Excavating – Scoop or excavating and transporting container – Supported on vehicle between longitudinally spaced ground...
Patent
1998-10-14
2000-08-29
Novosad, Christopher J.
Excavating
Scoop or excavating and transporting container
Supported on vehicle between longitudinally spaced ground...
37195, 701 50, E02F 304
Patent
active
061089494
ABSTRACT:
In one embodiment of the present invention, a planning system and method for earthmoving operations such as digging a foundation or leveling a mound of soil is disclosed including three different levels of processing for planning the excavation. One of the processing levels is a coarse-level planner that uses geometry of the site and the goal configuration of the terrain to divide the excavation area into a grid-like pattern of smaller excavation regions and to determine the boundaries and sequence of excavation for each region. The next level is a refined planner wherein each excavation region is, in order of the excavation sequence provided by the coarse planner, searched for the optimum excavation that can be executed. This is accomplished by choosing candidate excavations that meet geometric constraints of the machine and that are approximately within the boundaries of the region being excavated. The refined planner evaluates the candidate excavations using a simulated model of a closed loop controller and by optimizing a cost function based on performance criteria such as volume of material excavated, energy expended, and time, to determine the optimal location and orientation of a bucket of an excavator to begin excavating the region. The third level of the excavation planner is a control scheme wherein the selected excavation is executed by a closed loop controller that controls execution of a commanded excavation trajectory by monitoring forces exerted on a bucket, stick, and boom on an excavating machine.
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Cannon Howard
Singh Sanjiv
Carnegie Mellon University
Novosad Christopher J.
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