Systems and Methods for Constrained Dozing

Abstract

A computer-implemented method for determining an implement path for a machine implement at a worksite is provided. The computer-implemented method may include identifying a work surface and a pass target of the worksite, defining a loading profile based on one or more curves constrained to the work surface and the pass target, defining a carry profile based on the loading profile and the pass target, and designating the loading profile and the carry profile as the implement path.

Description

TECHNICAL FIELD[0001]The present disclosure relates generally to controlling machines, and more particularly, to systems and methods for determining blade paths for semi-autonomous and autonomous machines using constrained dozing techniques.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. In general, the machines may function in accordance with a work plan for a given worksite to perform operations, including digging, loosening, carrying, and any other manipulation of materials at the worksite. Furthermore, the work plan may often involve repetitive tasks that may be entirely or at least partially automated to minimize operator involvement. Accordingly, the machines may include not only manned machines, but also be autonomous or semi-autonomous vehicles that perform tasks in r...

AI Technical Summary

Benefits of technology

This patent describes a computer-implemented method for determining the path a machine implement should follow at a worksite. The method involves identifying the work surface and the target point for the machine to pass through, creating a loading profile based on a series of curves mapped to the work surface and the target point, and creating a carry profile based on the loading profile and the target point. This allows the machine to follow a specific path when performing work activities at the worksite. The patent also describes a control system that automates the process of creating the implement path, making it easier for the machine to follow the designated path.

Problems solved by technology

Furthermore, the work plan may often involve repetitive tasks that may be entirely or at least partially automated to minimize operator involvement.

Moreover, seemingly insignificant deviations in the initial few cuts may become compounded and pronounced after several iterations, which may require more time and effort to correct at the back end.

However, excessive reductions in the cutting depth may adversely affect overall efficiency and productivity.

Although Yamamoto may provide some benefit, it is still limited in that it functions in a manner that is localized and blind to the overall work plan.

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