METHOD AND SYSTEM FOR DETERMINING A PLANNED PATH FOR A MACHINE

• US 20100161183A1
• Filed: 03/30/2009
• Published: 06/24/2010
• Est. Priority Date: 12/22/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Beese, Zachary E.
• Granted Patent: US 8,090,508 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: B60K 6/48 Parallel type
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60Y 2200/41 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• 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 50/02 Agriculture; Fishing; Forestry; Mining
• CPC Class Codes: Y02T 10/62 Hybrid vehicles

Abstract

A location-determining receiver collects terrain data within a work area. The terrain data comprises elevation data and corresponding location data. A path planning module or data processor defines a planned path for a drainage channel. The planned path comprises a starting point with first coordinates and a termination point with second coordinates within the work area. The drainage channel extends from the starting point to the end point such that the starting point has a higher elevation than the termination point. A user interface establishes constraint data comprising a minimum cut parameter, a maximum cut parameter, a minimum slope parameter and a maximum slope parameter. A data processor determines a validated path for the planned path or a digging plan based on compliance with the constraint data.

Claims

1. A method for providing a planned path for a machine for digging a drainage channel, the method comprising:

collecting terrain data within a work area, the terrain data comprising elevation data and corresponding location data;

defining a planned path for a drainage channel, the planned path comprising a starting point with first coordinates and a termination point with second coordinates within the work area, the drainage channel to extend from the starting point to the end point such that the starting point has a higher elevation than the termination point;

establishing constraint data comprising a minimum cut parameter, a maximum cut parameter, a minimum slope parameter and a maximum slope parameter; and

determining a validated path for the drainage channel based on compliance with the constraint data.

2. The method according to claim 1 further comprising:

converting the validated path into a digging plan with machine control codes to execute the digging or construction of the drainage channel.

3. The method according to claim 1 further comprising:

digging or constructing the drainage channel in conformance with the machine control codes and the digging plan.

4. The method according to claim 1 wherein the determining of the validated path further comprises:

evaluating the planned path in a down slope direction starting from a higher elevation point along the planned path if the minimum slope parameter is not satisfied; and

increasing a slope of the planned path in the down slope direction consistent with the minimum slope parameter.

5. The method according to claim 4 wherein the increasing is done incrementally and iteratively until the minimum slope parameter is satisfied.

6. The method according to claim 1 wherein the determining of the dig plan further comprises:

evaluating the planned path in an upslope direction starting from a lower elevation point along the planned path if the maximum slope parameter is not satisfied; and

decreasing a slope of the planned path in the upslope direction consistent with the maximum slope parameter.

7. The method according to claim 6 wherein the decreasing is done incrementally and iteratively until the maximum slope parameter is satisfied.

8. The method according to claim 1 wherein the determining of the validated path is accomplished by, first, applying the minimum cut parameter;

second, applying the minimum slope parameter;

third, applying the maximum cut parameter;

fourth, applying the maximum slope parameter.

9. The method according to claim 1 wherein the minimum cut parameter comprises a minimum volume of material to be removed to form the drainage channel with a desired minimum cross section, a minimum width, minimum depth or a minimum flow rate for liquid to travel in a single stream;

wherein the minimum slope parameter comprises a minimum incline for a liquid to flow from gravitational force;

wherein the maximum cut parameter comprises a maximum volume of material to be removed to form the drainage channel; and

wherein maximum slope parameter comprises the maximum incline for liquid to flow without material erosion of the drainage channel.

10. A system for providing a planned path for a machine for digging a drainage channel, the system comprising:

a location determining receiver for collecting terrain data within a work area, the terrain data comprising elevation data and corresponding location data;

a path planning module for defining a planned path for a drainage channel, the planned path comprising a starting point with first coordinates and a termination point with second coordinates within the work area, the drainage channel to extend from the starting point to the end point such that the starting point has a higher elevation than the termination point;

a user interface for establishing constraint data comprising a minimum cut parameter, a maximum cut parameter, a minimum slope parameter and a maximum slope parameter; and

a data processor for determining a validated path for the drainage channel based on compliance with the constraint data.

11. The system according to claim 10 further comprising:

a converter for converting the validated path into a digging plan with machine control codes to execute the digging or construction of the drainage channel.

12. The system according to claim 10 further comprising:

an actuator for digging or constructing the drainage channel in conformance with the machine control codes and the digging plan.

13. The system according to claim 10 wherein data processor further comprises:

a path planning module for evaluating the planned path in a down slope direction starting from a higher elevation point along the planned path if the minimum slope parameter is not satisfied, the path planning module arranged to increase a slope of the planned path in the down slope direction consistent with the minimum slope parameter.

14. The system according to claim 13 wherein the path planning module comprises a search engine for increasing the slope incrementally and iteratively until the minimum slope parameter is satisfied.

15. The system according to claim 10 wherein the data processor further comprises:

a path planning module for evaluating the planned path in an upslope direction starting from a lower elevation point along the planned path if the maximum slope parameter is not satisfied, the path planning module arranged to decrease a slope of the planned path in the upslope direction consistent with the maximum slope parameter.

16. The system according to claim 15 wherein the path planning module comprises a search engine for decreasing the slope incrementally and iteratively until the maximum slope parameter is satisfied.

17. The system according to claim 10 wherein the minimum cut parameter comprises a minimum volume of material to be removed to form the drainage channel with a desired minimum cross section, a minimum width, minimum depth or a minimum flow rate for liquid to travel in a single stream;

wherein the minimum slope parameter comprises a minimum incline for a liquid to flow from gravitational force;

wherein the maximum cut parameter comprises a maximum volume of material to be removed to form the drainage channel; and

wherein the maximum slope parameter comprises the maximum incline for liquid to flow without material erosion of the drainage channel.