• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method and system for the autonomous operation of an earthmoving machine (EBM) configured to push matter, the EBM comprising at least one implement. Based on at least the job destination and the mapping data of the job area, the job area is divided into segments, each segment being associated with a disposal site. An implement trace with respect to each of the segments is calculated such that the at least one implement accumulates matter along the segment as the EBM travels and the accumulated matter is cleared upon reaching the disposal site without exhausting the sliding capabilities of the EBM.
    公开号:CH705152B1
    申请号:CH01965/12
    申请日:2011-02-21
    公开日:2017-05-15
    发明作者:Shalev Balashnikov Gil；Oren Avitzur
    申请人:Israel Aerospace Ind Ltd；
    IPC主号:
    专利说明:

    Description: This invention relates to the operation of an earthmoving machine (EBM) and an earthmoving machine.
    Background Art Earth-moving machines such as excavators, shovel loaders, bulldozers, etc., are widely used in the world for performing various jobs. One example is the construction of large-scale residential areas where extensive soil preparation work is required. For such an order, one or more earthmoving machinery (s) (hereinafter "EBM") must be operated for this purpose. Usually EBMs are operated by humans. A human operator drives the EBM to the construction site and controls and operates the EBM at the construction site until the desired job is completed.
    Such an order, like other jobs, can be tedious, routine, tedious and time consuming, thereby rendering it impossible for a human operator to maintain a high level of performance and operation of an EBM. One possible consequence is that the quality of performing a job is not optimal. Further, a human operator is unable to continuously service earthmoving machinery for long periods of time.
    In addition, a human operator is unable to calculate the optimal operating conditions of an EBM and to service the EBM under such optimal conditions throughout the mission. Such optimal operation depends on many parameters that a human operator can not handle while operating an EBM. A significant drawback resulting from this inability to operate an EBM under optimum conditions is a reduction in the reliability and survivability of the earthmoving machine as well as an increase in the life cycle cost of the machine. In addition, the use of a human operator inherently involves costs, as an operator must be trained, paid for his work, etc. In many cases, the order area for a job must first be mapped and measured, which in and of itself is a time-consuming task ,
    Other jobs may need to be done in hazardous areas, hazardous areas or in poor visibility conditions. Thus, some jobs may be very dangerous or even impossible for a human operator.
    For this reason, there is a need in the art for a system and method for the autonomous operation of earthmoving machinery, in particular unmanned ground vehicles (UGV) and further a UGV with Erdbaufähigkeiten.
    Such a method is specified in claim 1. The further claims indicate preferred embodiments as well as an earth-moving machine, which is set up to carry out the method.
    Below are references to the prior art, which are considered relevant as background of the invention. The provision of the references herein should not be construed to be in any way relevant to the patentability of the invention disclosed herein.
    U.S. Patent No. 6,223,110 (Rowe et al.), Issued April 24, 2001, discloses a modular architecture for organizing and coordinating components needed to automate earthworking tasks and to coordinate data flow between components become. The architecture includes three main sub-areas: a sensor line, sensor data consumers, and motion planners and implementers. The sensor line receives sensor raw data from sensing sensors, such as a laser rangefinder or radar system, and converts the data into a form that can be used by the other system components. Sensor data may also be presented in the form of a height map of the surrounding terrain to be used by other software components. Depending on the requirements and due dates of the system, any number of different sensor systems may be added to the software architecture. The sensor data consumers use the sensor data as input to certain algorithms to generate information about the environment of the machine that can be used by other system components. A motion planner receives data provided by the sensor data consumers and provides output commands to controls on the machine. The motion planner also calculates and delivers commands to the sensor systems on the machine. At this level, additional planners can be added to coordinate other system behaviors and activities.
    U.S. Patent No. 6,363,632 (Stentz et al.), Issued April 2, 2002, discloses a system for organizing and coordinating components associated with earthmoving machinery capable of autonomous excavation and loading tasks perform. The system includes an earthmoving machine that may be provided with a scan sensor system that may be used to provide data about areas in an earthwork environment, including a excavation area and loading area, and a scheduling and control module that may be used to collect data from the scan Sensor system to plan a task in connection with the control of the earth-moving machine, while at the same time another task is performed in connection with the control of the earth-moving machine is equipped. Depending on the requirements and capabilities of the system, any number and type of sensor systems, such as laser rangefinders or radar rangefinders, can be integrated. The sensor systems have independently controllable fields of view, with each sensor system being able to provide data about another portion of the earthmoving environment.
    U.S. Patent No. 7,516,563 (Koch), issued April 14, 2009, discloses a control system for a machine operating at a lift-off location. The control system may include a position determining device configured to determine a position of the machine and a controller in communication with the position determining device. The controller may be configured to receive information regarding a predetermined task for the machine, to receive the position of the machine, and to receive a location of an obstacle at the excavation location. The control system may also be configured to recommend placement of the machine based on the received machine position and obstacle position to accomplish the predetermined task.
    U.S. Patent No. 7,499,804 (Svendsen et al.), Issued March 3, 2009, discloses a system and method for multimodal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulated controls and drive controls such as a throttle, brake, accelerator pedal, throttle, steering gear, pull rod, or gear shift lever) to control operation of the vehicle. Behavior characterizing the operating mode of the vehicle is associated with the actuators. Upon receipt of a mode selection command that determines the operation of the vehicle (e.g., manned operation, unmanned telephoto operation, assisted telephoto operation, and autonomous unmanned operation), the actuators manipulate the operator input devices in accordance with the behaviors to effect the desired operation.
    U.S. Patent Application No. 2004/0158355 (Holmqvist et al.), Published August 12, 2004, discloses intelligent systems and functions for autonomous load handling vehicles, such as wheel loaders, operating within confined areas and industrial environments. The vehicle is equipped with a laser-optical system for determining the position of the vehicle in six degrees of freedom, including x, y, z, heading, grade and rotation, in fixed ground coordinates. This system is used for autonomous vehicle navigation and as a source for on-board terrain mapping sensors and a dynamic terrain model. The allowable working area for autonomous vehicle operation is subdivided into loading zones, unloading zones and obstacle-free zones, each of which has specific rules for the behavior of the vehicle with regard to order planning, vehicle and implement movement and control, and obstacle detection and avoidance. The Dynamic Terrain Model is used for planning and analyzing paths, detecting and avoiding obstacles, and providing data to optimize vehicle paths and movements of its implements during loading and unloading operations.
    The references cited in the prior art teach numerous fundamentals of earthmoving machinery / systems / methods that are applicable to the present invention. For this reason, the entire contents of these publications are incorporated herein by reference for the purpose of adequately providing additional or alternative details, functions and / or technical background.
    Summary of the Invention According to a first aspect of the invention there is provided a method of autonomous operation of an earthmoving machine (EBM) configured to push matter, the EBM comprising at least one implement, the method comprising:
    Receiving a Job Target: Providing Mapping Data Regarding an Order Area: Determining a Location of the EBM Regarding the Job Area: determining, based on at least the mapping data and the job destination, a segment or multiple segments within the job area, each segment associated with a disposal site; with respect to each of the one or more segments, based on at least the job target, the mapping data, a length of the segment, and the shift capacity data of the EBM, calculating a tool history trajectory of the at least one implement along the segment, thereby accumulating matter through the at least one implement along the segment as the EBM travels and disposal of the accumulated matter upon reaching the disposal site.
    According to a second aspect of the invention, there is provided a system for autonomous operation of an EBM, the EBM comprising at least one implement, the system comprising: a position determination tool, a recognition and ranging device, and a job computer: the job computer is configured to receive data regarding a job, the data including at least one job destination; the recognition and ranging device is configured to scan the job area and acquire data regarding the job area; the position determination tool is configured to determine a position of the EBM regarding the job area; the job processor is configured to: generate a map of the job area based on the data; determine, based on at least the map and the job destination, at least one segment within the job area, each segment associated with a disposal site; and calculate, based on at least the job destination, the map, a length of the at least one segment, and the shift capacity data of the EBM, an implement history trajectory of the at least one implement along the segment such that matter is accumulated along the segment by the at least one implement as the EBMs is moved away and the accumulated matter on reaching the disposal point is eliminated.
    According to a third aspect of the invention there is provided a system for the autonomous operation of an EBM, the EBM comprising at least one implement, the system comprising a job calculator configured to monitor at least one property of the EBM while moving the EBM and accumulating matter and re-positioning the at least one implement in response to an indication that the at least one property of the EBM exceeds a predefined limit.
    According to a fourth aspect of the invention, there is provided a system for autonomous operation of an EBM, the EBM comprising at least one implement, the system comprising a job calculator configured to determine at least one segment associated with a disposal site, and one Calculate implement run of the at least one implement along the at least one segment such that the at least one implement accumulates matter along the at least one segment as the EBM travels and eliminates the accumulated matter upon reaching the disposal site.
    Brief Description of the Drawings In order to understand the invention and to see how it can be put into practice, specific embodiments are herein described by way of non-limiting example with reference to the accompanying drawings. Show it:
    1 is a schematic, simple representation of an EBM associated with a system for its autonomous operation according to certain embodiments of the invention;
    FIG. 2 is a block diagram schematically illustrating a system for autonomous operation of an earthmoving machine according to certain embodiments of the invention; FIG.
    3 is a flowchart illustrating a sequence of actions performed to perform a job, in accordance with certain embodiments of the invention;
    4 is a flowchart illustrating a sequence of actions performed in a job execution route calculation process according to certain embodiments of the invention;
    5 is a flow chart illustrating an example of a sequence of actions performed in the process of determining a work tool history trajectory according to an embodiment of the invention;
    6 is a flowchart illustrating a sequence of actions of a process for monitoring and controlling the steering of the EBM 110 and the position of the implement 120 according to certain embodiments of the invention;
    FIG. 7 is a schematic illustration and an example of a work implement course according to certain embodiments of the invention; FIG. and
    8 is a flowchart illustrating an example of a route calculation process according to certain embodiments of the invention.
    DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to obscure the present invention. In the drawings and descriptions, identical reference numerals denote components that are common to various embodiments or configurations.
    Unless otherwise specifically stated, as will become apparent from the discussions below, it will be understood that embodiments employing terms such as "receive," "provide," "determine," "compute," "monitor," "use "," Position, "" measure, "" store, "or the like, throughout the specification to refer to the act and / or processes of a computer manipulating and / or transforming data into other data, the data being physical quantities , eg electronic quantities, are represented and / or the data represent the physical objects. The term "computer" is to be construed broadly to include any type of electronic devices having data processing capabilities including, but not limited to, a personal computer, server, computing system, communication device, processor (eg, digital signal processor (DSP), microcontroller) a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), etc.), any other electronic computing device, and / or any combination thereof.
    The acts in accordance with the teachings disclosed herein may be performed by a computer designed specifically for the desired purpose or by a general purpose computer configured by a computer program stored on a computer readable storage medium specifically for the desired purpose ,
    Furthermore, the embodiments of the present invention are not described with reference to a particular programming language. It is understood that various programming languages may be used to implement the teachings of the invention as described herein.
    As used herein, the formulations "for example", "as" and their variants describe non-limiting embodiments of the present invention. References in the specification to "one embodiment", "some embodiments", "another embodiment", "other embodiments", "certain embodiments" or variants thereof mean that a particular function described in connection with the embodiment (s) , Structure or property is included in at least one embodiment of the invention. The occurrence of the phrase "one embodiment," "some embodiments," "another embodiment," "particular embodiments," "other embodiments," or variants thereof, therefore, does not necessarily refer to the same embodiment (s).
    It is understood that certain features of the invention, which are described for clarity in the context of separate embodiments, may also be provided in combination in a single embodiment. Similarly, various features of the invention, which are described to be brief in the context of a single embodiment, may be provided separately or in any suitable sub-combination.
    In embodiments of the invention, fewer, more, and / or other phases than those illustrated in FIGS. 3, 4, 5, 6, and 8 may be performed. In embodiments of the invention, one or more of the phases shown in FIGS. 3, 4, 5, 6, and 8 may be executed in a different order, and / or one or more phase groups may be performed simultaneously , Fig. 2 shows a general diagram of the system architecture according to an embodiment of the invention. Each module in FIG. 2 may consist of any combination of software, hardware, and / or firmware that performs the functions as defined and discussed herein. The modules in Figure 2 may be centralized at one site or distributed over more than one site. In other embodiments of the invention, the system may have fewer, more, and / or different modules than those illustrated in FIG.
    Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Generally (but not necessarily), the terms used herein and described below are well known and commonly used in the art. Unless otherwise described, conventional methods such as those provided in the prior art and indicated by numerous general references are used.
    Continuing with a detailed description of the embodiments of the invention, FIG. 1 shows a schematic, simple view of an EBM associated with a system for its autonomous operation according to certain embodiments of the invention. The EBM 110 associated with the system 100 includes at least one implement 120 for moving soil, trenches, blades, and the like. The implement 120 may be a bucket, shovel, etc. An EBM 110 according to the invention may be designed to use its motor power to push matter, rather than using the power of a piston or actuator to operate the implement 120 while the EBM is idle during operation of the implement 120. An example of such an EBM is a bulldozer.
    The system 100 further includes an operator control unit 130 (hereinafter "BSE") configured to facilitate the interaction of a human operator with the system 100 and the monitoring of the performance of the EBM 110 by a human operator. The BSE 130 may be, for example, a personal computer, a portable computer, or a device with suitable processing capabilities, for example, configured specifically for this purpose. The BSE 130 may include a display (e.g., an LCD screen) and a keyboard or any other suitable input device. The BSE 130 may be configured to receive a plurality of input parameters (e.g., from an operator or other computer). The input parameters may include, for example, parameters defining an order to be performed, such as the job target (eg, desired height for ground leveling jobs, desired depth and width for picking orders, etc.), job area limits (eg, geographic boundaries), terrain properties (eg, weight, mass, density, Particle size, etc. defining various materials such as sand, pebbles, earth, rocks, snow or other matter), mechanical properties of the EBM 110 and the implement 120, such as the maximum sliding capacities of the EBM 110 (or parameters defining the Allow calculation of such maximum shift capacities of the EBM 110) as well as other parameters. In some embodiments, the job area boundaries are received as part of the job destination.
    The BSE 130 may be aboard the EBM 110 or at a remote location. The BSE 130 is further configured to communicate with the EBM 110. The communication between the EBM 110 and the BSE 130 may be implemented by any means of communication, such as wired or wireless communication. More specifically, the BSE 130 may be configured to communicate with a job processor 140 on board the EBM 110. The job processor 140 may be, for example, a computer-based system, a microprocessor, a microcontroller, or any other computing device that is adapted for data communication and processing.
    [0031] According to certain embodiments, the system 100 further includes a position determination tool. The position determination tool may be a Global Navigation Satellite System (GNSS), such as a Differential Global Positioning System (DGPS) 150. In some embodiments, the positioning tool further includes an inertial navigation system (INS) 160. The DGPS 150 and the INS 160 are aboard the EBM 110 and are configured to adjust the position of the EBM 110, eg the geographical position with regard to the order area. For example, in other embodiments, the position determination tool may include at least one laser scanner, a radar scanner, or other recognition and range finding means that allow, for example, the position of the EBM 110 to be located in the order area or in the vicinity of the job area ) Reference point (s).
    According to certain embodiments, the job processor 140 is associated with the position determination tool (e.g., an integrated system of DGPS 150 and INS 160) and configured to receive position data from the EBM 110 therefrom. The job processor 140 is configured to retrieve the data received from the position determination tool (eg, DGPS 150 and INS 160), for example, to navigate the EBM 110 to a predefined job area, navigate and operate the EBM 110 within the job area, and position the tool 120, such as described in more detail below.
    [0033] According to certain embodiments, the system 100 further includes an on-board detection and ranging device for scanning the job area and acquiring mapping data therefrom (e.g., data regarding elevations at various latitude and longitude coordinates). The mapping data is transmitted to the job processor 140 and used to create a map (e.g., a three-dimensional map) of the job area. The recognition and ranging device may also be configured to update a map of the job area, the map being generated based on the data received from the recognition and ranging device or otherwise obtained from another source. The detection and distance measuring device may, for example, comprise at least one laser scanner, a radar system, an ultrasound scanner, etc. In certain embodiments, the detection and ranging device may include at least two laser scanners, a front laser scanner 170 configured to scan in front of the EBM 110, and a rear laser scanner 180 configured to scan areas behind the EBM 110 , as described in more detail below. The job processor 140 is connected to the recognition and ranging device via a wired or wireless communication means. In certain embodiments, the job processor 140 is further configured to store the mapping data (and map) in a data archive associated with the job processor 140.
    According to certain embodiments, the job processor 140 is further configured to collect the data received from the laser scanners in combination with data received from the position determination tool (eg, DGPS 150 and INS 160) to locate the EBM 110 with respect to the job area (eg, with respect to a three-dimensional Map of the order area). According to other embodiments, the system 100 may be configured to use already loaded mapping data, and the job processor 140 may be configured to update the already loaded mapping data during job execution based on the recognition and ranging device and the position data.
    In some embodiments, the system 100 further includes an odometer 190 (e.g., a mechanical odometer, an electronic odometer, or the like) that is configured to monitor the distance traveled by the EBM 110. The system 100 may be configured to use the data received from the odometer 190 in combination with the positioning assistance data to monitor the traction of the EBM 110, as described below with reference to FIG. 2.
    Fig. 2 is a block diagram schematically illustrating a system for autonomous operation of an earth-moving machine according to certain embodiments of the invention. As described above, the system 100 includes a BSE 130 that allows interaction with the system 100. For example, the BSE 130 is configured to communicate a plurality of input parameters, such as job target parameters. For example, if the job target is ground leveling, the parameters may include, in addition to the mechanical properties of EBM 110 and implement 120 and the job area boundaries, the desired ground level for the ground leveling job. If the job target is a lift, in addition to the mechanical properties of the EBM 110 and implement 120 and the job area boundaries, the parameters may include the desired shape (e.g., width and depth) of the excavation to be performed.
    The BSE 130 may also be used for monitoring the EBM 110 and progressing the job execution, for example, by displaying the job execution progress to an operator on a display, displaying information regarding mechanical parameters or other properties of the EBM 110, and to the location of the EBM 110 with regard to the order area. The system 100 further includes an order processor 140. The order processor 140 includes at least one processing unit 205 configured to manage, control, and execute relevant components and actions of the job processor 140.
    According to certain embodiments, the system 100 includes an input module 210 for receiving the input parameters from the BSE 130. According to certain embodiments, the system 100 further includes a position determination module 215, a mapping module 220, a route calculation module 225, a work tool history trajectory calculation module 230, an EBM control module 235 and an EBM feedback module 240.
    According to certain embodiments, the position determination module 215 is configured to receive data indicating the position of the EBM 110 from a position determination tool, for example, a DGPS 150, INS 160, or integrated GNSS and INS navigation system.
    The EBM control module 235 is configured to drive and steer the EBM 110 and to position the implement 120 with respect to the surface of the application area. In certain embodiments, the EBM control module 235 is configured to receive inputs from the input module 210, including at least the location of the job area and location data from the location module 215. The EBM control module 235 operates a ride module 245 configured to receive the EBM 110 using the position data and optionally the data obtained from the recognition and ranging device or other mapping data (eg, already loaded mapping data) for that purpose, in accordance with the received data. as described in more detail below, to drive and steer to the job area boundary.
    According to certain embodiments, the mapping module 220 is configured to receive input data defining the job area boundaries from the input module 210 and position data from the position determination module 215 to locate the job area and determine the position of the EBM 110 with respect to the job area. The mapping module 220 is further configured to receive mapping data from the recognition and ranging device (eg, the front laser scanner 170 and the rear laser scanner 180) configured to scan the surface of the job area (as defined by the job area boundaries) and use this data to create a map of the scanned order area. The mapping module 220 is further configured to store the mapping data or the map in the data archive 255.
    It should be noted that as the orientation of the EBM 110 and the recognition and ranging device aboard the EBM 110 continuously changes, the data received from the positioning aid and from the recognition and ranging device must be brought into a common coordinate reference system , Various methods and techniques can be used for this purpose. Data relating to the orientation of the EBM 110, which may be received by the INS 160, for example, may be used to compensate for any deviation in the data received during the scan process resulting from the changing orientation of the EBM 110 and the recognition and ranging device.
    In certain embodiments, a route calculation module 225 is configured to receive input parameters from the input module 210 and mapping data from the data archive 255. Based on the input parameters and all or part of the mapping data, the route calculation module 225 is further configured to calculate an order execution route (hereinafter also called "route") that defines the progress of the EBM 110 throughout the order area during execution of the job. An order execution route may comprise a combination of one or more calculated segments, as described in more detail below.
    The input parameters may include, for example, the job area boundaries and the job destination, such as the desired height for a ground leveling job or shape (e.g., width and depth) of a desired picking job. Alternatively, the input parameters may include the job area limits and a parameter indicating that the job destination is a ground leveling job where the desired altitude is a calculated average of the different heights of the total job area. In the latter example, the route calculation module 225 may be configured to calculate the average altitude from all or part of the mapping data stored in the data archive 255 in the order area. The input parameters may possibly include additional data such as mechanical properties of the EBM 110 and at least one terrain property (e.g., weight, mass, density, etc.).
    According to certain embodiments, the route calculation module 225 is configured to compute an execution route by first determining one or more segments of the workspace such that each segment of a disposal site disposes of accumulated matter (eg, sand, pebbles, soil, Stones, snow, etc.). Such a disposal site may, for example, be located outside the application area or in a low-lying area that has to be filled with matter. The execution route represents the combination and order of these segments. The principles and logic for dividing the application area into segments are described below with reference to FIGS. 4 and 8. The data on the calculated route and segments may be stored in a data archive 255 for later reference and update.
    [0046] According to certain embodiments, the job processor 140 further includes an implement history tracing module 230 configured to calculate a sequence of estimated positions and orientations of the implement 120 with respect to the surface of the job area along the route or along each segment (hereafter "implement trajectory").
    According to one embodiment, each estimated position and orientation of the implement 120 having an associated actual position (eg, latitude and longitude coordinates) with respect to the job execution route or segment defining where along a route or segment a repositioning of the implement 120 is required is, linked and defined by this. According to another embodiment, each estimated position is associated with and defined by an associated time value (e.g., with respect to job start time) that defines when repositioning work implement 120 is required while working on a route or segment.
    As the EBM 110 advances and pushes matter along a segment, the amount of accumulated matter increases, thereby increasing the load on the EBM 110 and decreasing the remaining engine power of the EBM 110. According to certain embodiments, the implement history trajectory calculation module 230 is configured to calculate an implement history trajectory so that matter is pushed along a segment, wherein the adding load on the EBM 110 does not reach the maximum sliding capacity of the EBM 110 prior to reaching a predetermined disposal location. In order to avoid stalling the EBM 110 and performing the job efficiently, the work tool history calculation is calculated according to a prediction of the loads of the EBM 110 accumulated along a respective segment and the forces due to the interaction of the EBM 110 and the EBM 110 Implement 120 with the pushed matter (eg, soil) developing while working on this segment on the EBM 110. In some embodiments, the disposal site may be at the end of each segment, while in other embodiments, the disposal site may be at a different location along the segment, for example, a predetermined distance from the end of the segment.
    Instead of determining fixed disposal sites in known locations, the location of the disposal sites may be determined according to some embodiments during the progress of the work according to the adding load on the EBM. For example, in one embodiment, the implement history tracing module 230 may be configured to compute a worker history trajectory that allows the EBM 110 to move matter over a predetermined distance before the maximum capabilities of the EBM 110 are achieved. Once the predetermined distance is reached, the EBM 110 discards the pushed matter at an arbitrary disposal site, e.g. outside the order range limits. For example, in another embodiment, the implement history tracing module 230 may be configured to calculate a work item history trajectory that allows the EBM 110 to move a predefined amount or mass of matter that is less than or equal to the maximum thrust capacities of the EBM 110. Once the predetermined mass has accumulated, the EBM 110 discards the pushed matter at an arbitrary disposal site, e.g. outside the order range limits. More details regarding the calculation of the implement history trajectory are provided below with reference to FIG.
    [0050] According to certain embodiments, the EBM control module 235 is configured to calculate operational actions required to maneuver the EBM 110 according to the calculated job execution route within a work area and to position the work implement along a segment according to the calculated work tool history path. The EBM control module 235 may further be associated with a ride module 245 and a work implement positioning module 250. The ride module 245 is configured to receive steering commands from the EBM control module 235 and to control the steering of the EBM 110. The implement positioning module 250 is configured to receive positioning instructions from the EBM control module 235 and, for example, to control the position of the implement 120 according to the calculated implement history trajectory.
    Unexpected limitations and changes during operation of the EBM 110 may affect the evolution of the loads acting on the EBM 110, and therefore, the predicted load accumulation calculated by the implement history path calculation module 230 may differ from the actual load accumulation. Thus, it is necessary to observe the actual load on the EBM through the execution of the work and to update the job planning accordingly.
    For this reason, the job processor 140 is further configured, according to certain embodiments, to monitor at least one property of the EBM 110. The monitored property may be, for example, a mechanical parameter of the EBM 110 (e.g., engine power or engine speed) or traction. Among other things, these EBM features provide evidence of the load applied to the EBM 110 and its performance. For this purpose, the system 100 further includes an EBM feedback module 240 for monitoring the characteristics of the EBM 110. For example, the EBM feedback module 240 may be configured to monitor a mechanical parameter such as engine performance. For example, the EBM feedback module 240 may be coupled to a speed sensor 175 to monitor the current speed.
    [0053] According to certain embodiments, the EBM control module 235 may be configured to instruct the implement positioning module 250 to reposition the implement 120 in response to such a display. Such repositioning of the implement 120 (e.g., lifting the implement 120) may result in a reduction of the load on the EBM 110. The EBM control module 235 is further configured to be such
    Repositioning the implement 120 to send a signal to the implement history tracing module 230 that is configured to recalculate a work tool history trajectory for the implement 120 along, for example, the remaining portion of the segment. According to certain embodiments, the recycle site may be relocated from its previous location to a new location due to the recalculation of the implement history path.
    Worker history tracing module 230 is further configured to store the newly calculated work history trajectory in data repository 255. According to certain embodiments, in the case of a recalculation of the implement history path of the work implement 120 along a segment, a subsequent recalculation of the EBM 110 job execution route is performed by the route calculation module 225 and the job execution route is adjusted to the current conditions in the job area and the newly calculated tool history trajectory. For example, if work on a part of the job area is completed, a new job execution route is calculated for performing work on the remaining parts of the job area.
    [0055] According to certain embodiments, the EBM feedback module 240 is further configured to monitor the traction of the EBM 110. A reduction in traction can provide an indication that the adhesion of the caterpillars to the ground is insufficient to provide the necessary resistance to the motor force applied to the ground during sliding along a segment. For this, the EBM feedback module 240 may use the data received from the odometer 190 in conjunction with position data from the positioning module 215. Diminished traction situations can be identified when a difference between the distance traveled calculated by the odometer 190 and the distance traveled calculated from the position data (e.g., from data from INS 160 and / or DGPS 150, etc.) is greater than a predefined threshold. In some embodiments, the threshold is calculated as a function of the falling speed of the EBM 110. For example, the threshold may be any distance greater than 1 percent of the distance traveled in an hour of driving at a current EBM 110 speed (eg, if the speed is 20 miles per hour, a distance greater than zero , 2 miles), be defined. A discrepancy between the calculations may indicate that the crawler tracks of the EBM 110 have traveled a greater distance than the actual distance traveled by the EBM, thus indicating a loss of traction. According to certain embodiments, a loss of traction is reported to the EBM control module 235 and the implement history tracing module 230. It should be noted that the above example is not limiting for the calculation of reduced traction and other known methods and techniques for identifying a reduction in traction may also be used.
    Further, according to certain embodiments, the EBM feedback module 240 may be configured to monitor the voltage applied to the implement 120. For example, the EBM feedback module 240 may be coupled to an implement hydraulic system oil pressure sensor 195 that is configured to measure the voltage applied to the hydraulic system of the implement 120. Similar to the case of reducing traction and reducing engine power, in the event that the EBM feedback module 240 detects that the pressure of the hydraulic system of the implement is below or above a predefined limit, a message is sent to the EBM control module 235 and the implement history path calculation module 230 sent.
    As described above with respect to a reduction in engine horsepower, the EBM control module 235 may be configured to operate the implement positioning module 250 in response to a traction loss message sent to the EBM control module 235 or excessive voltage reporting to the hydraulic system Instruct implement to reposition implement 120 (eg, lift implement 120). The implement history trajectory calculation module 230 is configured to recalculate the trajectory of the implement 120 once such repositioning of the implement 120 has been performed. Worker history tracing module 225 is further configured to store the newly calculated work history trajectory in data repository 255. According to certain embodiments, the route calculation module 225 may perform a corresponding subsequent recalculation of the job execution route if the implement history trajectory calculation module 230 has recalculated the trajectory of the implement 120.
    FIG. 3 is a flowchart of a sequence of actions performed during the execution of a job according to certain embodiments of the invention. In the first phase of the process 300, input parameters are received by the system 100 (block 310). Input parameters may include, for example, the job target, job area location, and / or job area limits, as well as other parameters. The parameters may be selected according to different types of job destinations, e.g. Picking order, ground leveling order, etc., vary as set forth more fully in Examples above.
    The job area boundaries may be geographic boundaries of the job area, represented for example by two geographic coordinates, e.g. one for the northeast corner of the job area and the other for the southwest corner of the job area, creating a rectangular job area. Another example is receiving more than two points where the area bounded by the received points is the order area. It will be apparent to those skilled in the art that other representations of the workspace limits may be used. According to such embodiments and if the EBM 110 is not within the order range limits, the system 100 may autonomously navigate to the order area (block 320) without requiring human intervention or already loaded data, such as mapping data. For navigating to
    In the order area, the job processor 140 may use the position data of the EBM 110 collected by the position determination tool (e.g., DGPS 150 and / or INS 160). For example, job processor 140 may calculate the direction to the job area and attempt to maintain the calculated direction. The job processor 140 may also use the detection and ranging device (e.g., the front laser scanner 170) of the EBM 110 to detect obstacles on the way. If such obstacles are detected, the job processor 140 is configured to steer the EBM 110 and bypass the obstacle and proceed in the calculated direction. It should be noted that in other embodiments system 100 may use other methods of navigating to the order area, such as using already loaded mapping data, following a predefined route, etc.
    According to certain embodiments, the system 100 is configured to autonomously perform a first mapping of the job area (block 330) as soon as the EBM 110 arrives at the job area. For this purpose, the job processor guides the EBM 110 along the job area boundaries. The navigation along the job area boundaries is performed by means of the position data collected by the position determination tool. The system 100 also uses the recognition and ranging device to scan the interior of the job area and capture mapping data therefrom. The acquired mapping data may be stored in the data archive 255.
    It should be noted that the first order area mapping may result in an incomplete and / or inaccurate map, depending on the topography and size of the order area. However, such problems are solved by continuously updating the card, which is executed during the entire job execution, as described in more detail below.
    The system 100 is further configured to calculate an order execution route for the EBM 110 using the data stored in the data archive 255 and the input parameters (eg, shift capacities, implement capacity, etc.) defining the mechanical properties of the EBM 110 and implement 120. According to certain embodiments, the job execution route includes one or more segments, and along each segment, an implement history trajectory of implement 120 is determined (block 340). A more detailed description of the calculations of the job execution route and the implement history path will be described below with reference to FIGS. 4, 5, and 8.
    The system 100 is further configured to use the positional data of the EBM 110 gathered by the positioning aid to maneuver the EBM 110 along the calculated job execution route of the EBM 110 and execute the job while using the calculated tool history trajectory to operate the implement 120 along the execution route (block 350).
    During the time the job is being executed, the system 100 also uses the recognition and ranging device (eg, the front laser scanner 170 and the back laser scanner 180) of the EBM 110 to continuously acquire mapping data and the mapping data stored in the data archive 255 update accordingly (block 360). The front laser scanner 170 is configured to scan in front of the EBM 110 to acquire mapping data of the job area still to be processed, and the rear laser scanner 180 is configured to scan backwards from the EBM 110 to obtain map data regarding the already-recorded job For example, in order to monitor terrain changes resulting from the work carried out in the order area. According to certain embodiments, both processes described with reference to block 370 are performed continuously and simultaneously during the execution of the job.
    The system 100 is further configured to, after the mapping data update process, analyze the mapping data stored in the data archive 255 to monitor the progress of the job to completion (block 380). According to certain embodiments, the desired result defined by the job target is compared to the current job area mapping data to determine if the job has been completed and what tasks remain. The task described with reference to block 380 may be performed by the mapping module 220.
    [0066] According to certain embodiments, the system 100 may be configured to continuously monitor the work performed on each segment. Once the work has been performed on a particular segment, the system 100 may be configured to verify that a desired floor height of the job area has been achieved based on the updated stored mapping data. If portions of the segment or the entire segment have not reached the predefined desired height, a message indicating that more work should be done on that segment is created and stored in the data repository 255 with a reference to the segment. The system 100 then proceeds to the next segment according to the job execution route stored in the data archive 255.
    When the height of the terrain of a segment reaches the predefined desired height (as defined by the job target), the system 100 is further configured to check if other segments of the job area require further work. If there are other segments that require additional work, the process continues to block 340 where, based on the current mapping data stored in the data archive 255, a tool history trajectory for the segments requiring additional work is calculated. The process then proceeds to the acts in blocks 370 and 380 until the job completes. If there are no more segments requiring additional work, the job ends (block 390). It should be noted that the process described with reference to FIG. 3 is merely a non-limiting example and other methods for performing and processing the job objective may also be implemented.
    FIG. 4 shows a flowchart of a sequence of actions performed in a job execution route calculation process according to certain embodiments of the invention. FIG. 4 is a more detailed example of the process described above with reference to block 340 in FIG. According to certain embodiments, the job execution route and work tool history path consisting of one or more segments are calculated along each of the one or more segments for the entire job area. According to other embodiments, the order execution route of the EBM 110 and the implement history path consisting of one or more segments are calculated along each of the one or more segments separately for different parts of the order range. For example, the route may be created step by step, segment by segment, as the order progresses. Accordingly, a first segment is calculated, and only after work on that segment is completed is another segment calculated and so on until the job is completed.
    In block 410, the job execution route is calculated. According to certain embodiments, the execution route is calculated to require minimal maneuvering of the EBM 110 and minimal repetition of work on the same segment (s). Generally, the job execution route is calculated to achieve complete and systematic coverage of the job area. As discussed above, in certain embodiments, the job execution route includes one or more segments. Thus, systematic coverage means that the EBM 110 follows a pattern as it moves from one segment to another and does not sporadically execute the job, thus operating efficiently. The movement of EBM 110 can be done in long segments. Continuous movement of the EBM 110 in long segments allows for better utilization of its resources and requires less maneuvering of the EBM 110 to dispose of accumulated matter, and thus is generally efficient. In addition, the calculation of the one or more segments that make up the job execution route is performed such that a minimum number of repeats of segments is performed, thereby, for example, minimizing the maneuvering of the EBM 110.
    Depending on the type of order, different principles are used to calculate the execution route. For example, in land leveling jobs, an order execution route may be calculated to move the EBM 110 from high to low ground (because matter may be moved from high terrain to lower terrain or outside the mission area boundaries during a ground leveling mission).
    In order to calculate the job execution route, the system 100 may use the input parameters, job target and job area limits, mechanical limitations of EBM 110 and implement 120, including shift capacities of EBM 110, etc., as well as mapping data stored in data repository 255.
    Furthermore, during the calculation of the segments, the location of the disposal sites can also be taken into account. Accordingly, the job execution route may consist of one or more segments so that each segment is linked to a disposal site, e.g. each segment ends at a disposal site. Disposal centers may, for example, be located outside the order area or in a ground leveling job, for example on lower terrain that is to be filled with excess matter from higher terrain in the work area.
    FIG. 8 is a flowchart illustrating an example of a job execution route calculation process according to certain embodiments of the invention. The job processor 140 may be configured to use the mapping data stored in the data archive 255 to determine at least one optional disposal location. In the case of a ground leveling order, the optional disposal points may be on lower ground or off the job area, etc. In some practical implementations, such optional disposal sites may be calculated in a range at a certain distance (for example, a predefined distance of 20 meters) from a reference point. The reference point may be, for example, the current position of the EBM 110 (eg, EBM position at the beginning of the job, EBM position at the end of a segment, etc.), the predicted position of the EBM 110 along the job execution route, a predetermined viewpoint, etc. (Block 810). In other embodiments, the system 100 may be configured to calculate optional disposal sites throughout the order area. The calculated optional disposal location may be stored in the data archive 255 before starting to execute the job. Alternatively, or in addition, the system 100 may be configured to use predetermined optional disposal locations, for example, determined by a human operator and stored in the data archive 255.
    The system 100 may be configured to use optional disposal sites to calculate a route consisting of one or more segments. The system 100 may be configured to evaluate each optional disposal site, including location (block 820). For example, optional disposal sites in a land leveling order may be evaluated based on their location in terms of order area boundaries. The evaluation of an optional disposal site located in an area to be filled with matter is increased by 1, whereas the evaluation of an optional disposal site located outside the order area boundaries is increased by 3 (note that in this example a minimal rating is preferable). The system 100 may also be configured to use mapping data stored in the data archive 255 to calculate, for each optional disposal site, the amount of matter to be removed from the segment, starting at the reference point and ending at the optional disposal location (block 830) To divide the result by the maximum sliding capacities of the EBM 110 (block 840). If the result of the split is less than 1, indicating that all work on a segment can be completed in one pass, the score of the optional disposal point associated with the segment is incremented by 1, but if the result is greater than one , the score is increased by the result of the split (block 850). It should be noted that the specific process described above for the evaluation of optional disposal sites is merely an example that is in no way to be construed as binding or restrictive.
    Following the evaluation process, the system 100 may be configured to compare the scores of the optional disposal sites and select the lowest ranking disposal site (block 860). If two or more optional disposal sites have the same minimum score, the system 100 may be configured to compare the lengths of the segments starting at the reference point and ending at the optional disposal sites and selecting the disposal site with the longest segment associated therewith. In certain embodiments, after a disposal site indicating a segment is selected, the process of calculating a segment using the selected disposal location is repeated as a new reference point.
    Referring again to Figure 4, as described in more detail above, the job execution route may be segmented, wherein in some embodiments each segment is associated with a matter disposal site for disposal of matter accumulated along the segment. The system 100 may be configured to calculate the implement history path along the segments (block 420). Such a tool history trajectory is calculated for this purpose from data regarding the job destination, the mapping data or parts thereof (the part relevant to the respective segment) and the shift capacities of the EBM 110. In computing implement traces, generally the work of the EBM 110 along the entire segment and the predicted mass of matter accumulated incrementally along the segment is considered. The calculated implement history path along each segment is stored in data repository 255 (block 430).
    FIG. 5 is a flowchart illustrating an example of a sequence of actions performed in the process of determining a work tool history trajectory according to an embodiment of the invention. FIG. FIG. 5 shows a more detailed example of the process described above in block 340 and block 370 with reference to FIG. 3 and in block 420 with reference to FIG. 4. As described above, the EBM 110 moves and pushes matter along a segment, the accumulated matter increases, thereby increasing the load applied to the EBM 110 and decreasing the remaining engine power of the EBM 110. The job processor 140 is configured to calculate a work tool history trajectory such that matter is pushed along each segment, with the accumulated load on the EBM 110 not exceeding the maximum thrust capacities of the EBM 110. The accumulated load on the EBM 110 is inter alia a function of travel distance from the beginning of a segment to the nearest disposal site (e.g., segment length), terrain characteristics, and blade depth in the pushed matter (e.g., earth). When the distance from the beginning of a segment to its associated disposal site, the current topography of the terrain, and the maximum sliding capacities of the EBM 110 are known, a work tool history trajectory (blade depths) can be calculated to push matter along the entire segment without causing it the sliding capacities of the EBM 110 are exceeded.
    Depending on the order destination and the actual topography of the order area, a calculation of the amount of matter to be ablated by a respective segment can be performed. Based on the maximum sliding capacities of the EBM 110 and the amount of matter that must be removed to achieve the desired job target, then a work tool history trajectory calculation may be performed.
    7 shows in this regard a schematic illustration and an example of a work implement course along a segment according to certain embodiments of the invention. As described above, FIG. 7 shows an example of a leveling job in which the surface is to be leveled according to a predefined height. FIG. 7 shows a segment in a job area, where dashed line 720 represents the original topography of the segment and dashed line 710 represents the desired floor level. Line 720 shows the calculated implement history path for performing the job.
    Referring again to FIG. 5, in accordance with certain embodiments, for a more accurate calculation of the implement history trajectory, a soil mechanics algorithm may be used to predict the accumulated load on the EBM 110. A soil mechanics algorithm is used to calculate an estimate of soil resistance based on typical parameters for common soil types, for example, density, moisture, shearing parameters, load factors, Bekker soil constants, and the like. It will be apparent to those skilled in the art that a higher degree of accuracy (e.g., in centimeters) can be achieved thereby.
    Before starting work, the job processor 140 receives the job destination, which defines, inter alia, a destination to be reached (block 510). For example, an order goal may be to level the soil surface within the application area to a specified height. The job processor 140 also receives mapping data of the job area that has been acquired by the position determination tool associated with the job processor 140 and the detection and ranging device (block 520). According to certain embodiments, for each segment, the desired job area topography of the segment defined by the job target is compared to the actual job area topography and the work required to reach the destination is determined (block 540). For example, determining the required work may be performed continuously or periodically while working on a segment.
    In order to determine the implement trajectory for the maximum EBM shift capacity (block 550), the job processor 140 receives input parameters. The received input parameters include, but are not limited to, the maximum EBM shift capacity, the length of the segment, and possibly terrain property parameters. Based on the received input parameters, the job processor 140 determines the tool history trajectory for utilizing the maximum shift capacity of the EBM 110 in the segment (block 550).
    If the amount of matter to be removed from a respective segment is less than the amount of matter according to the maximum sliding capacity of the EBM 110, according to certain embodiments, the implement history trajectory is calculated so that the total amount of matter required in a single pass is greater than that Segment is pushed (block 570). If the amount of matter to be disposed of is greater than the amount of matter according to the maximum sliding capacities of the EBM 110, the implement trajectory is calculated to dispose of a maximum amount of matter that would not exceed the maximum sliding capacities of the EBM 110 (block 580) ). Once the implement history trajectory is calculated, work is performed on the segment (block 590).
    As described above with reference to block 360 in Fig. 3, the job area is continuously scanned during the execution of the job (for example, using the rear laser scanner), and the job area map is updated as the work on the segment progresses. The updated mapping data is stored in the data archive 255. According to certain embodiments, the work on the segment may be further repeated until the entire amount of matter has been eliminated and the job goal achieved. According to certain embodiments, prior to repeating a segment based on the updated mapping data, a new implement history trajectory is calculated. The system 100 may be configured to calculate the implement history path of a subsequent segment while performing work on a segment. This allows the work to be performed continuously while proceeding from one segment to the next.
    If the remaining amount of matter in the last iteration on a segment is less than the amount of matter according to the maximum sliding capacities of the EBM 110, the work tool history trajectory is calculated so that the total amount of matter requested in a single pass over the Segment is pushed.
    According to a particular embodiment, the process illustrated with reference to FIG. 5 is performed by the implement position calculation module 230. In order to perform this calculation, the work implement position calculation module 230 is configured to retrieve the calculated job execution route data (including the position and length of each segment) from the route calculation module 225, all or part of the mapping data (for example, mapping data relevant to a specific segment) from the data archive 255 and To receive input parameters from the input module 210. According to certain embodiments, input parameters may include, among other things, the job destination, shift capacities of the EBM 110, and terrain properties.
    6 is a flowchart illustrating a sequence of actions of a process for monitoring and controlling the steering of the EBM 110 and the position of the implement 120 in accordance with certain embodiments of the invention. The actions described with reference to FIG. 6 are performed, for example, as part of block 370 in FIG. 3 and block 590 in FIG. 5. As described in more detail above, system 100 is configured to provide a route for EBM 110 and calculate a trace for the implement 120 along the route. In some embodiments, the job execution route is divided into segments. The system 100 is configured to steer the EBM 110 along the calculated route during the execution of the job (block 370) and to monitor and control the position of the work implement 120 in accordance with the calculated implement history trajectory.
    As further described above with reference to FIG. 2, the system 100 is further configured to continuously monitor the performance of the EBM 110 and, if necessary, reposition the implement 120. In some embodiments, a recalculation of the one or more segments from which the order execution route is then performed.
    As shown in FIG. 6, system 100 is configured to monitor the performance of EBM 110 and implement 120 (block 610). To this end, system 100 monitors one or more parameters and characteristic (s) of EBM 110 that provide information about the load on EBM 110 and its performance, for example, mechanical parameters of EBM 110 (eg, engine power or engine speed). or traction.
    The system 100 may be configured to calculate, for example, the remaining engine power (P) as a mechanical parameter of the EBM 110. The remaining engine power can be calculated using the following equation: P = α * Me * n where: P = remaining engine power α = constant physical coefficient
    Me = actual instantaneous engine torque n = actual engine speed The instantaneous engine torque (Me) may be calculated, for example, based on various parameters of the engine, such as engine intake pressure, engine air temperature, and air supply to the engine. It will be apparent to those skilled in the art that engine performance and instantaneous engine torque may be calculated using various methods and techniques.
    A drop in engine performance of the EBM 110 below a predefined limit while the EBM 110 is shifting matter may be an indication that the EBM 110 is reaching its maximum shift capacities. Accordingly, the EBM feedback module 240 may send a corresponding indication to the EBM control module 235 and the implement history path calculation module 230 if, for example, one or more of the following factors are determined by the EBM feedback module: 1. Decrease in engine performance of the EBM 110 below 3. A decrease in the engine speed of the EBM 110 below a predefined limit or 3. A decrease in the engine power of the EBM 110 below the predicted engine power of the EBM 110. In some cases, the predefined limits may be set at a certain distance from critical operating levels. providing a certain timeframe for dealing with the limit violation without damaging the EBM 110 and / or the implement 120.
    When the system 100 determines that one or more of the monitored parameters of the EBM 110 and / or the implement 120 exceeds / exceeds a predefined threshold, the system 100 is configured to reposition the implement 120 (eg reduce the floor penetration depth of the implement 120 or lift the implement 120) to reduce the load on the EBM 110 (block 620). According to certain embodiments, if the positioning of the work implement 120 is changed and thus deviates from the calculated work tool history, the system 100 is configured to recalculate the job execution route of the EBM 110 and the implement history path along the segments (Block 630).
    In other cases, when the system 100 determines that one or more of the monitored parameters of the EBM 110 and / or the implement 120 exceeds / exceeds a predefined threshold, the system 100 is configured to first recalculate the one or more segments (e) perform a comprehensive job execution route and the implement history path along the segments and reposition the implement 120 accordingly after performing the recalculation and based on the recalculated segment. Thus, for example, when a threshold is reached, the system 100 may be configured to recalculate the segment to dispose of the accumulated matter at a more proximate disposal site (e.g., out of the order area). In such cases, the system 100 may be configured to calculate a new job execution route that includes one or more segments, and after the calculation repositioning of the implement is performed if necessary.
    After repositioning the implement 120 and recalculating the route of the EBM 110 and the implement history path along the segments, the system 100 continues to monitor the performance of the EBM 110 and implement 120 continuously (block 610).
    As also seen in FIG. 6, if the monitored parameter does not exceed the predetermined threshold, the system 100 is further configured to simultaneously steer the EBM 110 and control the positioning of the implement 120 along the segment (block 680). , For this purpose, the system 100 uses the position data collected by the position determination tool (e.g., DGPS 150 and / or INS 160), the calculated job execution route of the EBM 110 (divided into one or more segments), and the calculated implement history path along the segments. According to certain embodiments, both the job execution route and the tool history trajectory are stored in the data archive 255.
    The system 100 is further configured to compare the current steering direction of the EBM 110 with the calculated order execution route of the EBM 110 (block 640). If the current direction of the EBM 110 and the direction determined by the calculated job execution route of the EBM 110 do not match, the system 100 is configured to adjust the steering of the EBM 110 accordingly in the direction determined by the job execution route of the EBM 110 (block 650).
    In addition to steering the EBM, the system 110 is further configured to position the implement 120 according to the calculated implement history path (block 660). If the current positioning of the implement 120 and the
    权利要求:
    Claims (34)
    [1]
    A method for autonomously operating an earthmoving machine EBM configured to move matter, the EBM having at least one tool as an implement, the method comprising: (a) receiving data including at least one job objective; (b) providing mapping data regarding an order area; (c) determining a position of the EBM regarding the order area; (d) determining an order execution route based on at least the mapping data and the order destination, wherein the order execution route defines the progress of the EBM during execution of the order, the order execution route comprises one or more segments within the order area, and each segment is associated with a disposal location; (e) with respect to each of the one or more segments, based on at least the job target, the mapping data, a length of the segment and sliding capacity data of the EBM, calculating a tool history trajectory of the at least one implement along the segment, the tool history trajectory having at least estimated positions and orientations of the Working device, whereby the accumulation of matter by the at least one implement along the segment, while the EBM moves away, and the disposal of the accumulated material when reaching the disposal point are made possible; (f) operating the EBM along the job execution route and repositioning the implement during operation of the EBM along at least one of the one or more segments according to the implement history path.
    [2]
    2. The method of claim 1, further comprising monitoring at least one property of the EBM and repositioning the at least one implement when a predefined limit is exceeded.
    [3]
    3. The method of claim 2, further comprising, in response to the repositioning of the at least one implement, a phase of recalculating the implement history path of the at least one implement substantially along at least one of the one or more segments.
    [4]
    4. The method of claim 2, further comprising, in response to the repositioning of the at least one implement, a phase of redetermining a segment or segments within the job area, each of the one or more segments associated with a disposal site.
    [5]
    5. The method of claim 2, wherein the property is a mechanical parameter of the EBM.
    [6]
    6. The method of claim 5, wherein the mechanical parameter is an engine speed.
    [7]
    The method of claim 2, wherein the property is a slip of crawlers of the EBM.
    [8]
    The method of claim 1, wherein the disposal site is at the end of the at least one segment.
    [9]
    9. The method of claim 1, further comprising monitoring the job execution and recalculating the implement trajectory of the at least one implement substantially along at least one of the one or more segments in response to an indication that the actual position of the at least one implement is from the one Working tool course of the at least one working device deviates comprises.
    [10]
    10. The method of claim 9, further comprising, in response to the repositioning of the at least one implement, the phase of redetermining at least one segment within the job area, each segment associated with a disposal site.
    [11]
    The method of claim 1, wherein the accumulated matter corresponds to a maximum amount of matter that the EBM is capable of pushing.
    [12]
    12. The method of claim 1, wherein determining one or more segments in phase (d) is further based on at least one of the following parameters: (a) moving high terrain to deep terrain; (b) moving in long segments; (c) minimum number of repetitions of segments; (d) systematic coverage of the order area.
    [13]
    13. The method of claim 1, wherein the job target comprises at least job area boundaries.
    [14]
    14. The method of claim 1, further comprising receiving at least one off-road property and using the at least one off-road property in the calculation of the at least one segment and the implement history path along the at least one segment.
    [15]
    A system for the autonomous operation of an EBM, the EBM comprising at least one implement, the system comprising: a position determination tool, a recognition and ranging device, and an order calculator; wherein the job processor is configured to receive data regarding a job, the data including at least one job destination; wherein the recognition and distance measuring means is configured to scan the order area and thereby acquire mapping data regarding the order area; wherein the position determination tool is configured to determine a position of the EBM with respect to the job area; wherein the job processor is further configured to: generate a map of the job area based on the data; determine an order execution route based on at least the map and the order destination, the order execution route comprising at least one segment within the order area, each segment being associated with a disposal location; based on at least the job target, the map, a length of the at least one segment, and sliding capacity data of the EBM to calculate a work tool history of the at least one work tool along the segment so that the at least one work tool accumulates matter along the segment as the EBM travels, and the accumulated matter is disposed of on reaching the disposal site; and operate the EBM along the job execution route and reposition the implement during at least one of the one or more segments according to the implement history path during operation of the EBM.
    [16]
    16. The system of claim 15, wherein the job processor is further configured to monitor at least one property of the EBM and reposition the at least one implement in response to an indication that the at least one property of the EBM exceeds a predefined limit.
    [17]
    17. The system of claim 16, wherein the job processor is further configured to recalculate the implement history trajectory of the at least one implement substantially along the at least one of the segments in response to the repositioning of the at least one implement.
    [18]
    18. The system of claim 16, wherein the job processor is further configured to re-specify at least one segment within the job area in response to the repositioning of the at least one work implement, wherein each of the at least one segment is associated with a disposal location.
    [19]
    The system of any of claims 16 to 18, wherein the at least one characteristic of the EBM is a mechanical parameter of the EBM.
    [20]
    20. The system of claim 16, wherein the at least one characteristic of the EBM is an engine speed.
    [21]
    21. The system of claim 16, further comprising an odometer for measuring the distance traveled by the EBM crawlers, wherein the at least one characteristic of the EBM is a sliding of crawlers of the EBM.
    [22]
    22. The system of claim 16, wherein the job processor is further configured to determine at least one segment, wherein the disposal location is located at the end of the at least one segment.
    [23]
    23. The system of claim 15, wherein the job processor is further configured to monitor the job execution and the implement history trajectory of the at least one implement substantially along the at least one of the segments in response to an indication that the actual position of the at least one deviates from a working implement from the calculated implement course of the implement, recalculate.
    [24]
    24. The system of claim 23, wherein the job processor is further configured to re-determine at least one segment within the job area in response to the repositioning of the at least one work implement, each segment associated with a disposal location.
    [25]
    The system of any one of claims 15 to 24, wherein the accumulated matter corresponds to the maximum amount of matter that the EBM is able to push.
    [26]
    26. The system of claim 15, wherein the job processor is further configured to determine the at least one segment based on at least one of: (a) moving high terrain to deep terrain; (b) moving in long segments; (c) minimum number of repetitions of segments; (d) systematic coverage of the order area.
    [27]
    27. The system of claim 15, wherein the job target comprises at least job area boundaries.
    [28]
    The system of any one of claims 15 to 27, further comprising an odometer for measuring the distance traveled by the EBM crawlers, wherein the at least one characteristic of the EBM is a sliding of the crawlers of the EBM.
    [29]
    29. The system of claim 15, further associated with a data repository for storing the card, wherein the job processor is further configured to periodically update the card in accordance with updated mapping data received during execution of the job.
    [30]
    30. The system of claim 15, wherein the job processor is further configured to receive at least one terrain property and to use the at least one terrain property in the calculation of the at least one segment and the implement history trajectory of the at least one implement along the at least one segment ,
    [31]
    31. The system of claim 15, wherein the recognition and ranging device is configured to scan an area in front of the EBM and an area behind the EBM.
    [32]
    32. The system of claim 15, wherein the detection and distance measuring device is at least one laser scanner.
    [33]
    A system according to any one of claims 15 to 32, wherein the positioning aid is a GNSS.
    [34]
    34. The system of any of claims 15 to 33, wherein the position determination tool is an INS and GNSS inte- grated system.
    类似技术:
    公开号 | 公开日 | 专利标题
    CH705152B1|2017-05-15|System and method for the autonomous operation of a multitasking earthmoving machine.
    AU2013260731B2|2017-04-20|System and method for optimizing a cut location
    US9760081B2|2017-09-12|System and method for optimizing a work implement path
    DE112013005240T5|2015-10-08|Model train-slip curves in large caterpillars in real time
    US7739015B2|2010-06-15|System and method for controlling a vehicle with a sequence of vehicle events
    AU2014200840B2|2017-06-29|System and method for determining a ripping path
    AU2015224462B2|2019-11-07|System and method for optimizing a work implement path
    AU2013263705B2|2016-12-22|System and method for modifying a path for a machine
    EP3234715B1|2019-01-09|Method for mapping a processing area for autonomous robot vehicles
    AU2020200916B2|2021-08-05|System and method for controlling the operation of a machine
    AU2015221561B2|2019-12-05|System and method for monitoring a machine
    AU2013263703B2|2017-06-01|System and method for optimizing a cut location
    US20160076222A1|2016-03-17|System and Method for Optimizing a Work Implement Path
    AU2015258269B2|2019-05-02|System and method for optimizing a reversing operation
    US20140180547A1|2014-06-26|System and Method for Estimating Material Characteristics
    DE112011104646T5|2013-10-10|Worksite-management system
    WO2019228699A1|2019-12-05|Method for the automated control of an excavator
    US10794039B2|2020-10-06|System and method for controlling the operation of a machine
    EP0912806B1|2001-09-05|Process and arrangement for controlling a sequence of movements in a moving construction machine
    DE102018209336A1|2019-12-12|Method and device for operating autonomously operated working machines
    DE112019006225T5|2021-09-02|CONTROL SYSTEM FOR CONSTRUCTION MACHINERY, CONSTRUCTION MACHINE AND CONTROL PROCEDURE FOR CONSTRUCTION MACHINERY
    DE102020110123A1|2020-10-22|SYSTEM AND PROCEDURE FOR MACHINE CONTROL
    DE102021204257A1|2021-11-04|Ground engaging implement control system and method
    DE102021100324A1|2021-07-15|Controlling the movement of a machine using sensor fusion
    WO2020226848A1|2020-11-12|System for controlling the position of a work implement
    同族专利:
    公开号 | 公开日
    WO2011104703A4|2011-11-03|
    KR20120130217A|2012-11-29|
    KR101927297B1|2018-12-10|
    US20130006484A1|2013-01-03|
    US8983738B2|2015-03-17|
    WO2011104703A1|2011-09-01|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US5548516A|1989-12-11|1996-08-20|Caterpillar Inc.|Multi-tasked navigation system and method for an autonomous land based vehicle|
    US20080147253A1|1997-10-22|2008-06-19|Intelligent Technologies International, Inc.|Vehicular Anticipatory Sensor System|
    US6223110B1|1997-12-19|2001-04-24|Carnegie Mellon University|Software architecture for autonomous earthmoving machinery|
    US6108949A|1997-12-19|2000-08-29|Carnegie Mellon University|Method and apparatus for determining an excavation strategy|
    US6363632B1|1998-10-09|2002-04-02|Carnegie Mellon University|System for autonomous excavation and truck loading|
    SE526913C2|2003-01-02|2005-11-15|Arnex Navigation Systems Ab|Procedure in the form of intelligent functions for vehicles and automatic loading machines regarding mapping of terrain and material volumes, obstacle detection and control of vehicles and work tools|
    US7983820B2|2003-07-02|2011-07-19|Caterpillar Inc.|Systems and methods for providing proxy control functions in a work machine|
    US7058495B2|2003-09-04|2006-06-06|Caterpillar Inc.|Work implement control system and method|
    US7499804B2|2004-10-22|2009-03-03|Irobot Corporation|System and method for multi-modal control of an autonomous vehicle|
    US7610122B2|2005-08-16|2009-10-27|Deere & Company|Mobile station for an unmanned vehicle|
    US9527518B2|2006-03-20|2016-12-27|General Electric Company|System, method and computer software code for controlling a powered system and operational information used in a mission by the powered system|
    US7734398B2|2006-07-31|2010-06-08|Caterpillar Inc.|System for automated excavation contour control|
    US7753132B2|2006-11-30|2010-07-13|Caterpillar Inc|Preparation for machine repositioning in an excavating operation|
    US7516563B2|2006-11-30|2009-04-14|Caterpillar Inc.|Excavation control system providing machine placement recommendation|DE102010039471B4|2010-08-18|2014-02-13|Robert Bosch Gmbh|Method and device for determining a lifting height of a working machine|
    US8738242B2|2011-03-16|2014-05-27|Topcon Positioning Systems, Inc.|Automatic blade slope control system|
    PL2739792T3|2011-08-03|2017-10-31|Joy Global Underground Mining Llc|Automated operations of a mining machine|
    US8620535B2|2012-05-21|2013-12-31|Caterpillar Inc.|System for automated excavation planning and control|
    US20140012404A1|2012-07-06|2014-01-09|Caterpillar Inc.|Methods and systems for machine cut planning|
    BR112015005665B1|2012-09-14|2021-05-11|3D Image Automation Pty Ltd|3d volume coefficient control apparatus and method for a reclaimer|
    KR101950041B1|2012-12-18|2019-04-22|두산인프라코어 주식회사|Method and Apparatus for Controlling Engine of Industrial Vehicle|
    US9014925B2|2013-03-15|2015-04-21|Caterpillar Inc.|System and method for determining a ripping path|
    DE102013008339A1|2013-05-16|2014-11-20|Claas Selbstfahrende Erntemaschinen Gmbh|Server system for managing sequences for agricultural machines|
    US20150154247A1|2013-12-03|2015-06-04|Caterpillar Inc.|System and method for surface data management at worksite|
    US9989967B2|2014-03-04|2018-06-05|Cybernet Systems Corporation|All weather autonomously driven vehicles|
    US9309631B2|2014-03-26|2016-04-12|Caterpillar Trimble Control Technologies Llc|Enhanced control of road construction equipment|
    US9574320B2|2014-03-26|2017-02-21|Trimble Navigation Limited|Blended position solutions|
    US9404239B2|2014-06-09|2016-08-02|Caterpillar Inc.|Sub-bin refinement for autonomous machines|
    ZA201506069B|2014-08-28|2016-09-28|Joy Mm Delaware Inc|Horizon monitoring for longwall system|
    RU2691793C2|2014-08-28|2019-06-18|ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи|Monitoring of roof fastening in solid development system|
    US9506343B2|2014-08-28|2016-11-29|Joy Mm Delaware, Inc.|Pan pitch control in a longwall shearing system|
    US9388550B2|2014-09-12|2016-07-12|Caterpillar Inc.|System and method for controlling the operation of a machine|
    AU2014408915B2|2014-10-13|2017-12-21|Sandvik Mining And Construction Oy|Arrangement for controlling a work machine|
    SE1451644A1|2014-12-23|2016-05-31|Husqvarna Ab|Improved map generation by a robotic work tool|
    JP6314105B2|2015-03-05|2018-04-18|株式会社日立製作所|Trajectory generator and work machine|
    US10186004B2|2015-05-20|2019-01-22|Caterpillar Inc.|System and method for evaluating a material movement plan|
    JP6522441B2|2015-06-29|2019-05-29|日立建機株式会社|Work support system for work machine|
    US9803336B2|2015-11-13|2017-10-31|Caterpillar Inc.|System and method for determining dump locations|
    JP6666180B2|2016-03-23|2020-03-13|株式会社小松製作所|Motor grader control method and motor grader|
    CA2957649A1|2016-07-15|2018-01-15|Komatsu Ltd.|Working vehicle, remote diagnosis system, and remote diagnosis method|
    JP2018021347A|2016-08-02|2018-02-08|株式会社小松製作所|Work vehicle control system, control method, and work vehicle|
    US10480157B2|2016-09-07|2019-11-19|Caterpillar Inc.|Control system for a machine|
    US9783955B1|2016-11-09|2017-10-10|Caterpillar Inc.|System and method for moving material|
    US10552775B2|2016-11-29|2020-02-04|Caterpillar Inc.|System and method for optimizing a material moving operation|
    US10640952B2|2016-12-09|2020-05-05|Caterpillar Inc.|System and method for modifying a material movement plan|
    US10801177B2|2017-01-23|2020-10-13|Built Robotics Inc.|Excavating earth from a dig site using an excavation vehicle|
    WO2018159435A1|2017-03-02|2018-09-07|株式会社小松製作所|Control system for work vehicle, method for setting trajectory of work machine, and work vehicle|
    US10119244B2|2017-03-10|2018-11-06|Cnh Industrial America Llc|System and method for controlling a work machine|
    CN110168172B|2017-03-30|2021-07-13|株式会社小松制作所|Control system for work vehicle, trajectory setting method for work device, and work vehicle|
    US10407878B2|2017-05-23|2019-09-10|Caterpillar Inc.|System and method for dumping material|
    GB2576669B|2017-06-02|2022-02-16|Joy Global Underground Mining Llc|Adaptive pitch steering in a longwall shearing system|
    IL252769A|2017-06-08|2021-10-31|Israel Aerospace Ind Ltd|Method of navigating a vehicle and system thereof|
    US10663303B2|2017-06-12|2020-05-26|Panasonic Intellectual Property Management Co., Ltd.|System and method for dynamically authenticating map data using blockchains|
    CN113202155A|2017-06-30|2021-08-03|株式会社小松制作所|Construction machine and imaging system|
    EP3460406A1|2017-08-28|2019-03-27|Panasonic Intellectual Property Corporation of America|Information processing apparatus, vehicle, information processing method, running control method, and map updating method|
    DE102017126512A1|2017-11-12|2019-05-16|Zf Friedrichshafen Ag|Dynamic control system for a self-driving vehicle|
    US10968601B2|2017-11-24|2021-04-06|Novatron Oy|Controlling earthmoving machine|
    IL257428D0|2018-02-08|2018-06-28|Israel Aerospace Ind Ltd|Excavation by way of an unmanned vehicle|
    GB201802475D0|2018-02-15|2018-04-04|Jaguar Land Rover Ltd|Controller and vehicle|
    KR102094071B1|2018-04-19|2020-03-26|이순환|Underground Line Route Indicator Installation Apparatus and Method|
    US20200032490A1|2018-07-26|2020-01-30|Built Robotics Inc.|Filling earth at a location within a dig site using an excavation vehicle|
    US20200032483A1|2018-07-26|2020-01-30|Built Robotics Inc.|Excavating earth from a dig site using an excavation vehicle|
    KR102104304B1|2018-09-21|2020-05-21|포테닛 주식회사|Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator|
    US10774506B2|2018-09-28|2020-09-15|Caterpillar Inc.|System and method for controlling the operation of a machine|
    JP2021188362A|2020-05-29|2021-12-13|株式会社小松製作所|Excavation plan preparation device, work machine, and method for preparing excavation plan|
    法律状态:
    2015-07-31| PCOW| Change of address of patent owner(s)|
    2015-08-14| PK| Correction|Free format text: BERICHTIGUNG ERFINDER |
    优先权:
    申请号 | 申请日 | 专利标题
    US30702510P| true| 2010-02-23|2010-02-23|
    US39227910P| true| 2010-10-12|2010-10-12|
    PCT/IL2011/000173|WO2011104703A1|2010-02-23|2011-02-21|A system and method of autonomous operation of multi-tasking earth moving machinery|
    [返回顶部]