US 12,487,584 B2
Velocity control for construction machines
Jason Hill, Superior, CO (US); and Albert Wray, Sidney, OH (US)
Assigned to Caterpillar Trimble Control Technologies LLC, Dayton, OH (US)
Filed by Caterpillar Trimble Control Technologies LLC, Dayton, OH (US)
Filed on May 1, 2023, as Appl. No. 18/141,735.
Application 18/141,735 is a continuation of application No. 17/103,281, filed on Nov. 24, 2020, granted, now 11,669,073.
Prior Publication US 2023/0341836 A1, Oct. 26, 2023
Int. Cl. G05B 19/4155 (2006.01); G05B 19/416 (2006.01)
CPC G05B 19/4155 (2013.01) [G05B 19/416 (2013.01); G05B 2219/31229 (2013.01); G05B 2219/37347 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of controlling a construction machine operating within a construction site, the method comprising:
capturing sensor data using one or more sensors of the construction machine while the construction machine is moving at a velocity in a forward or a backward direction;
estimating a geospatial position of the construction machine based on the sensor data;
querying a site design using the geospatial position of the construction machine to obtain a target surface and a target grade;
estimating an actual surface of the construction site based on the sensor data;
calculating a deviation between the target surface and the actual surface;
calculating an actual performance metric based on the deviation and an output of a grade control loop that adjusts a grade of the construction machine;
determining a target velocity based on the actual performance metric; and
concurrently performing:
adjusting the velocity of the construction machine based on the target velocity; and
adjusting the grade of the construction machine based on the target grade using the grade control loop.