US 11,891,763 B2
Milling system automated obstacle mitigation
Nathaniel S. Doy, Maple Grove, MN (US); and Heath Daryl Wilson, Ore City, TX (US)
Assigned to Caterpillar Paving Products Inc., Brooklyn Park, MN (US)
Filed by Caterpillar Paving Products Inc., Brooklyn Park, MN (US)
Filed on Feb. 21, 2022, as Appl. No. 17/676,623.
Prior Publication US 2023/0265621 A1, Aug. 24, 2023
Int. Cl. E01C 23/088 (2006.01); E01C 23/12 (2006.01)
CPC E01C 23/088 (2013.01) [E01C 23/127 (2013.01)] 18 Claims
OG exemplary drawing
 
10. A method of controlling a machine, the machine comprising a frame, a power source, a milling rotor operatively connected to the power source and the frame, at least one obstacle-detection sensor, and a controller, the method comprising:
milling with the machine, by inputting into a human-machine interface at least one milling parameter;
maintaining the at least one milling parameter with a grade and slope system, the grade and slope system automatically adjusts the at least one milling parameter to maintain a grade and a slope entered by an operator;
measuring a grade or slope of the machine, via a slope sensor installed on at least one of a pair of side plates, wherein the milling rotor is located between the pair of side plates;
detecting with the at least one obstacle-detection sensor, any possible obstacles around an exterior of the machine;
determining, via the controller, that an obstacle will contact either of the side plates based at least on a signal from the at least one obstacle detection sensor;
outputting, via the controller, in response to an obstacle that will contact either of the pair of side plates, a change sensor obstacle-detection response;
communicating with the grade and slope system, via the controller, to start receiving signals from a slope sensor installed on an inboard ski connected to the milling rotor; and
raising at least one of the pair of side plates with an actuator in response to the change sensor obstacle-detection response from the controller to prevent an obstacle from contacting either of the pair of side plates.