System and method for adjusting the operation of a machine

• US 9,098,087 B2
• Filed: 02/04/2013
• Issued: 08/04/2015
• Est. Priority Date: 02/04/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Friend, Paul, Clar, Jean-Jacques, Funke, Brian G., Becicka, Troy K.
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): PATEL, SHARDUL D
• Application Number:
  US13/758,230
• Publication Number:
  US 20140222247A1
• Time in Patent Office: 911 Days
• Field of Search: 701/2, 701/26, 701/48, 701/112, 701/446, 701/50, 356/4.01
• US Class Current: 1/1
• 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 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• 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 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A system for controlling movement of a machine includes a drive system, a position sensor, and a communications system. A controller is configured to determine the position of the machine and determine a signal transmission threshold based at least in part upon the position of the machine. The controller may stop movement of the machine upon an interruption in signal transmission from a remote system exceeding the signal transmission threshold.

Claims

1. A system for controlling movement of a machine, comprising:

a drive system for causing movement of the machine;

a position sensor associated with the machine for generating position signals indicative of a position of the machine;

a communications system for transmitting signals between the machine and a remote system spaced from the machine; and

a controller configured to;

store an electronic map of a work site, the electronic map including a plurality of signal transmission thresholds corresponding to positions on the electronic map;

determine the position of the machine at the work site based upon the position signals;

receive the signals from the remote system;

determine a selected signal transmission threshold from the plurality of signal transmission thresholds based at least in part upon the position of the machine; and

generate a command signal to stop movement of the machine upon an interruption in signal transmission from the remote system exceeding the selected signal transmission threshold.

2. The system of claim 1, wherein at least one of the signal transmission thresholds is at least in part time based.

3. The system of claim 1, wherein at least one of the signal transmission thresholds is at least in part distance based.

4. The system of claim 1, wherein at least one of the signal transmission thresholds is at least in part velocity based.

5. The system of claim 1, wherein the controller is further configured to determine a mode of operation of the machine based at least in part upon the position of the machine and determine the selected signal transmission threshold based at least in part upon the mode of operation.

6. The system of claim 1, wherein the controller further determines a position of a work implement and the selected signal transmission threshold is determined based at least in part upon the position of the work implement.

7. The system of claim 1, wherein the remote system is a position sensing system for determining the position of the machine relative to a work site and the interruption in signal transmission is an interruption in signals from the position sensing system.

8. The system of claim 7, wherein the position sensing system includes a global positioning system and a movement sensor, the movement sensor being positioned on the machine for generating movement signals indicative of movement of the machine, and the controller is further configured to determine a position of the machine based in part on the movement signals.

9. The system of claim 1, wherein the remote system is a remote control system for operating the machine remotely.

10. The system of claim 9, wherein the remote control system provides operating signals to the machine and the interruption in signal transmission is an interruption in the operating signals provided to the machine.

11. The system of claim 9, wherein the machine includes a visual image sensor for generating visual image signals indicative of a point of view relative to the machine, and the controller is further configured to transmit visual image signals indicative of the point of view relative to the machine to the remote control system and display point of view images on a point of view display based upon the visual image signals, and the interruption in signal transmission is an interruption in the visual image signals provided to the remote control system.

12. The system of claim 1, wherein the remote system is mapping system providing mapping signals indicative of a representation of a work site, and the interruption in signal transmission is an interruption in the mapping signals.

13. A controller-implemented method for controlling movement of a machine, comprising:

storing an electronic map of a work site, the electronic map including a plurality of signal transmission thresholds corresponding to positions on the electronic map;

determining a position of the machine at the work site based upon position signals from a position sensor associated with the machine;

moving the machine;

receiving signals from a remote system spaced from the machine;

determining a selected signal transmission threshold from the plurality of signal transmission thresholds based at least in part upon the position of the machine; and

generating a command signal to stop movement of the machine upon an interruption in signal transmission from the remote system exceeding the selected signal transmission threshold.

14. A system for controlling movement of a machine within a work site, comprising:

a drive system for causing movement of the machine;

a position sensor associated with the machine for generating position signals indicative of a position of the machine;

a communications system for transmitting signals between the machine and a remote system spaced from the machine; and

a controller configured to;

store an electronic map of the work site, the electronic map including a plurality of obstacles, each obstacle having an avoidance zone associated therewith;

determine the position of the machine based upon the position signals;

receive the signals from the remote system;

determine a zone of interference associated with the machine;

estimate a new position of the machine upon an interruption in signal transmission from the remote system to the machine;

increase a size of one of the zone of interference and the avoidance zone upon the interruption in signal transmission from the remote system to the machine; and

generate a command signal to stop movement of the machine if the zone of interference intersects with the avoidance zone.

15. The system of claim 14, wherein the controller increases the size of the zone of interference.

16. The system of claim 14, wherein the increase in size of the zone of interference is time based.

17. The system of claim 14, wherein the increase in size of the zone of interference is distance based.

18. The system of claim 14, wherein the controller is further configured to determine a mode of operation of the machine based at least in part upon the position of the machine and determine the increase in size of the zone of interference based at least in part upon the mode of operation.

19. The system of claim 14, wherein the remote system is a position sensing system for determining the position of the machine relative to a work site and the interruption in signal transmission is an interruption in signals from the position sensing system to the machine.

20. The system of claim 14, wherein the remote system is a remote control system for operating the machine remotely and the remote control system provides operating signals to the machine, the machine further includes a visual image sensor for generating visual image signals indicative of a point of view relative to the machine, the controller is further configured to transmit visual image signals indicative of the point of view relative to the machine to the remote control system and display point of view images on a point of view display based upon the visual image signals, and the interruption in signal transmission is one of an interruption in the operating signals provided to the machine and an interruption in the visual image signals provided to the remote control system.