Method and system for mapping terrain using machine parameters

• US 9,378,663 B2
• Filed: 06/27/2011
• Issued: 06/28/2016
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Jensen, Jeffrey Edward
• Primary Examiner(s): Satanovsky, Alexander
• Assistant Examiner(s): Rabovianski, Ivan
• Application Number:
  US13/169,318
• Publication Number:
  US 20120330550A1
• Time in Patent Office: 1,828 Days
• Field of Search: 702/5, 702/33, 702/185, 701/32.3, 701/50, 701/70, 701/409, 701/482
• US Class Current: 1/1
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: G09B 25/06 for surveying; for geography, e.g. relief models globes G09B27/00; maps G09B29/00
• CPC Class Codes: G09B 25/08 of scenic effects, e.g. trees, rocks, water surfaces for stage purposes A63J1/00

Abstract

A system for mapping terrain using at least one machine traveling along the terrain includes at least one controller. The at least one controller is configured to determine a plurality of machine parameters of the at least one machine as the at least one machine travels along the terrain. The plurality of machine parameters include a steering parameter and a speed of a component of the at least one machine. The at least one controller is also configured to determine, based on the determined machine parameters, a geometry and a grade of at least one path on the terrain along which the at least one machine travels. The at least one controller is further configured to create, based on the determined geometry and grade, a map indicating the at least one path.

Claims

1. A system for mapping terrain using at least a first machine and a second machine traveling along the terrain, the system comprising:

a controller for each of the respective first and second machines, each respective machine including a plurality of sensors in electrical communication with the controller of each respective machine, the controller configured to;

receive, from the plurality of sensors located on each respective machine including a steering sensor, a ground speed sensor, and a payload sensor, a plurality of machine parameters indicative of sensed operations of the respective machine as the respective machine travels along the terrain, the plurality of machine parameters including a steering parameter of the respective machine sensed by the steering sensor, a around speed of the respective machine sensed by the ground speed sensor, and a payload weight of the respective machine sensed by the payload sensor;

determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels;

create, based on the determined geometry and grade for the respective machine, a map indicating the plurality of paths for the respective machine;

determine at least one of an efficiency characteristic and a productivity characteristic for the respective plurality of paths based on the received machine parameters for the respective machine;

select at least one path from the plurality of paths for the respective machine to travel along in a future operation based on the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths for the respective machine; and

display the map to an operator of the respective machine, the map including a display of the at least one path selected by the controller;

wherein the at least one of the efficiency characteristic and the productivity characteristic indicates at least one of a fuel efficiency or an amount of payload moved.

2. The system of claim 1, wherein the controller for each of the respective first and second machines is further configured to:

calculate, based on the determined machine parameters for the respective machine, a distance and direction traveled by the respective machine; and

create the map based on the determined distance and direction traveled.

3. The system of claim 1, wherein:

the determined machine parameters further include a mass of the first and second machines, and

the controller for each of the respective first and second machines is further configured to calculate the grade of the plurality of paths based on the mass of the respective machine.

4. The system of claim 3, wherein:

the determined machine parameters further include an engine speed, a transmission gear, and a parameter indicating a parasitic load on a drive train of the respective machine; and

the controller for each of the respective first and second machines is further configured to calculate the grade of the plurality of paths further based on the engine speed, the transmission gear, and the parameter indicating the parasitic load.

5. The system of claim 1, wherein the controller for each of the respective first and second machines is further configured to:

display the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths.

6. The system of claim 5, wherein the controller for each of the respective first and second machines is further configured to determine a change in the characteristic over time for the respective plurality of paths.

7. The system of claim 5, wherein the plurality of paths includes a first path and a second path;

and the controller for each of the respective first and second machines is further configured to;

compare the at least one of the efficiency characteristic and the productivity characteristic of the first path to the at least one of the efficiency characteristic and the productivity characteristic of the second path; and

select and display one of the first path or the second path based on the comparison.

8. The system of claim 1, wherein the first machine is of a different type than the second machine, and the controller for each of the respective first and second machines is further configured to:

display the at least one determined efficiency characteristic and productivity characteristic for the respective machine.

9. The system of claim 1, wherein:

the determined machine parameters further include at least one of a fuel rate, a mass of the first and second machines, an engine speed, a transmission gear, or a parameter indicating a parasitic load associated with a drive train of the first and second machines.

10. A method for mapping terrain using a controller for each of a first machine and a second machine, the method comprising:

receiving, by the controller of each of the first machine and the second machine, a plurality of machine parameters indicative of sensed operations of the first machine and the second machine from a plurality of sensors as the first and second machines travel along the terrain;

the plurality of sensors;

located on each of the first machine and the second machine;

in electrical communication with the controller of each of the first machine and a second machine; and

including a steering sensor, a ground speed sensor, and a payload sensor;

the plurality of machine parameters including;

a steering parameter of the first and second machines sensed by the steering sensors;

a ground speed of the first and second machines sensed by the ground speed sensors; and

a payload weight of the first and second machines sensed by the payload sensors;

determining, based on the received machine parameters for the respective machines and using the respective controllers, a geometry and a grade of a plurality of paths on the terrain along which the respective machines travel;

creating, using the respective controllers, a map indicating the plurality of paths for the respective machines based on the determined geometry and grade for the respective machines;

determining, using the respective controllers, at least one of an efficiency characteristic and a productivity characteristic for the respective plurality of paths based on the received machine parameters for the respective machines;

transmitting the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths from the respective controllers to an off-board system;

selecting, using the off-board system, at least one path from the plurality of paths for the respective machines to travel along in a future operation based on the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths for the respective machines, and transmitting the at least one path selected for the respective machines from the off-board system to the respective controllers; and

displaying, using the respective controllers, the map to an operator of the respective machine, the map including a display of the at least one path selected for the respective machines by the off-board system;

wherein the at least one of the efficiency characteristic and the productivity characteristic indicates at least one of a fuel efficiency or an amount of payload moved.

11. The method of claim 10, further comprising:

displaying, using the respective controllers, the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths.

12. The method of claim 10, further comprising:

comparing, using the off-board system, the at least one of the efficiency characteristic and the productivity characteristic of the first machine to the at least one of the efficiency characteristic and the productivity characteristic of the second machine; and

selecting, using the off-boards system, one of the first machine or the second machine based on the comparison.

13. The method of claim 10, further comprising:

calculating, using the respective controllers, a distance and direction traveled by the first or second machines based on the determined machine parameters and using at least one of the controllers; and

creating, using the respective controllers, the map based on the determined distance and direction traveled.

18. The method of claim 10, further comprising:

updating, using the respective controllers, the map to identify the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths; and

transmitting the updated map from the respective controllers to the off-board system.

14. A system for mapping terrain using at least a first machine and a second machine traveling along the terrain, the system comprising:

a controller for each of the respective first and second machines configured to;

receive a plurality of machine parameters relating to an operation of the respective machine as the respective machine travels along the terrain from a plurality of sensors located on each respective machine, the plurality of sensors in electronic communication with the controller of each respective machine and include a steering sensor, a ground speed sensor, and a payload sensor, and wherein the plurality of machine parameters include a steering parameter of the respective machine sensed by the steering sensor, a ground speed of the respective machine sensed by the ground speed sensor, and a payload weight of the respective machine sensed by the payload sensor, and wherein the operation includes fuel injection in an engine of the respective machine;

determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels;

create, based on the determined geometry and grade for the respective machine, a map indicating the plurality of paths for the respective machine;

determine, based on the received machine parameters for the respective machine, a characteristic relating to at least one of efficiency or productivity for the respective plurality of paths for the respective machine;

select at least one path from the plurality of paths for the respective machine to travel along in a future operation based on the characteristic relating to the at least one of efficiency or productivity for the respective plurality of paths; and

display the map to an operator of the respective machine, the map including a display of the at least one path for the respective machine selected by the controller;

wherein the characteristic relating to the at least one of efficiency or productivity indicates a fuel efficiency or an amount of payload moved.

15. The system of claim 14, wherein the operation further includes movement or control of a component in the respective machine.

16. The system of claim 14, wherein the controller for each of the respective first and second machines is further configured to indicate a change in the geometry and the grade of the plurality of paths for the respective machine over time.

17. The system of claim 14, wherein the controller for each of the respective first and second machines is further configured to display the determined characteristic for the respective plurality of paths for the respective machine.

19. The system of claim 14, wherein the controller for each of the respective first and second machines is configured to determine the machine parameters without a GPS device.