Machine guidance system

• US 8,099,205 B2
• Filed: 07/08/2008
• Issued: 01/17/2012
• Est. Priority Date: 07/08/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Coats, Robert M., McDaniel, Michael Sean, Edwards, David J., Subramanian, Ramkumar, Stratton, Kenneth L.
• Primary Examiner(s): BROWN, DREW J
• Application Number:
  US12/216,582
• Publication Number:
  US 20100010703A1
• Time in Patent Office: 1,288 Days
• Field of Search: 701/23, 701/41, 701/32, 701/1, 701/28, 701/27, 701/116
• US Class Current: 701/23
• 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 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• 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

Abstract

A guidance system for a mobile machine is disclosed. The guidance system may have a scanning device configured to generate a signal indicative of a lateral distance from the machine to a roadway marker, a locating device configured to determine a geographical location of the machine, and a controller in communication with the scanning device and the locating device. The controller may be configured to receive a desired lateral distance from the machine to the roadway marker, and to compare the desired lateral distance to the actual lateral distance. The controller may further be configured to implement a response to the comparison based on the geographical location.

Claims

1. A guidance system for a machine, comprising:

a scanning device configured to generate a signal indicative of an actual lateral distance from the machine to a roadway marker;

a locating device configured to determine a geographical location of the machine; and

a controller in communication with the scanning device and the locating device, the controller being configured to;

receive a desired lateral distance from the machine to the roadway marker, the desired lateral distance being adjusted based on at least one of geographical location, a condition of a roadway being traversed by the machine, a condition of the machine, or an experience of a machine operator;

compare the desired lateral distance to the actual lateral distance; and

implement a response to the comparison based on at least one of the geographical location, the condition of a roadway being traversed by the machine, the condition of the machine, or the experience of a machine operator.

2. The guidance system of claim 1, wherein the scanning device is one of a LIDAR device, a RADAR device, or a SONAR device.

3. The guidance system of claim 1, wherein the roadway marker is an earthen berm.

4. The guidance system of claim 3, wherein the locating device is in communication with the scanning device and configured to determine the geographical location of the machine based on breaks in the earthen berm detected by the scanning device.

5. The guidance system of claim 1, wherein the locating device is a gps device.

6. The guidance system of claim 1, wherein the desired lateral distance is received from an operator of the machine.

7. The guidance system of claim 1, wherein the response is a warning provided to an operator of the machine.

8. The guidance system of claim 1, wherein the response is corrective steering of the machine.

9. The guidance system of claim 1, wherein the response is braking of the machine.

10. The guidance system of claim 1, wherein the condition of the machine is at least one of an age and a type of the machine.

11. The guidance system of claim 1, wherein the condition of the machine is a loading of the machine.

12. A method of guiding a machine, comprising:

measuring an actual lateral distance from the machine to a roadway marker;

receiving a desired lateral distance from the machine to the roadway marker;

comparing the actual lateral distance and the desired lateral distance;

determining a geographical location of the machine and determining a severity of the machine contacting or crossing the roadway marker based on the geographical location; and

implementing a response to the comparison based on the severity.

13. The method of claim 12, wherein the roadway marker is an earthen berm, and determining a geographical location includes detecting breaks in the earthen berm.

14. The method of claim 12, wherein the response is at least one of a warning provided to an operator of the machine, corrective steering of the machine, or braking of the machine.

15. The method of claim 12, wherein the method further includes receiving a condition of a roadway being traversed by the machine, a condition of the machine, or a condition of a machine operator, and adjusting at least one of the desired lateral distance or the response based on the at least one of the condition of the roadway, the condition of the machine, or the condition of the machine operator.

16. A machine, comprising:

a power source;

a plurality of traction devices associated with the power source to propel and steer the machine;

a scanning device configured to generate a signal indicative of an actual lateral distance from the machine to an earthen berm; and

a controller in communication with the scanning device and the locating device, the controller being configured to;

receive a desired lateral distance from the machine to the earthen berm, the desired lateral distance being adjusted based on a risk value;

compare the desired lateral distance to the actual lateral distance; and

implement at least one of a warning provided to an operator of the machine or corrective maneuvering of the machine in response to the comparison based on a magnitude of the risk value.