Computer implemented method and system for planning paths for autonomous compaction of work area
AssigneeCaterpillar Inc.
InventorGautham Subramanian
Life of this patent
Estimating the term…
Abstract
A compaction machine may operate autonomously to travel along defined paths through a work area while compacting the surface of the work area. A worksite controller may generate the paths and assign the compaction machine to follow the paths. The worksite controller may model the shape of the paths through the work area based on the shape of a model edge of the work area, such that the paths may be non-straight if the model edge is not straight. If the model edge bends at angles that exceed a threshold angle, the worksite controller may smoothen the model edge and model that shape of the generated paths based on the smoothened model edge.
Claims20
A computer-implemented method, comprising:
- determining, by a computing system comprising a processor, boundary points defining boundaries of a work area with a surface to be compacted by a compaction machine;
- determining, by the computing system, edges of the work area based on the boundary points;
- selecting, by the computing system, a model edge from among the edges;
- generating, by the computing system, a series of paths positioned at intervals across a width of the work area, wherein individual paths, of the series of paths, have path shapes modeled after a shape of the model edge;
- and
- sending, by the computing system, compaction instructions defining the series of paths, wherein the compaction instructions cause the compaction machine to autonomously travel along the series of paths while performing compaction operations to compact the surface of the work area.
A computing system, comprising:
- a processor;
- and
- a memory having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to:
- determine boundary points defining boundaries of a work area with a surface to be compacted by a compaction machine;
- determine edges of the work area based on the boundary points;
- select a model edge from among the edges;
- generate a series of paths positioned at intervals across a width of the work area, wherein individual paths, of the series of paths, have path shapes modeled after a shape of the model edge;
- and
- send compaction instructions defining the series of paths, wherein the compaction instructions cause the compaction machine to autonomously travel along the series of paths while performing compaction operations to compact the surface of the work area.
A system, comprising:
- a compaction machine comprising:
- a compaction component configured to perform compaction operations to compact a surface of a work area at a worksite;
- a wireless communication interface configured to receive compaction instructions defining paths within the work area;
- and
- an electronic control module configured to, based on the compaction instructions, cause the compaction machine to autonomously travel along the paths while the compaction machine performs the compaction operations;
- and
- a worksite controller, associated with the worksite, comprising:
- a processor;
- and
- a memory having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to:
- determine boundary points defining boundaries of the work area;
- determine edges of the work area based on the boundary points;
- select a model edge from among the edges;
- generate the paths, within the work area, based on a path shape modeled after a shape of the model edge;
- and
- cause the worksite controller to send the compaction instructions to the wireless communication interface of the compaction machine.
Dependencies are inferred from the claim text.