US 11,702,817 B2
System and method for changing orientation of machines
Pradeep Kumar P H, Chennai (IN); Peter John Broughton, Kyneton (AU); and Arun Anandan, Chennai (IN)
Assigned to Caterpillar Underground Mining Pty. Ltd., Tasmania (AU)
Filed by Caterpillar Underground Mining Pty. Ltd., South Burnie (AU)
Filed on Sep. 23, 2020, as Appl. No. 17/29,857.
Claims priority of application No. 2019250202 (AU), filed on Oct. 17, 2019.
Prior Publication US 2021/0115647 A1, Apr. 22, 2021
Int. Cl. E02F 9/20 (2006.01); G05D 1/02 (2020.01)
CPC E02F 9/2045 (2013.01) [G05D 1/0212 (2013.01); G05D 2201/021 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for changing an orientation of a machine at a worksite, the method comprising:
controlling, by a controller, a movement of the machine from a first position to a second position along a first route;
controlling, by the controller, a movement of the machine from the second position to a third position along a second route;
controlling, by the controller, a movement of the machine from the third position towards the first position along a third route,
wherein each of the first route, the second route, and the third route define respective apexes and combinedly define a region therebetween, with one or more of the apexes being directed inwards into the region;
determining, by the controller, a first point and a second point along a first route segment of the first route;
defining, by the controller, a first set of mutually perpendicular lines passing through the first point and a second set of mutually perpendicular lines passing through the second point, wherein the first and second sets of mutually perpendicular lines define a first closed zone associated with the first route segment;
defining, by the controller, a first closed zone axis extending between the first point and the second point;
defining, by the controller, a longitudinal axis of the machine;
determining, by the controller, a first included angle θ between the first closed zone axis and the longitudinal axis of the machine; and
controlling, by the controller, at least one of a machine steering angle, a machine speed, a machine acceleration, or a machine deceleration through the first route segment based on the first included angle θ.