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 operatively connected to a mission computer, the method comprising:
- (a) receiving, by the mission computer, a mission objective;
(b) obtaining mapping data in respect of a mission area;
(c) determining, with help of a positioning utility, a position of said EMM in respect of said mission area;
(d) determining a mission execution route, based on at least said mapping data and said mission objective, said mission execution route comprising one or more segments within said mission area, wherein each segment is associated with a disposal point;
(e) calculating, for each of said one or more segments, with the help of the mission computer, 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 disposing of said accumulated matter upon arrival at said disposal point, wherein said calculating is based on at least the mission objective, the mapping data, a length of said segment and shoving capability data of said EMM, and wherein the accumulating load on the EMM is not greater than the maximal shoving capability of the EMM; and
(f) operating said EMM along said mission execution route and repositioning said implement while operating said EMM along at least one of said one or more segments according to said implement trajectory.
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Abstract
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.
39 Citations
34 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 operatively connected to a mission computer, the method comprising:
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(a) receiving, by the mission computer, a mission objective; (b) obtaining mapping data in respect of a mission area; (c) determining, with help of a positioning utility, a position of said EMM in respect of said mission area; (d) determining a mission execution route, based on at least said mapping data and said mission objective, said mission execution route comprising one or more segments within said mission area, wherein each segment is associated with a disposal point; (e) calculating, for each of said one or more segments, with the help of the mission computer, 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 disposing of said accumulated matter upon arrival at said disposal point, wherein said calculating is based on at least the mission objective, the mapping data, a length of said segment and shoving capability data of said EMM, and wherein the accumulating load on the EMM is not greater than the maximal shoving capability of the EMM; and (f) operating said EMM along said mission execution route and repositioning said implement while operating said EMM along at least one of said one or more segments according to said implement trajectory. - 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 a mission execution route, based on at least said map and said mission objective, said mission execution route comprising at least one segment within said mission area, wherein each segment is associated with a disposal point; 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 and operate said EMM along said mission execution route and reposition said implement while operating said EMM along at least one of said one or more segments according to said implement trajectory. - 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 earth moving machine (EMM), said EMM comprising at least one implement, the system comprising a mission computer configured to determine a mission execution route comprising 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, wherein said calculation of said implement trajectory is performed such an amount of said accumulated matter does not exceed a maximal shoving capability of said EMM.
Specification