12-02-2015 дата публикации
Номер: US20150046044A1
A method for selecting an attack pose, when loading piled materials, for a working machine having a bucket includes acquiring three dimensional pile data, generating a set of attack poses, generating a bucket trajectory through the pile for each attack pose, for each attack pose in the set of attack poses, calculating a measure of a convexity of the pile surface for an area of the pile surface delimited by a bucket width and a vertical projection of the bucket trajectory, and selecting an attack pose based on the measure of convexity. 193133. Method for selecting an attack pose ( ,α) , when loading piled materials , for a working machine () having a bucket () , said method including the steps of:{'b': '10', 'acquiring three dimensional pile data (P) (S);'}{'b': 9', '20, 'generating a set of attack poses (,α) (S);'}{'b': 13', '1', '9', '30, 'generating a bucket trajectory () through said pile () for each attack pose (,α) (S); characterized by'}{'b': 9', '9', '15', '17', '19', '21', '13', '40, 'sub': 'C', 'for each attack pose (,α) in said set of attack poses (,α), calculating a measure of a convexity (C) of the pile surface for an area () of the pile surface () delimited by a bucket width () and a vertical projection () of the bucket trajectory () (S); and'}{'b': '9', 'sub': 'C', 'selecting an attack pose (,α) based on said measure of convexity (C).'}2. Method according to claim 1 , characterized by:{'sub': L', 'C', 'R, 'b': 33', '1', '21', '13, 'determining sweep volumes (V, V, V) of segments of said bucket (), a sweep volume being a volume of the pile () within a sweep area defined by a width of a segment and length extension () of the trajectory (); and'}{'sub': C', 'L', 'C', 'R, 'b': '33', 'calculating said measure of convexity (C) based on said sweep volumes (V, V, V) of segments of said bucket ().'}399. Method according to or claim 1 , characterized by additionally determining a side load measure (C) for each attack pose ( claim 1 ,α) claim 1 , and selecting an ...
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