US 12,140,947 B2
System and method for autonomous operation of a machine
William J. Schlacks, IV, Columbia, MO (US); Brian Adams, Columbia, MO (US); James Dianics, Columbia, MO (US); Ian Graves, Columbia, MO (US); Rob Martin, Columbia, MO (US); and Scott Pfursich, Columbia, MO (US)
Assigned to EQUIPMENTSHARE.COM INC, Columbia, MO (US)
Filed by EQUIPMENTSHARE.COM INC, Columbia, MO (US)
Filed on Jun. 30, 2021, as Appl. No. 17/363,116.
Application 17/363,116 is a continuation of application No. 16/939,358, filed on Jul. 27, 2020, granted, now 11,079,755.
Application 16/939,358 is a continuation of application No. PCT/US2020/026877, filed on Apr. 6, 2020.
Claims priority of provisional application 62/987,062, filed on Mar. 9, 2020.
Claims priority of provisional application 62/829,986, filed on Apr. 5, 2019.
Prior Publication US 2021/0325872 A1, Oct. 21, 2021
Int. Cl. G05D 1/00 (2024.01); G05D 1/225 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 1/628 (2024.01); G05D 1/69 (2024.01); G05D 1/692 (2024.01)
CPC G05D 1/0044 (2013.01) [G05D 1/0027 (2013.01); G05D 1/0055 (2013.01); G05D 1/0238 (2013.01); G05D 1/0255 (2013.01); G05D 1/0278 (2013.01); G05D 1/225 (2024.01); G05D 1/247 (2024.01); G05D 1/248 (2024.01); G05D 1/617 (2024.01); G05D 1/622 (2024.01); G05D 1/628 (2024.01); G05D 1/69 (2024.01); G05D 1/692 (2024.01)] 31 Claims
OG exemplary drawing
 
1. A system for autonomous or semi-autonomous operation of an articulated construction vehicle having a front compartment and a rear compartment, comprising:
a machine automation portal (MAP) application configured to be executed on a computing device, wherein the MAP application is configured to enable the computing device to provide a graphical user interface that enables a user to (a) define a boundary of an operating zone representing an area within a work site in which the articulated construction vehicle is to perform a coverage task and (b) define the coverage task to be performed by the articulated construction vehicle within the work site; and
a robotics processing unit configured to (a) receive the boundary of the operating zone and the coverage task from the computing device, (b) generate a planned command path that the articulated construction vehicle will travel to perform the coverage task within the operating zone, and (c) control operation of the articulated construction vehicle by (i) determining a steering angle between the front compartment and the rear compartment, wherein the steering angle is determined utilizing GPS data received from each of a first GPS receiver associated with the front compartment and a second GPS receiver associated with the rear compartment and (ii) utilizing the steering angle to control operation of the articulated construction vehicle so that the articulated construction vehicle travels the planned command path to perform the coverage task within the operating zone.