Terrain mapping system using virtual tracking features

• US 9,651,381 B2
• Filed: 01/10/2014
• Issued: 05/16/2017
• Est. Priority Date: 01/10/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Becicka, Troy Kenneth, McGee, Robert Jason, Clar, Jean-Jacques, Taylor, Michael Allen
• Primary Examiner(s): Le, Toan
• Application Number:
  US14/152,447
• Publication Number:
  US 20150198736A1
• Time in Patent Office: 1,222 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence

Abstract

A terrain mapping system is disclosed for a machine having at least one traction device. The system may have a sensor associated with the machine and configured to generate a signal indicative of a position of the machine. The system may also have at least one controller in communication with the sensor. The at least one controller may be configured to receive the signal from the sensor, and divide an area between the at least one traction device and a work surface into a plurality of virtual tracking features based on the signal and known geometry of the machine. The at least one controller may also be configured to track movement of the plurality of virtual tracking features, and update an electronic terrain map of a worksite based on the movement of the plurality of virtual tracking features.

Claims

1. A terrain mapping system for a machine having at least one traction device, the system comprising:

a sensor associated with the machine and configured to generate a signal indicative of a position of the machine;

at least one controller in communication with the sensor, the at least one controller configured to;

receive the signal from the sensor;

divide an area between the at least one traction device and a work surface into a plurality of virtual tracking features based on the signal and known geometry of the machine;

track movement of the plurality of virtual tracking features;

update an electronic terrain map of a worksite based on the movement of the plurality of virtual tracking features; and

selectively adjust at least one of a size or a position of at least one of the plurality of virtual tracking features based on at least one of a traveling speed or an orientation of the machine.

2. The terrain mapping system of claim 1, wherein the plurality of virtual tracking features includes:

a first rectangle extending between a front end of the at least one traction device and a middle of the at least one traction device; and

a second rectangle extending between the middle of the at least one traction device to a rear end of the at least one traction device.

3. The terrain mapping system of claim 1, wherein the at least one controller is configured to decrease the size of at least one of the plurality of virtual tracking features when the traveling speed exceeds a threshold speed.

4. The terrain mapping system of claim 1, wherein:

the machine has a work tool;

the sensor is a first sensor;

the system further includes a second sensor associated with the work tool and configured to generate a signal indicative of a position of the work tool; and

the at least one controller is configured to;

receive the signal from the second sensor;

determine a location of an additional tracking feature defining an area between a front end of the at least one traction device and a bottom edge of the work tool based on the signal and known geometry of the machine and the work tool;

track movement of the additional tracking feature; and

update the electronic terrain map of the worksite based on the movement of the additional tracking feature.

5. The terrain mapping system of claim 4, wherein the at least one controller is configured to:

determine when the work tool is engaged with the work surface; and

only use the additional tracking feature to update the electronic terrain map when the work tool is engaged with the work surface.

6. The terrain mapping system of claim 4, wherein the at least one controller is configured to:

determine when the work tool is at least partially full of material; and

only use the additional tracking feature to update the electronic terrain map when the work tool is at least partially full of material.

7. The terrain mapping system of claim 1, wherein the at least one traction device includes two spaced apart traction devices, and the plurality of virtual tracking features includes:

a front line extending between front ends of the traction devices;

a middle line extending between centers of the traction devices; and

a rear line extending between rear ends of the traction devices.

8. The terrain mapping system of claim 7, wherein:

the machine has a work tool;

the sensor is a first sensor;

the system further includes a second sensor associated with the work tool and configured to generate a signal indicative of a position of the work tool; and

the at least one controller is configured to;

receive the signal from the second sensor;

determine a location of a work tool line defining a location of a bottom edge of the work tool based on the signal from the second sensor;

track movement of the work tool line; and

update the electronic terrain map of the worksite based on the movement of the work tool line.

9. The terrain mapping system of claim 8, wherein the at least one controller is configured to:

determine a gravitationally lowest of the front line, middle line, rear line, and the work tool line at a location on the electronic terrain map of the worksite; and

update the electronic terrain map of the worksite based on only the gravitationally lowest line.

10. The terrain mapping system of claim 1, wherein:

the at least one traction device includes two tracks on opposite sides of the machine; and

the plurality of virtual tracking features includes one rectangle associated with each of the two tracks.

11. The terrain mapping system of claim 1, wherein:

the at least one traction device includes two tracks on opposite sides of the machine;

each track has multiple shoes that are pivotally connected to each other end-to-end; and

the plurality of virtual tracking features includes a rectangle associated with locations of each shoe of the tracks.

12. A method for mapping terrain using at least one controller, the method comprising:

sensing a position of a machine as the machine travels along the terrain via at least one traction device;

dividing an area between the at least one traction device and a work surface into a plurality of virtual tracking features based on the sensed position of the machine and known geometry of the machine;

tracking movement of the plurality of virtual tracking features; and

updating an electronic terrain map of a worksite based on the movement of the plurality of virtual tracking features; and

selectively adjusting at least one of a size or a position of at least one of the plurality of virtual tracking features based on at least one of a traveling speed or an orientation of the machine.

13. The method of claim 12, wherein the method further includes:

sensing a position of a work tool associated with the machine;

determining a location of an additional tracking feature defining an area between a front end of the at least one traction device and a bottom edge of the work tool based on the sensed position of the work tool;

tracking movement of the additional tracking feature; and

updating the electronic terrain map of the worksite based on the movement of the additional tracking feature.

14. The method of claim 13, wherein the method further includes:

determining when the work tool is engaged with the work surface; and

only using the additional tracking feature to update the electronic terrain map when the work tool is engaged with the work surface.

15. The system of claim 13, wherein the at least one controller is configured to:

determining when the work tool is at least partially full of material; and

only using the additional tracking feature to update the electronic terrain map when the work tool is at least partially full of material.

16. A terrain mapping system for a machine having at least one traction device and a work tool, the system comprising:

a first sensor associated with the machine and configured to generate a first signal indicative of a position of the machine;

a second sensor associated with the work tool and configured to generate a second signal indicative of a position of the work tool;

at least one controller in communication with the first and second sensors, the at least one controller configured to;

receive the first and second signals;

divide an area between the at least one traction device and a work surface into a first tracking feature and a second tracking feature based on the first signal and known geometry of the machine;

determining a location of a third tracking feature defining an area between a front end of the at least one traction device and a bottom edge of the work tool based on the second signal and known geometry of the machine and the work tool;

track movement of the first, second, and third tracking features; and

update an electronic terrain map of a worksite based on the movement of the first, second, and third tracking features;

selectively adjust at least one of a size or a position of at least one of the first, second, and third tracking features based on at least one of a traveling speed or an orientation of the machine.