公开(公告)号：US11860635B2

公开(公告)日：2024-01-02

申请号：US17328251

申请日：2021-05-24

Applicant: Trimble Inc.

Inventor： Kapil Tahiliani ,  Juan Carlos Santamaria ,  Shantnu Kakkar ,  Eric Paul Boehlke

IPC: G05D1/02

CPC classification number: G05D1/0219 ,  G05D1/0214 ,  G05D1/0217 ,  G05D1/0223 ,  G05D2201/0201 ,  G05D2201/0202

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.

公开(公告)号：US20240172576A1

公开(公告)日：2024-05-30

申请号：US18071997

申请日：2022-11-30

Applicant: Trimble Inc.

Inventor： Adrian Ferrier ,  Kapil Tahiliani ,  Juan Carlos Santamaria ,  Darren Howie ,  Kevin Pattison

IPC: A01B69/04 ,  G05D1/02

CPC classification number: A01B69/008 ,  G05D1/0217 ,  G05D1/0219 ,  G05D2201/0201

Abstract: A specific plan for traversing a lattice of a geographic region is generated and provided to an autonomous vehicle. A general plan that includes the lattice and a planned sequence of operator traversal data of the lattice is received. Actual operator traversal data used to traverse the geographical region is determined. A tolerance range that defines an allowable deviation from the general plan is determined. A first subset of the actual operator traversal data that is within the tolerance range and a second subset of the actual operator traversal data that is not within the tolerance range is determined. A specific plan for traversing the geographical region is formulated based on the first subset of the actual operator traversal data that is within the tolerance range. The specific plan is provided to the autonomous vehicle for controlling traversal of the geographical region by the autonomous vehicle.

公开(公告)号：US11874665B2

公开(公告)日：2024-01-16

申请号：US17328260

申请日：2021-05-24

Applicant: Trimble Inc.

Inventor： Kapil Tahiliani ,  Juan Carlos Santamaria ,  Shantnu Kakkar ,  Eric Paul Boehlke

IPC: G05D1/02 ,  G01C21/00 ,  A01C21/00

CPC classification number: G05D1/0219 ,  G01C21/3807 ,  G05D1/0225 ,  A01C21/00 ,  G05D2201/0201

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

公开(公告)号：US20220374020A1

公开(公告)日：2022-11-24

申请号：US17328260

申请日：2021-05-24

Applicant: Trimble Inc.

Inventor： Kapil Tahiliani ,  Juan Carlos Santamaria ,  Shantnu Kakkar ,  Eric Paul Boehlke

IPC: G05D1/02 ,  G01C21/00

Abstract: A method of area coverage planning with replenishment planning includes receiving information of a boundary of the work area, location information of one or more refill stations, and information of a current amount of the material left in the autonomous vehicle, laying a plurality of tracks within the boundary of the work area so as to minimize a total distance of the plurality of tracks, generating a coverage trajectory, and based on (i) the coverage trajectory, (ii) the location information of the one or more refill stations, (iii) the current amount of the material left in the autonomous vehicle, and (iv) a nominal full amount and a nominal consumption rate of the material by the autonomous vehicle, determining one or more logistic points along the coverage trajectory at which a remaining amount of the material reaches a threshold, for each logistic point, generating a replenishment trajectory.

公开(公告)号：US20220374019A1

公开(公告)日：2022-11-24

申请号：US17328251

申请日：2021-05-24

Applicant: Trimble Inc.

Inventor： Kapil Tahiliani ,  Juan Carlos Santamaria ,  Shantnu Kakkar ,  Eric Paul Boehlke

IPC: G05D1/02

Abstract: A method of area coverage planning for an autonomous vehicle includes, at a computer system, receiving information of a boundary of a work area, and laying a plurality of tracks within the boundary of the work area. The plurality of tracks is spaced apart from each other by a spacing. Laying the plurality of tracks includes, based on the information of the boundary of the work area, performing a multivariate optimization to: (i) determine an optimal direction of the plurality of tracks, and (ii) an optimal offset for a first track from the boundary, so as to minimize a total distance of the plurality of tracks. The method further includes generating a trajectory that is traversable by the autonomous vehicle to traverse the plurality of tracks.