Worksite avoidance system

• US 8,527,155 B2
• Filed: 06/27/2008
• Issued: 09/03/2013
• Est. Priority Date: 06/27/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): HOLLOWAY, JASON R
• Application Number:
  US12/163,652
• Publication Number:
  US 20090326734A1
• Time in Patent Office: 1,894 Days
• Field of Search: 701300-302, 701/50, 701/1, 701 23- 28, 340/539.26, 340/540, 340/425.5, 340/435, 340/436, 340/463, 374/13, 299/1.05, 299/1.9, 299/95, 299/12
• US Class Current: 701/50
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• 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: E21D 9/12 Devices for removing or hauling away excavated material or spoil; Working or loading platforms underground transport E21F13/00
• CPC Class Codes: E21F 17/18 Special adaptations of signalling or alarm devices for mine lifts B66B; gas-sensitive devices per se G01N

Abstract

An avoidance system is disclosed for operating a vehicle on a pile of material on a worksite, the material being released through an opening at the worksite and causing a disturbance zone to form on a surface of the pile. The system has a sensor positioned at the worksite and configured to sense the surface of the pile, and a processor in communication with the sensor and the vehicle. The processor is configured to identify the disturbance zone based on the sensed surface and a known location of the opening, and to transmit a signal indicative of the disturbance zone to the vehicle.

Claims

1. A method of operating a vehicle on a pile of material on a worksite, the material being released through a drain opening beneath the pile at the worksite, comprising:

sensing, at a sensor, a surface of the pile;

identifying, at a controller, based on the sensed surface and a known location of the drain opening, a disturbance zone on the surface of the pile caused by the release of material;

transmitting, by the controller, a signal indicative of the disturbance zone to the vehicle; and

controlling, by the controller, the vehicle to avoid the disturbance zone based on the signal.

2. The method of claim 1, further including determining a height of the pile based on the sensed surface, wherein identifying the disturbance zone includes determining a perimeter of the disturbance zone based on the location of the drain opening, an angle of repose of the material, and the height of the pile.

3. The method of claim 1, further including:

receiving a location of the vehicle; and

determining whether the vehicle is located within a distance of the disturbance zone,

wherein the signal is transmitted when it is determined that the vehicle is located within the distance of the disturbance zone.

4. The method of claim 1, further including at least one of halting operation of the vehicle and alerting an operator of the vehicle in response to the signal.

5. The method of claim 4, wherein the alert includes at least one of a visual alert and an audible alert.

6. The method of claim 1, further including displaying the pile, the disturbance zone, and the vehicle, to an operator of the vehicle based on the signal.

7. An avoidance system for operating a vehicle on a pile of material on a worksite, the material being released through a drain opening beneath the pile at the worksite and causing a disturbance zone to form on a surface of the pile, the system comprising:

a sensor positioned at the worksite and configured to sense the surface of the pile; and

a processor in communication with the sensor and the vehicle, the processor being configured to;

identify the disturbance zone based on the sensed surface and a known location of the drain opening;

transmit a signal indicative of the disturbance zone to the vehicle; and

control the vehicle to avoid the disturbance zone based on the signal.

8. The system of claim 7, wherein the processor is further configured to determine a height of the pile based on the sensed surface, wherein identifying the disturbance zone includes determining a perimeter of the disturbance zone based on the location of the drain opening, an angle of repose of the material, and the height of the pile.

9. The system of claim 7, wherein the processor is further configured to:

receive a location of the vehicle; and

determine whether the vehicle is located within a distance of the disturbance zone,

wherein the processor is configured to transmit the signal when it is determined that the vehicle is located within the distance of the disturbance zone.

10. The system of claim 7, wherein the vehicle includes a controller configured to halt operation of the vehicle or to alert a vehicle operator in response to the signal.

11. The system of claim 10, wherein the alert includes at least one of a visual alert and an audible alert.

12. The system of claim 7, wherein the vehicle includes a display device, the controller being configured to display the pile, the disturbance zone, and the vehicle on the display device based on the signal.

13. The system of claim 7, wherein the sensor includes a laser scanner.

14. A non-transitory computer-readable storage medium storing a computer program which, when executed by a computer, causes the computer to perform a method of operating a vehicle on a pile of material on a worksite, the material being released through a drain opening beneath the pile at the worksite, the method comprising:

sensing, at a sensor, a surface of the pile;

identifying, at a controller, based on the sensed surface and a known location of the drain opening, a disturbance zone on the surface of the pile caused by the release of material;

transmitting, by the controller, a signal indicative of the disturbance zone to the vehicle; and

controlling, by the controller, the vehicle to avoid the disturbance zone based on the signal.

15. The computer-readable storage medium of claim 14, wherein the method further includes:

determining a height of the pile based on the sensed surface,

wherein identifying the disturbance zone includes determining a perimeter of the disturbance zone based on the location of the drain opening, an angle of repose of the material, and the height of the pile.

16. The computer-readable storage medium of claim 14, wherein the method further includes:

receiving a location of the vehicle; and

determining whether the vehicle is located within a distance of the disturbance zone,

wherein the signal is transmitted when it is determined that the vehicle is located within the distance of the disturbance zone.

17. A vehicle operating on a pile of material on a worksite, the material being released through a drain opening beneath the pile at the worksite, the vehicle comprising:

a communication device configured to receive a signal indicative of a sensed surface of the pile;

a positioning device configured to determine a location of the vehicle on the worksite and to generate a signal indicative of the vehicle'"'"'s location; and

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

identify, based on the sensed surface and a known location of the drain opening, a disturbance zone on the surface of the pile caused by the release of material;

determine whether the vehicle is located within a distance of the disturbance zone; and

control the vehicle to avoid the disturbance zone based on the signal.

18. The vehicle of claim 17, further including an alert device in communication with the controller, wherein the controller is further configured to alert an operator of the vehicle via the alert device when it is determined that the vehicle is located within the distance of the disturbance zone.

19. The vehicle of claim 17, wherein the controller is further configured to halt operation of the vehicle when it is determined that the vehicle is located within the distance of the disturbance zone or control the vehicle to avoid the disturbance zone.

20. The vehicle of claim 17, further including a display device in communication with the controller, wherein the controller is configured to display the pile, the disturbance zone, and the vehicle on the display.