Operator assistance system

• US 10,228,232 B2
• Filed: 07/06/2016
• Issued: 03/12/2019
• Est. Priority Date: 04/14/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Friend, Paul R., Chen, Qi
• Primary Examiner(s): Edwards, Jerrah
• Application Number:
  US15/202,997
• Publication Number:
  US 20160311465A1
• Time in Patent Office: 979 Days
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G01B 7/30 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027

Abstract

A system having a controller is provided. The controller receives a signal indicative of an actual position and an actual orientation of a machine on a worksite, from a position detection module. The controller determines a first view of the machine on the worksite. The first view shows the actual position of the machine and a target position of the machine. A path is determined between the first and the second indicator. The controller determines a view of the machine on the worksite. The view has a first and a second indicator. The first indicator is indicative of the actual position and the actual orientation of the machine. The second indicator is indicative of the target position and a target orientation of the machine and includes a target circle. The controller displays the view based, at least in part, on the actual position of the machine relative to the target position on a display unit.

Claims

1. A system for assisting an operator to maneuver a machine on a worksite, the system comprising:

a position detection module configured to generate a signal indicative of an actual position and an actual orientation of the machine;

a display unit; and

a controller communicably coupled to the position detection module and the display unit, the controller configured to;

receive the signal, wherein the signal is indicative of the actual position and the actual orientation of the machine;

determine a view of the machine on the worksite, wherein the view of the machine is a view in a direction of travel of the machine, wherein the view includes a first indicator and a second indicator and a path between the first indicator and the second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of a target position and a target orientation of the machine; and

display the view based, at least in part, on the actual position of the machine relative to the target position.

2. The system of claim 1, further comprising an image capturing device communicably coupled to the controller, the image capturing device configured to capture a view rearwardly of the machine when the direction of travel is reverse.

3. The system of claim 1, wherein the controller is further configured to determine a keep-out zone based on a position of another machine on the worksite, and wherein the path is determined such that the path does not intersect the keep-out zone.

4. The system of claim 1, wherein the view further includes a pair of boundary lines, wherein each of the boundary lines is spaced from the path by one half of the of the machine.

5. The system of claim 4, wherein the controller is further configured to determine a keep-out zone based on a position of another machine on the worksite, and the path is determined such that the boundary lines do not intersect the keep-out zone.

6. The system of claim 1, further comprising a steering angle sensor configured to generate a signal indicative of a steering angle of the machine and wherein the controller is further configured to determine the actual orientation of the machine based on the steering angle of the machine.

7. The system of claim 1, wherein the view further comprises displaying distance indicators that are indicative of a distance between the actual position of the machine and the target position of the machine.

8. The system of claim 1, wherein the maximum curvature of the path does not exceed the minimum steering radius of the machine.

9. The system of claim 1, wherein the view further includes a first target circle centered on the second indicator, such that the area defined by the first target circle corresponds to a first area centered within the second indicator.

10. The system of claim 9, wherein the view further includes a second target circle concentric with the first target circle, such that the area defined by the second target circle, yet outside the area defined by the first target circle, corresponds to second area.

11. The system of claim 1, wherein the first indicator and the second indicator both include lines that intersect to form a “

T”

shaped configuration.

12. A method for assisting an operator to maneuver a machine on a worksite, the method comprising:

receiving a signal indicative of an actual position and an actual orientation of the machine;

determining a view of the machine on the worksite, the determined view having a first indicator and a second indicator and a path between the first and second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of a target position and a target orientation of the machine, wherein the determined view further includes a plurality of target indicator areas, and wherein the second indicator is positioned within the plurality of target indicator areas; and

displaying the determined view based, at least in part, on the actual position of the machine relative to the target position.

13. The method of claim 12, further comprising receiving a rear view captured rearwardly of the machine and displaying the determined view imposed on the rear view.

14. The method of claim 12, further comprising determining a keep-out zone based on a position of another machine on the worksite, and wherein the path is determined such that the path does not intersect the keep-out zone.

15. The method of claim 12, wherein the view further includes a pair of boundary lines, and wherein each of the boundary lines is spaced from the path by one half of the width of the machine.

16. The method of claim 15, further determining a keep-out zone based on a position of another machine on the worksite, and wherein the path is determined such that the boundary lines do not intersect the keep-out zone.

17. The method of claim 12, wherein the plurality of target indicator areas includes a first target circle centered on the second indicator, such that the area defined by the first target circle corresponds to a first area centered within the second indicator.

18. The method of claim 17, wherein the plurality of target indicator areas further includes a second target circle concentric with the first target circle, such that the area defined by the second target circle, yet outside the area defined by the first target circle, corresponds to a second area.

19. A machine operating on a worksite, the machine comprising:

a power source;

a frame;

a position detection module configured to generate a signal indicative of an actual position and an actual orientation of the machine, and further configured to generate a signal indicative of a target position and a target orientation of the machine;

a display unit; and

a controller communicably coupled to the position detection module and the display unit, the controller configured to;

receive the signals indicative of the actual position, the actual orientation, the target position, and the target orientation of the machine;

determine a view of the machine on the worksite, the view having a first indicator and a second indicator and a path between the first indicator and the second indicator, wherein the first indicator is indicative of the actual position and the actual orientation of the machine and the second indicator is indicative of the target position and the target orientation of the machine, and wherein the view further includes a plurality of target indicator areas, and wherein the second indicator is positioned within the plurality of target indicator areas; and

display the view based, at least in part, on the actual position of the machine relative to the target position.

20. The machine of claim 19, wherein the first indicator includes a first line corresponding to the actual position of the machine and a second line of the first indicator corresponding to the actual orientation of the machine, wherein the first line and the second line form a T-shaped configuration on the displayed view, and

wherein the second indicator includes a first line corresponding to the target position of the machine and a second line corresponding to the target orientation of the machine, wherein the first line and the second line of the second indicator form a T-shaped configuration on the displayed view.