine102(1). Such a notification may include an audio and/or visual notification (or other warning) that may be provided via the user interface138and/or speakers in the cab112. Furthermore, if the controller130determines that the pipelayer machine102(1) is unable to maintain the predetermined distance, the controller130may send a signal indicating such to one or more other controllers of other pipelayer machines (e.g.,102(2) and102(3)). Such a signal may cause the other pipelayer machines to stop, accelerate, decelerate, and/or otherwise adjust their position and/or speed in order to maintain the actual distance within the predetermined tolerance of the predetermined distance. Thus, in some examples, the controller130may coordinate with other controllers to coordinate movement of a plurality of pipelayer machines in a semi-autonomous and/or autonomous manner. For example, the controller130of the pipelayer machine102(1) may send navigation data to the other controllers indicating that the pipelayer machine102(1) began to move, an acceleration rate of the pipelayer machine102(1), a velocity of the pipelayer machine102(1), a deceleration rate, an indication that the pipelayer machine102(1) has stopped, etc. The controller130may further receive navigation data from other controllers of other pipelayer machines. Thereby, the controllers of various pipelayer machines may cause output of their respective pipelayer machines that is substantially similar to other pipelayer machines. By sharing navigation data sent between controllers, the controllers of a plurality of pipelayer machines102may coordinate movement of the pipelayer machines during a pipelaying process.

If, at316, the controller130determines, from the distance, that modifying the output of the propulsion system104adjusted the position (and/or ground speed) of the pipelayer machine102(1) relative to the adjacent pipelayer machine102(2), the controller130may follow the “Yes” path and determine whether the distance is within the acceptable range of the predetermined distance, at320.

If, at320, the controller130determines that the distance is still outside the acceptable range of the predetermined distance, the controller130may continue to operate the propulsion system104of the pipelayer machine102(1) at the modified output until the sensed distance is within the acceptable range of the predetermined distance.

If, at324, the controller130determines that the distance is within the acceptable range of the predetermined distance, the controller130may again modify the speed of the engine in order to maintain the current distance between the pipelayer machines102. For example, if the controller130increases output of the propulsion system104at312, the controller130may then reduce output of the propulsion system104at324to an output that the propulsion system102was operating at prior to modifying the speed of the engine at312. Once the controller130has again modified the output of the propulsion system104to maintain the current distance between pipelayer machines102, the controller130may resume monitoring the distance between pipelayer machines at306.

FIG.4shows an exemplary method400for overriding automatic distance regulation, consistent with examples of the disclosure. The example method400is illustrated as a collection of steps in a logical flow diagram, which represents operations that may be implemented in hardware, software, or a combination thereof. In the context of software, the steps represent computer-executable instructions stored in memory. Such computer-executable instructions may include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described steps may be combined in any order and/or in parallel to implement the process. For discussion purposes, and unless otherwise specified, the method400is described with reference to the pipelayer machines102, the controller130, and/or other components shown inFIGS.1,2and3. In particular, and unless otherwise specified, the method400will be described with respect to the controller130for ease of description.

At402, the controller130may begin to monitor a distance between a pipelayer machine102(1) and at least one adjacent pipelayer machine102(2) to maintain the distance within a predetermined tolerance of a predetermined distance. Such a process, as shown and described inFIG.3, may be referred to herein as “automatic distance regulation”. In some examples, an operator may toggle a selectable input to initiate the automatic distance regulation. Thus, an operator may be provided with an input switch (either physical or provided electronically via the user interface138) to turn the automatic distance regulation on and off. As described above, the controller130may cause the pipelayer machine102(1) to adjust position in order to maintain such a distance. In some examples, the controller130may autonomously control navigation of a pipelayer machine102(1) while a pipe110is laid in a trench116.

At404, the controller130may receive navigational input from an operator via the one or more operator controls214that control operation of the pipelayer machine102(1). In some examples, the controller130may receive such input while the automatic distance regulation is still turned on. Furthermore, the controller130may receive such input from a remote-control station having a remote operator.

At406, the controller130may determine whether the received navigational input is within override parameters. For example, the controller130may store override parameters that specify acceptable navigational inputs and thresholds thereof that an operator may make in order to override the automatic distance regulation of the controller130. Such override parameters may include acceleration rates, deceleration rates, ranges of variation from the predetermined distance, velocities, etc. In some examples, the controller130may determine, from the navigational input, whether the resultant movement of the pipelayer machine102(1) would be within the acceptable range of variation of the predetermined distance. Furthermore, a job foreman or other jobsite supervisor may specify override parameters and provide such data to the controller130. Thus, a foreman or other jobsite supervisor may be able to specify different override parameters for different pipelayer machine operators.

If, at406, the controller130determines that the navigational input is outside of the override parameters, the controller130may not grant the operator override of the automatic distance regulation and will not override the automatic distance regulation of the controller130, at408. Thus, the controller130may prevent inadvertent or erroneous navigation of the pipelayer machine102(1).

If, however, at406, the controller130determines that the navigational input is within the override parameters, the controller130may cause commensurate output in one or more components of the pipelayer machine102(1) that corresponds with the navigational input received form the operator. For example, the controller130may cause an increase or decrease output of the propulsion system104, cause one or more traction devices106to rotate, etc. Thus, the controller130may provide the operator a seamless method to interrupt the automatic distance regulation to control navigation or other movement of the pipelayer machine102.

At412, the controller130may determine and/or monitor the distance between the pipelayer machine102(1) and at least one adjacent pipelayer machine102(2). As described above with respect toFIG.3, the controller130may determine such a distance via distance data received from the ranging system114of the pipelayer machine102(1).

At414, the controller130may determine whether the distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2) is within an acceptable range of variation (or predetermined tolerance described above) of the predetermined distance that the controller130is to maintain between pipelayer machines102. As mentioned previously, the acceptable range of variation may be specified by an operator, jobsite supervisor, or other user. Furthermore, the acceptable range of variation may include an override range of variation specified in the override parameters. The override range of variation may include a distance greater than or less than the predetermined distance that an operator is allowed to navigate the pipelayer machine102(1) within while overriding the automatic distance control of the controller130.

If, at414, the controller130determines that the distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2) is within the acceptable range of variation, the controller130may follow the “Yes” path from414and continue to grant operator control of the pipelayer machine102(1) and may continue to cause output commensurate with the navigational input received from the operator at410. However, if, at414, the controller determines that the distance between the pipelayer machine102(1) and the at least one adjacent pipelayer machine102(2) is outside the acceptable range of variation, the controller130may follow the “No” path and may resume regulating the distance between the pipelayer machines102at402. Thus, once an operator navigates the pipelayer machine102(1) outside of the acceptable range of variation, the controller130may in turn override the operator's control of the pipelayer machine102(1) and regulate the distance between the pipelayer machines102(1) making position adjustments when needed as described inFIG.3.

At416, the controller130may receive an indication that the operator navigational input has ceased. If the controller130receives such an indication, the controller130may automatically resume regulating the distance between pipelayer machines102.

FIG.5illustrates an example user interface500of the present disclosure. The example user interface500may comprise the user interface138described above with respect toFIG.1, and the user interface500ofFIG.5is shown as being displayed on an LCD display, a CRT display, a touch-screen (e.g., a capacitive/touch-sensitive) display device, and/or other display502. In some examples, the display502may comprise a display of the electronic device136, a display associated with the system controller134, and/or a display associated with a pipelayer machine102. As mentioned previously, the display502may be included on the electronic device136disposed within the cab112of the pipelayer machines102.

As shown inFIG.5, the user interface500may include information504indicative of a distance between pipelayer machines. Such a distance may be visually represented by a graphical distance displayed between two pipelayer machine indicia506. The information504may represent distance data received from the ranging system114. The information504may include a numerical value508representing a real time distance between a pipelayer machine102and at least one adjacent pipelayer machine. In an example where the controller130monitors a distance between the pipelayer machine102and multiple other pipelayer machines, the information504may include two or more pipelayer machine indicia506.

The user interface500may further include an input location510where a user is able to specify a predetermined distance for the pipelayer machine102to maintain with at least one adjacent pipelayer machine. In some examples, the user interface500may also include input locations for a user to specify a predetermined tolerance, override tolerance, and/or other inputs. The user interface500may also include a selectable icon512that a user may select to toggle the automatic distance regulation described above. The user interface may also include various other controls514,516configured to operate, access, and/or control various other features of the user interface500and/or various other operations of the pipelaying system component with which the display502is associated.

INDUSTRIAL APPLICABILITY

The present disclosure describes systems and methods for monitoring and adjusting distance between pipelayer machines102. Such systems and methods may be used to assist an operator in the operation of a pipelayer machine102in order to maintain a specified distance between a pipelayer machine102and at least one adjacent pipelayer machine. Furthermore, the systems and method described herein may be used to provide autonomous and/or semi-autonomous operation of pipelayer machines102. The systems and methods described herein may receive a predetermined distance and may determine an actual distance between pipelayer machines. The systems and methods described herein may determine whether the actual distance is within a predetermined tolerance of the predetermined distance. If the actual distance is outside of the predetermined tolerance, the systems and methods described herein may cause one or more pipelayer machines to adjust position (or position relative to another pipelayer machine) in order to bring the actual distance within the predetermined tolerance.