公开(公告)号：US20250164248A1

公开(公告)日：2025-05-22

申请号：US18513683

申请日：2023-11-20

Applicant: Caterpillar Inc.

Inventor： Karl KIRSCH

IPC: G01C21/00

Abstract: Systems and methods may process spatial data associated with an object in a travel path of a machine. The systems and methods may determine an elevation of a surface of the travel path within an expected travel area of the machine. The systems and methods may determine a maximum height of the machine relative to the elevation of the surface. The systems and methods may identify spatial data points indicating elevations, associated with the object and relative to the elevation of the surface of the travel path, that satisfy an elevation threshold. The systems and methods may classify the object as a non-obstacle of the machine based on the spatial data points indicating the elevations satisfying the elevation threshold. The systems and methods may maintain the travel path of the machine based on the object being the non-obstacle of the machine.

公开(公告)号：US20230383498A1

公开(公告)日：2023-11-30

申请号：US17804462

申请日：2022-05-27

Applicant: Caterpillar Inc.

Inventor： Sagar CHOWDHURY ,  Karl KIRSCH ,  Matthew D. JOHNSON ,  Philip C. WALLSTEDT ,  Manish SHARMA ,  Kevin A. DAVIS

IPC: E02F9/20 ,  G05D1/02

CPC classification number: E02F9/2045 ,  E02F9/205 ,  G05D1/0212 ,  G05D1/0272 ,  G05D2201/021

Abstract: A method of automatically turning an autonomous mining truck (AMT), including front wheels and rear wheels, around in an operating area, including retrieving boundary data associated with the operating area, determining a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes a number of legs necessary to follow the first path through the turn maneuver, completing a first leg of the turn maneuver, determining a second path to follow and number of legs necessary to execute the turn maneuver based on an inability to execute the first path, and executing the second path to complete the turn maneuver.