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US 12,716,180 B2Granted
Compactor path planning based on edge type
AssigneeCaterpillar Paving Products Inc.
InventorsJohn L. Marsolek, Nathaniel S. Doy
Life of this patent
Estimating the term…
Abstract
A compactor can include an interface configured to receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor. The compactor can also include processing circuitry coupled to the interface to receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor. The processing circuitry can generate a path plan for the work machine based on location and classification of the first side edge and the second side edge. The processing circuitry can operate the compactor based on the path plan.
Claims22
A compactor comprising:
- a cylindrical drum rotatable about a drum axis oriented generally transverse to a direction of travel of the compactor;
- an interface configured to receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor;
- and
- processing circuitry coupled to the interface and configured to:
- receive the position information of the first side edge and the second side edge opposite the first side edge of the work area of the compactor;
- classify each of the first side edge and the second side edge as either a confined edge having a supporting structure or an unconfined edge lacking a supporting structure;
- generate a path plan for the compactor based on the position information and classification of the first side edge and the second side edge, wherein the path plan includes different compaction patterns for confined edges versus unconfined edges, the different compaction patterns including different positioning of the cylindrical drum relative to the first side edge and the second side edge based on the classification, wherein the path plan defines a series of passes of the cylindrical drum over a mat in the work area, and wherein a first pass of the series of passes is along an unconfined edge with the cylindrical drum offset from the unconfined edge by a distance when both the first side edge and the second side edge are classified as unconfined edges, and the first pass of the series of passes is along a confined edge when only one of the first side edge and the second side edge is classified as an unconfined edge;
- and
- operate the compactor based on the path plan.
6 more elements
A method of operating a compactor including a cylindrical drum rotatable about a drum axis oriented generally transverse to a direction of travel of the compactor, the method comprising:
- receiving position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor;
- classifying each of the first side edge and the second side edge as either a confined edge having a supporting structure or an unconfined edge lacking a supporting structure;
- generating a path plan for the compactor based on location and classification of the first side edge and the second side edge, wherein the path plan includes different compaction patterns for confined edges versus unconfined edges, the different compaction patterns including different positioning of the cylindrical drum relative to the first side edge and the second side edge based on the classification, wherein the path plan defines a series of passes of a cylindrical drum over a mat in the work area, and wherein a first pass of the series of passes is along an unconfined edge with the cylindrical drum offset from the unconfined edge by a distance when both the first side edge and the second side edge are classified as unconfined edges, and the first pass of the series of passes is along a confined edge when only one of the first side edge and the second side edge is classified as an unconfined edge;
- and
- operating the compactor based on the path plan.
2 more elements
A system comprising:
- an image capturing device configured to capture an image of at least a portion of an environment adjacent to a compactor, the compactor including a cylindrical drum rotatable about a drum axis oriented generally transverse to a direction of travel of the compactor;
- a location sensor configured to detect location of the compactor;
- and
- processing circuitry configured to:
- receive position information of a first side edge and a second side edge opposite the first side edge of a work area of the compactor;
- classify each of the first side edge and the second side edge as either a confined edge having a supporting structure or an unconfined edge lacking a supporting structure;
- generate a path plan for the compactor based on location and classification of the first side edge and the second side edge, wherein the path plan includes different compaction patterns for the confined edge versus unconfined edge, the different compaction patterns including different positioning of the cylindrical drum relative to the first side edge and the second side edge based on the classification, wherein the path plan defines a series of passes of the cylindrical drum over a mat in the work area, and wherein a first pass of the series of passes is along an unconfined edge with the cylindrical drum offset from the unconfined edge by a distance when both the first side edge and the second side edge are classified as unconfined edges, and the first pass of the series of passes is along a confined edge when only one of the first side edge and the second side edge is classified as an unconfined edge;
- and
- operate the compactor based on the path plan.
6 more elements
Dependencies are inferred from the claim text.