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- Nachgewiesen in: USPTO Patent Applications
- Sprachen: English
- Document Number: 20230183944
- Publication Date: June 15, 2023
- Appl. No: 18/081268
- Application Filed: December 14, 2022
- Assignees: Caterpillar lnc. (Peoria, IL, US)
- Claim: 1. A system for generating a work plan for autonomous operation of a compactor in tandem with an earthmoving machine, the system comprising: a first controller associated with the earthmoving machine, wherein the first controller receives information pertaining to a work area on which the earthmoving machine is required to perform at least one operation; and a central controller coupled in communication with the first controller, wherein the central controller is configured to: receive, from the first controller, the information pertaining to the work area on which the earthmoving machine is required to perform the at least one operation; analyze the work area for virtually segmenting the work area into a plurality of virtual work areas based on a receipt of the information pertaining to the work area; receive, from the first controller, data indicative of a movement of the earthmoving machine through each virtual work area from the plurality of virtual work areas; determine an optimal direction of movement for the compactor on at least one virtual work area from the plurality of virtual work areas based on the data indicative of the movement of the earthmoving machine, such that the compactor is configured to move along the optimal direction. of movement during the autonomous operation of the compactor; generate a virtual fence around the at least one virtual work area from the plurality of virtual work areas based on generation of the optimal direction of movement for the compactor; and transmit information pertaining to the optimal direction of movement to the compactor when the earthmoving machine is outside the virtual fence generated around the at least one virtual work area.
- Claim: 2. The system of claim 1, wherein the central controller is configured to: receive, from the first controller, a plurality of position inputs associated with the earthmoving machine, wherein each position input from the plurality of position inputs is indicative of the position of the earthmoving machine on the at least one work area with respect to time; generate a plurality of vectors based on an analysis of the plurality of position inputs; and determine the optimal direction of movement for the compactor based on an average dot product of the plurality of vectors.
- Claim: 3. The system of claim 1, wherein the central controller is configured to analyze at least one of a plurality of convex vertices and at least one of a plurality of concave vertices on the work area for virtually segmenting the work area into the plurality of virtual work areas.
- Claim: 4. The system of claim 3, wherein the central controller is configured to virtually segment the work area into the plurality of virtual work areas based on an angle defined by the plurality of concave vertices, and wherein the plurality of virtual work areas includes at least one of a structured virtual work area and an unstructured virtual work area.
- Claim: 5. The system of claim 3, wherein the central controller is configured to determine at least one of an entry point for the compactor and an exit point for the compactor based on an analysis of the plurality of convex vertices.
- Claim: 6. The system of claim 1, wherein an area of the virtual fence is configured to be greater than an area of the at least one virtual work area.
- Claim: 7. The system of claim 6, wherein the central controller is configured to: determine the optimal direction of movement based on a conclusion of the at least one operation by the earthmoving machine; and transmit, to a second controller associated with the compactor, the information pertaining to the optimal direction of movement when the earthmoving machine is outside the virtual fence, wherein the second controller is coupled in communication with the central controller.
- Claim: 8. A method for generating a work plan for autonomous operation of a compactor in tandem with an earthmoving machine, the method comprising: receiving, by a first controller associated with the earthmoving machine, information pertaining to a work area on which the earthmoving machine is required to perform at least one operation; receiving, by a central controller, information pertaining to the work area on which the earthmoving machine is required to perform the at least one operation from the first controller, the central controller is coupled in communication with the first controller; analyzing, by the central controller, the work area for virtually segmenting the work area into a plurality of virtual work areas based on a receipt of the information pertaining to the work area; receiving, by the central controller, data indicative of a movement of the earthmoving machine through each of the plurality of virtual work areas from the first controller; determining, by the central controller, an optimal direction of movement for the compactor on at least one virtual work area from the plurality of virtual work areas based on the data indicative of the movement of the earthmoving machine, such that the compactor is configured to move along the optimal direction of movement during the autonomous operation of the compactor; generate, by the central controller, a virtual fence around the at least one virtual work area from the plurality of virtual work areas based on generation of the optimal direction of movement for the compactor; and transmit, by the central controller, information pertaining to the optimal direction of movement to the compactor when the earthmoving machine is outside the virtual fence generated around the at least one virtual work area.
- Claim: 9. The method of claim 8 further comprising: receiving, from the first controller, a plurality of position inputs associated with the earthmoving machine, wherein each position input from the plurality of position inputs is indicative of the position of the earthmoving machine on the at least one work area with respect to time; generating, by the central controller, a plurality of vectors based on an analysis of the plurality of position inputs; and determining, by the central controller, the optimal direction of movement for the compactor based on an average dot product of the plurality of vectors.
- Claim: 10. The method of claim 8 further comprising analyzing, by the central controller, at least one of a plurality of convex vertices and at least one of a plurality of concave vertices on the work area for virtually segmenting the work area into the plurality of virtual work areas.
- Claim: 11. The method of claim 10 further comprising virtually segmenting, by the central controller, the work area into the plurality of virtual work areas based on an angle defined by the plurality of concave vertices, wherein the plurality of virtual work areas includes at least one of a structured virtual work area and an unstructured virtual work area.
- Claim: 12. The method of claim 10 further comprising determining, by the central controller, at least one of an entry point for the compactor and an exit point for the compactor based on an analysis of the plurality of convex vertices.
- Claim: 13. The method of claim 8 further comprising generating, by the central controller, the virtual fence such that an area of the virtual fence is configured to be greater than an area of the at least one virtual work area.
- Claim: 14. The method of claim 13 further comprising: determining, by the central controller, the optimal direction of movement based on a conclusion of the at least one operation by the earthmoving machine; and transmitting, by the central controller, the information pertaining to the optimal direction of movement to a second controller associated with the compactor when the earthmoving machine is outside the virtual fence, wherein the second controller is coupled in communication with the central controller.
- Claim: 15. A computer readable medium having computer executable instructions for performing a method for generating a work plan for autonomous operation of a compactor in tandem with an earthmoving machine, the method comprising: receiving information pertaining to a work area on which the earthmoving machine is required to perform at least one operation; analyzing the work area for virtually segmenting the work area into a plurality of virtual work areas based on a receipt of the information pertaining to the work area; receiving data indicative of a movement of the earthmoving machine through each of the plurality of virtual work areas; determining an optimal direction of movement for the compactor on at least one virtual work area from the plurality of virtual work areas based on the data indicative of the movement of the earthmoving machine, such that the compactor is configured to move along the optimal direction of movement during the autonomous operation of the compactor; generating a virtual fence around the at least one virtual work area from the plurality of virtual work areas based on generation of the optimal direction of movement for the compactor; and transmitting information pertaining to the optimal direction of movement to the compactor when the earthmoving machine is outside the virtual fence generated around the at least one virtual work area.
- Claim: 16. The computer readable medium of claim 15 further comprising: receiving a plurality of position inputs associated with the earthmoving machine, wherein each position input from the plurality of position inputs is indicative of the position of the earthmoving machine on the at least one work area with respect to time; generating a plurality of vectors based on an analysis of the plurality of position inputs; and determining the optimal direction of movement for the compactor based on an average dot product of the plurality of vectors.
- Claim: 17. The computer readable medium of claim 15 further comprising analyzing at least one of a plurality of convex vertices and at least one of a plurality of concave vertices on the work area for virtually segmenting the work area into the plurality of virtual work areas.
- Claim: 18. The computer readable medium of claim 17 further comprising virtually segmenting the work area into the plurality of virtual work areas based on an angle defined by the plurality of concave vertices, wherein the plurality of virtual work areas includes at least one of a structured virtual work area and an unstructured virtual work area.
- Claim: 19. The computer readable medium of claim 17 further comprising determining at least one of an entry point for the compactor and an exit point for the compactor based on an analysis of the plurality of convex vertices.
- Claim: 20. The computer readable medium of claim 15 further comprising generating the virtual fence such that an area of the virtual fence is configured to be greater than an area of the at least one virtual work area.
- Current International Class: 02; 05; 02
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