MACHINE CONTROL SYSTEM HAVING AUTONOMOUS EDGE DUMPING
First Claim
1. A control system for use with a machine operating at a worksite, the control system comprising:
- an offboard controller configured to;
receive information regarding a berm at a dump location of the worksite;
determine starting and ending points spaced apart along an edge of the berm based on the information;
determine a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm;
selectively validate the starting and ending points based on the maximum orthogonal distance; and
designate a center of the virtual line between validated starting and ending points as a dump target.
1 Assignment
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Accused Products
Abstract
A control system is disclosed for use with a machine at a worksite. The control system may have an offboard controller. The offboard controller may be configured to receive information regarding a berm at the worksite, determine starting and ending points spaced apart along an edge of the berm based on the information, and determine a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm. The offboard controller may be further configured to selectively validate the starting and ending points based on the maximum orthogonal distance, and to designate a center of the virtual line between validated starting and ending points as a dump target.
16 Citations
26 Claims
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1. A control system for use with a machine operating at a worksite, the control system comprising:
an offboard controller configured to; receive information regarding a berm at a dump location of the worksite; determine starting and ending points spaced apart along an edge of the berm based on the information; determine a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm; selectively validate the starting and ending points based on the maximum orthogonal distance; and designate a center of the virtual line between validated starting and ending points as a dump target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method of generating a dump target at a worksite, comprising:
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receiving information regarding a berm at the worksite; determining starting and ending points spaced apart along an edge of the berm based on the information; determining a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm; selectively validating the starting and ending points based on the maximum orthogonal distance; and designating a center of the virtual line between validated starting and ending points as the dump target. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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26. A computer readable medium having executable instructions stored thereon for performing a method of dump target generation, the method comprising:
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receiving information regarding a berm at a worksite; determining starting and ending points spaced apart along an edge of the berm based on the information; determining a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm; selectively validating the starting and ending points based on the maximum orthogonal distance; designating a center of the virtual line between validated starting and ending points as a dump target; generating a tolerance zone around the dump target that is configured for use in controlling a speed of a machine assigned to discharge material at the dump target; generating a trajectory window extending from the dump target away from the berm, the trajectory window configured for use in controlling movement of the machine toward the dump target; and generating a travel lane to the dump target, the travel lane having a width bound by the starting and ending points and being generally aligned with the trajectory window.
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Specification