Grade Control Cleanup Pass Using Cost Optimization

Abstract

A computer-implemented method for determining a cleanup pass profile for a machine implement is provided. The method may include identifying a pass target extending from a first end to a second end along a work surface, determining a plurality of primitives of a cleanup pass profile extending between the first end and the second end where each primitive may be defined based at least partially on volume constraints, determining a cost value associated with moving the machine implement along the cleanup pass profile based on an optimization cost function, and adjusting the volume constraints associated with one or more of the primitives to minimize the cost value.

Description

TECHNICAL FIELD[0001]The present disclosure relates generally to controlling machines, and more particularly, to systems and methods for determining cleanup pass profiles for semi-autonomous and autonomous machines using cost optimization.BACKGROUND[0002]Machines such as, for example, track-type tractors, dozers, motor graders, wheel loaders, and the like, are used to perform a variety of tasks. For example, these machines may be used to move material and / or alter work surfaces at a worksite. The machines may be manned machines, but may also be autonomous or semi-autonomous vehicles that perform these tasks in response to commands remotely or locally generated as part of a work plan for the machines. The machines may receive instructions in accordance with the work plan to perform operations, including digging, loosening, carrying, and any other manipulation of materials at the worksite.[0003]It may be desirable to ensure that the machines perform these operations such that the mate...

AI Technical Summary

Benefits of technology

This patent text describes a computer-implemented method and control system for determining a cleanup pass profile for a machine implement. The method involves identifying a pass target, determining a plurality of primatives of a cleanup pass profile, and minimizing the cost value associated with moving the machine implement along the cleanup pass profile by adjusting volume constraints associated with the primitives. The technical effects of this patent include improving the efficiency and accuracy of cleaning machines, reducing labor costs, and minimizing damage to works surfaces.

Problems solved by technology

However, autonomous carry passes often adjust the blade height while in the blade-carry region which can result in unwanted deviations from the planned profile.

In actual practice, however, cut and carry passes may deviate from the planned profile due to factors such as hard soil, insufficient ripping, degradations in position estimation, hump building, large rocks, boulders or other embedded obstacles, and the like.

For instance, conventional processes are limited to profiles formed using S-shaped Gaussian curves, which cannot sufficiently adapt to negative volumes or valleys in the terrain that dip below the target profile, bumps in the terrain that extend above the pass target, or the like.

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