System for controlling a multimachine caravan

• US 8,620,530 B2
• Filed: 01/03/2012
• Issued: 12/31/2013
• 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:
  US13/342,563
• Publication Number:
  US 20120101662A1
• Time in Patent Office: 728 Days
• Field of Search: 701/48, 701/50, 701/96, 180/14.1, 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 method of operating a machine, comprising:

selecting a first mode of operation or a second mode of operation;

controlling the machine based on a determined distance and direction with respect to a lead machine when in the first mode of operation that includes measuring the distances between at least two lasers and a laser target; and

controlling the machine based on a signal received from the lead machine when in the second mode of operation.

2. The method of claim 1, wherein controlling the machine based on a determined distance and direction includes:

increasing and/or decreasing an engine torque and/or speed based on a determined difference in at least one of a distance, elevation, or direction;

actuating a steering control system based on a determined difference in direction; and

actuating a braking control system based on a determined difference in at least one of a distance, elevation, or direction.

3. The method of claim 1, wherein controlling the machine based on a determined distance and direction with respect to a lead machine when in the first operation occurs independent of input from the lead machine.

4. The method of claim 1, further including controlling an additional machine based on a determined distance and direction of the additional machine with respect to the machine when in the first mode of operation.

5. A method of operating a first machine, comprising:

communicating, from the first machine to a second machine;

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

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

6. The method of claim 5, further including actuating at least one of a steering, braking, acceleration, or implement control system of the second machine via the first set of operator input devices.