Automated machine navigation system with obstacle detection

• US 20090088979A1
• Filed: 09/27/2007
• Published: 04/02/2009
• Est. Priority Date: 09/27/2007
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koch, Roger Dale
• Application Number:
  US11/902,979
• Publication Number:
  US 20090088979A1
• Time in Patent Office: Days
• US Class Current: 701/224
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system is provided for automatically operating a machine. The system has a position monitor configured to monitor a position of the machine and a plurality of sensors configured to sense objects proximate to the machine. The system also has an obstacle monitor configured to determine the location of previously known and unknown objects proximate to the machine, the determination being based on data received from successive scans performed by the plurality of sensors. Furthermore, the system has a path generator configured to generate a path that is based at least in part on data from the position monitor and the obstacle monitor and a path tracker configured to automatically guide and move the machine along the path generated by the path generator.

Claims

1. A system for automatically operating a machine comprising:

a position monitor configured to monitor a position of the machine;

a plurality of sensors configured to sense objects proximate to the machine;

an obstacle monitor configured to determine the location of previously known and unknown objects proximate to the machine, the determination being based on data received from successive scans performed by the plurality of sensors;

a path generator configured to generate a path that is based at least in part on data from the position monitor and the obstacle monitor; and

a path tracker configured to automatically guide and move the machine along the path generated by the path generator.

2. The system of claim 1, wherein the obstacle monitor is configured to determine whether an obstacle is stationary or moving.

3. The system of claim 2, wherein the obstacle monitor is configured to determine a trend in data received from successive sensor scans describing the location of a moving object.

4. The system of claim 3, wherein the obstacle monitor is configured to predict future locations of the object based on the determined trend.

5. The system of claim 4, wherein the obstacle monitor is configured to determine the trend by applying an averaging filter to data received from the successive scans.

6. The system of claim 2, wherein the obstacle monitor is configured to determine the location of the objects by reconciling data received from successive scans.

7. The system of claim 6, wherein the obstacle monitor is configured to reconcile the data by applying an averaging filter to the data.

8. The system of claim 1, wherein the obstacle monitor is configured to determine if a previously known object proximate to the machine no longer exists.

9. The system of claim 8, wherein the obstacle monitor is configured to erase data relating to the previously known object if it no longer exists.

10. A method for automatically moving a machine along a path comprising:

scanning for objects as the machine moves along the path;

comparing data received from a scan to data received from previous scans;

determining the location of the objects based on data received from the current and previous scans;

determining whether any of the objects interfere with the path of the machine;

adjusting the path if it is determined that the object interferes with the path of the machine.

11. The method of claim 10, further including determining whether the objects are moving or stationary.

12. The method of claim 11, further including determining a trend in the data describing the location of an object.

13. The method of claim 12, further including predicting future locations of the object based on the trend.

14. The method of claim 13, wherein the trend is determined by applying an averaging filter to the data.

15. The method of claim 11, further including determining the location of an object by reconciling data received from successive scans.

16. The method of claim 15, wherein reconciling the data includes applying an averaging filter to the data received from the successive scans.

17. A machine, comprising:

at least one traction device configured to propel the machine;

a drive system configured to propel drive the at least one traction device; and

an navigation system, including;

a position monitor configured to monitor a position of the machine;

a plurality of sensors configured to sense objects proximate to the machine;

an obstacle monitor configured to determine the location of previously known and unknown objects proximate to the machine, the determination being based on data received from successive scans performed by the plurality of sensors;

a path generator configured to generate a path that is based at least in part on data from the position monitor and the obstacle monitor; and

a path tracker configured to automatically guide and move the machine along the path generated by the path generator.

18. The machine of claim 17, wherein the obstacle monitor is configured to determine whether an obstacle is stationary or moving.

19. The machine of claim 18, wherein the obstacle monitor is configured to determine a trend in data received from successive sensor scans describing the location of a moving object and predict future locations of the object based on the determined trend.

20. The machine of claim 18, wherein the obstacle monitor is configured to determine the location of the objects by reconciling data received from successive scans.