SYSTEM AND METHOD OF AUTONOMOUS OPERATION OF MULTI-TASKING EARTH MOVING MACHINERY
First Claim
1. A method of autonomous operation of an earth moving machine (EMM) configured for shoving matter, said EMM comprising at least one implement, the method comprising:
- (a) receiving a mission objective;
(b) providing mapping data in respect of a mission area;
(c) determining a position of said EMM in respect of said mission area;
(d) determining, based on at least said mapping data and said mission objective, one or more segments within said mission area, wherein each segment is associated with a disposal point;
(e) in respect of each of said one or more segments, based on at least the mission objective, the mapping data, a length of said segment and shoving capability data of said EMM, calculating an implement trajectory of said at least one implement along said segment, thereby enabling accumulation of matter by said at least one implement along said segment as said EMM progresses and disposal of said accumulated matter upon arrival at said disposal point.
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Abstract
According to certain aspects of the invention there is provided a method and system for autonomous operation of an earth moving machine (EMM), configured for shoving matter, the EMM comprising at least one implement. Based on at least the mission objective and the mapping data of the mission area, the mission area is divided into segments, each segment being associated with a disposal point. An implement trajectory is calculated in respect of each of the segments such that matter is accumulated by the at least one implement along the segment as the EMM progresses and the accumulated matter is disposed upon arrival at the disposal point, without exhausting the EMM shoving capabilities.
85 Citations
38 Claims
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1. A method of autonomous operation of an earth moving machine (EMM) configured for shoving matter, said EMM comprising at least one implement, the method comprising:
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(a) receiving a mission objective; (b) providing mapping data in respect of a mission area; (c) determining a position of said EMM in respect of said mission area; (d) determining, based on at least said mapping data and said mission objective, one or more segments within said mission area, wherein each segment is associated with a disposal point; (e) in respect of each of said one or more segments, based on at least the mission objective, the mapping data, a length of said segment and shoving capability data of said EMM, calculating an implement trajectory of said at least one implement along said segment, thereby enabling accumulation of matter by said at least one implement along said segment as said EMM progresses and disposal of said accumulated matter upon arrival at said disposal point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for autonomous operation of an EMM, said EMM comprising at least one implement, the system comprising:
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a positioning utility, a detection and ranging facility and a mission computer; said mission computer is configured to receive data in respect of a mission, said data including at least a mission objective; said detection and ranging facility is configured to scan said mission area and obtain data in respect of the mission area; said positioning utility is configured to determine a position of said EMM in respect of said mission area; said mission computer is further configured to; generate a map of said mission area based on said data; determine, based on at least said map and said mission objective, at least one segment within said mission area, wherein each segment is associated with a disposal point; and calculate, based on at least said mission objective, said map, a length of said at least one segment and shoving capability data of said EMM, an implement trajectory of said at least one implement along said segment, such that matter is accumulated by said at least one implement along said segment as said EMM progresses and upon arrival at said disposal point, said accumulated matter is disposed. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
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- 34. A system for autonomous operation of an EMM, said EMM comprising at least one implement, the system comprising a mission computer configured to monitor at least one characteristic of said EMM as said EMM progresses and accumulates matter, and reposition said at least one implement in response to an indication that said at least one characteristic of said EMM exceeds a predefined threshold value.
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38. A system for autonomous operation of an EMM, said EMM comprising at least one implement, the system comprising a mission computer configured to determine at least one segment associated with a disposal point and calculate an implement trajectory of said at least one implement along said at least one segment, such that matter is accumulated by said at least one implement along said at least one segment as said EMM progresses and upon arrival at said disposal point, said accumulated matter is disposed.
Specification