Method and apparatus for determining an excavation strategy

An apparatus for planning earthmoving operations using a work implement of an excavating machine, the work implement including a boom, stick, and bucket, the boom, stick, and bucket being controllably actuated by at least one respective hydraulic cylinder, the planning apparatus comprising:

• a terrain map of an excavation site represented in numerical form;
• and
• a data processor operable to access information in the terrain map, divide the excavation area into a plurality of excavation regions using expert heuristics, determine at least one candidate location for starting an excavation for each excavation region, predict the excavation results of each candidate location, determine the quality of the predicted excavation results by evaluating at least one performance parameter, and select a starting location as a function of the quality of the predicted excavation results.

An apparatus for planning earthmoving operations using a work implement of an excavating machine, the work implement including a boom, stick, and bucket, the boom, stick, and bucket being controllably actuated by at least one respective hydraulic cylinder, the planning apparatus comprising:

• a terrain map of an excavation site represented in numerical form;
• and
• a data processor operable to access information in the terrain map, divide the excavation area into a plurality of excavation regions, determine at least one candidate location for starting an excavation for each excavation region, predict the excavation results of each candidate location based on the starting location and orientation of the bucket and characteristics of the material being excavated using a simulated model of a closed loop controller, determine the quality of the predicted excavation results by evaluating at least one performance parameter, and select a starting location as a function of the quality of the predicted excavation results.

An apparatus for planning earthmoving operations using a work implement of an excavating machine, the work implement including a boom, stick, and bucket, the boom, stick, and bucket being controllably actuated by at least one respective hydraulic cylinder, the planning apparatus comprising:

• a terrain map of an excavation site represented in numerical form;
• and
• a data processor operable to access information in the terrain map, divide the excavation area into a plurality of excavation regions, determine at least one candidate location for starting an excavation for each excavation region, predict the excavation results of each candidate location based on the starting location and orientation of the bucket, determine the quality of the predicted excavation results by evaluating at least one performance parameter including the energy expended in performing the excavation, and select a starting location as a function of the quality of the predicted excavation results.