Method and apparatus for real-time monitoring and coordination of multiple geography altering machines on a work site

• US 5,646,844 A
• Filed: 05/11/1995
• Issued: 07/08/1997
• Est. Priority Date: 04/18/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Henderson, Daniel E.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Fiul, Dan
• Application Number:
  US08/439,539
• Time in Patent Office: 789 Days
• Field of Search: 364/461, 364/424.07, 364/424.01, 364/347, 364/357, 364/457, 364/449, 364/460, 367/69, 356/357
• US Class Current: 701/208
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• 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
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

An apparatus and method for directing the operations of multiple geography-altering machines on a common work site relative to one another. Position information from several machines is shared to generate a common, dynamically-updated site database showing the machines'"'"' relative positions and site progress in real time. The common site database is used to direct the operation of one machine with respect to another machine or machines, for example by generating an operator display of the site showing relative machine position and total machine work on the site. The operator can accordingly adjust the machine'"'"'s operation to avoid interference with other machines or unnecessary overlap of work on the site. The information can also be used to coordinate the operations of several machines in complementary fashion. Machine position information can be broadcast from the machines to the site database to create a common, dynamically-updated database which is then shared with one or more of the machines. In a particular embodiment each machine is provided with its own dynamically-updated database and operator display, and machine position information is shared on a continuous, real-time basis between the machines so that they effectively share a common site database.

Claims

1. Apparatus for monitoring and coordinating the operations of multiple mobile geography-altering machines on a work site, comprising:

site database means for storing a site model representing the geography of the site;

means for generating digital position signals representing in real time the instantaneous three-dimensional site coordinate position of a first machine and a second machine as they traverse and alter the site;

means for receiving said position signals and for updating the site model in accordance with the position signals from the first and second machines to create a common site database comprising the real time updated geography of the site as it has been altered by the machines and the real time position of the machines with respect to the real time, updated geography of the site; and

means for directing the operation of the first machine relative to the second machine in real time in accordance with the real time updated geography of the common site database as the machines traverse the site.

2. Apparatus as defined in claim 1, wherein the site database means is located remotely from the machines.

3. Apparatus as defined in claim 1, wherein the site database means is located on one of the first and second machines.

4. Apparatus as defined in claim 1, wherein the site database means is located on both the first and second machines.

5. Apparatus as defined in claim 4, wherein each machine provided with a site database means further includes communication means to send and receive the position signals to and from the site database means on the other machine.

6. Apparatus as defined in claim 5, wherein the communication means comprise asynchronous broadcasting means timed such that only one machine per unit time broadcasts its position signal to the other machine.

7. Apparatus as defined in claim 1, wherein the means for generating position signals include means for asynchronously broadcasting the position signals from each machine to the means for receiving said signals.

8. Apparatus as defined in claim 7, wherein the broadcasting means further include ID signal means to broadcast a machine-identification signal with the position signal.

9. Apparatus as defined in claim 8, wherein the means for updating the site model further includes machine parameter library means to match machine parameters to the ID signal from a machine.

10. Apparatus as defined in claim 1, wherein the means for directing the operation of the machine include operator display means.

11. Apparatus as defined in claim 10, wherein the operator display means include a display of the site model and the position of the first and second machines on the site model.

12. Apparatus as defined in claim 1, further including means for monitoring the operation of the first and second machines relative to one another to prevent interference between them.

13. Apparatus as defined in claim 12, wherein the means for monitoring the operation of the first and second machines include means for defining a machine interference boundary around a machine and providing a warning signal in response to the position of another machine being determined to be within that boundary.

14. Apparatus as defined in claim 12, wherein the means for monitoring the operation of the first and second machines include means for defining a machine interference boundary around the first and second machines and providing a warning signal in response to the boundary of one machine being determined to overlap the boundary of the other machine.

15. Apparatus as defined in claim 14, further including means for altering the size of the interference boundary for a machine in accordance with the machine'"'"'s mode of operation.

16. Apparatus as defined in claim 14, wherein the machine interference boundary comprises multiple boundaries of different size simultaneously defined around a machine.

17. Apparatus as defined in claim 13, wherein the means for monitoring the operation of the first and second machines include an operator display of the site model showing the position of the first and second machines on the site model and their respective interference boundaries.

18. An apparatus for monitoring and coordinating the operations of multiple mobile geography-altering machines on a work site, comprising:

at least two mobile geography-altering machines, each equipped with means for generating signals representing in real time an instantaneous three-dimensional site coordinate position of the machine as it traverses the site;

digital data storage and retrieval means on each machine for storing a site model representing geography of the site;

dynamically updated site database means on each machine for receiving that machine'"'"'s position signals and for updating the site model in real time in accordance therewith to reflect alterations made to the geography of the site by that machine;

means on each machine for transmitting that machine'"'"'s position signals to another machine, and for receiving position signals from another machine;

means for additionally updating the site database on each machine in accordance with the position signals from another machine to create a dynamically updated common site database comprising the real time updated geography of the site as it has been altered by the machines and the real time position of the machines with respect to the real time updated geography of the site; and

means for directing the operation of each machine relative to the other machines in accordance with the real time updated geography of the common site database.

19. Apparatus as defined in claim 18, wherein the means for directing the operation of each machine include operator display means on each machine showing in real time the updated site model and position of each machine.

20. Apparatus as defined in claim 19, wherein the means for monitoring the operation of the first and second machines include means for defining a machine interference boundary around the first and second machines and providing a warning signal in response to the boundary of one machine being determined to overlap the boundary of the other machine.

21. Apparatus as defined in claim 20, further including means for altering the size of the interference boundary for a machine in accordance with the machine'"'"'s mode of operation.

22. A method of directing the operation of a mobile geography-altering machine on a work site relative to other such machines operating on the work site, comprising:

producing and storing in a digital data storage and retrieval means a site database including a site model representing a geography of the site;

generating signals representing in real time an instantaneous three-dimensional site coordinate position of a first machine and a second machine as they traverse and alter the site;

updating the site database in accordance with the position signals from the first and second machines to create a dynamically updated common site database comprising a real time updated geography of the site as it has been altered by the machines and the real time position of the machines with respect to the real time updated geography of the site; and

directing the operation of the first machine relative to the second machine in accordance with the real time updated geography of the common site database.

23. A method as defined in claim 22, wherein the step of directing the operation of the first machine relative to the second machine includes the step of providing an operator display of the common site database on the first machine.

24. A method as defined in claim 23, wherein the operator display includes a display of the site model and the position of the first and second machines on the site model.

25. A method of directing the operations of a mobile geography-altering machine on a work site relative to other such machines operating on the work site, comprising:

equipping two mobile geography-altering machines with means for generating signals representing in real time instantaneous three-dimensional site coordinate positions of the machines as they traverse and alter the site;

providing digital storage and retrieval means on each machine for storing a site model representing the geography of the site;

providing a dynamically-updated site database on each machine for receiving the position signals from that machine and for updating the site model in real time in accordance therewith to reflect alterations made to the geography of the site by that machine;

providing means on each machine for transmitting its position signals to the other machine, and for receiving the other machine'"'"'s position signals;

additionally updating the site database on each machine in accordance with the position signals from the other machine to create a common, dynamically-updated site database comprising the real time updated geography of the site as it has been altered by the machines and the real time position of the machines with respect to the real time updated geography of the site; and

directing the operation of each machine relative to the other machine in accordance with the real time updated geography of the common site database.

26. Apparatus as defined in claim 25, wherein the means for directing the operation of each machine includes operator display means showing in real time the updated site model and position of each machine.

27. Apparatus as defined in claim 25, further including means for monitoring the operation of each machine relative to the other machines to prevent interference between them.

28. A method as defined in claim 27, wherein the step of monitoring the operation of the first machine relative to the second machine further includes the step of defining a machine interference boundary around a machine and providing a warning signal when the position of another machine is determined to be within that boundary.

29. A method as defined in claim 27, further including the step of defining a machine interference boundary around each machine and providing a warning when the boundary of one machine is determined to overlap the boundary of the other machine.

30. An apparatus for directing the operations of multiple mobile geography-altering machines in three-dimensional space relative to a land site using three-dimensional position signals and a digitized model of the site, comprising:

a plurality of mobile geography-altering machines each equipped with means for receiving the position signals and for determining the instantaneous position in three-dimensional space of at least a portion of each machine as it traverses the site;

actual and desired models of the site geography stored in a digital data storage facility;

a common, dynamically-updated database means communicating with the position determining means of each machine and the digital data storage facility, the database means including means for determining the difference between the actual and desired site models, means for updating the actual site model in real time to reflect the alterations made to the geography of the site by each machine, means for updating the difference between the actual and desired site models in real time according to the alterations made to the geography of the site by each machine, and means for directing the operation of the machines relative to one another and the alterations made to the geography of the site in accordance with the updated difference between the actual and desired site models.

31. A method for directing the operation of multiple mobile geography-altering machines in three-dimensional space relative to a common work site using three-dimensional position signals and a digitized model of the site, the method comprising the steps of:

equipping a plurality of machines to receive the position signals and determine their instantaneous positions in three-dimensional space as they traverse the site;

storing actual and desired site models in a digital data storage facility;

generating a common, dynamically-updated site database by updating the site model in real time to reflect the alterations made to the geography of the site by each machine, updating the difference between the actual and desired site models in real time according to the alterations made to the geography of the site by each machine, and directing the operation of the machines relative to one another and the alterations made to the geography of the site in accordance with the updated difference between the actual and desired site models.