Real-time route terrain validity checker

• US 9,598,843 B2
• Filed: 12/16/2014
• Issued: 03/21/2017
• Est. Priority Date: 12/16/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Wei, Mo, Taylor, Michael, Edara, Thandava
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): McPherson, James M
• Application Number:
  US14/571,728
• Publication Number:
  US 20160170411A1
• Time in Patent Office: 826 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2054 Fleet management
• CPC Class Codes: E02F 9/261 Surveying the work-site to be treated
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

Automated excavating uses automated dozers and other earthmoving equipment to move material at a worksite. When such equipment is required to avoid a temporary obstruction, traverse between work slots, or traverse between work areas, a controller uses information from real-time sensors and contour maps to determine a new route to the destination. The controller also determines in real time whether the proposed route will keep the equipment on terrain with slopes that do not exceed a slope limit set for the mobile excavation machine. If not, the controller re-routes the machine to a new path over terrain with acceptable slopes.

Claims

1. A method of routing mobile excavation machines at a worksite comprising:

operating a mobile excavation machine to autonomously move material in a predefined slot at a work area;

setting a route completely outside the predefined slot for relocation of the mobile excavation machine to a new slot at the worksite;

automatically analyzing a terrain contour of the route;

automatically determining that the terrain contour of the route exceeds an acceptable operating state for the mobile excavation machine; and

automatically altering a travel path of the mobile excavation machine to a new route that avoids the terrain contour that exceeds the acceptable operating state, the new route including a path to the new slot that avoids the terrain contour that exceeds the acceptable operating state.

2. The method of claim 1, wherein setting the route for the mobile excavation machine comprises:

sensing an obstruction in a current travel path of the mobile excavation machine;

determining a new travel path that avoids the obstruction; and

setting the route based on the new travel path.

3. The method of claim 2, wherein sensing the obstruction comprises determining a transient object is in the current travel path of the mobile excavation machine using one of an optical sensor and radar.

4. The method of claim 3, wherein the sensing the obstruction occurs at one of the mobile excavation machine, another machine, and a fixed monitor site.

5. The method of claim 1, wherein setting the route for the mobile excavation machine comprises:

receiving a signal indicating the mobile excavation machine should move to a new area; and

determining the route as a course between a current location of the mobile excavation machine and the new area.

6. The method of claim 1, wherein analyzing the terrain contour of the route comprises:

segmenting the route into a plurality of piecewise linear segments; and

performing a terrain validation for each segment of the plurality of piecewise linear segments.

7. The method of claim 6, wherein performing the terrain validation for each segment of the plurality of piecewise linear segments comprises:

selecting a subset of adjacent segments of the plurality of piecewise linear segments;

performing a slope calculation using a combined distance between respective endpoints of the adjacent segments and an elevation change between an initial endpoint and a final endpoint of a last segment of the subset of adjacent segments; and

validating the terrain when each calculated slope is within an acceptable value of slope.

8. The method of claim 6, wherein performing the terrain validation for each segment of the plurality of piecewise linear segments comprises:

selecting a subset of adjacent segments of the plurality of piecewise linear segments;

performing a separate slope calculation over a plurality of consecutive segments using a direct distance between a first endpoint of a first segment and a final endpoint of a final segment of the plurality of piecewise linear segments and an elevation change between an initial endpoint of the first segment and a final endpoint of the final segment of the subset of adjacent segments; and

validating the terrain when each calculated slope is within an acceptable value of slope.

9. The method of claim 1, wherein analyzing the terrain contour of the route comprises:

segmenting the route into a plurality of piecewise linear segments; and

performing a terrain validation to a next segment of the plurality of piecewise linear segments to be encountered by the mobile excavation machine.

10. The method of claim 1, wherein the acceptable operating state is a function of fore-and-aft slope and side-to-side slope.

11. The method of claim 1, wherein the acceptable operating state is a function of an off-limit zone of a site map.

12. The method of claim 1, further comprising:

setting the new route as the route for the mobile excavation machine; and

repeating the analyzing the terrain contour, determining that the terrain contour exceeds the acceptable operating state, and altering the travel path steps for the new route.

13. A system for routing mobile excavation machines at a worksite comprising:

a mobile excavation machine equipped with remote control equipment that allows remotely controlled steering, speed, and direction control;

a controller configured to communicate with the mobile excavation machine to receive location information about the mobile excavation machine and provide remote control instructions to the mobile excavation machine; and

a planner coupled to the controller, the planner configured for;

controlling the mobile excavation machine for autonomous operation for moving material in a first slot of a work area;

setting a destination for the mobile excavation machine outside the first slot using a route, the destination associated with a second slot;

analyzing a terrain contour along the route;

determining when the route intersects an unacceptable terrain contour;

setting an intermediate destination for the mobile excavation machine that causes the mobile excavation machine to avoid the unacceptable terrain contour as the mobile excavation machine travels to the destination associated with the second slot.

14. The system of claim 13, wherein setting the destination for the mobile excavation machine comprises the planner is further configured for:

recognizing a transient object in a path of the mobile excavation machine; and

causing the controller to alter a direction of the mobile excavation machine to avoid the transient object.

15. The system of claim 13, wherein analyzing the terrain contour comprises:

comparing the route to a contour map of the worksite along the route to determine whether a terrain slope is in excess of an acceptable operating slope for the mobile excavation machine.

16. The system of claim 15, wherein the controller is further configured for dividing the route into linear intermediate waypoints, wherein comparing the route to the contour map comprises comparing a route segment between a current location and a first waypoint with the contour map.

17. The system of claim 15, wherein the contour map further includes exclusion zones prohibited from passage by the mobile excavation machine.

18. A method of routing a mobile excavation machine operated by remote control at a worksite, the method comprising:

autonomously operating the mobile excavation machine to move material in a predefined slot;

setting an initial route for the mobile excavation machine to autonomously travel outside the predefined slot to a new slot at the worksite;

segmenting the initial route into a plurality of piecewise linear segments;

performing a terrain validation of a terrain of a next closest segment of the plurality of piecewise linear segments;

determining that a terrain of the route exceeds an acceptable operating state for the mobile excavation machine;

altering a travel path of the mobile excavation machine to a new route that allows the mobile excavation machine to autonomously travel to the new slot and avoid the terrain of the initial route that exceeds the acceptable operating state, the new route including a path to the new slot that avoids the terrain of the initial route that exceeds the acceptable operating state.

19. The method of claim 18, further comprising:

sensing an obstruction in a current travel path of the mobile excavation machine using one of an optical sensor and radar;

determining a new travel path that avoids the obstruction; and

setting the route based on the new travel path.

20. The method of claim 18, wherein each of the plurality of piecewise linear segments is approximately equal to a length of the mobile excavation machine.