System for Modifying a Spot Location
AssigneeCaterpillar Global Mining LLC
InventorsAndrew J. Vitale, Bryan J. Everett, Mark H. Banham, Craig L. Koehrsen
Life of this patent
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Abstract
A system for moving material from a first location to a second location includes a planning system to identify an initial spot location. A perception sensor is configured to generate perception signals indicative of whether an obstacle is in the path between a material carrying machine and the initial spot location. An alternate spot location is determined if an obstacle is in the path and a propulsion command is generated to move the material carrying machine from the current pose to the alternate spot location.
Claims20
A system for changing a spot location while moving material from a first location to a second location at a work site, comprising:
- a ground engaging drive mechanism to propel a material carrying machine along a ground surface at the work site;
- a truck pose sensor configured to generate truck pose signals indicative of a pose of the material carrying machine;
- a perception sensor configured to generate perception signals indicative of an environment at the work site;
- a controller configured to:
- store an obstacle threshold for the material carrying machine;
- determine an initial spot location for the material carrying machine;
- determine a current pose of the material carrying machine based upon the truck pose signals;
- determine a path between the material carrying machine and the initial spot location based upon the current pose of the material carrying machine;
- determine a topography of the path between the material carrying machine and the initial spot location based upon the perception signals from the perception sensor, the topography locating at least one obstacle in the path;
- determine an alternate spot location if the at least one obstacle in the path between the material carrying machine and the initial spot location exceeds the obstacle threshold, the alternate spot location being based upon a position of the at least one obstacle;
- and
- generate a propulsion command to move the material carrying machine from the current pose to the alternate spot location.
A method of changing a spot location while moving material at a work site from a first location to a second location, comprising:
- storing an obstacle threshold for a material carrying machine;
- determining an initial spot location for the material carrying machine;
- determining a current pose of the material carrying machine based upon truck pose signals from a truck pose sensor;
- determining a path between the material carrying machine and the initial spot location based upon the current pose of the material carrying machine;
- determining a topography of the path between the material carrying machine and the initial load location based upon perception signals from a perception sensor, the topography locating at least one obstacle in the path;
- determining an alternate spot location if the at least one obstacle in the path between the material carrying machine and the initial spot location exceeds the obstacle threshold, the alternate spot location being based upon a position of the at least one obstacle;
- and
- generating a propulsion command to move the material carrying machine from the current pose to the alternate spot location.
Dependencies are inferred from the claim text.