Vehicle area coverage path planning using isometric value regions

• US 20070239472A1
• Filed: 04/10/2006
• Published: 10/11/2007
• Est. Priority Date: 04/10/2006
• Status: Abandoned Application

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel
• Application Number:
  US11/401,120
• Publication Number:
  US 20070239472A1
• Time in Patent Office: Days
• US Class Current: 705/7
• CPC Class Codes: G06Q 10/04 Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem" market predictions or forecasting for commercial activities G06Q30/0202
• CPC Class Codes: G06Q 10/06316 Sequencing of tasks or work
• CPC Class Codes: G06Q 50/02 Agriculture; Fishing; Forestry; Mining
• CPC Class Codes: G06Q 50/08 Construction

Abstract

A method of optimizing a spatially dependent ground engaging task including the steps of defining a plurality of sub-areas within an area, calculating a cost of performing the task and coalescing cost matrices. The calculating step includes calculating a cost of performing the task for each of the plurality of sub-areas for each of a plurality of times. The cost of each sub-area being an element of one cost matrix of a plurality of cost matrices. Each of the plurality of cost matrices being associated with one of the plurality of times. The plurality of cost matrices including a first cost matrix and a second cost matrix. The coalescing step including coalescing the first cost matrix and the second cost matrix to define an operational path for the performance of the ground engaging task.

Claims

1. A method of optimizing a spatially dependent ground engaging task, comprising the steps of:

defining a plurality of sub-areas within an area;

calculating a cost of performing the task for each of said plurality of sub-areas for each of a plurality of times, said cost of each sub-area being an element of one cost matrix of a plurality of cost matrices, each of said plurality of cost matrices being associated with one of said plurality of times, said plurality of cost matrices including a first cost matrix and a second cost matrix; and

coalescing said first cost matrix and said second cost matrix to define an operational path for the performance of the ground engaging task.

2. The method of claim 1, further comprising the step of repeating said coalescing step with said plurality of cost matrices thereby further refining said operational path.

3. The method of claim 2, wherein said operational path extends through a set of said plurality of sub-areas a plurality of times.

4. The method of claim 1, wherein said coalescing step coalesces a selected set of said sub-areas, said selected set including sub-areas of proximate cost values.

5. The method of claim 4, wherein said coalescing step includes using constraints of at least one of time limits, minimum number of sub-areas and sizes of said sub-areas to define isometric value regions.

6. The method of claim 5, wherein said operational path starts in a low-cost one of said isometric value regions.

7. The method of claim 6, wherein said coalescing step starts with highest volatile values in said cost matrices.

8. The method of claim 7, wherein said coalescing step includes an identification of earliest least volatile sub-areas.

9. The method of claim 1, wherein at least some of the steps are repeated while the ground engaging task is occurring in said area.

10. The method of claim 1, wherein at least one of atmospheric attributes, weather projections and soil attributes each of which are projected to vary over time are used in said calculating step.

11. A method of obtaining a least-cost solution for a ground engaging task, comprising the steps of:

subdividing an area into a plurality of sub-areas;

computing a cost of performing the ground engaging task in each of said plurality of sub-areas for a projected future time;

repeating said computing step for a plurality of future times thereby creating a plurality of costs for each sub-area relative to said plurality of future times; and

using said plurality of costs to define a time sensitive operational path for ground engaging equipment.

12. The method of claim 11, wherein said using step includes the step of coalescing at least some of said plurality of costs for adjacent sub-areas to define said time sensitive operational path.

13. The method of claim 12, wherein said time sensitive operational path extends through a set of said plurality of sub-areas.

14. The method of claim 13, wherein said coalescing step coalesces said set of said plurality of sub-areas, said set including sub-areas of proximate cost.

15. The method of claim 14, wherein said coalescing step includes using constraints of at least one of time limits, minimum number of sub-areas and sizes of said sub-areas to define isometric value regions.

16. The method of claim 15, wherein said time sensitive operational path starts in a low-cost one of said isometric value regions.

17. The method of claim 16, wherein said coalescing step starts with highest volatile values of said costs of said sub-areas.

18. The method of claim 17, wherein said coalescing step includes an identification of earliest least volatile sub-areas.

19. The method of claim 11, wherein at least some of said steps are repeated while the ground engaging task is underway in said area.

20. The method of claim 11, wherein at least one of atmospheric attributes, weather projections and soil attributes each of which are projected to vary over time are used in said computing step.