System and method for autonomous operation of a machine
A system for autonomous or semi-autonomous operation of a vehicle is disclosed. The system includes a machine automation portal (MAP) application configured to enable a computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to (i) define a boundary of an autonomous operating zone on the map and (ii) define a boundary of one or more exclusion zones. The system also includes a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone and the boundary of each exclusion zone from the computing device, (b) generate a planned command path that the vehicle will travel to perform a task within the autonomous operating zone while avoiding each exclusion zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the task.
1. A system for autonomous or semi-autonomous operation of a vehicle, comprising:
a machine automation portal (MAP) application configured to be executed on a computing device, wherein the MAP application is configured to enable the computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to (i) define a boundary of an autonomous operating zone on the map, (ii) define a boundary of one or more exclusion zones on the map, and (iii) define a coverage task to be performed by the vehicle including identification of one or both of a task type for the vehicle and one or more task details; and
a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone, the boundary of each exclusion zone, and the coverage task from the computing device, (b) generate a planned command path that the vehicle will travel to perform the coverage task within the autonomous operating zone while avoiding each exclusion zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the coverage task.
2. The system of claim 1 , wherein the computing device comprises one of a personal computing tablet, a smartphone, a smart watch, a wearable device, a personal computer, a laptop computer, a personal digital assistant, smart glasses, or a virtual reality (VR) head set.
3. The system of claim 1 , wherein the vehicle comprises one of a trench roller compactor, a skid steer/skid loader, an excavator, a dump truck/hauler, a mower, a street sweeper, a snow blower, a snow plow, a scraper, or a paver.
4. The system of claim 1 , wherein the robotics processing unit is located on the vehicle.
5. The system of claim 1 , wherein the robotics processing unit is located remote from the vehicle.
6. The system of claim 5 , wherein the robotics processing unit is located on a central work site control system that controls a plurality of vehicles.
7. The system of claim 5 , wherein the robotics processing unit is located on a master vehicle that controls a plurality of slave vehicles.
8. The system of claim 1 , wherein the graphical user interface of the MAP application enables the user to define the boundary of the autonomous operating zone by placing a plurality of boundary markers on the map, wherein the MAP application is configured to draw lines to connect the boundary markers within the graphical user interface to thereby depict the boundary of the autonomous operating zone on the map.
9. The system of claim 1 , wherein the graphical user interface of the MAP application enables the user to define the boundary of the autonomous operating zone by walking along an intended path of the boundary while the computing device transmits a plurality of GPS coordinates to define a plurality of boundary markers on the map, wherein the MAP application is configured to draw lines to connect the boundary markers within the graphical user interface to thereby depict the boundary of the autonomous operating zone on the map.
10. The system of claim 1 , wherein the graphical user interface of the MAP application enables the user to define the boundary of the autonomous operating zone by inputting a distance from a current location of the vehicle for use in placing a plurality of boundary markers on the map, wherein the MAP application is configured to draw lines to connect the boundary markers within the graphical user interface to thereby depict the boundary of the autonomous operating zone on the map.
11. The system of claim 1 , wherein the graphical user interface of the MAP application further enables the user to view an elevation heatmap of the autonomous operating zone.
12. The system of claim 1 , wherein the graphical user interface of the MAP application further enables the user to view the planned command path on the map.
13. The system of claim 12 , wherein the robotics processing unit is further configured to determine the actual autonomous path that the vehicle travelled to perform the coverage task within the autonomous operating zone, and wherein the graphical user interface of the MAP application further enables the user to view the actual autonomous path on the map.
14. The system of claim 1 , wherein the vehicle comprises at least one sensor configured to collect sensor data, and wherein the robotics processing unit is configured to use the sensor data to detect an obstacle in the planned command path of the vehicle during performance of the coverage task within the autonomous operating zone.
15. The system of claim 14 , wherein the sensor comprises a three-dimensional depth camera or one or more ultrasonic sensors.
16. The system of claim 14 , wherein the robotics processing unit is further configured to update the planned command path to avoid the detected obstacle, and wherein the MAP application is configured to update the map to include the detected obstacle.
17. The system of claim 16 , wherein the graphical user interface of the MAP application further enables the user to remove the detected obstacle from the map.
18. The system of claim 1 , wherein the vehicle comprises an articulated vehicle having a front compartment and a rear compartment, wherein the articulated vehicle comprises a first GPS receiver located in the front compartment and a second GPS receiver located in the rear compartment, and wherein the robotics processing node is configured to determine a steering angle between the front compartment and the rear compartment based on a location of each of the first and second GPS receivers.
19. A system for autonomous or semi-autonomous operation of a vehicle, comprising:
a machine automation portal (MAP) application configured to be executed on a computing device, wherein the MAP application is configured to enable the computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to define a boundary of an autonomous operating zone on the map;
a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone from the computing device, (b) generate a planned command path that the vehicle will travel to perform a task within the autonomous operating zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the task; and
wherein the computing device is configured to communicate with an emergency cloud service that in turn communicates with the robotics processing unit, wherein the graphical user interface of the MAP application (i) enables one or more users to transmit an emergency stop message to the emergency cloud service, wherein the emergency cloud service broadcasts the emergency stop message to the robotics processing unit to thereby cause the vehicle to enter a safe state and (ii) enables an authorized user to transmit an emergency stop disable request to the emergency cloud service, wherein the emergency cloud service implements an authentication protocol to authenticate the authorized user and, upon authentication, broadcasts the emergency stop disable request to the robotics processing unit to thereby enable the vehicle to resume operation.
20. The system of claim 19 , wherein the computing device comprises one of a personal computing tablet, a smartphone, a smart watch, a wearable device, a personal computer, a laptop computer, a personal digital assistant, smart glasses, or a virtual reality (VR) head set.
21. The system of claim 19 , wherein the vehicle comprises one of a trench roller compactor, a skid steer/skid loader, an excavator, a dump truck/hauler, a mower, a street sweeper, a snow blower, a snow plow, a scraper, or a paver.
22. The system of claim 19 , wherein the robotics processing unit is located on the vehicle.
23. The system of claim 19 , wherein the robotics processing unit is located on a central work site control system that controls a plurality of vehicles.
24. The system of claim 19 , wherein the robotics processing unit is located on a master vehicle that controls a plurality of slave vehicles, wherein the vehicle comprises the master vehicle or one of the slave vehicles.
25. The system of claim 19 , wherein the emergency cloud service resides on an LTE network.
26. The system of claim 19 , wherein the emergency cloud service resides on a WiFi network that is local to the work site.
27. The system of claim 19 , wherein the MAP application continues to send the emergency stop message to the emergency cloud service until receipt of a vehicle status indicating that the vehicle is in a safe state.
28. A system for autonomous or semi-autonomous operation of a vehicle, comprising:
a machine automation portal (MAP) application configured to be executed on a computing device, wherein the MAP application is configured to enable the computing device to (a) display a map of a work site and (b) provide a graphical user interface that enables a user to define a boundary of an autonomous operating zone on the map, wherein the graphical user interface further enables the user to activate an augmented reality mode in which the boundary of the autonomous operating zone is shown as a digital overlay on a view of the autonomous operating zone obtained by a camera of the computing device; and
a robotics processing unit configured to (a) receive the boundary of the autonomous operating zone from the computing device, (b) generate a planned command path that the vehicle will travel to perform a task within the autonomous operating zone, and (c) control operation of the vehicle so that the vehicle travels the planned command path to perform the task.
29. The system of claim 28 , wherein the computing device comprises one of a personal computing tablet, a smartphone, a smart watch, a wearable device, a personal computer, a laptop computer, a personal digital assistant, smart glasses, or a virtual reality (VR) head set.
30. The system of claim 28 , wherein the vehicle comprises one of a trench roller compactor, a skid steer/skid loader, an excavator, a dump truck/hauler, a mower, a street sweeper, a snow blower, a snow plow, a scraper, or a paver.