Worksite Route Graph Layout for Autonomous Material Delivery
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Solution Overview
Problem
Existing systems for autonomous machines at worksites do not determine a set of route segments that can be navigated at later times to reach assigned destinations, relying on real-time navigation and onboard/offboard computing elements.
Innovation Solution
A method and system that generates a route graph by identifying midpoints between structures, determining route segments extending through these midpoints, and connecting extended endpoints to create traversable paths for machines, avoiding obstacles and non-drivable areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If real-time navigation systems with onboard/offboard computing elements are used to determine machine routes, then machines can navigate autonomously in real-time, but the system cannot determine a set of pre-established route segments that can be navigated at later times to reach assigned destinations
Solution Approach 1:
The system performs preliminary route planning by pre-establishing route segments between structures before machines need to navigate. These route segments are determined in advance based on worksite layout data and stored for later use, allowing machines to efficiently navigate to assigned destinations without real-time computation
Solution Approach 2:
The navigation space is segmented into discrete route segments that connect midpoints between pairs of structures. Each route segment represents a traversable path that can be independently stored and reused, allowing the system to build comprehensive route coverage through systematic segmentation of the worksite
2Adaptability or versatility
If route segments extend beyond structure ends by an extension distance to create connecting paths, then machines can traverse between different structure pairs, but the route segments may intersect non-drivable areas
Solution Approach 1:
The system identifies route segment intersections with non-drivable areas and converts these harmful intersections into beneficial route adjustments by creating alternative paths around the non-drivable areas, using the intersection detection to inform smarter route planning
Solution Approach 2:
The system introduces an intermediary processing step that evaluates route segments against non-drivable area constraints and modifies segments that intersect, using intermediate route adjustments to connect extended endpoints while avoiding restricted zones
Data Source
AI summary
A computing system generates a route graph that defines machine-traversable route segments at a worksite, based on a design file indicating locations and shapes of structures at the worksite, and other data indicating locations of drop points. The computing system can generate some of the route segments to extend between pairs of structures, such that autonomous machines can traverse the route segments to deliver material to drop points located between the pairs of structures. For example, the worksite may be a solar farm under construction, and the structures can be installation assemblies upon which solar panels, delivered to drop points, can be installed. The route graph can define route segments that pass between pairs of the installation assemblies. A machine can travel along a defined route segment between a pair of installation assemblies to deliver solar panels at one or more drop points located between the pair of installation assemblies.