Machine control system having autonomous resource queuing

• US 8,930,043 B2
• Filed: 08/04/2011
• Issued: 01/06/2015
• Est. Priority Date: 11/30/2010
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Everett, Bryan J., Siemer, Michael, Koehrsen, Craig L., Vitale, Andrew J., Ellwood, John R.
• Primary Examiner(s): Jabr, Fadey
• Assistant Examiner(s): Soofi, Yazan A
• Application Number:
  US13/198,480
• Publication Number:
  US 20120136509A1
• Time in Patent Office: 1,251 Days
• Field of Search: 701/2, 701/25, 701/26, 701/50
• US Class Current: 701/2
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/2054 Fleet management
• 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 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

A control system is disclosed for use with a plurality of mobile machines operating at a worksite having a resource. The control system may have a worksite controller configured to divide a common travel path into a plurality of segments, including at least a spot segment at the resource and a stage segment. The worksite control may further be configured to receive a first input indicative of a desire for a first of the plurality of mobile machines to leave the spot segment, and to direct the first of the plurality of mobile machines out of the spot segment based on the first input. The worksite controller may be further configured to receive first location information for the first of the plurality of mobile machines, and to direct the second of the plurality of mobile machines from the stage segment into the spot segment based on the first location information.

Claims

1. A control system for use with a plurality of mobile machines operating at a worksite having a resource, the control system comprising:

a plurality of control modules, each associated with one of the plurality of mobile machines; and

a worksite controller in communication with the plurality of control modules, the worksite controller being configured to;

divide a common travel path of the plurality of mobile machines into a plurality of virtual segments, including at least a spot segment at the resource in which one of the plurality of mobile machines can be loaded, a stage segment in which one of the plurality of mobile machines can wait to be loaded, and a queue segment in which one of the plurality of mobile machines can wait to be directed to the stage segment;

receive a first input from an operator of the resource indicative of a desire for a first of the plurality of mobile machines to leave the spot segment;

instruct a first of the plurality of control modules associated with the first of the plurality of mobile machines to direct the first of the plurality of mobile machines out of the spot segment based on the first input;

receive first location information for the first of the plurality of mobile machines from the first of the plurality of control modules; and

instruct a second of the plurality of control modules associated with a second of the plurality of mobile machines to direct the second of the plurality of mobile machines out of the stage segment into the spot segment based on the first location information.

2. The control system of claim 1, wherein the stage segment is located adjacent the spot segment.

3. The control system of claim 1, wherein the plurality of segments further includes at least one of a cushion segment and an interference segment located between the spot segment and the stage segment.

4. The control system of claim 3, wherein the plurality of segments includes the cushion segment and a dimension of the cushion segment changes and the dimensions of the spot and stage segments remain substantially fixed as the resource moves.

5. The control system of claim 3, wherein the plurality of segments includes the interference segment and the worksite controller is configured to delay movement of the second of the plurality of mobile machines through the interference segment until the first of the plurality of mobile machines has moved through the interference segment.

6. The control system of claim 1, wherein

the worksite controller is further configured to:

receive second location information for the second of the plurality of mobile machines from a second of the plurality of control modules; and

instruct a third of the plurality of control modules associated with the third of the plurality of mobile machines to direct a third of the plurality of mobile machines from the queue segment into the stage segment based on the second location information.

7. The control system of claim 1, wherein

the worksite controller is further configured to:

receive a second input from the operator of the resource indicative of a desire for a third of the plurality of mobile machines to enter the stage segment; and

instruct a third of the plurality of control modules associated with the third of the plurality of mobile machines to direct the third of the plurality of mobile machines from the queue segment into the stage segment based on the second input.

8. The control system of claim 7, wherein the queue segment is located adjacent the stage segment.

9. The control system of claim 7, and an interference segment located between the queue segment and the stage segment.

10. The control system of claim 9, wherein the plurality of segments includes the cushion segment and a dimension of the cushion segment changes and the dimensions of the spot, stage, and queue segments remain substantially fixed as the resource moves.

11. The control system of claim 9, wherein the plurality of segments includes the interference segment and the worksite controller is configured to delay movement of the second of the plurality of mobile machines through the interference segment until the first of the plurality of mobile machines has moved through the interference segment.

12. The control system of claim 1, wherein:

the common travel path includes;

a first lane allowing the plurality of mobile machines to enter the spot segment; and

a second lane allowing the plurality of mobile machines to exit the spot segment; and

the worksite controller is further configured to generate a cusp at the resource for connection of the first lane to the second lane.

13. The control system of claim 12, wherein the cusp includes the stage segment.

14. The control system of claim 12, wherein generation of the cusp is based on at least one of an available space at the resource and a user-defined goal.

15. The control system of claim 12, wherein the cusp overlaps at least partially with the second lane.

16. The control system of claim 12, wherein the worksite controller is configured to:

receive a second input from the operator of the resource designating a new location for the spot segment; and

the cusp is generated based on the second input.

17. A non-transitory computer readable medium having computer executable instructions for performing a method of resource queuing, the method comprising:

dividing a common travel path for a plurality of mobile machines into a plurality of segments, including at least a spot segment at a resource in which one of the plurality of mobile machines can be loaded, a stage segment in which one of the plurality of mobile machines can wait to be loaded, and a queue segment in which one of the plurality of mobile machines can wait to be directed to the stage segment;

receiving a first input from an operator of the resource indicative of a desire for a first of the plurality of mobile machines to leave the spot segment;

directing the first of the plurality of mobile machines out of the spot segment based on the first input;

receiving a first location information for the first of the plurality of mobile machines; and

directing the second of the plurality of mobile machines from the stage segment into the spot segment based on the first location information.

18. The non-transitory computer readable medium of claim 17, wherein the stage segment is located adjacent the spot segment.

19. The non-transitory computer readable medium of claim 17, wherein the plurality of segments further includes at least one of a cushion segment and an interference segment located between the spot segment and the stage segment.

20. The non-transitory computer readable medium of claim 19, wherein the plurality of segments includes the cushion segment and the method further includes adjusting a dimension of the cushion segment and maintaining the dimensions of the spot and stage segments as the resource moves.

21. The non-transitory computer readable medium of claim 19, wherein the plurality of segments includes the interference segment and the method further includes delaying movement of the second of the plurality of mobile machines through the interference segment until the first of the plurality of mobile machines has moved through the interference segment.

22. The non-transitory computer readable medium of claim 17, wherein:

the method further includes;

receiving second location information for the second of the plurality of mobile machines; and

directing a third of the plurality of mobile machines from the queue segment into the stage segment based on the second location information.

23. The non-transitory computer readable medium of claim 17, wherein:

the method further includes;

receiving a second input from the operator of the resource indicative of a desire for a third of the plurality of mobile machines to enter the stage segment; and

directing the third of the plurality of mobile machines from the queue segment into the stage segment based on the second input.

24. The non-transitory computer readable medium of claim 23, wherein the queue segment is located adjacent the stage segment.

25. The non-transitory computer readable medium of claim 23, wherein the plurality of segments further includes at least one of a cushion segment and an interference segment located between the queue segment and the stage segment.

26. The non-transitory computer readable medium of claim 25, wherein the plurality of segments includes the cushion segment and the method further includes changing a dimension of the cushion segment and maintaining the dimensions of the spot, stage, and queue segments as the resource moves.

27. The non-transitory computer readable medium of claim 25, wherein the plurality of segments includes the interference segment and the method further includes delaying movement of the second of the plurality of mobile machines through the interference segment until the first of the plurality of mobile machines has moved through the interference segment.

28. The non-transitory computer readable medium of claim 17, wherein:

the common travel path includes;

a first lane allowing the plurality of mobile machines to enter the spot segment; and

a second lane allowing the plurality of mobile machines to exit the spot segment; and

the method further includes generating a cusp at the resource for connection of the first lane to the second lane.

29. The non-transitory computer readable medium of claim 28, wherein the cusp includes the stage segment.

30. The non-transitory computer readable medium of claim 28, wherein generating the cusp includes generating the cusp based on at least one of an available space at the resource and a user-defined goal.

31. The non-transitory computer readable medium of claim 28, wherein the cusp overlaps at least partially with the second lane.

32. The non-transitory computer readable medium of claim 28, wherein:

the method further includes receiving a second input from the operator of the resource designating a new location for the spot segment; and

generating the cusp includes generating the cusp based on the second input.

33. A non-transitory computer readable medium having computer executable instructions for performing a method of resource queuing, the method comprising:

dividing a common travel path for a plurality of mobile machines into a plurality of segments, including at least a spot segment at a resource in which one of the plurality of mobile machines can be loaded, a stage segment located adjacent the spot segment in which one of the plurality of mobile machines can wait to be loaded, and a queue segment spaced apart from the stage segment by at least one of a cushion segment and an interference segment in which one of the plurality of mobile machines can wait to be directed to the stage segment;

receiving a first input from an operator of the resource indicative of a desire for a first of the plurality of mobile machines to leave the spot segment;

directing the first of the plurality of mobile machines out of the spot segment based on the first input;

receiving a first location information for the first of the plurality of mobile machines;

directing the second of the plurality of mobile machines from the stage segment into the spot segment based on the first location information;

receiving a second input from the operator of the resource indicative of a desire for a third of the plurality of mobile machines to enter the stage segment; and

directing the third of the plurality of mobile machines from the queue segment into the stage segment based on the second input.

34. The non-transitory computer readable medium of claim 33, wherein:

the common travel path includes;

a first lane allowing the plurality of mobile machines to enter the spot segment; and

a second lane allowing the plurality of mobile machines to exit the spot segment; and

the method further includes;

receiving a third input from the operator of the resource designating a new location for the spot segment; and

generating a cusp at the resource for connection of the first lane to the second lane based on at least one of an available space at the resource and a user-defined goal.