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 controlling movement of an articulated vehicle comprising a front compartment and a rear compartment connected by an articulating joint, the system comprising:
a robotics processing unit configured to generate control data to control movement of the articulated vehicle between a plurality of waypoints along a planned command path, wherein the control data for the waypoints is generated by (a) calculating angles derived from a current position of the front compartment, a current position of the rear compartment, and a location of an upcoming waypoint of the waypoints and (b) utilizing the angles that are calculated to generate the control data for controlling the movement of the articulated vehicle toward the upcoming waypoint, the angles that are calculated and used to generate the control data including a body angle between a front vector of the front compartment and a rear vector of the rear compartment, a front line-of-sight (LOS) angle between the front vector and a front waypoint line toward the upcoming waypoint, and a rear LOS angle between the rear vector and a rear waypoint line toward the upcoming waypoint; and
a controller configured to utilize the control data generated by the robotics processing unit to control the movement of the articulated vehicle so that the articulated vehicle travels the planned command path.
2 . The system of claim 1 , wherein the articulated vehicle comprises a trench roller compactor that travels the planned command path to perform a compaction task.
3 . The system of claim 1 , wherein the controller comprises an original controller of the articulated vehicle.
4 . The system of claim 1 , wherein the controller comprises a vehicle control unit that interfaces with an original controller of the articulated vehicle.
5 . The system of claim 1 , wherein the controller is configured to control a hydraulic system and engine controls of the articulated vehicle.
6 . The system of claim 1 , wherein the control data comprises a plurality of turn and throttle commands.
7 . The system of claim 1 , wherein the control data causes the articulated vehicle to perform a plurality of shuffle turns, each of which includes movement in a forward direction and movement in a reverse direction.
8 . The system of claim 1 , wherein the robotics processing unit is configured to detect an obstacle in the planned command path of the articulated vehicle, and wherein the control data causes the articulated vehicle to enter an idle state upon detection of the obstacle.
9 . The system of claim 1 , wherein the robotics processing unit is located on the articulated vehicle.
10 . The system of claim 1 , wherein the robotics processing unit is located remote from the articulated vehicle.
11 . The system of claim 1 , wherein the robotics processing unit is configured to calculate the angles for the waypoints to also comprise one or more of:
a forward zero body angle heading line of the articulated vehicle that is a forward heading of the articulated vehicle while the body angle is zero and the articulated vehicle is moving forward; or
a reverse zero body angle heading line of the articulated vehicle that is a rearward heading of the articulated vehicle while the body angle is zero and the articulated vehicle is moving in reverse.
12 . The system of claim 1 , wherein the robotics processing unit is configured to generate the control data for the upcoming waypoint responsive to the articulated vehicle reaching a previous waypoint of the waypoints.
13 . A system for controlling movement of an articulated vehicle comprising a front compartment and a rear compartment connected by an articulating joint, the system comprising:
a robotics processing unit configured to generate control data to control movement of the articulated vehicle through waypoints within an autonomous operating zone, the robotics processing unit configured to generate the control data for the waypoints by (a) calculating angles derived from a current position of the front compartment, a current position of the rear compartment, and a location of an upcoming waypoint of the waypoints and (b) utilizing the angles that are calculated to generate the control data for controlling the movement of the articulated vehicle toward an upcoming waypoint of the waypoints responsive to the articulated vehicle reaching a previous waypoint of the waypoints, the angles that are calculated and used to generate the control data including at least two of a body angle between a front vector of the front compartment and a rear vector of the rear compartment, a front line-of-sight (LOS) angle between the front vector and a front waypoint line toward the upcoming waypoint, or a rear LOS angle between the rear vector and a rear waypoint line toward the upcoming waypoint; and
a controller configured to utilize the control data generated by the robotics processing unit to control the movement of the articulated vehicle so that the articulated vehicle travels through the waypoints within the autonomous operating zone.
14 . The system of claim 13 , wherein the articulated vehicle comprises a trench roller compactor that travels through the waypoints to perform a compaction task within the autonomous operating zone.
15 . The system of claim 13 , wherein the controller comprises an original controller of the articulated vehicle.
16 . The system of claim 13 , wherein the controller comprises a vehicle control unit that interfaces with an original controller of the articulated vehicle.
17 . The system of claim 13 , wherein the controller is configured to control a hydraulic system and engine controls of the articulated vehicle.
18 . The system of claim 13 , wherein the control data comprises a plurality of turn and throttle commands.
19 . The system of claim 13 , wherein the robotics processing unit is configured to detect an obstacle in a path of the articulated vehicle, and wherein the robotics control unit is configured to generate the control data to direct the articulated vehicle to enter an idle state upon detection of the obstacle.
20 . The system of claim 13 , wherein the robotics processing unit is located on the articulated vehicle.
21 . The system of claim 13 , wherein the robotics processing unit is located remote from the articulated vehicle.
22 . The system of claim 13 , wherein the robotics processing unit is configured to calculate the angles for the waypoints to also include one or more of:
a forward zero body angle heading line of the articulated vehicle; or
a reverse zero body angle heading line of the articulated vehicle.
23 . A system comprising:
a robotics processing unit configured to determine geographic positions of an articulated vehicle having a front compartment and a rear compartment joined by at least an articulating joint, the robotics processing unit configured to calculate angles for waypoints along a command path of the articulated vehicle, the angles calculated using a first geographic position of the geographic positions for the front compartment, a second geographic position of the geographic positions for the rear compartment, and a third geographic position of an upcoming waypoint of the waypoints, the robotics processing unit configured to calculate the angles to include a body angle between a front vector line of the front compartment and a rear vector line of the rear compartment, a front line-of-sight (LOS) angle between the front vector line and a waypoint line from the articulating joint to the upcoming waypoint, and a rear LOS angle between the rear vector line of the rear compartment and the waypoint line,
the robotics processing unit configured to use the angles that are calculated to generate control data including turn and throttle commands for controlling movement of the articulated vehicle toward the upcoming waypoint; and
a controller configured to receive the control data from the robotics processing unit, and to control the movement of the articulated vehicle so that the articulated vehicle travels through the waypoints.
24 . The system of claim 23 , wherein the robotics processing unit is configured to identify an obstacle within a threshold distance of the articulated vehicle, the robotics processing unit configured to generate the control data to automatically switch operation of the articulated vehicle to idle responsive to identifying the obstacle within the threshold distance.
25 . The system of claim 23 , wherein the robotics processing unit is configured to calculate a forward zero body angle heading line of the articulated vehicle as one of the angles and to use the forward zero body angle to generate the control data.
26 . The system of claim 23 , wherein the robotics processing unit is configured to calculate a reverse zero body angle heading line of the articulated vehicle as one of the angles and to use the reverse zero body angle to generate the control data.
27 . The system of claim 23 , wherein the articulated vehicle comprises a trench roller compactor, and the robotics processing unit is configured to generate the control data to direct the trench roller compactor to travel through the waypoints and perform a compaction task.
28 . The system of claim 23 , further comprising:
a rotary position sensor disposed at the articulating joint, the rotary position sensor configured to output a position feedback signal to the robotics processing unit indicative of a steering angle between the front compartment and the rear compartment of the articulated vehicle, the robotics processing unit configured to use the steering angle to calculate one or more of the angles.
29 . The system of claim 28 , further comprising:
a front global navigation satellite system (GNSS) receiver onboard the front compartment; and
a rear GNSS receiver onboard the rear compartment, the front GNSS receiver configured to output the first geographic position of the front compartment, the rear GNSS receiver configured to output the second geographic position of the rear compartment.
30 . The system of claim 29 , wherein the controller is configured to generate an alert responsive to the steering angle deviating from the first and second geographic positions.