Method and apparatus for establishing a perimeter defining an area to be traversed by a mobile machine

• US 6,112,143 A
• Filed: 08/06/1998
• Issued: 08/29/2000
• Est. Priority Date: 08/06/1998
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Allen, William E., Sewell, John P.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H.
• Application Number:
  US09/130,265
• Time in Patent Office: 754 Days
• Field of Search: 342/357.13, 342/357.17, 342/457, 340/990, 340/995, 701/25, 701/26, 701/50, 701/209, 701/210, 701/213, 701/215, 701/300, 180/168
• US Class Current: 701/25
• CPC Class Codes: E01C 19/006 by laser or ultrasound
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

In one embodiment of the present invention, an apparatus and method for establishing the perimeter of a work site for a mobile machine capable of operating autonomously or semi-autonomously includes activating a learning mode, positioning the mobile machine at a plurality of locations on the perimeter, and recording position data at each location from a sensor system, such as GPS, that provide signals corresponding to the position of the mobile machine. The position data is stored and a data processor associated with a control system generates a display of the perimeter so that an operator may visually verify the size, location, and shape of the work area bounded by the perimeter. Means to allow the operator to modify the entered position data is also provided.

Claims

1. A method for establishing a perimeter of a work area for a mobile machine, the method comprising the steps of:

a) positioning the mobile machine at one location on the perimeter;

b) generating signals representing the instantaneous position in at least two-dimensional space of a portion of the mobile machine;

c) activating means for receiving the position signals in a data storage and retrieval means;

d) positioning the mobile machine at another location on the perimeter;

e) repeating steps b) through d) until the mobile machine is positioned at a final location on the perimeter; and

(f) planning a pattern of work paths of the work area by a control system computer located on the mobile machine, the pattern of work paths being a function of the perimeter, the work area, and the mobile machine.

2. The method, as set forth in claim 1, wherein the position signals are generated by a GPS sensor system.

3. The method, as set forth in claim 1, wherein the locations correspond to corners of the perimeter.

4. An apparatus for establishing a perimeter of a work area for a mobile machine, the apparatus comprising:

the mobile machine positioned at a plurality of locations on the perimeter;

means for generating signals representing the instantaneous position in at least two-dimensional space of a portion of the mobile machine at each location;

means for receiving and storing the position signals; and

a control system computer located on the mobile machine and adapted to plan a pattern of work paths of the work area as a function of the perimeter, the work area, and the mobile machine.

5. The apparatus, as set forth in claim 4, wherein the means for generating position signals is a GPS sensor system.

6. The apparatus, as set forth in claim 4, wherein the locations correspond to corners of the perimeter.

7. The apparatus, as set forth in claim 4, further comprising a data processing system including a learning mode that associates the stored position signals with the perimeter.

8. The apparatus, as set forth in claim 7, further comprising means for verifying the established perimeter.

9. The apparatus, as set forth in claim 8, wherein the means for verifying the established perimeter includes an operator display.

10. A system for establishing a perimeter of a work area for an autonomous mobile machine comprising:

a positioning system operable to provide coordinate data corresponding to the position of the mobile machine as the mobile machine traverses the work area; and

a control system located on the mobile machine having a data processor operatively connected to data storage means, program means including a learning mode, the learning mode being operable to enter position data corresponding to points on the perimeter of the work area as the mobile machine traverses the perimeter, and to store the position data in the data storage means, the control system further having a work planner for generating work paths.

11. The system, as set forth in claim 10, further comprising:

a display; and

the data processor being operable to generate output to the display to allow the operator to verify the position data entered to establish the perimeter.

12. The system, as set forth in claim 11, wherein the data processor is further operable to receive input from the operator to modify the position data entered during the learning mode.

13. A system, as set forth in claim 10, wherein the control system further includes:

a path planner for planning transitions between the work paths; and

a path follower for determining a direction to steer the mobile machine to follow the work paths.