Method for determining the course of a machine

• US 5,806,016 A
• Filed: 03/28/1996
• Issued: 09/08/1998
• Est. Priority Date: 03/28/1996
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Henderson, Daniel E., Kleimenhagen, Karl W.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/623,236
• Time in Patent Office: 894 Days
• Field of Search: 701/207, 701/202, 701/213, 701/210, 701/214, 701/216, 701/217, 701/50, 701/25, 701/26, 340/988, 340/990, 340/995, 37/414, 342/357, 342/350, 364/142, 364/144, 364/474.26, 364/474.29, 364/474.36
• US Class Current: 701/207
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method for determining the heading of a machine with respect to the course of the machine is provided. The method includes the steps of determining an initial course of the earthmoving; determining an initial heading of the machine and responsively setting a direction status; and determining the current course of the earthmoving machine. The method further includes the steps of comparing the initial and current courses and responsively updating the direction status.

Claims

1. A method for determining the heading of a machine with respect to the course of the machine, comprising:

determining an initial course of the machine;

determining an initial heading of the machine and responsively setting a direction status;

determining a current course of the machine; and

,

comparing said initial course and current course of the machine and responsively updating said direction status.

2. A method, as set forth in claim 1, wherein said direction status of the machine has one of first and second values.

3. A method, as set forth in claim 2, wherein said first value is indicative of the front of the machine facing in the direction of travel and said second value is indicative of the front of the machine facing opposite the direction of travel.

4. A method, as set forth in claim 1, wherein the step of comparing the initial course and the current course includes the steps of:

determining an initial course and a current course; and

determining the change in direction between the initial and current courses.

5. A method, as set forth in claim 4, wherein the step of comparing the initial course and the current course further includes the step of changing said direction status if said change in direction is greater than a predetermined maximum value.

6. A method, as set forth in claim 1, including the steps of:

determining an initial position of the machine;

determining a current position of the machine;

and wherein the current course of the machine is determined as a function of said initial and current positions.

7. A method, as set forth in claim 6, including the steps of:

setting a previous position and previous course equal to said current position and current course, respectively;

determining a new current position;

determining a new current course based on said previous position and said new current position; and

,

comparing said previous course and new current course of the machine and responsively updating said direction status.

8. A method for determining the heading of machine with respect to the course of the machine, comprising:

determining an initial position of the machine;

determining an initial course of the machine;

determining an initial heading of the machine and responsively setting a direction status;

determining a current position of the machine;

determining a current course of the machine as a function of said initial and current positions;

determining the change in direction between the initial and current courses and responsively updating said direction status;

setting a previous position and previous course equal to said current position and current course, respectively;

determining a new current position;

determining a new current course based on said previous position and said new current position; and

,

comparing said previous course and new current course of the machine and responsively updating said direction status.

9. A method, as set forth in claim 8, wherein said direction status of the machine has one of first and second values.

10. A method, as set forth in claim 9, wherein said first value is indicative of the front of the machine facing in the direction of travel and said second value is indicative of the front of the machine facing opposite to the direction of travel.

11. A method, as set forth in claim 10, wherein the step of comparing the initial course and the current course further includes the step of changing said direction status if said change in direction is greater than a predetermined maximum value.