System for controlling a multimachine caravan

• US 8,285,456 B2
• Filed: 02/29/2008
• Issued: 10/09/2012
• Est. Priority Date: 02/29/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Jensen, Jeffrey Edward
• Primary Examiner(s): Hurley, Kevin
• Application Number:
  US12/073,176
• Publication Number:
  US 20090222186A1
• Time in Patent Office: 1,684 Days
• Field of Search: 701/41, 701/48, 701/50, 180/14.1, 180/167, 180/169
• US Class Current: 701/48
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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 1/0293 Convoy travelling

Abstract

A control system is disclosed. The control system includes a first set of operator input devices and a laser target located on a first machine. The control system also includes a first laser measurement system located on a second machine and configured to measure a distance to the laser target. The control system further includes a communications system configured to selectively communicate a first mode of operation and a second mode of operation. In the first mode of operation, the second machine follows the first machine based on the measured distance. In the second mode of operation, the second machine moves based on a signal from the first set of operator input devices.

Claims

1. A control system, comprising:

a first set of operator input devices located on a first machine;

a first laser target located on the first machine;

a first laser measurement system located on a second machine and configured to measure a distance to the first laser target; and

a communications system configured to selectively communicate;

from the first machine to the second machine a first mode of operation in which the second machine follows the first machine based on the measured distance; and

from the first machine to the second machine a second mode of operation in which the second machine moves based on a signal from the first set of operator input devices.

2. The control system of claim 1, wherein the first set of operator input devices includes controls for actuating at least one of a steering, braking, acceleration, or implement control system of the second machine.

3. The control system of claim 1, further including a second set of operator input devices located on the first machine for controlling the movement of the first machine.

4. The control system of claim 1, wherein the laser measurement system includes at least four lasers configured to measure a distance to the first laser target.

5. The control system of claim 4, wherein a difference in the measured distance between two of the at least four lasers indicates a change in a direction of the first machine with respect to the second machine.

6. The control system of claim 5, wherein in the first mode of operation the second machine follows the first machine based on the change in direction.

7. The control system of claim 1, wherein the laser measurement system includes at least two lasers configured to measure a distance to the first laser target.

8. The control system of claim 1, further including an actuator system located on the second machine and configured to actuate at least one of a brake control system, an acceleration control system, and a steering control system of the second machine.

9. The control system of claim 8, wherein the actuator system is connected to at least one of the first laser measurement system and the communications system.

10. The control system of claim 1, wherein the communications system is configured to transmit the distance from the second machine to the first machine.

11. The control system of claim 1, wherein in the first mode of operation the second machine follows the first machine independent of input from the first machine.

12. The control system of claim 1 further including:

a second laser target mounted on the second machine;

at least one additional machine, wherein the additional machine includes a second laser measurement system configured to measure a distance to the second laser target; and

wherein the additional machine is configured to move based on the measured distance to the second laser target and/or a signal from the first set of operator input devices.

13. The control system of claim 12, wherein the first set of operator input devices further includes a switch configured to selectively communicate the signals from the first set of operator input devices to the second machine and/or the at least one additional machine.

14. The control system of claim 1, wherein the selective communication of the first mode of operation and second mode of operation to the second machine includes communication of a selection of the first or second mode by an operator in the first machine.

15. A control system for a second machine, comprising:

a laser measurement system located on the second machine, the laser measurement system configured to measure a distance to a first laser target located on a first machine; and

a communications system located on the second machine, the communications system configured to selectively receive from the first machine;

a selection of a first mode of operation in which the second machine follows the first machine based on the measured distance; and

a selection of a second mode of operation in which the second machine moves based on control signals received from the first machine.

16. The control system of claim 15, wherein the laser measurement system includes at least four lasers configured to measure the distance to the laser target on the first machine.

17. The control system of claim 16, wherein a difference in the measured distance between two of the at least four lasers indicates a change in a direction of the first machine with respect to the second machine.