Machine control system and method

• US 20080162004A1
• Filed: 12/27/2006
• Published: 07/03/2008
• Est. Priority Date: 12/27/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Price, Robert J., Brandt, Everett G.
• Granted Patent: US 7,865,285 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A machine control system may include a machine mounted stereo imaging apparatus configured to provide a 3-D model indicative of a terrain feature. The machine control system may also include a control module configured to process the 3-D model, and automatically perform an operation with a work tool based on the characteristics of the 3-D model.

Claims

1. A machine control system, comprising:

a machine mounted stereo imaging apparatus configured to provide a 3-D model indicative of a terrain feature; and

a control module configured to process the 3-D model, and automatically perform an operation with a work tool based on the characteristics of the 3-D model.

2. The machine control system of claim 1, wherein performing the operation includes engaging the terrain feature with the work tool.

3. The machine control system of claim 1, wherein performing the operation includes adjusting the position of the work tool to compensate for terrain changes.

4. The machine control system of claim 1, wherein processing includes approximating dimensions of the terrain feature by determining dimensions of the 3-D model.

5. The machine control system of claim 1, wherein processing further includes comparing the dimensions of the terrain feature to work tool capacity.

6. The machine control system of claim 1, wherein processing includes adding the 3-D model to a predetermined location in a 3-D terrain map of a site.

7. A method of controlling a machine, comprising:

generating a 3-D model indicative of a terrain feature with a machine mounted stereo imaging apparatus;

processing the 3-D model; and

automatically performing an operation with a work tool based on the characteristics of the 3-D model.

8. The method of claim 7, wherein performing the operation includes adjusting the position of the work tool to compensate for terrain changes.

9. The method of claim 7, wherein processing includes approximating dimensions of the terrain feature by determining dimensions of the 3-D model.

10. The method of claim 9, wherein processing further includes comparing the dimensions of the terrain feature to work tool capacity.

11. The method of claim 7, wherein processing includes adding the 3-D model to a predetermined location in a 3-D terrain map of a site.

12. The method of claim 11, further including comparing the 3-D terrain map of the site to at least one of an original site profile and a desired site profile to determine progress made at a site.

13. The method of claim 11, further including generating an updated 3-D model when the terrain feature changes, and updating the 3-D terrain map of the site by replacing the 3-D model with the updated 3-D model.

14. The method of claim 7, wherein performing the operation includes engaging the terrain feature with the work tool.

15. A machine, comprising:

a machine control system, including;

a machine mounted stereo imaging apparatus configured to provide a 3-D model indicative of a terrain feature; and

a control module configured to process the 3-D model, and automatically perform an operation with a work tool based on the characteristics of the 3-D model.

16. The machine of claim 15, wherein performing the operation includes engaging the terrain feature with the work tool.

17. The machine of claim 15, wherein the operation includes adjusting the work tool to compensate for terrain changes.

18. The machine of claim 15, wherein processing includes approximating dimensions of the terrain feature by determining dimensions of the 3-D model.

19. The machine of claim 15, wherein processing further includes comparing the dimensions of the terrain feature to work tool capacity.

20. The machine of claim 15, wherein processing includes adding the 3-D model to a predetermined location in a 3-D terrain map of a site.