| CPC E02F 3/439 (2013.01) [E02F 3/32 (2013.01); E02F 9/205 (2013.01)] | 16 Claims |
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1. A machine, comprising:
a boom, a stick, and a bucket, each having a range of motion that together defines dig block constraints, including:
a reach inside limit;
a reach outside limit;
a swing first limit;
a swing second limit; and
a depth limit;
one or more sensors positioned on the machine to count dig passes;
one or more processors; and
one or more memory devices having stored thereon instructions that when executed by the one or more processors cause the one or more processors to:
generate an excavation plan, including:
determining a number of elevations;
determining a number of rings in each elevation; and
determining a number of sectors in each ring; and
direct the machine to perform one or more dig passes in order to sequentially excavate each sector, wherein the sectors in each elevation are excavated from the reach outside limit to the reach inside limit and, beginning with a sector furthest from a dump location, from the swing first limit to the swing second limit;
wherein the instructions cause the machine to move to a next sector when a threshold number of dig passes is reached.
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