Method for determining and displaying the position of a truck during material removal

• US 6,114,993 A
• Filed: 03/05/1998
• Issued: 09/05/2000
• Est. Priority Date: 03/05/1998
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koehrsen, Craig L., Henderson, Daniel E.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US09/035,222
• Time in Patent Office: 915 Days
• Field of Search: 342/357.17, 701/213, 37/414, 37/348
• US Class Current: 342/357.27
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

Abstract

In one aspect of the present invention, a method for determining and displaying a correlated position of a truck as it is being loaded by an earth moving machine is provided. The method includes the steps of receiving a loading event signal and then determining the correlated position of the truck in response to the loading event signal. The correlated position of the truck is then displayed relative to the land size.

In an alternative embodiment, a method for determining and displaying productivity information regarding material excavated by an earth moving machine and loaded into a truck is provided. The method includes the steps of determining the bucket load material type of the material loaded in the bucket. Productivity information is then displayed at a remote location in response to the bucket load material type.

Claims

1. A method for determining and displaying a correlated position of a truck as it is being loaded by an earth moving machine having a bucket, said earth moving machine being located on a land site having at least one type of material, comprising the steps of:

receiving a loading event signal;

determining said correlated position of the truck in response to said loading event signal, said correlated position including an orientation of said truck; and

,

displaying said correlated position of the truck relative to the land site.

2. A method as set forth in claim 1 wherein the step of determining said correlated position of the truck further includes the steps of:

determining a potential load region;

determining a potential dumping position of said earth moving machine; and

,

and determining an orientation of the truck in response to said potential load region and said potential dumping position.

3. A method as set forth in claim 2 further comprising the step of determining a potential position of the truck, wherein the step of determining said correlated position further comprises the step of determining said correlated position of the truck in response to said potential position and said loading event signal.

4. A method as set forth in claim 2 further comprising the step of determining a position of the earth moving machine, wherein the step of determining said correlated position further comprises the step of determining said correlated position of the truck in response to said earth moving machine position and said loading event signal.

5. A method as set forth in claim 3, wherein said step of determining said potential truck position, further includes determining said potential truck position in response to said dumping position.

6. A method as set forth in claim 5 wherein said loading event signal includes one of a spot truck signal, a truck dispatch signal, and a truck location signal.

7. A method as set forth in claim 3, wherein said earth moving machine has a body, said body being adapted to rotate about a fixed point of reference, and the step of determining said potential position further comprises the steps of:

determining an angular velocity of the body;

determining the body stopped in response to said angular velocity being less than a predetermined amount;

determining the duration of time the body is stopped;

determining at least one of a loading and a dumping operation in response to said duration of time; and

determining a potential load region of said body, said potential load region being located where the body stopped.

8. A method as set forth in claim 3, wherein the step of determining a potential position of said earth moving machine further comprises the steps of:

determining the earth moving machine has transitioned from a forward to a reverse direction; and

determining a potential load region of said bucket, said load region being located where said forward to reverse direction transition occurred.

9. A method as set forth in claim 2, wherein the step of determining a potential position of the truck further includes the step of determining a material information of the material in the truck, said material information including a material type of the material in the truck.

10. A method as set forth in claim 9, wherein the step of displaying said actual position of the truck further includes the step of displaying said material information of the loaded truck.

11. A method as set forth in claim 10, wherein the step of displaying said truck includes the steps of:

associating a color to each material type;

displaying a portion of the truck in a color indicative of the material type in the truck.

12. A method as set forth in claim 11, further including the steps of:

determining the material type of the current bucket load of the earthmoving machine; and

,

displaying a portion of the earthmoving machine in a color indicative of the material type in the bucket.

13. A method as set forth in claim 6, wherein said loading event signal is equal to said truck dispatch signal, further including the steps of:

identifying a truck material information; and

,

delivering said truck material information to a central control facility.

14. A method as set forth in claim 1, wherein said displaying occurs at one of the earthmoving machine and a central control facility.

15. A method as set forth in claim 2, further including the steps of:

determining a bucket load material type of said bucket; and

,

delivering said bucket load material type to a remote facility.

16. A method as set forth in claim 2, further including the steps of:

determining a truck load material type of said truck; and

,

delivering said truck load material type to a remote vehicle.

17. A method as set forth in claim 9, further including the steps of:

determining the bucket is loaded;

displaying a portion of the earthmoving machine in a first color when the bucket is empty, and a second color when the bucket is loaded;

displaying a portion of the truck in a third color when it is empty and a fourth color when it contains at least one bucket load.

18. A method as set forth in claim 17, including the step of determining the location to dispatch the loaded truck in response to the color of the fourth color.

19. A method for determining and displaying productivity information regarding material excavated by an earth moving machine and loaded into a truck, the earth moving machine having a bucket, said earth moving machine being located on a land site having at least one type of material, comprising the steps of:

determining an occurrence of a loading operation, said operation including loading material into the bucket;

determining a bucket load material type of the material loaded in the bucket;

determining an occurrence of a dumping operation, said operation including dumping material into said truck;

determining a position of said truck in response to said loading position and said dumping position, said position including a truck origin and a truck orientation;

determining a predominate material type dumped into said truck, said material having an associated material color; and

,

displaying said truck position, relative to said earth moving machine, in said associated material color.

20. A method, as set forth in claim 19, further comprising the step of displaying productivity information at a remote location in response to said bucket load material type.

21. A method as set forth in claim 20, further including the steps of:

determining the bucket is loaded;

displaying a portion of the earthmoving machine in a first color when the bucket is empty, and a second color when the bucket is loaded;

displaying a portion of the truck in a third color when it is empty and a fourth color when it contains at least one bucket load.

22. A method as set forth in claim 21, further including the steps of:

determining a bucket load material type of said bucket; and

,

delivering said bucket load material type to a remote facility.

23. A method as set forth in claim 21, further including the steps of:

determining a truck load material type of said truck; and

,

delivering said truck load material type to a remote vehicle.

24. A method as set forth in claim 20, further including the steps of:

determining the material type of the current bucket load of the earthmoving machine; and

,

displaying a portion of the earthmoving machine in a color indicative of the material type in the bucket.

25. A method of determining a position of a truck as it is being loaded by an earth moving machine having a bucket, said earth moving machine being located on a land site having at least one material type, comprising the steps of:

determining a loading position of said earth moving machine;

determining a dumping position of said earth moving machine;

determining a truck origin in response to said dumping position;

determining a truck orientation in response to said loading position and said dumping position; and

,

displaying said truck position, including said truck origin and said truck orientation, relative to the earth moving machine.

26. A method, as set forth in claim 25, wherein the step of displaying said truck position further comprises the step of displaying a figure indicative of a truck, at said truck position.

27. A method, as set forth in claim 26, wherein the step of determining a loading position further comprises the steps of:

determining when a loading operation occurs; and

determining said earth moving machine loading position in response to said loading operation, said loading position including a machine origin and a machine heading.

28. A method, as set forth in claim 27, wherein the step of determining a dumping position further comprises the steps of:

determining when a dumping operation occurs; and

determining said earth moving machine dumping position in response to said dumping operating, said dumping position including a machine origin and a machine heading.

29. A method, as set forth in claim 28, further comprising the steps of:

determining a side of said earth moving machine that said truck is positioned in response to said dumping position and said loading position; and

,

correlating said truck position.

30. A method, as set forth in claim 29, wherein said side is one of a right side and a left side, and wherein the step of correlating said truck position further comprises the step of comparing said truck position with a previous truck position on said determined side.

31. A method, as set forth in claim 25, further comprising the steps of:

determining a predominate material type dumped into said truck, said material having an associated material color; and

,

displaying a portion of said truck, relative to said earth moving machine, in said associated material color.

32. A method, as set forth in claim 31, further comprising the step of determining the location to dispatch the loaded truck in response to the color of the displayed truck portion.

33. A method, as set forth in claim 25, wherein said displaying occurs at one of the earthmoving machine and a central control facility.

34. A method as set forth in claim 25, further including the steps of:

determining the bucket is loaded;

displaying a portion of the earthmoving machine in a first color when the bucket is empty, and a second color when the bucket is loaded;

displaying a portion of the truck in a third color when it contains at least one bucket load.

35. An apparatus adapted to determine a position of a truck as it is being loaded by an earth moving machine having a bucket, said earth moving machine being located on a land site having at least one material type, comprising:

a controller adapted to determine a loading position and a dumping position of said earth moving machine, determine a truck origin in response to said dumping position, determine a truck orientation in response to said loading position and said dumping position, determine a side of said earth moving machine that said truck is positioned in response to said dumping position and said loading position, and generate a truck position signal; and

a display adapted to receive said truck position signal and display said truck position, including said truck origin and said truck orientation, relative to the earth moving machine.

36. An apparatus, as set forth in claim 35, wherein said controller is further adapted to determine a predominate material type dumped into said truck, said material having an associated material color, said truck position signal including said color, and wherein said display is further adapted to display a portion of said truck, relative to said earth moving machine, in said associated material color.

37. An apparatus, as set forth in claim 36, wherein said controller is further adapted to determine when the bucket is loaded, determine the predominate material type in said bucket, associate a material color to said machine in response to said predominate material type, and generate an earthmoving machine signal, said machine signal including said machine associated material color;

and wherein said display is further adapted to receive said machine signal and display a portion of the earthmoving machine in said machine material color, enabling a portion of the machine to be displayed in a first color when the bucket is empty, and a second color when the bucket is loaded.