Machine with automated steering system

• US 20080208461A1
• Filed: 02/28/2007
• Published: 08/28/2008
• Est. Priority Date: 02/28/2007
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Bhaskar, Vivek, Gharsalli, Imed
• Granted Patent: US 8,060,299 B2
• Time in Patent Office: Days
• US Class Current: 701/209
• 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 system is provided for regulating a travel course of a machine. The system has a steering system operationally connected to at least one ground engaging device. Additionally, the system has a path generator configured to generate a path along which the machine can travel. The system also has a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

Claims

1. A system for regulating a travel course of a machine comprising:

a steering system operationally connected to at least one ground engaging device; and

a path generator configured to generate a path along which the machine can travel; and

a path tracker configured to automatically regulate the steering system to position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

2. The system of claim 1, wherein the path tracker is further configured to automatically regulate the steering system to orient the machine to a predetermined orientation relative to the initial point on the generated path.

3. The system of claim 1, wherein the path tracker is further configured to release steering control to an operator when the machine travels beyond a specified threshold.

4. The system of claim 1, wherein the path generator is further configured to generate a plurality of alternative paths along which the machine can travel.

5. The system of claim 4, wherein the path generator is further configured to automatically select an optimal path from the plurality of alternative paths.

6. The system of claim 4, wherein the path generator is configured to receive an operator selection of a desired one of the alternative paths.

7. The system of claim 1, wherein the path generator is configured to generate a map of an associated work site as the machine traverses the work site and create the path based on the generated map.

8. A method for regulating a travel course of a machine comprising:

generating a map of an associated work site;

receiving data related to kinematics of the machine;

generating a path along which the machine can travel based on the generated map and machine kinematics;

generating a plurality of alternative paths; and

guiding the machine along one of the generated alternative paths.

9. The method of claim 8, further including positioning the machine at an initial point on the generated path.

10. The method of claim 9, further including orienting the machine to a predetermined orientation relating to the initial point on the generated path.

11. The method of claim 10, wherein positioning, orienting, and guiding the machine further includes adjusting a steering angle and an articulation angle.

12. The method of claim 11, further including adjusting the steering angle to a maximum possible angle before adjusting the articulation angle.

13. The method of claim 8, further including automatically selecting one of the plurality of alternative paths.

14. The method of claim 8, further including releasing steering control of the machine to an operator when the machine travels beyond a predefined threshold.

15. A machine comprising:

at least one ground engaging device;

a power source configured to generate a power output for driving the at least one ground engaging device;

a steering system operationally connected to at least one ground engaging device; and

a path generator configured to generate a path along which the machine can travel; and

a path tracker configured to automatically regulate the steering system to orient and position the machine within a predetermined vicinity of an initial point on the generated path and guide the machine along the generated path.

16. The machine of claim 15, wherein the path generator is further configured to generate a plurality of alternative paths along which the machine can travel.

17. The machine of claim 16, wherein the path generator is further configured to automatically select an optimal path from the plurality of alternative paths.

18. The machine of claim 16, wherein the path generator is further configured to receive an operator selection of a desired one of the alternative paths.

19. The machine of claim 15, wherein the path generator is configured to generate a map of an associated work site as the machine traverses the work site and create the path based on the generated map.

20. The machine of claim 15, wherein the path tracker is further configured to release steering control to an operator when the machine travels beyond a specified threshold.