Method and System For Mapping Terrain Using Machine Parameters

• US 20120330550A1
• Filed: 06/27/2011
• Published: 12/27/2012
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: JENSEN, Jeffrey Edward
• Granted Patent: US 9,378,663 B2
• Time in Patent Office: Days
• US Class Current: 702/5
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• 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 one machine traveling along the terrain includes at least one controller. The at least one controller is configured to determine a plurality of machine parameters of the at least one machine as the at least one machine travels along the terrain. The plurality of machine parameters include a steering parameter and a speed of a component of the at least one machine. The at least one controller is also configured to determine, based on the determined machine parameters, a geometry and a grade of at least one path on the terrain along which the at least one machine travels. The at least one controller is further configured to create, based on the determined geometry and grade, a map indicating the at least one path.

Claims

1. A system for mapping terrain using at least one machine traveling along the terrain, the system comprising:

at least one controller configured to;

determine a plurality of machine parameters of the at least one machine as the at least one machine travels along the terrain, the plurality of machine parameters including a steering parameter and a speed of a component of the at least one machine;

determine, based on the determined machine parameters, a geometry and a grade of at least one path on the terrain along which the at least one machine travels; and

create, based on the determined geometry and grade, a map indicating the at least one path.

2. The system of claim 1, wherein the at least one controller is further configured to:

calculate, based on the determined machine parameters, a distance and direction traveled by the at least one machine; and

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

3. The system of claim 1, wherein:

the speed of a component of the at least one machine is a ground speed;

the determined machine parameters further include a mass of the at least one machine, and

the at least one controller is further configured to calculate the grade of the at least one path based on the ground speed and the mass of the at least one machine.

4. The system of claim 3, wherein:

the determined machine parameters further include an engine speed, a transmission gear, and a parameter indicating a parasitic load on a drive train of the at least one machine; and

the at least one controller is further configured to calculate the grade of the at least one path further based on the engine speed, the transmission gear, and the parameter indicating the parasitic load.

5. The system of claim 1, wherein the at least one path includes a plurality of paths, and the at least one controller is further configured to:

determine, based on the determined machine parameters, a characteristic relating to at least one of efficiency or productivity for the respective plurality of paths; and

display the at least one determined characteristic for the respective plurality of paths.

6. The system of claim 5, wherein the at least one controller is further configured to determine a change in the characteristic over time for the respective plurality of paths.

7. The system of claim 5, wherein the plurality of paths includes a first path and a second path;

and the at least one controller is further configured to;

compare the determined characteristic of the first path to the determined characteristic of the second path; and

select and display one of the first path or the second path based on the comparison.

8. The system of claim 1, wherein the at least one machine includes a first machine and a second machine of a different type than the first machine, and the at least one controller is further configured to:

determine at least one of an efficiency characteristic or a productivity characteristic for the respective first and second machines based on the determined machine parameters for the respective first and second machines; and

display the at least one determined efficiency characteristic or productivity characteristic for the respective first and second machines.

9. The system of claim 1, wherein:

the speed of a component of the at least one machine is a ground speed; and

the determined machine parameters further include at least one of a fuel rate, a mass of the at least one machine, an engine speed, a transmission gear, or a parameter indicating a parasitic load associated with a drive train of the at least one machine.

10. A method for mapping terrain using at least one controller, the method comprising:

determining a plurality of machine parameters of at least one machine as the at least one machine travels along the terrain, the plurality of machine parameters including a steering parameter and a speed of a component of the at least one machine;

determining, based on the determined machine parameters and using the at least one controller, a geometry and a grade of at least one path on the terrain along which the at least one machine travels; and

creating, using the at least one controller, a map indicating the at least one path based on the determined geometry and grade.

11. The method of claim 10, wherein the at least one path includes a plurality of paths, and the method further comprises:

determining, based on the determined machine parameters and using the at least one controller, a characteristic relating to at least one of efficiency or productivity for the respective plurality of paths; and

displaying the at least one determined characteristic for the respective plurality of paths.

12. The method of claim 11, further comprising determining whether to adjust a grade of one of the plurality of paths based on the determined characteristics.

13. The method of claim 10, wherein the at least one machine includes a first machine and a second machine, and the method further comprises:

determining, based on the determined machine parameters and using the at least one controller, a characteristic relating to at least one of efficiency or productivity for the respective first and second machines.

14. The method of claim 13, further comprising:

comparing the determined characteristic of the first machine to the determined characteristic of the second machine; and

selecting one of the first machine or the second machine based on the comparison.

15. The method of claim 10, further comprising:

calculating, based on the determined machine parameters and using the at least one controller, a distance and direction traveled by the at least one machine; and

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

16. A system for mapping terrain using at least one machine traveling along the terrain, the system comprising:

at least one controller configured to;

determine at least one machine parameter relating to an operation of the at least one machine as the at least one machine travels along the terrain;

determine, based on the at least one determined machine parameter, a geometry and a grade of a plurality of paths on the terrain along which the at least one machine travels;

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

determine, based on the at least one determined machine parameter, a characteristic relating to at least one of efficiency or productivity for the respective plurality of paths.

17. The system of claim 16, wherein the at least one controller is configured to determine the at least one machine parameter without a GPS device.

18. The system of claim 16, wherein the operation includes at least one of fuel injection in an engine, or movement or control of a component in the at least one machine.

19. The system of claim 16, wherein the at least one controller is further configured to indicate a change in the geometry and the grade of the at least one path over time.

20. The system of claim 16, wherein the at least one controller is further configured to display the at least one determined characteristic for the respective plurality of paths.