System and method for setting an end location of a path

• US 9,360,334 B2
• Filed: 09/12/2014
• Issued: 06/07/2016
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Edwards, Kyle, Wei, Mo, Taylor, Michael, Edara, Thandava K., Becicka, Troy K.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): Dunn, Alex C
• Application Number:
  US14/484,720
• Publication Number:
  US 20160076893A1
• Time in Patent Office: 634 Days
• Field of Search: 701/410
• US Class Current: 1/1
• CPC Class Codes: E02F 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• 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 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

A system for setting an end location of a path of operation of a machine at a work site includes a position sensor configured to determine a position of a path at the work site and a controller. The controller is configured to determine a position of a first path and a position of a second path, the first path and the second path defining a pair of paths on opposite sides of the path of operation and determine a physical characteristic of the pair of paths based upon the position of the first path and the position of the second path. The controller is further configured to determine whether the physical characteristic of the pair of paths is less than a threshold characteristic and set the end location of the path of operation if the physical characteristic of the pair of paths is less than the threshold characteristic.

Claims

1. A system for setting an end location of a path of operation of a machine at a work site, comprising:

a position sensor configured to determine a position of a path at the work site;

a controller configured to;

store a threshold characteristic of a pair of paths on opposite sides of the path of operation;

determine a position of a first path and a position of a second path, the first path and the second path defining the pair of paths on opposite sides of the path of operation;

determine a physical characteristic of the pair of paths based upon the position of the first path and the position of the second path;

determine whether the physical characteristic of the pair of paths is less than a threshold characteristic;

set the end location of the path of operation if the physical characteristic of the pair of paths is less than the threshold characteristic; and

send a reverse command to the machine to prevent the machine from travelling past the end location;

wherein the first path includes a first centerline and the second path includes a second centerline, and the physical characteristic is a distance between the first centerline and the second centerline.

2. The system of claim 1, wherein the distance between the first centerline and the second centerline is measured along a line perpendicular to the path.

3. The system of claim 2, wherein a work implement of the machine has a width and the distance between the first centerline and the second centerline is between 2.5 and 3 times the width.

4. The system of claim 1, wherein the first path includes a first centerline and the second path includes a second centerline, and the physical characteristic is an angle of deviation from parallel between the first centerline and the second centerline.

5. The system of claim 4, wherein the angle of deviation is 10 degrees.

6. The system of claim 1, wherein first path has a first end location, the second path has a second end location, and the end location of the path of operation is positioned at a location within a range of the end location of the first path and the end location of the second path.

7. The system of claim 6, wherein the work site includes a controlled area with a boundary defining a beginning of the controlled area and the end location of the path of operation is set to be aligned with one of the first end location and the second end location closest to the boundary.

8. The system of claim 1, wherein first path has a first end location, the second path has a second end location, and the end location of the path of operation is set based upon an intersection between the path of operation and a line connecting the first end location and the second end location.

9. The system of claim 8, wherein the first path includes a first centerline, the second path includes a second centerline, and the path of operation includes a centerline, and the end location of the path of operation is set at an intersection between a centerline of the path of operation and a line connecting the first centerline and the second centerline.

10. The system of claim 1, wherein the controller is further configured to store a second threshold characteristic and determine a second physical characteristic of the pair of paths based upon the position of the first path and the position of the second path, and set the end location of the path of operation if the second physical characteristic also is less than a second threshold characteristic.

11. The system of claim 1, wherein the controller is further configured to store an age threshold and data reflective of the position of the first path includes a first time indicator and data reflective of the position of the second path includes a second time indicator, and the end location of the path of operation is only set if the first time indicator and the second time indicator are less than the age threshold.

12. The system of claim 1, wherein the controller is further configured to store a map of the work site including the first path and the second path.

13. The system of claim 1, wherein the first path and the second path are slots formed in a work surface at the work site.

14. A controller implemented method of setting an end location of a path of operation of a machine at a work site, comprising:

storing a threshold characteristic of a pair of paths on opposite sides of the path of operation;

determining a position of a first path and a position of a second path, the first path and the second path defining the pair of paths on opposite sides of the path of operation;

determining a physical characteristic of the pair of paths based upon the position of the first path and the position of the second path;

determining whether the physical characteristic of the pair of paths is less than a threshold characteristic;

setting the end location of the path of operation if the physical characteristic of the pair of paths is less than the threshold characteristic; and

sending a reverse command to the machine to prevent the machine from travelling past the end location;

wherein the first path includes a first centerline and the second path includes a second centerline, and the physical characteristic is a distance between the first centerline and the second centerline.

15. The method of claim 14, wherein the first path includes a first centerline and the second path includes a second centerline, and determining the physical characteristic includes determining an angle of deviation from parallel between the first centerline and the second centerline.

16. The method of claim 14, wherein first path has a first end location, the second path has a second end location, and setting the end location of the path of operation includes aligning the end location of the path of operation with one of the first end location and the second end location in a direction generally perpendicular to the path of operation.

17. The method of claim 14, further including storing a second threshold characteristic, determining a second physical characteristic of the pair of paths based upon the position of the first path and the position of the second path, and setting the end location of the path of operation if the second physical characteristic also is less than a second threshold characteristic.

18. The method of claim 14, further including storing an age threshold, storing a first time indicator for data reflective of the position of the first path, storing a second time indicator for data reflective of the position of the second path, and only setting the end location of the path of operation if both the first time indicator and the second time indicator are less than the age threshold.