Navigation system for a machine

Patent metadata

Field	Value
Publication number	US-11243531-B2
Application number	US-201816059229-A
Country	US
Kind code	B2
Filing date	Aug 9, 2018
Priority date	Aug 9, 2018
Publication date	Feb 8, 2022
Grant date	Feb 8, 2022

Abstract

A paving system includes a paving machine, a plurality of locational or positional sensor units coupled to or in communication with the paving machine, and a controller in communication with the plurality of sensor units. The controller is configured to select locational or positional information from one or more active sensor units of the plurality of sensor units and automatically navigate the paving machine.

First claim

What is claimed is:

1. A paving system, comprising:
a paving machine;
a plurality of locational or positional sensor units configured to be coupled to or in communication with the paving machine, wherein the plurality of locational or positional sensor units each include a respective accuracy and a respective mode of operation; and
a controller in communication with the plurality of sensor units;
wherein, upon being set in an autonomous navigation mode and before beginning the navigation of the paving machine, the controller is configured to initially determine a subset of the plurality of sensor units that are available and operational;
wherein the controller is configured to select locational or positional information from one or more active sensor units of the plurality of sensor units that are available and operational and automatically navigate the paving machine, wherein the controller is configured to select locational or positional information from one or more active sensor units of the plurality of sensors units that are available and operational based on accuracy and mode of operation requirements for the navigation of the paving machine for a particular paving operation, and
wherein the controller is configured to initially determine the subset of the plurality of sensor units that are available and operational by sending signals to respective sensor connections and by detecting whether any signals are being received from the respective sensor connections.

2. The paving system of claim 1 , wherein the paving machine includes a screed, and wherein at least one of the locational or positional sensor units is coupled to or in communication with a portion of the screed.

3. The paving system of claim 1 , wherein the controller is configured to monitor the information received from the one or more active sensor units to detect an abnormality or error condition; and
wherein if the controller detects an abnormality or error condition, the controller is configured to activate one or more different sensors of the plurality of sensor units that are available and operational.

4. The paving system of claim 1 , wherein the paving system further includes a user interface configured to display the one or more active sensor units.

5. The paving system of claim 1 , wherein the plurality of sensor units includes at least one GPS sensor unit that comprises at least one GPS antenna to receive locational information from one or more satellites.

6. The paving system of claim 1 , wherein the plurality of sensor units includes at least one proximity sensor unit coupled to at least one proximity sensor positioned on the paving machine, and wherein the at least one proximity sensor unit is configured to detect a distance between the proximity sensor and an object or a topographical feature.

7. The paving system of claim 6 , wherein the at least one proximity sensor includes a front right proximity sensor coupled to a front right portion of the machine, a front left proximity sensor coupled to a front left portion of the machine, a rear right proximity sensor coupled to a rear right portion of the machine, and a rear left proximity sensor coupled to a rear left portion of the machine.

8. The paving system of claim 1 , wherein the plurality of sensor units includes at least one LIDAR sensor unit coupled to at least one LIDAR sensor positioned on the paving machine, and wherein the at least one LIDAR sensor unit is configured to identify one or more stationary objects or topographical features and a distance between the at least one LIDAR sensor and the one or more stationary objects or topographical features.

9. The paving system of claim 1 , wherein the plurality of sensor units includes at least one stringline sensor unit coupled to at least one stringline sensor positioned on the paving machine, and wherein the at least one stringline sensor unit is configured to detect one or more stringlines positioned on a worksite.

10. The paving system of claim 1 , wherein the plurality of sensor units includes at least one total station sensor unit in communication with a total station system configured to detect at least one total station unit positioned on the paving machine such that the total station system identifies a position of the paving machine on a worksite.

11. A control system for a paving machine, comprising:
a plurality of sensor units configured to be coupled to or in communication with the paving machine, wherein at least one sensor unit of the plurality of sensor units includes a different accuracy than at least one other sensor unit; and
a controller operatively coupled to each of the plurality of sensor units, wherein the controller is configured to control and steer the paving machine based on information from one or more of the sensor units, and wherein the controller is configured to control and steer the paving machine based on information from a different one or more of the sensor units if the controller detects an abnormality or error condition in the one or more sensor units,
wherein, upon being set in an autonomous navigation mode and before initiating a particular paving operation, the controller is configured to initially determine a subset of the plurality of sensor units that are available for the particular paving operation, and wherein the controller is configured to select one or more active sensor units of the available sensor units based on an accuracy requirement of the particular paving operation.

12. The control system of claim 11 , wherein the plurality of sensor units includes a plurality of proximity sensors positioned around a periphery of the paving machine.

13. The control system of claim 12 , wherein the plurality of sensor units further includes a GPS sensor unit, a LIDAR sensor unit, a stringline sensor unit, and a total station sensor unit.

14. The control system of claim 13 , wherein the controller is configured to control and steer the paving machine based on information received from the proximity sensors when a topographical feature is a constant distance from the paving machine during a portion of a paving operation, and wherein the controller is configured to switch between information received from the proximity sensors and information received from the GPS sensor unit when the topographical feature is not a constant distance from the paving machine during another portion of the paving operation.

15. A method of automatically navigating a paving machine, comprising:
receiving a signal setting the machine in an automated navigation mode;
before initiating a paving operation, initially determining a set of available sensors from a plurality of sensors associated with the machine by sending signals to respective sensor connections and by detecting whether any signals are being received from the respective sensor connections, wherein each sensor of the plurality of sensors includes a respective accuracy and a respective mode of operation;
autonomously navigating the machine over a worksite using one or more sensors of the available sensors to determine a position of the machine on the worksite or relative to other elements on the worksite, wherein the one or more sensors of the available sensors is selected based on an accuracy requirement of the paving operation and a mode of operation requirement of the paving operation;
detecting an abnormality or error condition in information received from the one or more sensors of the available sensors; and
activating or relying on a different one or more sensors of the available sensors to determine the position of the machine on the worksite or rel

Assignees

• Caterpillar Paving Products Inc

Inventors

• O'Donnell Timothy M

Classifications

• E01C19/004 Primary

  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 title

• B60W2050/0001

  Details of the control system · CPC title

• B60W2710/06

  Combustion engines, Gas turbines · CPC title

• B60W10/06 Primary

  including control of combustion engines · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title