MACHINE GUIDANCE SYSTEM

• US 20120299695A1
• Filed: 05/26/2011
• Published: 11/29/2012
• Est. Priority Date: 05/26/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: McDaniel, Michael Sean
• Granted Patent: US 8,912,878 B2
• Time in Patent Office: Days
• US Class Current: 340/3.1
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93

Abstract

A guidance system for a machine may include a scanning device configured to detect a presence of an object within a minimum desired distance of the machine, and a controller in communication with the scanning device. The controller may be configured to compare a number of times the object is detected during a time period to a number of times the object is permitted to be detected during the time period. The controller may be configured to adjust the number of times the object is permitted to be detected. Further, the controller may be configured to output an indication, when the number of times the object is detected is equal to or greater than the number of times the object is permitted to be detected, that the object is less than the minimum desired distance from the machine.

Claims

1. A guidance system for a machine, comprising:

a scanning device configured to detect a presence of an object within a minimum desired distance of the machine; and

a controller in communication with the scanning device, the controller being configured to;

compare a number of times the object is detected during a time period to a number of times the object is permitted to be detected during the time period, the controller being configured to adjust the number of times the object is permitted to be detected; and

output an indication, when the number of times the object is detected is equal to or greater than the number of times the object is permitted to be detected, that the object is less than the minimum desired distance from the machine.

2. The guidance system of claim 1, wherein the controller is configured to adjust the number of times the object is permitted to be detected based on a physical condition of the object.

3. The guidance system of claim 1, wherein the scanning device is configured to detect an earthen berm as the object, and the controller is configured to adjust the number of times the berm is permitted to be detected based on a physical condition of the berm.

4. The guidance system of claim 3, wherein the controller is configured to adjust the time period based on an instantaneous speed of the machine.

5. The guidance system of claim 3, wherein the controller is configured to reduce the time period by a factor multiplied by an instantaneous speed of the machine.

6. The guidance system of claim 2, wherein the controller is configured to adjust the time period based on an instantaneous speed of the machine.

7. The guidance system of claim 2, wherein the controller is configured to reduce the time period by a factor multiplied by an instantaneous speed of the machine.

8. The guidance system of claim 1, wherein the scanning device is configured to detect an earthen berm as the object, and the controller is configured to increase or to reduce the number of times the berm is permitted to be detected in response to an input corresponding to a physical condition of the berm.

9. The guidance system of claim 8, wherein the controller is configured to reduce the time period by a factor multiplied by an instantaneous speed of the machine.

10. The guidance system of claim 1, wherein the scanning device is configured to detect an earthen berm as the object, and the controller is configured (i) to reduce the number of times the berm is permitted to be detected in response to a first input corresponding to a physical condition of the berm, and (ii) to increase the number of times the berm is permitted to be detected in response to a second input corresponding to the physical condition of the berm, and wherein the controller is configured to reduce the time period by a factor related to an instantaneous speed of the machine.

11. The guidance system of claim 1, wherein the scanning device is configured to detect an earthen berm as the object, and the controller is configured (i) to reduce the number of times the berm is permitted to be detected to a percentage of less than about 70% in response to a first input corresponding to a physical condition of the berm, and (ii) to increase the number of times the berm is permitted to be detected to a percentage of at least about 70% in response to a second input corresponding to the physical condition of the berm, and wherein the controller is configured to reduce the time period from 128, 80 millisecond cycles, by a number of 80 millisecond cycles equal to 3 multiplied by an instantaneous speed of the machine in miles-per-hour.

12. The guidance system of claim 1, wherein the scanning device is configured to detect an earthen berm as the object, and the controller is configured (i) to reduce the number of times the berm is permitted to be detected to a percentage of at least about 50% in response to a first input corresponding to a physical condition of the berm, and (ii) to increase the number of times the berm is permitted to be detected to a percentage of greater than about 50% in response to a second input corresponding to the physical condition of the berm, and wherein the controller is configured to reduce the time period from 128, 80 millisecond cycles, by a number of 80 millisecond cycles equal to 3 multiplied by an instantaneous speed of the machine in miles-per-hour.

13. A method of detecting that an earthen berm on a worksite is less than a minimum desired distance from a side of a machine with a scanning device mounted on a machine, the method comprising:

detecting, with the scanning device, an object a number of times during a time period;

determining a number of times the object is permitted to be detected during the time period, based on at least one input;

comparing the number of times the object is detected to the determined number of times the object is permitted to be detected; and

outputting an indication that the object is the earthen berm and that the machine is less than the minimum desired distance from the earthen berm when the number of times the object is detected is equal to or greater than the determined number of times the object is permitted to be detected.

14. The method according to claim 13, further including:

reducing the time period from a maximum time period, based on an instantaneous speed of the machine on the worksite.

15. The method of claim 13, further including:

generating an alarm, generating a recommendation, or autonomously controlling the machine based on the output indication.

16. The method of claim 13, wherein determining the number of times the object is permitted to be detected comprises determining the number of times based on a physical condition of the earthen berm.

17. The method of claim 13, wherein determining the number of times the object is permitted to be detected comprises receiving a user input of the number of times the object is permitted to be detected during the time period.

18. A machine, comprising:

a power source;

a plurality of traction devices associated with the power source, the traction devices configured to permit the machine to move and to steer the machine;

a scanning device configured to detect a presence of an object within a minimum desired distance of the machine; and

a controller in communication with the scanning device, the controller being configured to;

compare a number of times the object is detected during a time period to a number of times the object is permitted to be detected during the time period, the controller being configured to adjust the number of times the object is permitted to be detected; and

output an indication, when the number of times the object is detected is equal to or greater than the number of times the object is permitted to be detected, that the object is an earthen berm that is located a distance less than the minimum desired distance from the machine.

19. The machine of claim 18, wherein the controller is configured (i) to reduce the number of times the earthen berm is permitted to be detected based on a first input corresponding to a physical condition of the berm, and (ii) to increase the number of times the earthen berm is permitted to be detected based on a second input corresponding to the physical condition of the berm, and wherein the controller is configured to reduce the time period by a factor related to an instantaneous speed of the machine.

20. The machine of claim 18, wherein the controller is configured (i) to reduce the number of times the earthen berm is permitted to be detected to a percentage of less than about 70% based on a first input corresponding to a physical condition of the berm and (ii) to increase the number of times the earthen berm is permitted to be detected to a percentage of at least about 70% based on a second input corresponding to the physical condition of the berm, and wherein the controller is further configured to reduce the time period from 128, 80 millisecond cycles, by a number of 80 millisecond cycles equal to 3 times an instantaneous speed, in miles-per-hour, of the machine.