Method of managing a worksite
First Claim
1. A method of calibrating a vehicle model used to autonomously control a machine on a worksite, the method comprising:
- measuring, using a sensor, a first value indicative of an operating condition of the machine;
predicting, using a controller, a second value indicative of the operating condition, using the vehicle model;
determining a difference between the first value and the second value;
identifying calibration conditions required to calibrate the vehicle model when the difference is greater than a predetermined threshold;
searching for calibration sites where the vehicle model can be calibrated based on the identified calibration conditions;
selecting a calibration site from the calibration sites based on a suitability index representing characteristics of the calibration site;
directing the machine to the selected calibration site; and
calibrating the vehicle model at the selected calibration site, wherein calibrating the vehicle model includes adjusting the vehicle model such that the second value predicted using the vehicle model is approximately equal to the first value measured using the sensor.
1 Assignment
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Accused Products
Abstract
A method is disclosed for calibrating a vehicle model used to autonomously control a machine on a worksite. The method may include measuring a first value indicative of an operating condition of the machine, predicting a second value, using the vehicle model, corresponding to the first value and indicative of the operating condition, and determining a difference between the first value and the second value. The method may also include autonomously directing the machine to a calibration site of the worksite in response to determining that the difference between the first value and the second value is greater than a predetermined threshold, wherein the calibration site is automatically selected from a plurality of locations at the worksite based on a suitability index of the calibration site.
8 Citations
18 Claims
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1. A method of calibrating a vehicle model used to autonomously control a machine on a worksite, the method comprising:
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measuring, using a sensor, a first value indicative of an operating condition of the machine; predicting, using a controller, a second value indicative of the operating condition, using the vehicle model; determining a difference between the first value and the second value; identifying calibration conditions required to calibrate the vehicle model when the difference is greater than a predetermined threshold; searching for calibration sites where the vehicle model can be calibrated based on the identified calibration conditions; selecting a calibration site from the calibration sites based on a suitability index representing characteristics of the calibration site; directing the machine to the selected calibration site; and calibrating the vehicle model at the selected calibration site, wherein calibrating the vehicle model includes adjusting the vehicle model such that the second value predicted using the vehicle model is approximately equal to the first value measured using the sensor. - View Dependent Claims (2, 3, 4, 5, 6, 14)
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7. A method of calibrating a vehicle model used to autonomously control a machine on a worksite, the method comprising:
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measuring, using a sensor, a first value indicative of an operating condition of the machine; predicting, using a controller, a second value indicative of the operating condition, using the vehicle model; determining a difference between the first value and the second value; providing a signal to a worksite management system in response to determining the difference between the first value and the second value is greater than a predetermined threshold, wherein the worksite management system is disposed remote from the machine and the signal is indicative of an aspect of the vehicle model that is in need of calibration; identifying calibration conditions required to calibrate the vehicle model when the difference is greater than a predetermined threshold; searching for calibration sites where the vehicle model can be calibrated based on the identified calibration conditions; selecting a calibration site from the calibration sites based on a suitability index representing characteristics of the calibration site; autonomously directing the machine to the selected calibration site in response to receipt of the signal by the worksite management system; and calibrating the vehicle model at the selected calibration site, wherein calibrating the vehicle model includes adjusting the vehicle model such that the second value predicted using the vehicle model is approximately equal to the first value measured using the sensor. - View Dependent Claims (8, 9, 10, 11, 12, 13)
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15. A method of calibrating a vehicle model used to autonomously control a machine on a worksite, the method comprising:
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storing, in a memory, calibration needs of the machine, a calibration need being determined based on a difference between a first value measured using a sensor and a second value predicted using the vehicle model; scheduling, using a controller, the occurrence of the calibration needs; providing a signal to a worksite management system in response to determining that the calibration need exists, wherein the signal is indicative of an aspect of the vehicle model that is in need of calibration; searching for calibration sites where the aspect of the vehicle model can be calibrated based on the identified calibration conditions; selecting a calibration site from the calibration sites based on a suitability index representing characteristics of the calibration site; generating a map of the worksite identifying the selected calibration site for calibration of the vehicle model; and calibrating the aspect of the vehicle model at the selected calibration site, wherein calibrating the aspect of the vehicle model includes adjusting the vehicle model such that the second value predicted using the vehicle model is approximately equal to the first value measured using the sensor. - View Dependent Claims (16, 17, 18)
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Specification