METHOD FOR PLANNING AND EXECUTING OBSTACLE-FREE PATHS FOR ROTATING EXCAVATION MACHINERY
First Claim
1. A control system for autonomous path planning in excavation machinery, comprising:
- a map generation subsystem to receive data from an array of sensors to generate a 3-Dimensional digital terrain and obstacle map;
an obstacle detection subsystem to find and identify obstacles in the digital terrain and obstacle map, and then to refine the map by identifying 3-Dimensional exclusion zones that are within reach of the machine during operation;
a collision detection subsystem that uses knowledge of the machine'"'"'s position and movements, as well as the digital terrain and obstacle map, to identify possible collisions with itself, the obstacles and the exclusion zones in the refined map;
a forward motion planning subsystem to predict collisions in a planned path; and
a path planning subsystem that uses information from the other subsystems to vary planned paths to avoid collisions.
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Accused Products
Abstract
This invention concerns the control of rotating excavation machinery, for instance to avoid collisions with obstacles. In a first aspect the invention is a control system for autonomous path planning in excavation machinery, comprising: A map generation subsystem to receive data from an array of disparate and complementary sensors to generate a 3-Dimensional digital terrain and obstacle map referenced to a coordinate frame related to the machine'"'"'s geometry, during normal operation of the machine. An obstacle detection subsystem to find and identify obstacles in the digital terrain and obstacle map, and then to refine the map by identifying exclusion zones that are within reach of the machine during operation. A collision detection subsystem that uses knowledge of the machine'"'"'s position and movements, as well as the digital terrain and obstacle map, to identify and predict possible collisions with itself or other obstacles, and then uses a forward motion planner to predict collisions in a planned path. And, a path planning subsystem that uses information from the other subsystems to vary planned paths to avoid obstacles and collisions. In other aspects the invention is excavation machinery including the control system; a method for control of excavation machinery; and firmware and software versions of the control system.
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Citations
23 Claims
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1. A control system for autonomous path planning in excavation machinery, comprising:
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a map generation subsystem to receive data from an array of sensors to generate a 3-Dimensional digital terrain and obstacle map; an obstacle detection subsystem to find and identify obstacles in the digital terrain and obstacle map, and then to refine the map by identifying 3-Dimensional exclusion zones that are within reach of the machine during operation; a collision detection subsystem that uses knowledge of the machine'"'"'s position and movements, as well as the digital terrain and obstacle map, to identify possible collisions with itself, the obstacles and the exclusion zones in the refined map; a forward motion planning subsystem to predict collisions in a planned path; and a path planning subsystem that uses information from the other subsystems to vary planned paths to avoid collisions. - View Dependent Claims (2, 3, 4, 5, 9, 10, 11, 12, 13, 14, 15, 16, 17, 20, 21, 22, 23)
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6. (canceled)
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7. (canceled)
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8. (canceled)
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18. A method for control of excavation machinery, comprising the steps of:
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receiving data from an array of sensors to generate a 3-Dimensional digital terrain and obstacle map; finding and identifying obstacles in the digital terrain and obstacle map, and then refining the map by identifying 3-Dimensional exclusion zones that are within reach of the machine during operation using knowledge of the machine'"'"'s position and movements, as well as the digital terrain and obstacle map, to identify possible collisions with itself, the obstacles and the exclusion zones in the refined map; predicting collisions in a planned path; and using information from the other subsystems to vary planned paths to avoid collisions. - View Dependent Claims (19)
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Specification