Software architecture for autonomous earthmoving machinery
US6223110A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 14, 1998 |
| Grant date | Apr 24, 2001 |
| Priority date | — |
| Expiry date | Oct 14, 2018 |
Classification
- Technology area (CPC E)Fixed Constructions
- CPC primaryE02F3/435
- WIPO fieldCivil engineering
- WIPO sectorOther fields
Abstract
In accordance with the present invention, a modular architecture to organize and coordinate components that are needed to automate earthmoving tasks, and to coordinate the flow of data between the components is disclosed. The architecture includes three main subdivisions: a sensor pipeline, sensor data consumers, and motion planners and executors. The sensor pipeline receives raw sensor data from perceptual sensors such as a laser rangefinder or radar system, and converts the data into a form which is usable by the other system components. Sensor data can also be represented in the form of an elevation map of the surrounding terrain for other software components to use. Any number and types of sensor systems may be added to the software architecture depending on requirements and the capabilities of the system. The sensor data consumers use the sensor data as input to specific algorithms to produce information regarding the machine's environment for use by other system components. A motion planner receives information provided by the sensor data consumers, and delivers output commands go to controllers on the machine. The motion planner also computes and delivers commands to the sen…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.