Method and apparatus for operating geography-altering machinery relative to a work site

• US 5,631,658 A
• Filed: 02/27/1996
• Issued: 05/20/1997
• Est. Priority Date: 12/08/1993
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Harrod, Gregory R., Henderson, Daniel E., Kleimenhagen, Karl W.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/607,542
• Time in Patent Office: 448 Days
• Field of Search: 342/357, 342/457, 364/449, 364/424.07, 364/424.01, 172/4.5, 37/907
• US Class Current: 342/457
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: E01C 19/004 Devices for guiding or controlling the machines along a predetermined path for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045
• 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: G05D 1/0236 in combination with a laser lasers per se H01S
• 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 method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.

Claims

1. Apparatus for directing the operations of a mobile geography-altering machine comprising:

(a) digital data storage and retrieval means for storing a first three-dimensional geographic site model representing the desired geography of a site and a second three-dimensional geographic site model representing the actual geography of the site;

(b) means for generating digital signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site;

(c) means for receiving said signals and for updating the second model in accordance therewith;

(d) means for determining and updating the difference between the first and second models in real time; and

(e) means for directing the operation of said machine in accordance with the difference to bring the updated second model into conformity with the first model.

2. Apparatus as defined in claim 1, wherein the means for generating three-dimensional position signals include a GPS receiver.

3. Apparatus as defined in claim 1, wherein the means for generating three-dimensional position signals is carried on the machine.

4. Apparatus as defined in claim 3, wherein the machine includes a tool movable relative to the machine for altering the site geography, and the means for generating three-dimensional position signals is mounted on the tool.

5. Apparatus as defined in claim 4, further including means on the machine to determine the elevation of the tool relative to the surface of the site.

6. Apparatus as defined in claim 1, wherein the means for directing the operation of the machine include an operator display.

7. Apparatus as defined in claim 6, wherein the operator display includes a plan view and a profile view of the first and second site models and the difference therebetween.

8. Apparatus as defined in claim 6, wherein the operator display includes a plan view of the site models and the difference therebetween.

9. Apparatus as defined in claim 6, wherein the operator display includes a profile view of the site models and the difference therebetween.

10. Apparatus as defined in claim 7, wherein the operator display includes a real-time display of the position of the mobile machine relative to the site models.

11. Apparatus as defined in claim 8, wherein the operator display includes real-time coarse and fine indicators of the difference between the site models at the position of the mobile machine.

12. Apparatus as defined in claim 6, wherein the operator display is carried on the mobile machine.

13. Apparatus as defined in claim 6, wherein the operator display is located off the mobile machine.

14. Apparatus as defined in claim 1, wherein the means for receiving the position signals and updating the second model, and the means for determining the difference between the first and second models are located on the machine.

15. Apparatus as defined in claim 1, wherein the means for receiving the position signals and updating the second model, and the means for determining the difference between the first and second models are located off the machine.

16. Apparatus as defined in claim 1, wherein the means for directing the operation of the machine include closed-loop automatic control means connected to actuate one or more operating systems on the machine.

17. Apparatus as defined in claim 1, wherein the machine comprises a site contouring machine, the first site model comprises a static three-dimensional model of the desired site geography, and the difference between the first and second models comprises the elevation difference between the actual site geography and the desired site geography.

18. Apparatus as defined in claim 1, further including differencing means for determining in real time the path of the machine relative to the site between position readings.

19. Apparatus as defined in claim 18, wherein the differencing means includes means for determining an effective width of a geography-altering portion of the machine which is of a magnitude less than or equal to its actual width.

20. Apparatus as defined in claim 19, wherein the differencing means includes means for determining the area of the site traversed by the geography-altering portion of the machine between position readings, and means for updating the area of the second site model altered by the effective width of the geography-altering portion.

24. A method as defined in claim 18, wherein the machine includes a tool movable relative to the machine and the three-dimensional position signals are generated in response to the position of means carried on the tool.

25. A method as defined in claim 24, further including the step of providing the tool with means to determine the elevation of the tool relative to the surface of the site.

21. A method of directing the operation of a mobile geography-altering machine comprising the steps of:

(a) producing and storing in a digital data storage and retrieval means both a first three-dimensional geographic site model representing the desired geography of a site and a second three-dimensional geographic site model representing the actual geography of the site;

(b) generating signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site;

(c) updating the second model in accordance with said three-dimensional position signals;

(d) determining and updating the difference between the first and second site models in real time; and

(e) directing the operation of said machine in accordance with the difference to bring the updated second site model into conformity with the first site model.

22. A method as defined in claim 21, wherein the three-dimensional position signals are generated by a GPS receiver.

23. A method as defined in claim 21, wherein the three-dimensional position signals are generated by means carried on the machine.

26. A method as defined in claim 21, wherein the step of directing the operation of the machine in accordance with the difference between the first and second site models includes providing an operator display of the difference between the first and second site models.

27. A method as defined in claim 26, further including the step of displaying the difference between the first and second site models in a plan view and a profile view.

28. A method as defined in claim 26, further including the step of displaying the difference between the first and second site models in a plan view.

29. A method as defined in claim 26, further including the step of displaying the difference between the first and second site models in a profile view.

30. A method as defined in claim 26, further including the step of displaying a real time position of the machine relative to the first and second site models.

31. A method as defined in claim 26, further including the step of providing the operator display on the machine.

32. Apparatus as defined in claim 26, further including the step of providing the operator display off the machine.

33. Apparatus as defined in claim 21, wherein the steps of updating the second model and determining the difference between the first and second models are carried out by means on the machine.

34. Apparatus as defined in claim 21, wherein the steps of updating the second model and determining the difference between the first and second models are carried out by means off the machine.

35. A method as defined in claim 21, wherein the step of directing the operation of the machine in accordance with the difference between the first and second site models includes the step of delivering a signal to control operation of one of a machine system and tool and bring the second site model into conformity with the first site model.

36. A method as defined in claim 21, wherein the machine is a site contouring machine, said first site model comprises a static three-dimensional model of the desired site geography, and the difference between the first and second models is determined as the elevation difference between the actual site geography and the desired site geography.

37. A method as defined in claim 21, wherein the step of updating the second model in accordance with the position of the machine includes the step of determining in real time the path of the machine relative to the site between the position readings.

38. A method as defined in claim 21, further including the step of determining an effective width for a geography-altering portion of the machine which is of a magnitude less than or equal to its actual width.

39. A method as defined in claim 38, further including the step of determining the area of the site traversed by the geography-altering portion of the machine between position readings, and updating the area of the second site model traversed by the effective width of the geography-altering portion.

40. A system for accurately monitoring and controlling the geography of a work site and machinery operating on the work site, comprising:

a mobile machine for going over or through and altering the geography of the site, the machine equipped with positioning means to accurately determine in real time the instantaneous position of at least a portion of the machine in three dimensions as it moves relative to the site;

a digital data storage facility in communication with the positioning means on the machine;

a first three-dimensional model of a desired site geography, and a second three-dimensional model of the actual site geography, the first and second site models stored in the digital data storage facility;

dynamic database means communicating with the digital data storage facility and the positioning means, the dynamic database means monitoring the position of the machine relative to the site in real time and updating the second site model in real time in response to the monitored position of the machine as it traverses the site, the dynamic database means further generating signals representing the updated real time difference between the first and second site models for directing the operation of the machine to bring the second updated site model into conformity with the first site model.

41. A system as defined in claim 40, further including operator display means for communicating said signals with the dynamic database means, and displaying the difference between the first and second site models and the position of the machine relative to the site.

42. A system as defined in claim 41, wherein the operator display is located on the machine.

43. A system as defined in claim 41, wherein the operator display is located off the machine.

44. A system as defined in claim 40, wherein the dynamic database means is located on the machine.

45. A system as defined in claim 40, wherein the dynamic database means is located off the machine.

46. A system as defined in claim 40, further including automatic control means on the machine in communication with the dynamic database means, the signals representing the difference between the first and second site models operating the automatic control means to bring the second site model into conformity with the first site model.

47. A system as defined in claim 40, wherein the positioning means comprise a GPS receiver.

48. A system as defined in claim 40, wherein the positioning means are mounted on the machine at a known position relative to a portion of the machine in contact with the site surface.

49. A system as defined in claim 40, wherein the machine includes a tool movable relative to the machine to alter the site, said positioning means being mounted to move with the tool.

50. A system as defined in claim 49, wherein the tool is further provided with a proximity detecting means to determine the elevation of the tool relative to the surface of the site.

51. A system as defined in claim 40, wherein the machine is provided with positioning means located at first and second spaced locations on the machine, said positioning means at the second location providing a directional reference relative to the positioning means at the first location.

52. A system as defined in claim 40, wherein the dynamic database includes differencing means for determining in real time the path of the machine relative to the site between position readings.

53. A system as defined in claim 52, wherein the machine includes a geography-altering portion of continuous width, the dynamic database means includes means for determining an effective width for the geography-altering portion which is of a magnitude less than or equal to its actual width, and the differencing means includes means for determining the path of the machine as a function of the effective width.

54. A system as defined in claim 52, wherein the differencing means includes a fill-in-the-polygon algorithm for determining the path traversed by a geography-altering portion of the machine between position readings.

55. A system as defined in claim 54, wherein the dynamic database means further includes means for updating the area of the second site model traversed by the geography-altering portion of the machine.

81. Apparatus as defined in claim 53, wherein the dynamic database means further includes means for updating the area of the second site model traversed by the effective width of geography-altering portion the machine.

56. A method for determining the path in real time of a mobile geography-altering machine over a geographic site, comprising the steps of:

providing a model of the site geography subdivided into a continuous matrix of unit areas;

equipping the mobile machine with means for determining the position in three-dimensional space of at least a portion of the machine as it traverses the site;

tracking the position of the machine while it traverses the site as a series of coordinate points on the site model;

determining physical parameters of an operative portion of the machine as a function of the unit areas of the site model; and

, determining a path of the machine relative to the site in real time, the path comprising the unit areas of the site model traversed by the operative portion of the machine between coordinate points.

57. A method as defined in claim 56, wherein the parameters of the operative portion of the machine are determined as effective parameters which are less than or equal to its actual parameters, and the path of the machine over the site as represented on the site model is determined by the path of the effective parameters of the operative portion.

58. A method as defined in claim 57, wherein the step of determining the effective parameters of the operative portion of the machine includes the step of determining an effective width of the operative portion which is less than its actual width.

59. A method as defined in claim 58, wherein the effective width is determined by locating each effective end of the operative portion of the machine from each actual end a distance corresponding to a fraction of the width of one unit area on the site model.

60. A method as defined in claim 58, wherein the operative portion of the machine comprises an earth-contouring blade of continuous width.

61. A method as defined in claim 58, wherein the operative portion of the machine comprises a plurality of geography-altering portions.

62. A method as defined in claim 57, further including the step of updating the geography of each unit area of the site model over which the effective parameters are determined to have passed.

63. An apparatus for determining the path in real time of a mobile geography-altering machine over a geographic site, comprising:

a model of the site geography subdivided into a continuous matrix of unit areas, stored in a digital storage facility;

a mobile machine equipped with means for determining the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site;

means communicating with the digital storage facility and the position-determining means for tracking the instantaneous position of the machine while it traverses the site as a series of coordinate points on the site model;

means for determining physical parameters of an operative portion of the machine as a multiple of the unit areas of the site model; and

,

means for determining the path of the machine relative the site in real time, the path comprising the unit areas of the site model traversed by the operative portion of the machine between coordinate points.

64. An apparatus as defined in claim 63, wherein the means for determining the physical parameters include means for determining effective parameters of the operative portion of the machine which are less than or equal to its actual parameters, and the means for determining the path of the machine over the site as represented on the site model include means for determining the path of the effective parameters of the operative portion.

65. An apparatus as defined in claim 64, wherein the effective parameters of the operative portion of the machine comprise an effective width of the operative portion which is less than its actual width.

66. An apparatus as defined in claim 65, wherein the effective width is defined between effective ends of the operative portion of the machine spaced from each actual end a fraction of the width of one unit area on the site model.

67. An apparatus as defined in claim 65, wherein the operative portion of the machine comprises an earth-contouring blade of continuous width.

68. An apparatus as defined in claim 65, wherein the operative portion of the machine comprises a plurality of geography-altering portions of continuous width.

69. An apparatus as defined in claim 64, further including means for updating the geography of each unit area of the site model over which the effective parameters are determined to have passed.

70. A method for precisely determining the position of a machine in three-dimensional space relative to a land site using three-dimensional position signals and a digitized model of the site, and for displaying and directing the progress of work performed on the site by the machine, comprising the steps of:

(a) equipping the machine to receive position signals representing in real time the instantaneous position in three-dimensional space of a portion of the machine as it traverses the site;

(b) producing and storing in a digital data storage facility an actual site model representing the actual geography of the site, and a desired site model comprising a static three-dimensional model of a desired site geography, the actual model of the site geography subdivided into a continuous matrix of unit areas in a digital data storage facility;

(c) determining the physical parameters of an operative portion of the machine as a function of unit areas of the site model, the parameters of the operative portion of the machine comprising effective parameters which are less than or equal to its actual parameters;

(d) tracking the position of the machine while it traverses the site as a series of three-dimensional coordinate points;

(e) determining a path of the machine in real time comprising the unit areas traversed by the effective parameters of the operative portion of the machine between coordinate points;

(f) operating the machine on the site while simultaneously updating the actual site model in the storage facility in real time according to the path of the operative portion of the machine relative to the site, and displaying to the operator of the machine in real time the actual site model, the desired site model, a current difference between the actual and desired site models, and the position of the machine relative to the actual and desired site models.

71. A method as defined in claim 70, wherein the operator display means are located on the machine.

72. A method as defined in claim 70, wherein the operator display means are located off the machine.

73. A method as defined in claim 71, wherein the dynamic database means are located on the machine.

74. A method as defined in claim 71, wherein the dynamic database means are located off the machine, the apparatus further including means for transmitting signals representing the updated site model from the dynamic database means off the machine to the operator display means on the machine, and means for transmitting the position of the machine to the dynamic database.

75. An apparatus for precisely determining the position of a machine in three-dimensional space relative to a land site using three-dimensional position signals and a digitized model of the site, comprising:

(a) a mobile machine equipped with means for receiving the position signals and for determining the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site;

(b) a model of the site geography stored in a digital data storage facility;

(c) dynamic database means communicating with the means for determining the machine position and the digital data storage facility, the dynamic database means including means for updating the site model in the storage facility in real time according to the three-dimensional position of at least a portion of the machine relative to the site, wherein the site model is an actual site model representing the actual geography of the site, and a desired site model is stored in the digital storage facility, the dynamic database means including means for determining in real time the difference between the actual site model and the desired site model as the actual site model is updated and for determining in real time the path of the machine relative to the site between position readings, the dynamic database including means for determining an effective width for the operative portion of the machine which is of a magnitude less than or equal to its actual width and means for updating the area of the second site model traversed by the effective width of the operative portion of the machine.

76. Apparatus as defined in claim 75, wherein the apparatus includes means for displaying the updated site model to an operator of the machine in real time.

77. Apparatus as defined in claim 76, wherein the operator display means are located on the machine.

78. Apparatus as defined in claim 76, wherein the operator display means are located off the machine.

79. Apparatus as defined in claim 77, wherein the dynamic database means are located on the machine.

80. Apparatus as defined in claim 77, wherein the dynamic database means are located off the machine, the apparatus further including means for transmitting signals representing the updated site model from the dynamic database means off the machine to the operator display means on the machine, and means for transmitting the position of the machine to the dynamic database.