System and method for tracking position of cable attached to a machine

Patent metadata

Field	Value
Publication number	US-9773175-B2
Application number	US-201514795138-A
Country	US
Kind code	B2
Filing date	Jul 9, 2015
Priority date	Jul 9, 2015
Publication date	Sep 26, 2017
Grant date	Sep 26, 2017

Abstract

A system for tracking a position of a cable attached between a power source and a machine in a worksite is disclosed. The cable is further coupled to a guiding device located in the worksite between the power source and the machine. The system includes a perception module disposed on the machine to detect a location of the guiding device. The system further includes a controller disposed to be in communication with the perception module. The controller determines the location of the guiding device with respect to a location of the machine and determines a distance between the guiding device and the machine. The controller further compares the distance with a first threshold distance and a second threshold distance and generates a warning if the distance is greater than the first threshold distance or smaller than the second threshold distance.

First claim

What is claimed is:

1. A system for tracking a position of a cable attached between a power source and a machine in a worksite, the cable being releasably coupled to a guiding device located in the worksite between the power source and the machine, the system comprising:
a perception module disposed on the machine, the perception module configured to detect a location of the guiding device within the worksite; and
a controller disposed to be in communication with the perception module, the controller configured to:
determine the location of the guiding device with respect to a location of the machine in the worksite;
determine a distance between the guiding device and the machine;
compare the distance with a first threshold distance and a second threshold distance, the first threshold distance being a maximum distance between the guiding device and the machine without creating tension in the cable and the second threshold distance being a minimum distance between the guiding device and the machine without causing interference between the machine and the cable; and
generate a warning if the distance is greater than the first threshold distance or smaller than the second threshold distance.

2. The system of claim 1 further comprising a positioning sensor disposed on the machine and communicably coupled to the controller, the positioning sensor configured to generate signals indicative of the location of the machine.

3. The system of claim 1 , wherein the perception module comprises a camera for capturing images of surrounding of the machine in the worksite.

4. The system of claim 1 , wherein the perception module comprises a scanning device for scanning surrounding of the machine in the worksite.

5. The system of claim 1 , wherein the controller is further configured to:
compare the distance with the first threshold distance; and
compare the distance with the second threshold distance if the distance is smaller than the first threshold distance.

6. The system of claim 1 further comprising a rotation sensor disposed on the machine, the rotation sensor configured to generate signals indicative of an angular position of a frame of the machine with respect to an undercarriage thereof.

7. The system of claim 6 , wherein the controller is further configured to control an implement of the machine coupled to the frame thereof to move the guiding device to a desired location with respect to the machine, and wherein a desired distance between the desired location and the machine is smaller than the first threshold distance and greater than the second threshold distance.

8. The system of claim 1 , wherein the controller is configured to generate a stretch warning if the distance is greater than the first threshold distance.

9. The system of claim 1 , wherein the controller is configured to generate a run-over warning if the distance is smaller than the second threshold distance.

10. A machine comprising:
an undercarriage comprising a ground engaging member configured to support the machine;
a frame rotatably disposed on the undercarriage;
a cable attached to the undercarriage for receiving power from a power source located remotely from the machine, the cable further releasably coupled to a guiding device disposed at a worksite between the power source and the machine; and
a system for tracking a position of the cable extending between the machine and the guiding device, the system comprising:
a perception module disposed on the machine, the perception module configured to detect a location of the guiding device within the worksite; and
controller disposed to be in communication with the perception module, the controller configured to:
determine the location of the guiding device with respect to a location of the machine in the worksite;
determine a distance between the guiding device and the machine;
compare the distance with a first threshold distance and a second threshold distance, the first threshold distance being a maximum distance between the guiding device and the machine without creating tension in the cable and the second threshold distance being a minimum distance between the guiding device and the machine without causing interference between the machine and the cable; and
generate a warning if the distance is greater than the first threshold distance or smaller than the second threshold distance.

11. The machine of claim 10 further comprising a positioning sensor disposed on the machine and communicably coupled to the controller, the positioning sensor configured to generate signals indicative of the location of the machine.

12. The machine of claim 10 , wherein the perception module comprises a camera for capturing images of surrounding of the machine in the worksite.

13. The machine of claim 10 , wherein the perception module comprises a scanning device for scanning surrounding of the machine in the worksite.

14. The machine of claim 10 , wherein the controller is further configured to:
compare the distance with the first threshold distance; and
compare the distance with the second threshold distance if the distance is smaller than the first threshold distance.

15. The machine of claim 10 further comprising a rotation sensor disposed on the machine, the rotation sensor configured to generate signals indicative of an angular position of the frame with respect to the undercarriage of the machine.

16. The machine of claim 15 , wherein the controller is further configured to control an implement of the machine coupled to the frame thereof to move the guiding device to a desired location with respect to the machine, and wherein a desired distance between the desired location and the machine is smaller than the first threshold distance and greater than the second threshold distance.

17. The machine of claim 10 , wherein the controller is configured to generate a stretch warning if the distance is greater than the first threshold distance.

18. The machine of claim 10 , wherein the controller is configured to generate a run-over warning if the distance is smaller than the second threshold distance.

19. A method of tracking a position of a cable attached between a power source and a machine in a worksite, the cable being releasably coupled to a guiding device located in the worksite between the power source and the machine, the method comprising:
determining, by a controller, a location of the guiding device with respect to a location of the machine in the worksite;
determining, by the controller, a distance between the guiding device and the machine;
comparing, by the controller, the distance with a first threshold distance and a second threshold distance, the first threshold distance being a maximum distance between the guiding device and the machine without creating tension in the cable and the second threshold distance being a minimum distance between the guiding device and the machine without causing interference between the machine and the cable; and
generating, by the controller, a warning if the distance is greater than the first threshold distance or smaller than the second threshold distance.

20. The method of claim 19 further comprising:
comparing, by the controller, the distance with the first threshold distance; and
comparing, by the controller, the distance with the second threshold distance if the distance is smaller than the first threshold distance.

Assignees

• Caterpillar Inc

Inventors

• Friend Paul R
• Rybski Paul E

Classifications

• B60L2200/40

  Working vehicles · CPC title

• H02G11/00

  Arrangements of electric cables or lines between relatively-movable parts · CPC title

• B60L2250/10

  by alarm · CPC title

• B60L9/00 Primary

  Electric propulsion with power supply external to the vehicle (electric propulsion for monorail vehicles, suspension vehicles or rack railways B60L13/00; in combination with batteries or fuel cells within the vehicle B60L50/53) · CPC title

• G06K9/00791 Primary

  Physics · mapped topic