Method and apparatus for controlling the updating of a machine database

• US 6,701,239 B2
• Filed: 04/10/2002
• Issued: 03/02/2004
• Est. Priority Date: 04/10/2002
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Keefer, Claude W.
• Primary Examiner(s): Zanelli, Michael J.
• Assistant Examiner(s): Gibson, Eric M
• Application Number:
  US10/120,043
• Publication Number:
  US 20030195687A1
• Time in Patent Office: 692 Days
• Field of Search: 701/50, 701/200, 701/202, 701/205-208, 701/211-213, 701/300, 374/14, 374/15, 374/16, 373/82, 172/3, 172/4, 172/4.5
• US Class Current: 701/50
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, 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: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method and apparatus for updating a machine database. The database includes data representing the desired and actual terrain of a work site. Additional data represents portions of the work site which have been further worked. An indicator detects the machine'"'"'s current work function and updates the data in the database based on the current work function.

Claims

1. A method for updating a dynamic site database based at least in part upon a current work status of an implement movably attached to a mobile machine, the implement being movable to a plurality of locations relative to the machine, the method comprising the steps of:

changing the location of the implement relative to the machine;

determining a first data component including position coordinate data corresponding to a position of at least a portion of at least one of the machine and the implement;

determining a second data component including operating parameter data corresponding to at least one actual operating parameter of at least one of the machine and the implement, the operating parameter data being different than position coordinate data;

determining the current work status of the implement as a function of the second data component; and

selectively updating data related to the current work status in the dynamic site database based at least in part on the current work status.

2. The method, as set forth in claim 1, wherein the work status includes at least one of dozing and ripping.

3. The method, as set forth in claim 1, wherein said data that is updated is updated based upon a position of a reference point on at least one of the machine and the implement.

4. The method, as set forth in claim 1, wherein the step of determining a second data component includes:

sensing the actual operating parameter with at least one indicator coupled to at least one of the machine and the implement.

5. The method, as set forth in claim 4, wherein the indicator is operable to sense at least one of a load on the blade, a speed of the engine, and a load on the engine.

6. The method, as set forth in claim 1, wherein said updating step includes:

determining a position of a reference point on at least one of the machine and the implement; and

determining data to be stored in said dynamic site database based, at least in part, upon said position of said reference point.

7. The method, as set forth in claim 6, wherein said reference point is located on said implement.

8. The method, as set forth in claim 7, further including the step of:

displaying a difference between the updated dynamic site database and a desired site database.

9. The method, as set forth in claim 1, including:

automatically determining whether the work implement is engaged with a work terrain as a function of the second data component; and

automatically determining the current work status of the work implement as a function of whether the work implement is engaged with the work terrain.

10. The method, as set forth in claim 1, wherein the step of updating data includes updating the dynamic site database with the first data component.

11. The method, as set forth in claim 1, wherein the at least one actual operating parameter is indicative of at least one of a load on the blade, a speed of the engine, and a load on the engine.

12. An apparatus for updating a dynamic site database based at least in part upon a current work status of an implement attached to and locationally movable relative to a mobile machine, the apparatus comprising:

a positioning system operably coupled with at least one of the mobile machine and the implement the positioning system being operable to determine a first data component including position coordinate data corresponding to a position of at least a portion of at least one of the machine and the implement;

an indicator operably coupled with at least one of the machine and the implement and being operable to indicate a second data component including operating parameter data corresponding to at least one actual operating parameter of at least one of the machine and the implement, the operating parameter data being different than position coordinate data, the indicator being operable to provide an indication of the current work status of the implement as a function of the second data component; and

a controller operably coupled with the indicator and being operable to selectively update database data in the dynamic site database based at least in part on the indication, said database data associated with the current work status.

13. The apparatus, as set forth in claim 12, wherein the work status includes at least one of dozing and ripping and wherein said database data includes at least one of elevation data and ripping data.

14. The apparatus, as set forth in claim 12, wherein said database data is updated based upon a position of a reference point on at least one of the machine and the implement.

15. The apparatus, as set forth in claim 12, wherein:

the positioning system includes a receiver for providing a signal indicative of a position of a reference point on at least one of the machine and the implement;

said controller receiving said signal and determining the data to be stored in the dynamic site database based, at least in part, on said position of said reference point.

16. The apparatus, as set forth in claim 15, wherein said reference point is located on said implement.

17. The apparatus, as set forth in claim 16, further including:

a display for displaying a difference between the updated dynamic site database and a desired site database.

18. The apparatus of claim 12, wherein the indicator is operable to sense at least one of a load on the blade, a speed of the engine, and a load on the engine.

19. An apparatus for displaying information to an operator of a mobile machine having an implement attached thereto, the implement being locationally movable relative to the machine, the apparatus comprising:

a positioning system operably coupled with at least one of the mobile machine and the implement, the positioning system being operable to determine a first data component including position coordinate data corresponding to a position of at least a portion of at least one of the machine and the implement;

an indicator operably coupled with at least one of the machine and the implement and being operable to indicate a second data component including operating parameter data corresponding to at least one actual operating parameter of at least one of the machine and the implement, the operating parameter data being different than position coordinate data, the indicator being operable to provide an indication of a current work status of the implement as a function of the second data component;

a memory storing a model of a desired site and a model of the actual site;

a controller operable to receive said position coordinate data and said indication and selectively update said memory based at least in part on the indication, said memory updated with data determined from said position coordinate data; and

a display for displaying at least one of a difference between the desired and actual site models and an area of the site worked by the implement.

20. The apparatus, as set forth in claim 19, wherein said work status includes at least one of dozing and ripping, and

wherein said indicator includes at least one of a dozing indicator and a ripping indicator, and

wherein said data that said memory is updated with includes at least one of elevation data associated with dozing and ripping data associated with ripping.

21. The apparatus of claim 19, wherein the indicator is operable to sense at least one of a load on the blade, a speed of the engine, and a load on the engine.

22. A method for displaying information to an operator of a mobile machine having an implement movably attached thereto, the implement being movable to a plurality of locations relative to the machine, the method comprising the steps of:

changing the location of the implement relative to the machine;

providing a first data component including position coordinate data corresponding to a position of at least a portion of at least one of the machine and the implement;

providing a second data component including operating parameter data corresponding to at least one actual operating parameter of at least one of the machine and the implement, the operating parameter data being different than position coordinate data;

determining a current work status of the implement as a function of the second data component;

selectively updating a dynamic site model based at least in part upon the determination; and

displaying at least one of a representation of a difference between the dynamic site model and a desired site model and an area of the site worked by the implement.

23. The method, as set forth in claim 22, wherein the step of providing a second data component includes the step of:

sensing the actual operating parameter with at least one indicator coupled to at least one of the machine and the implement.