Method for operating machines on worksites

• US 9,703,290 B1
• Filed: 02/13/2016
• Issued: 07/11/2017
• Est. Priority Date: 02/13/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Vandapel, Nicolas Franois-Xavier Christophe, Chan, Nicholas, Happold, Michael Karl Wilhelm, Capodieci, Andrew James, Patel, Meenal
• Primary Examiner(s): Soofi, Yazan
• Application Number:
  US15/043,520
• Time in Patent Office: 514 Days
• Field of Search: 701 28
• CPC Class Codes: E21B 3/00 Rotary drilling
• CPC Class Codes: E21B 44/00 Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
• CPC Class Codes: E21B 7/02 Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S

Abstract

A method for operating a machine on a worksite is disclosed. The method includes detecting a forward worksite condition and a rearward worksite condition relative to the machine, respectively by a first image capturing module and a second image capturing module. Thereafter, the method includes determination of a measure of effect of the machine on the worksite by comparing the rearward worksite condition with the forward worksite condition. The measure of effect is one of a deviation of an actual machine path with a baseline operational path or an impression left by the machine on the worksite. Finally, controlling one or more parameters related to a movement of the machine over the worksite, based on the measure of effect, is carried out.

Claims

1. A method for operating a machine on a worksite, the method comprising:

detecting a forward worksite condition and a rearward worksite condition relative to the machine, respectively by a first image capturing module and a second image capturing module;

determining a measure of effect of a movement of the machine on the worksite by comparing the rearward worksite condition with the forward worksite condition;

wherein the measure of effect is one of a deviation of an actual machine path with a baseline operational path or an impression left by the machine on the worksite; and

controlling one or more parameters related to the movement of the machine over the worksite, based on the measure of effect.

2. The method of claim 1, wherein comparing the rearward worksite condition with the forward worksite condition corresponds to segmenting and recognizing a terrain traversed by the machine.

3. The method of claim 1, wherein determining the measure of effect includes reconstructing and estimating changes in the worksite as a result of the movement of the machine over the worksite.

4. The method of claim 1, wherein controlling one or more parameters of the machine based on the measure of effect facilitates compliance of the actual machine path with the baseline operational path.

5. The method of claim 1, wherein controlling one or more parameters corresponds to adjusting one or more ground engaging tools of the machine.

6. The method of claim 1, wherein controlling one or more parameters corresponds to adjusting a turning radius of the machine.

7. The method of claim 1, wherein the impression left by the machine is caused by one or more ground engaging traction devices of the machine.

8. An assessment system for a machine, the machine operable on a worksite, the assessment system comprising:

a first image capturing module configured to capture a forward worksite condition relative to the machine;

a second image capturing module configured to capture a rearward worksite condition relative to the machine; and

a controller in communication with the first image capturing module and the second image capturing module, the controller configured to;

determine a measure of effect of a movement of the machine on the worksite by comparing the rearward worksite condition with the forward worksite condition,

wherein the measure of effect is one of a deviation of an actual machine path with a baseline operational path or an impression left by the machine on the worksite; and

control one or more parameters related to the movement of the machine over the worksite, based on the measure of effect.

9. The system of claim 8, wherein the controller facilitates compliance of the actual machine path with the baseline operational path, based on the measure of effect.

10. The system of claim 8, wherein the first image capturing module is a forward facing camera and the second image capturing module is a rearward facing camera, relative to the machine.

11. The system of claim 8, wherein the machine includes a forward end and a rearward end, and the first image capturing module is mounted to the forward end and the second image capturing module is mounted to the rearward end.

12. The system of claim 8, wherein the first image capturing module and the second image capturing module are three dimensional sensors adapted to interpret a scene according to a field of view.

13. The system of claim 8, wherein the first image capturing module and the second image capturing module are one of a light detection and ranging (LIDAR) system, a mono camera module, a stereo camera module, a three-dimensional radar module, or a combination thereof.

14. The system of claim 8, wherein controlling the one or more parameters include adjusting one or more ground engaging tools of the machine.

15. The system of claim 8, wherein controlling the one or more parameters include adjusting a turning radius of the machine.

16. A machine having a forward end, a rearward end, and one or more ground engaging traction devices, the machine being operable on a worksite, the machine comprising

a first image capturing module arranged at the forward end to capture a forward worksite condition relative to the machine;

a second image capturing module arranged at the rearward end to capture a rearward worksite condition relative to the machine; and

a controller in communication with the first image capturing module and the second image capturing module, the controller configured to;

determine a measure of effect of a movement of the machine on the worksite by comparing the rearward worksite condition with the forward worksite condition,

wherein the measure of effect is one of a deviation of an actual machine path with a baseline operational path or an impression left by the machine on the worksite; and

control one or more parameters related to the movement of the machine over the worksite, based on the measure of effect.

17. The machine of claim 16, wherein the first image capturing module and the second image capturing module are one of a light detection and ranging (LIDAR) system, a mono camera module, a stereo camera module, a three-dimensional radar module, or a combination thereof.

18. The machine of claim 16, wherein the first image capturing module is a forward facing camera and the second image capturing module is a rearward facing camera.

19. The machine of claim 16, wherein comparing the rearward worksite condition with the forward worksite condition corresponds to segmenting and recognizing a terrain traversed by the machine, and the impression left by the machine on the worksite.

20. The machine of claim 16, wherein controlling one or more parameters includes controlling a turning radius of the machine.