Methods and systems for controlling earth-moving vehicle operated by artificial intelligence
AssigneeAIM Intelligent Machines, Inc.
InventorsAtharva Gupta, Devin Lu
Life of this patent
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Abstract
Systems and methods of controlling an earth-moving vehicle (EMV) are disclosed. In one aspect, the system includes an EMV having a boom joint, a boom connected at the boom joint, a blade connected to an end of the boom, and a controller communicably coupled to the EMV, the boom and the blade. The controller is configured to move the EMV along a path, compute a target depth for the blade, position the blade to have the target depth, and dynamically adjust the blade to maintain the target depth as the EMV moves along the path.
Claims29
A method of autonomously operating an earth moving vehicle (EMV) comprising (i) a boom connected to the EMV at a boom joint and (ii) a blade connected to an end of the boom, the method comprising:
- (a) determining a trajectory of operation of the EMV;
- (b) applying an artificial intelligence model to dynamically determine a target depth of the blade for one or more points on the trajectory of operation by performing at least:
- (i) determining a base vector relating to a distance in an x-direction, a y-direction, and a z-direction between the boom joint and a bottom corner of the blade when an angle between the boom joint and the bottom corner of the blade is a reference angle,
- (ii) rotating the base vector using a rotation matrix to dynamically generate a current vector, wherein the current vector relates to the distance in an x-direction, a y-direction, and a z-direction between the boom joint and the bottom corner of the blade when the angle between the boom joint and the bottom corner of the blade is more than the reference angle or less than the reference angle at a current timepoint;
- (iii) determining a blade position vector at the current timepoint based at least in part on the current vector, and
- (iv) determining a current depth of the blade at the current timepoint based at least in part on the blade position vector;
- and
- (c) autonomously adjusting the current depth of the blade based at least in part on the target depth of the blade at the one or more points on the trajectory of operation.
Dependencies are inferred from the claim text.