Velocity control for construction machines
AssigneeCaterpillar Trimble Control Technologies LLC
InventorsJason Hill, Albert Wray
Life of this patent
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Abstract
Described herein are systems, methods, and other techniques for controlling a velocity of a construction machine operating within a construction site. Sensor data is captured using one or more sensors of the construction machine while the construction machine is moving at the velocity in a forward or a backward direction. An actual surface of the construction site is estimated based on the sensor data. A deviation between a target surface and the actual surface is calculated. An actual performance metric is calculated based on the deviation. The actual performance metric is compared to a target performance metric to determine a velocity adjustment. The velocity of the construction machine is adjusted by the velocity adjustment.
Claims20
A computer-implemented method of controlling a construction machine operating within a construction site, the method comprising:
- capturing sensor data using one or more sensors of the construction machine while the construction machine is moving at a velocity in a forward or a backward direction;
- estimating a geospatial position of the construction machine based on the sensor data;
- querying a site design using the geospatial position of the construction machine to obtain a target surface and a target grade;
- estimating an actual surface of the construction site based on the sensor data;
- calculating a deviation between the target surface and the actual surface;
- calculating an actual performance metric based on the deviation and an output of a grade control loop that adjusts a grade of the construction machine;
- determining a target velocity based on the actual performance metric;
- and
- concurrently performing:
- adjusting the velocity of the construction machine based on the target velocity;
- and
- adjusting the grade of the construction machine based on the target grade using the grade control loop.
A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for controlling a construction machine operating within a construction site, the operations comprising:
- capturing sensor data using one or more sensors of the construction machine while the construction machine is moving at a velocity in a forward or a backward direction;
- estimating a geospatial position of the construction machine based on the sensor data;
- querying a site design using the geospatial position of the construction machine to obtain a target surface and a target grade;
- estimating an actual surface of the construction site based on the sensor data;
- calculating a deviation between the target surface and the actual surface;
- calculating an actual performance metric based on the deviation and an output of a grade control loop that adjusts a grade of the construction machine;
- determining a target velocity based on the actual performance metric;
- and
- concurrently performing:
- adjusting the velocity of the construction machine based on the target velocity;
- and
- adjusting the grade of the construction machine based on the target grade using the grade control loop.
A system comprising:
- one or more processors;
- and
- a non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations for controlling a construction machine operating within a construction site, the operations comprising:
- capturing sensor data using one or more sensors of the construction machine while the construction machine is moving at a velocity in a forward or a backward direction;
- estimating a geospatial position of the construction machine based on the sensor data;
- querying a site design using the geospatial position of the construction machine to obtain a target surface and a target grade;
- estimating an actual surface of the construction site based on the sensor data;
- calculating a deviation between the target surface and the actual surface;
- calculating an actual performance metric based on the deviation and an output of a grade control loop that adjusts a grade of the construction machine;
- determining a target velocity based on the actual performance metric;
- and
- concurrently performing:
- adjusting the velocity of the construction machine based on the target velocity;
- and
- adjusting the grade of the construction machine based on the target grade using the grade control loop.
Dependencies are inferred from the claim text.