Excavating earth from a dig site using an excavation vehicle
This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collect any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.
1. A method for moving a volume of material from a site, the method comprising:
selecting, for an earth moving vehicle (EMV) in a site, a set of instructions for the EMV to move material in the site, the set of instructions comprising a location in the site from which a volume of material is to be moved;
executing, with a computer coupled to the EMV, the set of instructions configured to cause the EMV to:
once at the location, position a leading edge of a tool of the EMV at a position relative to a ground surface of the location;
move the tool over a first distance at the location to move a portion of the volume of material;
detect, by a spatial sensor mounted to the EMV, a feature of the ground surface of the location obstructing movement of the tool, the detection comprising information describing a position of the feature within the location and a classification of the feature; and
responsive to detecting the feature of the ground surface, generate additional instructions to move the tool a second distance at the location based on the position of the feature within the location and the classification of the feature, wherein moving the tool the second distance comprises actuating the tool to move the feature out of the location such that the feature does not obstruct movement of the tool.
2. The method of claim 1 , wherein the feature of the ground surface is one of:
an obstacle above the ground surface;
an obstacle at the ground surface;
an obstacle below the ground surface; and
a second EMV moving within the site.
3. The method of claim 1 , wherein instructions causing the EMV to move the tool cause:
the EMV to actuate the tool; or
the EMV to actuate a drive train of the EMV.
4. The method of claim 1 , wherein the feature is below the ground surface, the set of instructions further causing the EMV to:
generate additional instructions for actuating the tool to break down the feature below the ground surface of the location, the additional instructions defining the second distance for the tool to move at the location; and
move the tool the second distance at the location according to the additional instructions to break down the feature below the ground surface of the location.
5. The method of claim 1 , wherein the set of instructions further cause the EMV to:
identify a second location in the site with a hole extending below a ground surface of the second location;
generate additional instructions for actuating the tool to remove material from the feature, the additional instructions defining the second distance for the tool to move at the location from which the volume of material is to be moved;
move the tool the second distance through the feature according to the additional instructions to remove material from the feature; and
deposit material removed from the feature into the hole at the second location.
6. The method of claim 1 , wherein the set of instructions further cause the EMV to:
generate additional instructions for actuating the tool to grade the feature to an elevation of the ground surface of the location, the additional instructions defining the second distance for the tool to move at the location; and
move the tool the second distance over the feature according to the additional instructions to grade the feature to the elevation of the ground surface of the location.
7. The method of claim 1 , wherein the set of instructions further cause the EMV to:
identify a second location in the site with a mound of material extending above a ground surface of the second location;
generate additional instructions for actuating the tool to move material from the mound at the second location into the feature, the additional instructions defining the second distance for the tool to move at the location; and
move the tool the second distance through the feature according to the additional instructions to fill material removed from the mound at the second location into the feature.
8. A non-transitory computer-readable storage medium storing instructions for moving a volume of material from a site, the instructions configured to, when executed by a hardware processor, cause the hardware processor to perform steps comprising:
selecting, for an earth moving vehicle (EMV) in a site, a location in the site from which a volume of material is to be moved;
positioning a leading edge of a tool of the EMV at a position relative to a ground surface of the location;
moving the tool over a first distance at the location to move a portion of the volume of material;
detecting, by a spatial sensor mounted to the EMV, a feature of the ground surface of the location obstructing movement of the tool, the feature comprising information describing a position of the feature within the location and a classification of the feature; and
responsive to detecting the feature in the site, moving the tool a second distance at the location based on the position of the feature within the location and the classification of the feature to move the feature out of the location such that the feature does not obstruct movement of the tool.
9. The non-transitory computer-readable storage medium of claim 8 , wherein the feature of the ground surface is one of:
an obstacle above the ground surface;
an obstacle at the ground surface;
an obstacle below the ground surface; and
a second EMV moving within the site.
10. The non-transitory computer-readable storage medium of claim 8 , wherein moving the tool comprises:
actuating the tool; or
actuating a drive train of the EMV.
11. The non-transitory computer-readable storage medium of claim 8 , wherein moving the tool the second distance comprises actuating the tool to break down the feature below the ground surface of the location.
12. The non-transitory computer-readable storage medium of claim 8 , wherein moving the tool the second distance comprises removing material from the feature and placing the removed material in a hole at a second location.
13. The non-transitory computer-readable storage medium of claim 8 , wherein moving the tool the second distance comprises grading the feature to an elevation of the ground surface of the location.
14. The non-transitory computer-readable storage medium of claim 8 , wherein moving the tool the second distance comprises moving material from a second location into the feature.
15. A method for moving a volume of material from a site, the method comprising:
selecting, for an earth moving vehicle (EMV) in a site, a set of instructions for the EMV to move material in the site, the set of instructions comprising a location in the site from which a volume of material is to be moved;
executing, with a computer coupled to the EMV, the set of instructions configured to cause the EMV to:
once at the location, position a leading edge of a tool of the EMV at a position relative to a ground surface of the location;
move the tool over a first distance at the location to move a portion of the volume of material;
detect, by a spatial sensor mounted to the EMV, a feature of the ground surface of the location obstructing movement of the tool, the detection comprising information describing a position of the feature within the location and a classification of the feature; and\
responsive to detecting the feature of the ground surface, generate additional instructions to move the tool a second distance at the location
responsive to detecting the feature of the ground surface, move the tool a second distance at the location based on the position of the feature within the location and the classification of the feature, wherein moving the tool the second distance comprises actuating the tool to break down the feature below the ground surface of the location such that the feature does not obstruct movement of the tool.