Systems and Methods for Constrained Dozing

Abstract

A computer-implemented method for determining an implement path for a machine implement at a worksite is provided. The computer-implemented method may include identifying a work surface and a pass target of the worksite, defining a loading profile based on one or more curves constrained to the work surface and the pass target, defining a carry profile based on the loading profile and the pass target, and designating the loading profile and the carry profile as the implement path.

What is claimed is: 
     
         1 . A computer-implemented method for determining an implement path for a machine implement at a worksite, comprising:
 identifying a work surface and a pass target of the worksite;   defining a loading profile based on one or more curves constrained to the work surface and the pass target;   defining a carry profile based on the loading profile and the pass target; and   designating the loading profile and the carry profile as the implement path.   
     
     
         2 . The computer-implemented method of  claim 1 , wherein one or more of the curves of the loading profile are based on a half-Gaussian curve. 
     
     
         3 . The computer-implemented method of  claim 1 , wherein the loading profile is constrained to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof. 
     
     
         4 . The computer-implemented method of  claim 1 , wherein a general slope of the loading profile is maintained below a predefined maximum threshold. 
     
     
         5 . The computer-implemented method of  claim 1 , wherein a general slope of the loading profile is adjusted using a load extent value if the slope exceeds a predefined maximum threshold. 
     
     
         6 . The computer-implemented method of  claim 1 , wherein the machine implement is a blade and the implement path corresponds to a blade path, the computer-implemented method further engaging control of the blade using the blade path as a lower-bound. 
     
     
         7 . The computer-implemented method of  claim 6 , further enabling sensor-based control of the blade along the blade path such that the blade is automatically raised to a predefined height when a predefined load limit is reached. 
     
     
         8 . A control system for determining an implement path for a machine implement at a worksite, comprising:
 a memory configured to retrievably store one or more algorithms; and   a controller in communication with the memory and, based on the one or more algorithms, configured to at least:   identify a work surface and a pass target of the worksite;   define a loading profile based on one or more curves constrained to the work surface and the pass target; and   define a carry profile based on the loading profile and the pass target.   
     
     
         9 . The control system of  claim 8 , wherein the controller is configured to define the implement path by adjoining the loading profile and the carry profile. 
     
     
         10 . The control system of  claim 8 , wherein the controller is configured to generate one or more of the curves of the loading profile based on a half-Gaussian curve. 
     
     
         11 . The control system of  claim 8 , wherein the controller is configured to constrain the loading profile to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof. 
     
     
         12 . The control system of  claim 8 , wherein the controller is configured to maintain a general slope of the loading profile to be below a predefined maximum threshold. 
     
     
         13 . The control system of  claim 8 , wherein the controller is configured to adjust a general slope of the loading profile according to a load extent value if the slope exceeds a predefined maximum threshold. 
     
     
         14 . The control system of  claim 8 , wherein the machine implement is a blade and the implement path corresponds to a blade path, the controller being configured to engage control of the blade using the blade path as a lower-bound. 
     
     
         15 . The control system of  claim 14 , wherein the controller is configured to enable sensor-based control of the blade along the blade path, and automatically raise the blade to a predefined height when a predefined load limit is detected. 
     
     
         16 . A controller for determining an implement path for a machine implement at a worksite, comprising:
 a work surface identification module configured to identify a work surface of the worksite;   a pass target identification module configured to identify a pass target of the worksite;   a loading profile module configured to define a loading profile based on one or more curves constrained to the work surface and the pass target; and   a carry profile module configured to define a carry profile based on the loading profile and the pass target.   
     
     
         17 . The controller of  claim 16 , further comprising an implement path module configured to designate the loading profile and the carry profile as the implement path. 
     
     
         18 . The controller of  claim 16 , wherein the loading profile module is configured to generate one or more of the curves of the loading profile based on a half-Gaussian curve. 
     
     
         19 . The controller of  claim 16 , wherein the loading profile module is configured to constrain the loading profile to be tangent to the adjacent work surface at a start point thereof, and tangent to the adjacent pass target at an end point thereof. 
     
     
         20 . The controller of  claim 16 , wherein the loading profile module is configured to adjust a general slope of the loading profile based on a load extent value if the slope exceeds a predefined maximum threshold.