Method of modifying a worksite

Abstract

A method is disclosed of modifying a worksite for calibrating a vehicle model used to autonomously control a first machine on the worksite. The method may include receiving a signal from the first machine indicative of an aspect of the vehicle model in need of calibration. The method may also include determining, in response to receipt of the signal, that the worksite includes a calibration site having a characteristic corresponding to the aspect of the vehicle model, and that calibrating the aspect of the vehicle model requires modifying the characteristic of the calibration site. The method may further include modifying the characteristic of the calibration site with a second machine at the worksite, and directing the first machine to the modified calibration site for autonomous calibration of the aspect of the vehicle model.

What is claimed is: 
     
         1 . A method of modifying a worksite for calibrating a vehicle model used to autonomously control a first machine on the worksite, the method comprising:
 receiving a signal from the first machine indicative of an aspect of the vehicle model in need of calibration;   determining, in response to receipt of the signal, that the worksite includes a calibration site having a characteristic corresponding to the aspect of the vehicle model, including searching a memory storing data associated with the worksite and selecting the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site, and that calibrating the aspect of the vehicle model requires modifying the characteristic of the calibration site;   modifying the characteristic of the calibration site with a second machine at the worksite; and   directing the first machine to the modified calibration site for autonomous calibration of the aspect of the vehicle model.   
     
     
         2 . The method according to  claim 1 , wherein the aspect of the vehicle model includes at least one of a speed of the first machine, a steering angle of the first machine, a weight hauled by the first machine, a weight distribution of a load hauled by the first machine, an orientation of the first machine, a geographical location of the first machine, and a heading of the first machine. 
     
     
         3 . The method according to  claim 1 , wherein selecting the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site includes comparing a quantitative value representative of a calibration requirement with suitability indices of each of the plurality of locations, and automatically selecting the calibration site which most closely matches the quantitative value of the calibration requirement. 
     
     
         4 . The method according to  claim 1 , wherein the characteristic includes at least one of a curvature, a bank, a grade, a slalom, and a lane change, a wet condition, a dry condition, an icy condition, a bumpy condition, and a gravely condition, and
 wherein modifying the characteristic includes at least one of a wetting operation, an icing operation, a dozing operation, a grading operation, a leveling operation, and a bulk material removal operation.   
     
     
         5 . The method according to  claim 1 , further including autonomously calibrating the aspect of the vehicle model at the modified calibration site, wherein autonomously calibrating the aspect of the vehicle model includes adjusting a parameter value associated with the aspect of the vehicle model to be approximately equal to a corresponding value associated with an actual performance of the first machine. 
     
     
         6 . The method according to  claim 1 , further including receiving an additional signal from the first machine indicative of an additional aspect of the vehicle model in need of calibration;
 determining, in response to receipt of the additional signal, that the worksite does not include a calibration site having a characteristic corresponding to the additional aspect of the vehicle model; and   determining, in response to determining that the worksite does not include a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, if a space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model.   
     
     
         7 . The method according to  claim 6 , further including logging data associated with the additional aspect of the vehicle model in a memory for reassessment, in response to determining that no space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, and
 assigning the first machine to a work task not requiring operation associated with the additional aspect of the vehicle model, in response to determining that no space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model.   
     
     
         8 . The method according to  claim 6 , further including directing the second machine to construct a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, in response to determining that space does exist within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model. 
     
     
         9 . The method according to  claim 8 , further including directing the first machine to the constructed calibration site to autonomously calibrate the additional aspect of the vehicle model. 
     
     
         10 . A method of modifying a worksite for calibrating a vehicle model used to autonomously control a first machine on the worksite, the method comprising:
 determining, with a controller associated with the machine, that an aspect of the vehicle model is in need of calibration;   providing a signal, indicating that the aspect of the vehicle model is in need of calibration, from the controller to a worksite management system disposed remote from the first machine;   determining, with the worksite management system, that the worksite includes a calibration site having a characteristic corresponding to the aspect of the vehicle model, including searching a memory storing data associated with the worksite and selecting the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site, and that calibrating the aspect of the vehicle model requires modifying the characteristic of the calibration site;   directing, with the worksite management system, a second machine at the worksite to modify the characteristic of the calibration site; and   directing, with the worksite management system, the first machine to the modified calibration site for autonomous calibration of the aspect of the vehicle model.   
     
     
         11 . The method according to  claim 10 , wherein the aspect of the vehicle model includes at least one of a speed of the first machine, a steering angle of the first machine, a weight hauled by the first machine, a weight distribution of a load hauled by the first machine, an orientation of the first machine, a geographical location of the first machine, and a heading of the first machine. 
     
     
         12 . The method according to  claim 10 , wherein selecting the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site includes comparing a quantitative value representative of a calibration requirement with suitability indices of each of the plurality of locations, and automatically selecting the calibration site which most closely matches the quantitative value of the calibration requirement. 
     
     
         13 . The method according to  claim 10 , wherein the characteristic includes at least one of a curvature, a bank, a grade, a slalom, and a lane change, a wet condition, a dry condition, an icy condition, a bumpy condition, and a gravely condition, and
 wherein modifying the characteristic includes at least one of a wetting operation, an icing operation, a dozing operation, a grading operation, a leveling operation, and a bulk material removal operation.   
     
     
         14 . The method according to  claim 10 , further including autonomously calibrating the aspect of the vehicle model at the modified calibration site, wherein autonomously calibrating the aspect of the vehicle model includes adjusting a parameter value associated with the aspect of the vehicle model to be approximately equal to a corresponding value associated with an actual performance of the first machine. 
     
     
         15 . The method according to  claim 10 , further including receiving an additional signal from the first machine indicative of an additional aspect of the vehicle model in need of calibration;
 determining, in response to receipt of the additional signal, that the worksite does not include a calibration site having a characteristic corresponding to the additional aspect of the vehicle model; and   determining, in response to determining that the worksite does not include a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, if a space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model.   
     
     
         16 . The method according to  claim 15 , further including the worksite management system logging data associated with the additional aspect of the vehicle model in a memory for reassessment, in response to determining that no space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, and
 assigning the first machine to a work task not requiring operation associated with the additional aspect of the vehicle model, in response to determining that no space exists within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model.   
     
     
         17 . The method according to  claim 15 , further including the worksite management system directing the second machine to construct a calibration site having the characteristic corresponding to the additional aspect of the vehicle model, in response to determining that space does exist within the worksite for constructing a calibration site having the characteristic corresponding to the additional aspect of the vehicle model. 
     
     
         18 . A system configured to modify a worksite for calibrating a vehicle model used to autonomously control a first machine on the worksite, the system comprising:
 a controller disposed on the first machine, the controller configured to determine if an aspect of the vehicle model is in need of calibration, and to generate a signal indicative of an aspect of the vehicle model in need of calibration; and   a worksite management system disposed remote from the first machine and in communication with the controller, the worksite management system configured to determine, in response to receipt of the signal,
 whether the worksite includes a calibration site having a characteristic corresponding to the aspect of the vehicle model, including searching a memory storing data associated with the worksite and selecting the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site, and 
 that calibrating the aspect of the vehicle model requires modifying the characteristic of the calibration site, and wherein 
 the worksite management system is also configured to direct a second machine at the worksite to modify the characteristic of the calibration site, and direct the first machine to the modified calibration site for autonomous calibration of the aspect of the vehicle model. 
   
     
     
         19 . The system according to  claim 18 , wherein the controller is further configured to generate the signal indicative of at least one of a speed of the first machine, a steering angle of the first machine, a weight hauled by the first machine, a weight distribution of a load hauled by the first machine, an orientation of the first machine, a geographical location of the first machine, and a heading of the first machine. 
     
     
         20 . The system according to  claim 18 , wherein the worksite management system is further configured to select the calibration site from among a plurality of locations at the worksite based on a suitability index of the calibration site by comparing a quantitative value representative of a calibration requirement with suitability indices of each of the plurality of locations, and automatically selecting the calibration site which most closely matches the quantitative value of the calibration requirement.