| CPC E02F 9/262 (2013.01) [E02F 3/434 (2013.01)] | 22 Claims |
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1. A method of controlling a machine, the method comprising:
receiving, by one or more processors and from one or more sensors, measurements indicative of one or more geometric characteristics of a material pile;
determining, by the one or more processors, an actual angle of repose for a material of the material pile according to the geometric characteristics of the material pile;
identifying one or more material properties of the material;
determining, by the one or more processors, a target angle of repose for the material pile according to at least one of a maximum value of the actual angle of repose or the one or more material properties;
determining, by the one or more processors, an optimized travel path for a tool through a portion of the material pile, according to the actual angle of repose and the target angle of repose for the material; and
causing the tool to be actuated along at least a first portion of the optimized travel path, wherein the tool, when actuated, engages a portion of the material of the material pile and lifts the portion of the material to a top of the material pile such that the remaining material of the material pile has an angle of repose that is substantially equal to the target angle of repose.
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13. A system comprising:
a control circuit comprising one or more processors and memory structured to store instructions that, when executed by the one or more processors, cause the control circuit to:
receive, by one or more processors, measurements from a sensor indicative of one or more geometric characteristics of a material pile;
determine, by the one or more processors, an actual angle of repose for a material of the material pile according to the geometric characteristics of the material pile;
identify, by the one or more processors, one or more material properties of the material;
determine, by the one or more processors, a target angle of repose for the material pile according to the one or more material properties;
calculate, by the one or more processors, an optimized travel path for a tool through a portion of the material pile according to the actual angle of repose and the target angle of repose for the material; and
cause the tool to be actuated along at least a first portion of the optimized travel path, wherein the tool, when actuated, engages a portion of the material of the material pile and lifts the portion of material to a top of the material pile such that the remaining material of the material pile has an angle of repose that is substantially equal to the target angle of repose.
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21. A system comprising:
a tool configured to lift a material from a material pile;
a sensor configured to measure an actual angle of repose of the material pile;
a control circuit comprising one or more processors and memory structured to store instructions that, when executed by the one or more processors, cause the control circuit to:
receive, by one or more processors from one or more sensors, measurements indicative of one or more geometric characteristics of a material pile;
determine, by the one or more processors, an actual angle of repose for a material of the material pile according to the geometric characteristics of the material pile;
identify one or more material properties of the material;
determine, by the one or more processors, a target angle of repose for the material pile according to the one or more material properties;
calculate, by the one or more processors, an optimized travel path for a tool through a portion of the material pile according to the actual angle of repose and the target angle of repose for the material; and
cause the tool to be actuated along at least a first portion of the optimized travel path, wherein the tool, when actuated, engages a portion of the material of the material pile and lifts the portion of material to a top of the material pile such that the remaining material of the material pile has an angle of repose that is substantially equal to the target angle of repose.
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