Systems and methods for machine control in designated areas

• US 8,428,790 B2
• Filed: 12/22/2009
• Issued: 04/23/2013
• Est. Priority Date: 12/22/2009
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koch, Roger Dale, Humphrey, James Decker
• Primary Examiner(s): Fleming, Faye M.
• Application Number:
  US12/645,459
• Publication Number:
  US 20110153117A1
• Time in Patent Office: 1,218 Days
• Field of Search: 701/2, 701/300, 701/301, 701/302, 701/116, 701/117, 340/988, 340/989
• US Class Current: 701/2
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• 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 1/0274 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
• CPC Class Codes: G05D 1/0282 generated in a local control room

Abstract

Systems and methods for controlling a machine comprise receiving information indicative of an occurrence of a prospective event and providing an event initiation signal to one or more machines. The event initiation signal may be configured to cause a controller of the one or more machines to control movement of the one or more machines based at least on a location of the machine relative to a designated area surrounding a location at which the prospective event is to occur.

Claims

1. A method for determining machine control zones, comprising:

receiving information indicative of an occurrence of a prospective event; and

providing, to one or more machines, an event initiation signal configured to cause a controller of the one or more machines to control movement of the one or more machines based at least on a location of the machine relative to a designated area surrounding a location at which the prospective event is to occur.

2. The method of claim 1, wherein the information indicative of the occurrence of the prospective event includes at least a time that the prospective event is to commence and the location at which the prospective event is to occur, the method further comprising determining a location of a boundary associated with the designated area based on the information indicative of the occurrence of the prospective event.

3. The method of claim 2, further comprising:

monitoring a position of one or more of the machines;

modifying the time that the prospective event is to commence based on the position of the one or more of machines; and

providing, to the one or more machines, an updated event initiation signal that includes the modified time that the prospective event is to commence.

4. The method of claim 3, wherein modifying the time that the prospective event is to commence includes estimating, based on the position of the one or more machines, a time at which the number of machines expected to be within the designated area is less than a threshold number.

5. The method of claim 3, further including determining, for each of the one or more machines, whether the machine is operating in a manual mode or an autonomous mode.

6. The method of claim 5, wherein the designated area includes a first designated area, the method further comprising:

establishing a second designated area surrounding the location at which the perspective event is to occur, the second designated area encompassing the first designated area,

wherein the event initiation signal comprises information indicative of a location of a boundary associated with the second designated area, and

wherein the event initiation signal is further configured to cause a controller of the one or more machines to control movement of each manually-operated machine, based at least on the location of the manually-operated machine and the location of the boundary associated with the second designated area.

7. The method of claim 6, wherein the event initiation signal is further configured to cause a controller of the one or more machines to prevent manual operation of the manually-operated machine within the second designated area.

8. The method of claim 7, wherein the event initiation signal is further configured to cause a controller of the one or more machines to enable automated control of a manually-operated machine that is located within the second designated area and cause the manually-operated machine to exit the second designated area along a predetermined path to the boundary of the second designated area.

9. The method of claim 6, wherein the event initiation signal is further configured to cause a controller of the one or more machines to prevent autonomous operation of the machine within the first designated area.

10. The method of claim 1, wherein the designated area includes a blast zone located in a mine site, the prospective event includes a detonation of explosive material in the blast zone, and information indicative of the prospective event includes an amount of explosive material rigged for detonation.

11. The method of claim 10, wherein determining the location of the boundary associated with the designated area includes:

estimating a blast radius around the location at which the prospective event is to occur based at least on the amount of explosive material rigged for detonation;

analyzing a topographical profile associated with the location at which the prospective event is to occur based on a job site map; and

establishing a location of the of a boundary associated with the designated area based at least on the estimated blast radius and the topographical profile associated with the location at which the prospective event is to occur.

12. The method of claim 1, wherein the event initiation signal is further configured to cause a controller of the one or more machines to disable the one or more machines if the one or more machines attempt to enter the designated area.

13. A method for controlling a machine, comprising:

receiving, at a processor associated with a job-site management system, information indicative of an occurrence of a prospective event;

identifying, at the processor, a designated area surrounding a location at which the perspective event is to occur;

identifying, at the processor, one or more machines operating within the designated area; and

providing, by the processor to the one or more identified machines, an event initiation signal, wherein the event initiation signal is configured to initiate an event control sequence for each of the one or more identified machines, the event control sequence configured to control movement of the one or more identified machines based at least on a location of the machine relative to the designated area.

14. The method of claim 13, wherein providing the event initiation signal includes:

generating, by the processor, the event initiation signal, which comprises;

information indicative of a location of a boundary associated with the designated area; and

information indicative of a time that the prospective event is to commence.

15. The method of claim 14, further comprising:

monitoring, at the processor, a position of one or more of the identified machines;

modifying, by the processor, the time that the prospective event is to commence based on the position of the one or more of the identified machines; and

providing, by the processor to a subscriber associated with the job-site management system, the modified time that the prospective event is to commence.

16. The method of claim 15, wherein the designated area includes a first designated area and identifying one or more machines operating near the designated area includes detecting, for each of the one or more of the identified machines, whether the machine is operating in a manual mode or an autonomous mode, the method further comprising:

establishing, at the processor, a second designated area surrounding the location at which the perspective event is to occur, the second designated area encompassing the first designated area,

wherein the event initiation signal comprises information indicative of a location of a boundary associated with the second designated area, and

wherein the event control sequence is further configured to control movement of each manually-operated machine, based at least on the location of the manually-operated machine and the location of the boundary associated with the second designated area.

17. A system for controlling a machine that is located near a blast zone in a mine environment, comprising:

a communication interface for receiving information indicative of an occurrence of a detonation of explosive material in a mine site; and

a processor coupled to the communication interface and configured to;

identify a blast zone surrounding a location at which the detonation is to occur;

identify one or more machines operating within the blast zone; and

provide, to the one or more identified machines, an event initiation signal, wherein the event initiation signal is configured to initiate an event control sequence for each of the one or more machines, the event control sequence configured to control movement of the one or more machines based at least on a location of the machine relative to the blast zone.

18. The system of claim 17, wherein the processor is further configured to identify one or more machines operating near the blast zone by detecting, for one or more of the identified machines, whether the machine is operating in a manual mode or an autonomous mode.

19. The system of claim 18, wherein the blast zone includes a first blast zone, and wherein the processor is further configured to:

establish a second blast zone surrounding the location at which the detonation is to occur, the second blast zone encompassing the first blast zone,

wherein the event initiation signal comprises information indicative of a location of a boundary associated with the second blast zone, and

wherein the event control sequence is further configured to control movement of each manually-operated machine, based at least on the location of the manually-operated machine and the location of the boundary associated with the second blast zone.

20. The system of claim 19, wherein the event control sequence prevents manual operation of the manually-operated machine within the second blast zone and prevents autonomous operation of the machine within the first blast zone.

21. The system of claim 19, wherein the event control sequence enables automated control of a manually-operated machine that is located within the second blast zone and causes the manually-operated machine to exit the second blast zone along a predetermined path to the boundary of the second blast zone.