Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Construction or agricultural-type vehicle
Reexamination Certificate
1998-10-14
2001-04-24
Louis-Jacques, Jacques H. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Construction or agricultural-type vehicle
C056S01020H, C056S01020R, C037S234000, C037S245000, C111S177000
Reexamination Certificate
active
06223110
ABSTRACT:
TECHNICAL FIELD
This invention relates generally to a software architecture for an earthmoving machine and, more particularly, to a software architecture for controlling an earth moving machine in an autonomous mode.
BACKGROUND ART
Machines such as excavators, backhoes, front shovels, and the like are used for earthmoving work. These earthmoving machines have work implements which consist of boom, stick, and bucket linkages. The boom is pivotally attached to the excavating machine at one end, and to its other end is pivotally attached a stick. The bucket is pivotally attached to the free end of the stick. Each work implement linkage is controllably actuated by at least one hydraulic cylinder for movement in a vertical plane. An operator typically manipulates the work implement to perform a sequence of distinct functions which constitute a complete earthmoving cycle.
In a typical work cycle, the operator first positions the work implement at a dig location, and lowers the work implement downward until the bucket penetrates the soil. Then the operator executes a digging stroke which brings the bucket toward the excavating machine. The operator subsequently curls the bucket to capture the soil. To dump the captured load, the operator raises the work implement, swings it transversely to a specified dump location, and releases the soil by extending the stick and uncurling the bucket. The work implement is then returned to the trench location to begin the work cycle again.
There is an increasing demand in the earthmoving industry to automate the work cycle of an earthmoving machine for several reasons. Unlike a human operator, an automated earthmoving machine remains consistently productive regardless of environmental conditions and prolonged work hours. The automated earthmoving machine is ideal for applications where conditions are unsuitable or undesirable for humans. An automated machine also enables more accurate excavation and compensates for lack of operator skill.
The major components for automating earthmoving, e.g., digging material, loading material into trucks, and recognizing truck positions and orientations, are currently under development. All of these functions are performed by software in computers. A software architecture is needed to consolidate and coordinate the numerous software functions of a fully autonomous earthmoving machine.
Accordingly, the present invention is directed to overcoming one or more of the problems as set forth above.
DISCLOSURE OF THE INVENTION
In accordance with the present invention, a modular architecture to organize and coordinate components that are needed to automate earthmoving tasks, and to coordinate the flow of data between the components is disclosed. The architecture includes three main subdivisions: a sensor pipeline, sensor data consumers, and motion planners and executors. The sensor pipeline receives raw sensor data from perceptual sensors such as a laser rangefinder or radar system, and converts the data into a form which is usable by the other system components. Sensor data can also be represented in the form of a terrain elevation map of the surrounding terrain for other software components to use. Any number and types of sensor systems may be added to the software architecture depending on requirements and the capabilities of the system. The sensor data consumers use the sensor data as input to specific algorithms to produce information regarding the machine's environment for use by other system components. A motion planner receives information provided by the sensor data consumers, and delivers output commands to controllers on the machine. The motion planner also computes and delivers commands to the sensor systems on the machine. Additional planners may be added at this level to coordinate other system behaviors and actions.
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Pedersen Jorgen
Rowe Patrick
Stentz Anthony
Blackwell Sanders Peper & Martin
Carnegie Mellon University
Louis-Jacques Jacques H.
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