System and method for providing navigation signals to an earthmoving or construction machine

• US 5,546,093 A
• Filed: 11/13/1995
• Issued: 08/13/1996
• Est. Priority Date: 01/04/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Harrod, Gregory R.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/558,037
• Time in Patent Office: 274 Days
• Field of Search: 342/357, 342/457, 364/449, 364/424.01, 364/424.04, 364/436, 364/444, 364/460, 364/461, 299/1.05, 299/1.3, 299/1.4, 37/414
• US Class Current: 701/214
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system and method for providing navigation signals between first and second earthmoving or construction machines is provided. The system determines the positions of the first and second machines. The system determines a desired location of the second machine relative to the first machine based on an optimum path. This desired location is transmitted from the first machine to the second machine.

Claims

1. A system for providing navigation signals for a second machine relative to a first machine operating at a work site, comprising:

first positioning means located at the first machine for determining the position of the first machine and responsively producing a first position signal;

first processing means located at the first machine for receiving said first position signal, determining a desired location of the second machine as a function of the first position signal and a predetermined path, and responsively producing a first desired location signal;

transmitting means for receiving said first desired location signal and responsively transmitting a first desired location transmitted signal; and

navigation means located at the second machine for receiving said first desired location transmitted signal.

2. A system, as set forth in claim 1, including a second positioning means located at the second machine for determining the position of the second machine and responsively producing a second position signal.

3. A system, as set forth in claim 2, wherein the second machine is manually operated to position the second machine at said desired position.

4. A system, as set forth in claim 2, wherein said navigation means includes means for receiving said second position signal and responsively producing a desired path for the second machine to follow to reach said desired location as a function of the second position signal and said first desired location transmitted signal and for responsively producing a navigation signal.

5. A system, as set forth in claim 4, wherein said navigation signal is a visual display signal to the operator indicative of the path to the desired location.

6. A system, as set forth in claim 4, wherein the second machine is autonomously operated, said navigation means being adapted for controllably moving the second machine along said desired path and positioning said hauling machine at said desired position.

7. A system, as set forth in claim 2, wherein said first and second positioning means comprise Global Positioning Systems.

8. A method, as set forth in claim 1, wherein the first machine is a loading machine and said predetermined path is determined as a function of physical turning limits of the loading machine and geographic limitations of the work site.

9. A method, as set forth in claim 8, wherein the second machine is a hauling machine, said predetermined path is further determined as a function of physical turning limits of the hauling machine.

10. A system, as set forth in claim 1, wherein the first machine is operated by an operator.

11. A system, as set forth in claim 1, wherein the first machine is operated autonomously.

12. A system, as set forth in claim 1, wherein the second machine is operated by an operator.

13. A system, as set forth in claim 1, wherein the second machine is operated autonomously.

14. A method for providing navigation signals in a system with first and second machine operating at a work site, including:

determining the position of the first machine and responsively producing a first position signal;

receiving said first position signal, determining a desired location of the second machine as a function of the first position signal and a predetermined path, and responsively producing a desired location signal; and

receiving said desired location signal and transmitting said desired location signal from the first machine to the second machine.

15. A method, as set for in claim 14, including the step of receiving said desired location signal at the second machine and responsively producing navigation signals.

16. A method, as set forth in claim 15, wherein said step of producing navigation signals includes the step of providing a visual display of the desired location to an operator of the second machine.

17. A method, as set forth in claim 15, wherein said steps of producing navigation signals includes the steps of determining a desired path from the current position of the hauling machine to the desired location and providing a visual display signal to the operator indicative of the desired path.

18. A method, as set forth in claim 15, wherein said hauling machine is autonomously operated and including the steps of controllably moving the second machine along said desired path and positioning said hauling machine at said desired position.