System for autonomous excavation and truck loading

• US 6,363,632 B1
• Filed: 09/09/1999
• Issued: 04/02/2002
• Est. Priority Date: 10/09/1998
• Status: Expired due to Term

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Lay, Norman Keith, Rowe, Patrick, Leger, Patrick C., Singh, Sanjiv, Stentz, Anthony, Bares, John
• Primary Examiner(s): BATSON, VICTOR D
• Application Number:
  US09/392,935
• Time in Patent Office: 936 Days
• Field of Search: 373/43, 373/82, 374/14, 371/95, 701/50, 172/2, 172/3, 172/4.5, 172/5, 172/6, 414/699
• US Class Current: 37/414
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• 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: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence

Abstract

In accordance with the present invention, a system to organize and coordinate components associated with earthmoving machinery capable of performing excavating and loading tasks autonomously is disclosed. The system comprises an earthmoving machine equipped with a scanning sensor system operable to provide data regarding regions within an earthmoving environment including an excavation region and a loading region and a planning and control module operable to receive data from the scanning sensor system to plan a task associated with the control of the earthmoving machine while concurrently performing another task associated with control of the earthmoving machine. Any number and type of sensor systems, such as a laser rangefinder or a radar rangefinder, may be incorporated in the system depending on requirements and the capabilities of the system. The sensor systems have independently controllable fields of view, with each sensor system being capable of providing data pertaining to a different portion of the earthmoving environment.

Claims

1. A system for autonomous control of an earthmoving machine within an earthmoving environment, the system comprising:

an earthmoving machine equipped with a scanning sensor system operable to provide data corresponding to regions within the earthmoving environment including an excavation region and a loading region; and

a planning and control module operable to receive data from the scanning sensor system to plan a task associated with control of the earthmoving machine in the excavation region while concurrently performing another task associated with the control of the earthmoving machine within the loading region.

2. The system of claim 1 wherein the scanning sensor system comprises a laser rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

3. The system of claim 2 wherein the scanning sensor system further comprises another laser rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

4. The system of claim 1 wherein the scanning sensor system comprises a radar rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

5. The system of claim 4 wherein the scanning sensor system further comprises another radar rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

6. The system of claim 1 further comprising an obstacle detector for detecting the presence of an obstacle within the earthmoving environment.

7. The system of claim 6 wherein the obstacle detector produces a signal representative of an obstacle being detected within the earthmoving environment and a signal for halting operation of the earthmoving environment.

8. The system of claim 1 wherein the planning and control module is operable to select a starting location within the earthmoving environment to begin control of the earthmoving machine in the excavation region.

9. The system of claim 1 wherein the planning and control module is operable to determine a position and orientation of a loading receptacle, and to determine a location in the loading receptacle in which to place excavated material.

10. The system of claim 1 wherein the planning and control module is operable to generate commands for controlling operation of the scanning sensor system.

11. The system of claim 1 further comprising a machine controller interface operable to receive a command from the planning and control module and to transmit the command to the earthmoving machine to control operation of the earthmoving machine.

12. The system of claim 1 further comprising a position system operable to transmit data regarding a position of the earthmoving machine within the earthmoving environment.

13. A system for autonomous control of earthmoving machinery, the system comprising:

an earthmoving machine equipped with a scanning sensor system operable to provide data corresponding to regions within an earthmoving environment including an excavation region and a loading region;

a planning and control module operable to receive data from the scanning sensor system to plan a task associated with control of the earthmoving machine in the excavation region while concurrently performing another task associated with the control of the earthmoving machine within the loading region; and

an obstacle detector for detecting the presence of an obstacle within the earthmoving environment and for generating a signal to halt operation of the earthmoving machine once the obstacle has been detected.

14. The system of claim 13 wherein the scanning sensor system comprises a laser rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

15. The system of claim 14 wherein the scanning sensor system further comprises another laser rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

16. The system of claim 13 wherein the scanning sensor system comprises a radar rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

17. The system of claim 16 wherein the scanning sensor system further comprises another radar rangefinder which is capable of movement about an axis in order to scan the earthmoving environment.

18. The system of claim 13 wherein the planning and control module is operable to select a starting location within the earthmoving environment to begin control of the earthmoving machine in the excavation region.

19. The system of claim 13 wherein the planning and control module is operable to determine a position and orientation of a loading receptacle, and to determine a location in the loading receptacle in which to place excavated material.

20. A system for autonomous control of earthmoving machinery, the system comprising:

an earthmoving machine equipped with a scanning sensor system operable to provide data corresponding to regions within an earthmoving environment including an excavation region and a loading region, the scanning sensor system comprising a first sensor being operable to rotate to scan a field of view greater than zero degrees in a first plane around the earthmoving machine and a second sensor being operable to rotate to scan a field of view greater than zero degrees in a second plane around the earthmoving machine, the sensors being positioned on the earthmoving machine and having independently adjustable fields of view and scan patterns to provide range data for different areas of the earthmoving environment for planning and executing at least one earthmoving task; and

an obstacle detector operable to receive data from the scanning sensor system to determine if an object is present within the earthmoving environment and once an obstacle has been detected for halting operation of the earthmoving machine.

21. The system of claim 20 wherein the obstacle detector produces a map representative of the earthmoving environment and a temporary map representative of a particular region within the earthmoving environment and the obstacle detector compares the two maps to determine if there are any changes between the two maps.

22. The system of claim 20 wherein the first and second planes are vertical planes.