Method and system for mapping terrain and operating autonomous machines using machine parameters

• US 10,248,133 B2
• Filed: 06/13/2016
• Issued: 04/02/2019
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Stratton, Kenneth L., Jensen, Jeffrey Edward
• Primary Examiner(s): Lee, Paul D
• Application Number:
  US15/181,302
• Publication Number:
  US 20160282878A1
• Time in Patent Office: 1,023 Days
• Field of Search: 702 5
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G01C 21/3826 Terrain data
• CPC Class Codes: G05B 11/01 electric
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G09B 25/06 for surveying; for geography, e.g. relief models globes G09B27/00; maps G09B29/00
• CPC Class Codes: G09B 25/08 of scenic effects, e.g. trees, rocks, water surfaces for stage purposes A63J1/00

Abstract

A system for mapping terrain using at least a first machine and a second machine traveling along the terrain includes a controller for each of the respective first and second machines. Each respective machine includes a plurality of sensors in electrical communication with the controller of each respective machine. The controller is configured to receive, from the plurality of sensors located on each respective machine a plurality of machine parameters indicative of sensed operations of the respective machine as the respective machine travels along the terrain. The controller is further configured to determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels.

Claims

1. A first machine comprising:

a controller; and

a plurality of sensors in communication with the controller, the controller being to;

receive, from the plurality of sensors, a plurality of machine parameters indicative of sensed operations of the first machine as the first machine travels along a terrain,

the plurality of machine parameters including information associated with one or more of;

a steering parameter of the first machine,

a ground speed of the first machine, or

a payload weight of the first machine;

determine, based on the plurality of machine parameters, a geometry and a grade of a plurality of paths on the terrain along which the first machine travels;

create, based on the geometry and the grade, a site map indicating the plurality of paths;

determine at least one of an efficiency characteristic or a productivity characteristic of the first machine based on the plurality of machine parameters,

the at least one of the efficiency characteristic or the productivity characteristic of the first machine indicating at least one of a fuel efficiency or an amount of payload moved;

receive an update to the site map based on one or more paths on which a second machine travels;

compare the at least one of the efficiency characteristic or the productivity characteristic of the first machine with at least one of another efficiency characteristic or another productivity characteristic of the second machine;

select at least one path, from the plurality of paths, for the first machine to travel along in a future operation based on the update to the site map and based on comparing the at least one of the efficiency characteristic or the productivity characteristic of the first machine with the at least one of the other efficiency characteristic or the other productivity characteristic of the second machine; and

operate the first machine to travel along the at least one path.

2. The system first machine of claim 1,

wherein the controller is further to:

calculate, based on the plurality of machine parameters, a distance and a direction traveled by the first machine, and

wherein, when creating the site map, the controller is to;

create the site map based on the distance and the direction traveled.

3. The system first machine of claim 1,

wherein the plurality of machine parameters further include information associated with a mass of the first machine;

and

wherein, when determining the geometry and the grade of the plurality of paths, the controller is to;

calculate the grade of the plurality of paths based on the mass of the first machine.

4. The first machine of claim 3,

wherein the plurality of machine parameters further include information associated with:

an engine speed,

a transmission gear, and

a parameter indicating a parasitic load on a drive train of the first machine; and

wherein, when determining the geometry and the grade of the plurality of paths, the controller is further to;

calculate the grade of the plurality of paths further based on the engine speed, the transmission gear, and the parameter indicating the parasitic load.

5. The first machine of claim 1, wherein the controller is further to:

transmit, to the second machine, information associated with the site map and information identifying the at least one of the efficiency characteristic or the productivity characteristic.

6. The first machine of claim 1,

wherein the controller is further to:

determine a change in the at least one of the efficiency characteristic or the productivity characteristic over time, and

wherein the at least one path is selected further based on the change.

7. The first machine of claim 1, wherein the plurality of machine parameters further include information associated with at least one of:

a fuel rate,

a mass of the first machine,

an engine speed,

a transmission gear, or

a parameter indicating a parasitic load associated with a drive train of the first machine.

8. The first machine of claim 1, wherein, when receiving the update to the site map, the controller is to:

receive, from the second machine, the update to the site map.

9. A method comprising:

receiving, by a controller of a first machine and from a plurality of sensors of the first machine, a plurality of machine parameters indicative of sensed operations of the first machine as the first machine travels along a terrain,

wherein the plurality of machine parameters include information associated with one or more of;

a steering parameter of the first machine,

a ground speed of the first machine, or

a payload weight of the first machine;

determining, by the controller and based on the plurality of machine parameters, a geometry and a grade of a plurality of paths on the terrain along which the first machine travels;

creating, by the controller, a map indicating the plurality of paths based on the geometry and the grade;

determining, by the controller, at least one of an efficiency characteristic or a productivity characteristic of the first machine based on the plurality of machine parameters,

the at least one of the efficiency characteristic or the productivity characteristic of the first machine indicating at least one of a fuel efficiency or an amount of payload moved;

receiving an update to the map based on one or more paths on which a second machine travels;

comparing the at least one of the efficiency characteristic or the productivity characteristic of the first machine with at least one of another efficiency characteristic or another productivity characteristic of the second machine;

selecting at least one path, from the plurality of paths, for the first machine to travel along in a future operation based on the update to the map and based on comparing the at least one of the efficiency characteristic or the productivity characteristic of the first machine with the at least one of the other efficiency characteristic or the other productivity characteristic of the second machine; and

operating the first machine to travel along the at least one path.

10. The method of claim 9, wherein the at least one of the efficiency characteristic or the productivity characteristic of the first machine indicates a travel time of the first machine from a load site to a dump site.

11. The method of claim 9, further comprising:

calculating a distance and a direction traveled by the first machine based on the plurality of machine parameters,

wherein creating the map comprises;

creating the map based on the distance and the direction traveled.

12. The method of claim 9, further comprising:

updating the map to identify the at least one of the efficiency characteristic or the productivity characteristic of the first machine; and

transmitting information associated with the updated map to an off-board system.

13. The method of claim 9,

wherein the first machine and the second machine are hauling machines,

wherein the at least one path is selected further based on whether a third machine is in a position to be loaded by a fourth machine, and

wherein the fourth machine includes a digging machine.

14. The method of claim 9, wherein the at least one path is selected further based on the first machine being prioritized over the second machine.

15. The method of claim 9, wherein receiving the update to the map comprises:

receiving, from the second machine, the update to the map.

16. A non-transitory computer-readable medium storing instructions, the instructions comprising:

one or more instructions that, when executed by one or more processors, cause the one or more processors to;

receive, from a plurality of sensors of a first machine, a plurality of machine parameters relating to an operation of the first machine as the first machine travels along a terrain,

the plurality of machine parameters including information associated with one or more of;

a steering parameter of the first machine,

a ground speed of the first machine, and

a payload weight of the first machine, and

the operation including fuel injection in an engine of the first machine;

determine, based on the plurality of machine parameters, a geometry and a grade of a plurality of paths on the terrain along which the first machine travels;

create, based on the geometry and the grade, a site map indicating the plurality of paths;

determine, based on the plurality of machine parameters, a characteristic relating to at least one of efficiency or productivity for the first machine,

the characteristic indicating a fuel efficiency or an amount of payload moved;

identify an update to the site map based on one or more paths on which a second machine travels;

compare the characteristic with another characteristic relating to at least one of efficiency or productivity for the second machine;

select at least one path, from the plurality of paths, for the first machine to travel along in a future operation based on the update to the site map and based on comparing the characteristic with the other characteristic; and

operate the first machine autonomously to travel along the at least one path.

17. The non-transitory computer-readable medium of claim 16, wherein the plurality of machine parameters are determined without using a GPS device.

18. The non-transitory computer-readable medium of claim 16, wherein the operation further includes movement or control of a component in the first machine.

19. The non-transitory computer-readable medium of claim 16, wherein the site map is created further based on an initial position of the first machine.

20. The non-transitory computer-readable medium of claim 16, wherein the one or more instructions to identify the update to the site map comprise:

one or more instructions to receive, from the second machine, the update to the site map.