Worksite system having awareness zone mapping and control

• US 9,134,721 B2
• Filed: 03/10/2011
• Issued: 09/15/2015
• Est. Priority Date: 03/10/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koehrsen, Craig L., Doherty, Thomas F.
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US13/044,847
• Publication Number:
  US 20120232779A1
• Time in Patent Office: 1,650 Days
• Field of Search: 701/301
• US Class Current: 1/1
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/49141 Detect near collision and slow, stop, inhibit movement tool
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

A worksite system is disclosed. The worksite system may have an input module configured to receive at least one of a boundary and a characteristic of an awareness zone at a worksite, and at least one locating device configured to determine a position of a mobile machine and another mobile entity at the worksite. The worksite system may also have a controller in communication with the input module and the at least one locating device. The controller may be configured to track movement of the mobile machine, and to make a determination of a presence of the other mobile entity. The controller may also be configured to initiate a collision avoidance strategy in response to at least one of the mobile machine nearing or entering the awareness zone when the other mobile entity is in the awareness zone.

Claims

1. A worksite system, comprising:

an input module configured to receive at least one of a boundary and a characteristic of an awareness zone at a worksite;

at least one locating device configured to determine a position of a mobile machine and another mobile entity at the worksite, wherein the awareness zone is independent of the positions of the mobile machine and the mobile entity; and

a controller in communication with the input module and the at least one locating device, the controller being configured to;

track movement of the mobile machine;

make a determination of a presence of the other mobile entity; and

initiate a collision avoidance strategy in response to at least one of the mobile machine nearing or entering the awareness zone only when the mobile entity is in the awareness zone.

2. The worksite system of claim 1, wherein initiation of the collision avoidance strategy includes generation of an alert directed to at least one of the mobile machine and the other mobile entity.

3. The worksite system of claim 2, wherein the controller is configured to direct the alert to both the mobile machine and the other mobile entity.

4. The worksite system of claim 2, wherein the alert generated by the controller is customizable by a user of the worksite system.

5. The worksite system of claim 1, wherein the at least one of the boundary and the characteristic of the awareness zone is received from a user of the worksite system.

6. The worksite system of claim 1, wherein the controller is further configured to:

generate an electronic map of the worksite;

generate electronic representations of the mobile machine and the other mobile entity on the electronic map based on information from the at least one locating device; and

generate at least one electronic boundary on the electronic map based on the at least one of the boundary and the characteristic of the awareness zone.

7. The worksite system of claim 6, wherein the controller is configured to communicate the electronic map having the electronic representations of the mobile machine and the other mobile entity and the at least one electronic boundary to the mobile machine and the other mobile entity for display therein.

8. The worksite system of claim 1, wherein the awareness zone is stationary and associated with a feature of the worksite.

9. The worksite system of claim 8, wherein the feature includes at least one of an intersection, an excavation area, a dump area, and a service area.

10. The worksite system of claim 1, wherein the awareness zone has at least one of a shape and a size based on a type of the mobile machine and the other mobile entity.

11. The worksite system of claim 1, wherein the controller is configured to inhibit initiation of the collision avoidance strategy when only the mobile machine is in the awareness zone.

12. A worksite system, comprising:

an input module configured to receive at least one of a position and a characteristic of a stationary awareness zone associated with a feature at a worksite;

at least one locating device configured to determine a position of a first mobile machine and a second mobile machine at the worksite, wherein the awareness zone is independent of the positions of the first mobile machine and the second mobile machine; and

a controller in communication with the input module and the at least one locating device, the controller being configured to;

track movement of the first mobile machine toward the awareness zone;

make a determination of a presence of the second mobile machine in the awareness zone;

generate an alert directed to both the first and second machines in response to at least one of the first mobile machine nearing or entering the awareness zone only when the second mobile machine is in the awareness zone;

generate an electronic map of the worksite having electronic representation of the first and second mobile machines and at least one electronic boundary on the electronic map associated with the awareness zone; and

communicate the electronic map to the first and second mobile machines for display therein.

13. A method of avoiding collisions at a common worksite, the method comprising:

receiving at least one of a boundary and a characteristic of an awareness zone at the common worksite;

remotely tracking movement of a mobile machine into the awareness zone;

determining a presence of another mobile entity in the awareness zone, wherein the awareness zone is independent of the positions of the mobile machine and the mobile entity; and

initiating a collision avoidance strategy in response to at least one of the mobile machine nearing or entering the awareness zone only when the other mobile entity is in the awareness zone.

14. The method of claim 13, wherein initiating the collision avoidance strategy includes directing an alert to at least one of the mobile machine and the other mobile entity.

15. The method of claim 14, wherein the directing the alert includes directing the alert to both the mobile machine and the other mobile entity.

16. The method of claim 14, wherein the alert is customizable by a user.

17. The method of claim 13, wherein receiving the at least one of the boundary and the characteristic of an awareness zone includes receiving the at least one of the boundary and the characteristic of an awareness zone from a user.

18. The method of claim 13, further including:

generating an electronic map of the worksite;

generating electronic representations of the mobile machine and the other mobile entity on the electronic map;

generating at least one electronic boundary on the map based on the at least one of the position and the characteristic of the awareness zone; and

communicating the electronic map having the electronic representations of the mobile machine, the other mobile entity, and the at least one electronic boundary to the mobile machine and the other mobile entity for display therein.

19. The method of claim 13, wherein the awareness zone is substantially stationary and associated with at least one of an intersection, an excavation area, a dump area, and a service area.

20. The method of claim 13, further including inhibiting initiation of the collision avoidance strategy when only the mobile machine is in the awareness zone.