METHOD AND SYSTEM FOR MAPPING TERRAIN AND OPERATING AUTONOMOUS MACHINES USING MACHINE PARAMETERS

摘要

A system for mapping terrain using at least a first machine and a second machine traveling along the terrain includes a controller for each of the respective first and second machines. Each respective machine includes a plurality of sensors in electrical communication with the controller of each respective machine. The controller is configured to receive, from the plurality of sensors located on each respective machine a plurality of machine parameters indicative of sensed operations of the respective machine as the respective machine travels along the terrain. The controller is further configured to determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels.

主权项

1. A system for mapping terrain using at least a first machine and a second machine traveling along the terrain, the system comprising:
a controller for each of the respective first and second machines, each respective machine including a plurality of sensors in electrical communication with the controller of each respective machine, the controller configured to:
receive, from the plurality of sensors located on each respective machine including a steering sensor, and a ground speed sensing means, and a payload sensor, a plurality of machine parameters indicative of sensed operations of the respective machine as the respective machine travels along the terrain, the plurality of machine parameters including a steering parameter of the respective machine sensed by the steering sensor, a ground speed of the respective machine sensed by the ground speed sensing means, and a payload weight of the respective machine sensed by the payload sensor;determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels;create, based on the determined geometry and grade for the respective machine, a site map indicating the plurality of paths for the respective machine;determine at least one of an efficiency characteristic and a productivity characteristic for the respective plurality of paths based on the received machine parameters for the respective machine, the at least one of the efficiency characteristic and the productivity characteristic indicating at least one of a fuel efficiency or an amount of payload moved;select at least one selected path from the plurality of paths for the respective machine to travel along in a future operation based on the at least one of the efficiency characteristic and the productivity characteristic for the respective plurality of paths for the respective machine; andoperate each of the machines autonomously to travel along at least one of the selected paths selected for that machine.