Patent Publication Number: US-2023160152-A1

Title: Control system and method for defining and generating compactor work area

Description:
TECHNICAL FIELD 
     The present disclosure generally relates to a control systems and methods for a work machine. More particularly, the present disclosure relates to control systems and methods for defining and generating a perimeter of a work area to be compacted by a compactor. 
     BACKGROUND 
     Work machines, such as compactors, can be used for compacting substrates. Compactors are employed for compacting soil, gravel, fresh laid asphalt, and other compactable materials associated with worksite surfaces. For example, during construction of roadways, highways, parking lots and the like, one or more compactors are typically utilized to compact soil, stone, and/or recently laid asphalt. 
     To assist with the compaction process and to improve compaction quality, a compactor may be equipped to operate in an autonomous or semi-autonomous mode as described in in U.S. Pat. No. 11,054,831B2. In such modes of operation, the compactor operates at least in part under computer control. In preparation for computer control, the control system obtains geographical coordinates of its position such as via a Global Positioning System (GPS). A perimeter of a worksite can be obtained using the geographical coordinates. The control system then develops a work plan including paths for traversing the surface of the compaction area while performing compacting. The control system assumes that terrain outside the perimeter may be dangerous for the operator or unsuitable for compaction. To avoid inadvertent movement outside the perimeter, the work plan reduces the size of the compaction area and adds a safety or buffer zone between the compaction area and the perimeter. This safety or buffer zone provides some area where the compactor may maneuver (e.g., turn) but not compact. This safety or buffer zone helps ensure safety; however, the resulting compaction area inside the safety or buffer zone is smaller than the perimeter that was originally intended and defined, making the compaction area smaller in area than was originally sought by the operator. 
     Various methods for defining a boundary for a compaction area are known and use a methodology as described above using safety or buffer zones. Examples of such methodology (in addition to U.S. Pat. No. 11,054,831B2) include U.S. Pat. No. 9,982,397, United States Patent Application Publication No. 2020/0089230 and German Patent Application No. DE102019002442A1. These examples all result in the compaction area being less than was originally sought by the operator. 
     SUMMARY 
     In an example according to this disclosure, a control system for a compactor is disclosed. The control system can include any one or combination of one or more position sensors, a steering system, a control interface and a controller. The one or more position sensors can sense data regarding a position of the compactor. The steering system can steer the compactor along a desired path of travel. The control interface can initiate a recording of the position of the compactor using the one or more position sensors when physically operating the compactor using the steering system along a desired boundary of a compaction area. The controller can be in communication with at least the control interface and the one or more position sensors. The controller can be configured to receive the data recording the position of the compactor when physically operating the compactor along at least a portion of the desired boundary of the compaction area, determine from the data a virtual boundary of the compaction area corresponding to the position of the compactor when physically operating the compactor along the desired boundary of the compaction area, and generate at least a first work plan for operating the compactor to compact in the compaction area up to the virtual boundary. 
     In one example, a machine implemented method of controlling operation of a compactor is disclosed. The method can include recording one or more positions of the compactor while steering the compactor along a desired boundary of a compaction area, using the recording of the position along the desired boundary to define a virtual boundary generated by a controller of the compactor, providing one or more prompts to an operator regarding a presence of one or more obstacles in or adjacent the compaction area, and determining a work plan for the compactor to compact within the compaction area according to an operator response to the one or more prompts and the virtual boundary 
     In one example, a compactor is disclosed. The compactor can include any one or any combination of a substantially cylindrical drum, a frame, a steering system, one or more position sensors, a control interface and a controller. The substantially cylindrical drum can be configured to compact a surface as the compactor traverses a work area. The frame can support the drum. The steering system can steer the compactor along a desired path of travel. The one or more position sensors can sense a location of the compactor. The control interface can initiate a recording of the position of the compactor using the one or more position sensors when physically operating the compactor using the steering system along a desired boundary of a compaction area. The controller can be in communication with at least the control interface and the one or more position sensors. The controller can be configured to receive data recording the position of the compactor when physically operating the compactor along at least a portion of the desired boundary of the compaction area, determine from the data a virtual boundary of the compaction area corresponding to the position of the compactor when physically operating the compactor along the desired boundary of the compaction area, and generate at least a first work plan for operating the compactor to compact in the compaction area up to the virtual boundary. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the drawings, which are not necessarily drawn to scale, like numerals may describe similar components in different views. Like numerals having different letter suffixes may represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document. 
         FIG.  1    is a side view of a compactor in accordance with an example of the present disclosure. 
         FIGS.  2 A- 2 K  depict a method and a control system of generating a work plan for compaction with the compaction in accordance with an example of the present disclosure. 
         FIGS.  3 A- 3 C  are schematic diagrams of a control system and method of generating a work plan for the compactor in accordance with an example of the present disclosure. 
         FIGS.  4 A- 4 C  are schematic diagrams of another control system and method of generating a work plan for the compactor in accordance with an example of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
       FIG.  1    shows a side view of a work machine, such as an example compactor  100 , in accordance with one embodiment. The compactor  100  may be configured for use in, for example, road construction, highway construction, parking lot construction, and other paving, soil compaction and/or construction applications. For example, the compactor  100  may be used in situations where it is necessary to compress loose stone, gravel, soil, sand, concrete, and/or other materials of a worksite surface  102  to a state of greater compaction and/or density. Similarly, the compactor  100  can compress freshly deposited asphalt or other materials disposed on and/or associated with the worksite surface  102 . As the compactor  100  traverses the worksite surface  102 , vibrational forces generated by the compactor  100  and imparted to the worksite surface  102 , acting in cooperation with the weight of the compactor  100 , compresses the loose materials. The compactor  100  typically makes one or more passes over the worksite surface  102  to provide a desired level of compaction. Although described subsequently in reference to the compactor  100 , the methods, systems, techniques of the present application are equally applicable to other working machines such earth moving equipment, mining equipment and other paving equipment that operate in a defined worksite area where a defined worksite periphery is desired. 
     The compactor  100  includes a frame  104 , a first drum  106 , and a second drum  108 . The first drum  106  and the second drum  108  are rotatably coupled to the frame  104  so that the first drum  106  and the second drum  108  roll over the worksite surface  102  as compactor  100  travels. The first and second drums  106 ,  108  comprise substantially cylindrical drums and/or other compaction elements of the compactor  100 , and the first and second drums  106 ,  108  can be configured to apply vibration and/or other forces to the worksite surface  102  in order to assist in compacting the worksite surface  102 . Although illustrated in  FIG.  1    as having first and second drums  106  and  108 , according to other examples the compactor  100  can have only a single drum or three or more drums. Although the first and second drums  106  and  108  are shown with a substantially smooth circumference or outer surface, in other examples, the first drum  106  and/or the second drum  108  may be tapered and/or can include ground engaging tools such as teeth, pegs, extensions, pads, or other features. Such ground-engaging tools can assist in breaking-up at least some of the materials associated with the worksite surface  102  and/or otherwise assist in compacting the worksite surface  102 . 
     The first drum  106  can have the same or different construction as the second drum  108 . In some examples, the first drum  106  and/or the second drum  108  is an elongated, hollow cylinder with a cylindrical drum shell that encloses an interior volume. The first drum  106  defines a first central axis about which the first drum  106  rotates, and similarly, the second drum  108  defines a second central axis about which the second drum  108  rotates. 
     The first drum  106  can include a first vibratory mechanism  110  within the cylindrical drum shell, and the second drum  108  can include a second vibratory mechanism  112  within the cylindrical drum shell. While the first drum  106  is illustrated as having a first vibratory mechanism  110  and second drum  108  is illustrated as having a second vibratory mechanism  112 , in other examples only one of the first and second drums  106 ,  108  may include a vibratory mechanism. The first and second vibratory mechanisms  110 ,  112  may include one or more weights or masses disposed at a position off-center from the respective central axis around which the first and second drums  106 ,  108  rotate. As first and second drums  106 ,  108  rotate, the off-center or eccentric positions of the masses induce oscillatory or vibrational forces to the first and second drums  106 ,  108 , and such forces are imparted to the worksite surface  102 . The weights are eccentrically positioned with respect to the respective central axis around which first and second drums  106 ,  108  rotate, and such weights are typically movable with respect to each other (e.g., about the respective central axis) to produce varying degrees of imbalance during rotation of first and second drums  106 ,  108 . The amplitude of the vibrations produced by such an arrangement of eccentric rotating weights may be varied by modifying and/or otherwise controlling the position of the eccentric weights with respect to each other, thereby varying the average distribution of mass (i.e., the centroid) with respect to the axis of rotation of the weights. The present disclosure is not limited to these examples described above. 
     The compactor  100  of  FIG.  1    is purely exemplary and can include other configurations (e.g., tow-behind, pushed, belt, etc.). The compactor  100  can be autonomous or semi-autonomous. The compactor  100  can be equipped with various sensors making autonomous or semi-autonomous operation feasible including those that can sense obstacle(s) adjacent the compactor  100 . The various sensors can include one or more compaction sensors as known in the art to determine type of material, material density, material stiffness, and/or other characteristics of worksite surface  102 . One or more sensors can also measure a vibration amplitude, a vibration frequency, a speed of the eccentric weights associated with first drum  106  and/or the second drum  108 , a distance of such eccentric weights from the axis of rotation, a speed of rotation of the first drum  106  and/or the second drum  108 , etc. 
     The compactor  100  includes an operator station  118 . However, the operator station  118  is not contemplated if the compactor  100  is fully autonomous. The operator station  118  includes a steering system  120  including a steering wheel, levers, pedals, and/or other controls (not shown) for steering the compactor  100  along a desired path of travel. The operator station  118  can have components and/or systems that are not specifically shown such as a throttle, brake system, etc. for operation of the compactor  100 . Using the operator station  118 , an operator of compactor  100  can adjust a speed, travel direction, and/or other aspects of compactor  100  during use. 
     The operator station  118  also includes a control interface  122  for controlling various functions of compactor  100 . However, in some examples it is contemplated that control interface  122  can be remote and offboard of the compactor  100 . The control interface  122  comprises one or more an analog, digital, and/or touchscreen displays. The control interface  122  can be configured to display, for example, at least part of a travel path, a work plan and/or at least part of a virtual boundary of the present disclosure. The control interface  122  can support other functions, including for example, initiating recording of position data as further discussed herein, displaying various operating data and communicating with various systems onboard and offboard the compactor  100 . 
     The compactor  100  further includes one or more position sensors  124 . These can be located in any position on the compactor  100  such as on the frame  104 . The one or more position sensors  124  can determine a location of compactor  100  and can comprise a component of a global positioning system (GPS). In one example, the one or more position sensors  124  comprise a GPS receiver, a GPS transmitter, a GPS transceiver or other such device, and the one or more position sensors  124  can be in communication with one or more GPS satellites (not shown) to determine a location of the compactor  100 . Such determination of the location and/or recording of the location of the compactor  100  can be initiated by the operator using the control interface  122  as further described herein. 
     The compactor  100  may also include a communication device  126  configured to enable the compactor  100  to communicate with the one or more other machines, and/or with one or more remote servers, processors, or control systems located remote from the worksite at which the compactor  100  is being used. The communication device  126  can also be configured to enable the compactor  100  to communicate with one or more electronic devices located at the worksite. In some examples, the communication device  126  includes a receiver configured to receive various electronic signals including position data, navigation commands, real-time information, and/or project-specific information. In some examples, the communication device  126  is also configured to receive signals including information indicative of compaction requirements specific to worksite surface  102 . Such compaction requirements may include, for example, a number of passes associated with the worksite surface  102  and required in order to complete the compaction of worksite surface  102 , a desired stiffness, density, and/or compaction of worksite surface  102 , a desired level of efficiency for a corresponding compaction operation, and/or other requirements. The communication device  126  may further include a transmitter configured to transmit position data indicative of a relative or geographic position of the compactor  100 , as well as electronic data such as data acquired via one or more sensors of the compactor  100 . 
     The compactor  100  can include one or more obstacle detection sensors  128 . These can include one or more of a camera, LiDAR, radar, and/or ultrasonic sensor(s) as known in the art. If a camera is utilized such camera can be a digital camera capable of various uses in addition to obstacle detection. The camera can provide visual feeds such as to record and/or transmit digital video of the worksite surface  102 , obstacle(s) in or adjacent the worksite in real-time. In still other examples, camera can comprise an infrared sensor, a thermal camera, or other like device configured to record and/or transmit thermal images of the worksite surface  102  in real-time. 
     The compactor  100  also includes a controller  130  in electronic communication with various components including the steering system  120 , control interface  122 , one or more position sensors  124 , communication device  126 , one or more obstacle detection sensors  128 , and/or other components of compactor  100 . The controller  130  receives one or more signals from the one or more position sensors  124  including information indicating a location of compactor  100 . In some examples, the controller  130  using data from one or more position sensors  124  may be configured to determine the location of compactor  100  as compactor  100  traverses a boundary (periphery) of worksite surface  102  and/or as compactor  100  travels to any other worksite location. As discussed previously, the control interface  122  can in some instances be used to initiate communication (such as a recording) of the location of the compactor  100 . The location of compactor  100  can include GPS coordinates of a plurality of distinct points such as at corners of the boundary and/or a plurality of points along two or more steered paths (travel paths) of the compactor  100 . Such data may be determined substantially continuously during movement of compactor  100  such as at initiation of the operator using the control interface  122  to initiate recording of the position. Alternatively, such information may be determined at regular time intervals (milliseconds, one second, two seconds, five seconds, ten seconds, etc.) as compactor  100  travels. Further, any such information can be stored in a memory associated with controller  130  as discussed below. 
     The controller  130  can be part of a broader control system that can include additional components including some of those already discussed. The controller  130  can include, for example, software, hardware, and combinations of hardware and software configured to execute several functions related to, among others, obstacle detection for the compactor  100 . The controller  130  can be an analog, digital, or combination analog and digital controller including a number of components. As examples, the controller  130  can include integrated circuit boards or ICB(s), printed circuit boards PCB(s), processor(s), data storage devices, switches, relays, or any other components. Examples of processors can include any one or more of a microprocessor, a controller, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or equivalent discrete or integrated logic circuitry. Commercially available microprocessors can be configured to perform the functions of the controller  130 . Various known circuits may be associated with controller  130 , including power supply circuitry, signal-conditioning circuitry, actuator driver circuitry (i.e., circuitry powering solenoids, motors, or piezo actuators), and communication circuitry. In some examples, the controller  130  may be positioned on the compactor  100 , while in other examples the controller  130  may be positioned at an off-board location (remote location) relative to the compactor  100 . 
     The controller  130  can include a memory such as memory circuitry. The memory may include storage media to store and/or retrieve data or other information such as, for example, input data from the one or more position sensors  124 , the communication device  126  and/or the one or more obstacle detection sensors  128 . Storage devices, in some examples can be a computer-readable storage medium. The data storage devices can be used to store program instructions for execution by processor(s) of the controller  130 , for example. The storage devices, for example, are used by software, applications, algorithms, as examples, running on and/or executed by the controller  130 . The storage devices can include short-term and/or long-term memory and can be volatile and/or non-volatile. Examples of non-volatile storage elements include magnetic hard discs, optical discs, floppy discs, flash memories, or forms of electrically programmable memories (EPROM) or electrically erasable and programmable (EEPROM) memories. Examples of volatile memories include random access memories (RAM), dynamic random-access memories (DRAM), static random-access memories (SRAM), and other forms of volatile memories known in the art. 
       FIGS.  2 A- 2 K  illustrate aspects of a control system  200  and a method  202  that can be associated with a compactor (such as compactor  100  of  FIG.  1   ). The control system  200  and/or the method  202  can define a virtual boundary of a compaction area within a worksite. This virtual boundary can correspond to a desired boundary for the compaction area. The desired boundary can be recorded or otherwise determined by physically operating the compactor along at least a portion of the desired boundary of the compaction area. Using the virtual boundary (corresponding to the desired boundary) and/or other input, the control system  200  and/or the method  202  can develop one or more work plans including at least first a work plan for operating the compactor to compact in the compaction area up to the virtual boundary in a manner discussed in more detail below. Aspects such as components of the control system  200  and/or method  202  have already been described in reference to the compactor  100  of  FIG.  1   . 
     The control system  200  can include one or more remote servers, processors, or other such computing devices such as the controller  130  ( FIG.  2 A ), the communication device  126  ( FIG.  1   ) and the control interface  122  ( FIGS.  2 A,  2 B,  2 D,  2 F,  2 H and  2 J ). In some examples, the communication device  126  ( FIG.  1   ), the controller  130  ( FIGS.  1  and  2 A ) and/or the control interface  122  can be connected to one another and/or otherwise in communication with one another and with various components such as the one or more position sensors  124 , the one or more obstacle detection sensors  128 , and/or other components of compactor  100  (see discussion regarding  FIG.  1   ) or offboard components via a network. The network may be a local area network (“LAN”), a larger network such as a wide area network (“WAN”), or a collection of networks, such as the Internet. Protocols for network communication, such as TCP/IP, may be used to implement the network. Although examples are described herein as using a network such as the Internet, other distribution techniques may be implemented that transmit information. 
       FIGS.  2 A- 2 K  depict the control system  200  and method  202  performing various steps. The control system  200  and the method  202  can, in the context of software, include steps that represent computer-executable instructions stored in memory. When such instructions are executed by, for example, the controller  130 , such instructions cause the controller  130 , various components of control system  200 , and/or compactor  100 , generally, to perform operations. The computer-executable instructions may include routines, programs, objects, components, data structures, and the like that perform particular functions or implement particular abstract data types. The order in which the operations are described is not intended to be construed as a limitation, and any number of the described steps can be combined in any order and/or in parallel to implement the process. For discussion purposes, and unless otherwise specified, the method  202  is described with reference to compactor  100  of  FIG.  1    and the control system  200 . 
       FIG.  2 A  shows the control interface  122  communicating with the one or more position sensors  124 . The control interface  122  can initiate a location recording using the one or more position sensors  124  to define a virtual boundary as further discussed and illustrated. The control interface  122  and controller  130  are awaiting a compaction area assignment in  FIG.  2 A . 
     In  FIG.  2 B , the operator via the control interface  122  has initiated a location recording (see circled area on display and status) using the one or more position sensors  124  ( FIGS.  1  and  2 A ). This recording and captured location information will be used by the controller  130  ( FIGS.  1  and  2 A ) to define a virtual boundary, determine a compaction area and determine a work plan for the compaction area as further explained. 
       FIG.  2 C  shows the compactor  100  physically operating along a first desired boundary  204  for a compaction area. Such operation can be at the behest of and under control of the operator, for example. However, autonomous operation to define the first desired boundary  204  is also contemplated. In particular, the compactor  100  is being driven along a travel path that corresponds with the first desired boundary  204  during the location recording process of the method  202  as shown in  FIG.  2 B . The controller  130  ( FIGS.  1  and  2 A ) can receive data recording the position of the compactor  100  when physically operating the compactor  100  along at least a portion of the first desired boundary  204  of the compaction area. The first desired boundary  204  can be visually displayed on the control interface  122  ( FIG.  2 B ) indicated with one or more lines, such a parallel lines adjacent the lateral edges of the drum(s). Alternatively, the first desired boundary  204  can be displayed as bounded by lines or the like. According to further examples, lines or other representation of the first desired boundary  204  may not be visually displayed. 
       FIGS.  2 D and  2 E  show that position recording used to define the first desired boundary  204  can be paused at operator discretion using the control interface  122 . This can allow the operator to turn or otherwise maneuver the compactor  100  as shown in  FIG.  2 E  as desired to a second (or subsequent) position where recording of location can resume. 
     In  FIGS.  2 F and  2 G , position recording can again be initiated using the control interface  122  ( FIG.  2 F ) and the compactor  100  is physically operated along a second desired boundary  206  ( FIG.  2 G ) for the compaction area. Again, the controller  130  ( FIGS.  1  and  2 A ) can receive data recording the position of the compactor  100  when physically operating the compactor  100  along at least a portion of the second desired boundary  206  of the compaction area. 
       FIG.  2 H  shows data regarding the first desired boundary  204  and/or the second desired boundary  206  can be saved in memory at initiation of the control interface  122 . This position data as defined by the location of the first desired boundary  204  and/or the second desired boundary  206  can be used to generate a virtual boundary  208  and a compaction area  210  as shown in  FIG.  2 I . As shown in  FIG.  2 I , the first desired boundary  204  and/or the second desired boundary  206  can correspond (e.g., be within GPS sensing accuracy) to the virtual boundary  208 . It should be noted that at least a portion of the virtual boundary  208  and the compaction area  210  can be extrapolated, and therefore, is not based upon the first desired boundary  204  and/or the second desired boundary  206  or other position data derived from sensing on the compactor. Thus, according to the control system  200  and method  202 , the controller  130  ( FIGS.  1  and  2 A ) can determine from the data (regarding position) the virtual boundary  208  of the compaction area  210  corresponding to the position of the compactor  100  when physically operating the compactor along at least a portion of the desired boundary (the first desired boundary  204  and/or the second desired boundary  206 ) of the compaction area  210 . 
       FIGS.  2 J and  2 K  show a portion of a first work plan  212  generated by the controller  130  ( FIGS.  1  and  2 A ) for automating compaction within the compaction area  210 . Thus, the controller  130  can generate at least the first work plan  212  for operating the compactor  100  to compact in the compaction area  210  up to the virtual boundary  208  as shown in  FIGS.  2 J and  2 K . Put another way, the compaction area  210  can extend up to the virtual boundary  208  corresponding to the first desired boundary  204  and/or the second desired boundary  206  where the compactor  100  was initially operated to gather position data. In this manner the compaction area  210  can correspond to the desired boundary for the work area initially set/delineated by the operator using recording of the position of the compactor. 
     The first work plan  212  can be displayed on the control interface  122  as shown in  FIG.  2 J . Control interface  122  can be configured as a user interface with the display of at least part of one or more travel paths  214  and/or other components of the first work plan  212 . The control interface  122  can include for example, labels, location names, GPS coordinates of the respective locations, and/or other information associated with the work plan, and/or with operation data of the compactor  100 . Data provided by user interface can be displayed and/or updated in real-time to assist the operator in controlling operation of compactor  100 . The control interface  122  can depict a stage of operation in which the one or more travel paths  214  associated with the first work plan  212  has been determined to be completed. This can be provided for reference to the operator. The first work plan  212  can include visual indicia indicating, among other things, the virtual boundary  208 , the one or more travel paths  214  of the compactor  100 , a speed of compactor  100 , a vibration frequency of the one or more drums, a vibration amplitude of one or more drums, and/or other operating parameters of compactor  100 . In such examples, visual indicia could also indicate one or more other operating parameters. 
       FIG.  2 J  shows the first work plan  212  with the virtual boundary  208  as the outermost limit of the compaction area  210 . The compactor  100  can travel, either autonomously, semi-autonomously or at direction of operation, to execute the first work plan  212 . It is important to note that the first work plan  212  and compaction area  210  may not provide for a buffer area between the compaction area  210  and the virtual boundary  208  as has typically been the prior practice. This distinction will be discussed further in reference to  FIGS.  3 A- 4 C . Thus, with the first work plan  212 , compaction is expected to be performed up to the virtual boundary  208 . The one or more travel paths  214  can involve one or more straight paths that are traversed back-and-forth by compactor  100  while performing compacting. At the end of one straight path at the virtual boundary  208 , an S-turn or K-turn (with vibration turned off) can be performed. This S-turn or K-turn can be performed outside of the virtual boundary  208 , which differs from prior methods. Alternatively, once the virtual boundary  208  is reached at one end the straight path the straight path can be retraced in reverse by compactor  100  performing compacting without a turn. However, after retracing in reverse the straight line, an S-turn or a K-turn can then be performed outside of the virtual boundary  208 , which differs from prior methods. A subsequent straight path of compacting can then be performed. 
     The controller  130  ( FIGS.  1  and  2 A ) can cause control interface  122  to display one or more messages for the operator of compactor  100 . For example, the controller  130  via the control interface  122  can display a message requesting that the operator approve the first work plan  212 . Examples of this approval (or disapproval) process are shown in  FIGS.  3 A- 4 C . The control interface  122  can display and the operator can approve/disapprove of various work plans, travel paths, virtual boundaries, compaction areas, or other criteria (speed, vibration, etc.) via the control interface  122 . The controller  130  may also cause the control interface  122  to display warnings, message or other indicia with one or more buttons, icons, and/or other data fields. Such data fields may comprise, for example, portions of the touch screen display, and/or other components of the control interface  122  configured to receive input (e.g., touch input) from the operator as previously illustrated in  FIGS.  2 A,  2 B,  2 D and  2 F , for example. It is understood that various other controls of compactor  100  such as the steering, braking, throttle, etc. may also be used and can receive inputs from the controller  130  in performing the first work plan  212 . In yet further examples, the control interface  122  and/or other components of compactor  100  may be configured to receive inputs such as from obstacle and other sensors. In some examples, the controller  130  can cause the control interface  122  to display one or more additional warnings such as via buttons, icons, and/or other controls as desired. 
       FIGS.  3 A- 3 C  shows a control system  300  and method  302  similar to those previously described.  FIG.  3 A  differs from previously shown systems and methods in that position data can be gathered by operating the compactor to distinct points  304 A,  304 B,  304 C and  304 D corresponding to corners of a desired compaction area rather than by continuously gathering data along paths such as with the first desired boundary  204  and/or the second desired boundary  206  of  FIGS.  2 A- 2 K .  FIG.  3 A  shows the distinct points  304 A,  304 B,  304 C and  304 D can be extrapolated to create a recorded area  306  (corresponding to a potential compaction area) bounded by a virtual boundary  308 . 
       FIG.  3 B  differs from previously shown systems and methods in that the controller  130  ( FIGS.  1  and  2 A ) can issue a warning  309  (e.g., via icon on the control interface  122 ). This warning can ask the operator to confirm the entire area (the recorded area  306 ) within the recorded boundary corresponding to the virtual boundary  308  and areas adjacent and outside the virtual boundary  308  are free of obstacles. If the operator confirms this by selecting “OK”, the controller  130  will allow the compactor to compact the entire area corresponding to the recorded area  306  and this area of compaction will extend up to the virtual boundary  308 . As shown, a larger area of maneuver  310  will also be generated by the controller  130  if “OK” is selected. This larger area of maneuver  310  will allow the compactor to perform turns, etc. without compacting vibration. This larger area of maneuver  310  will extend outside of the virtual boundary  308 . The controller  130  can determine a work plan  312  within the recorded area  306  and this will extend compacting up to the virtual boundary  308  (and indeed, will extend operation of the compactor over the virtual boundary  308  into the larger area of maneuver  310  for turns, etc.). 
     However, as shown in  FIG.  3 C , should the operator decline to confirm (e.g., select “NO” or equivalent) in response to the warning, icon, etc. regarding obstacles, the controller  130  can reduce the area of actual compaction  314  in size from the recorded area  306 . This area of actual compaction  314  will not extend up to the virtual boundary  308  but instead will be spaced within the virtual boundary  308  by a buffer zone  316  that allows for the compactor to maneuver without compacting for turns, etc. without crossing the virtual boundary  308 . The controller, if “NO” is selected, can develop a second work plan  318  within the area of actual compaction  314  and can develop the buffer zone  316 . This second work plan  318  will differ from the work plan  312 . This second work plan  318  will not allow the compactor to cross the virtual boundary  308 . Put another way, the area of actual compaction  314  as dictated by the second work plan  318  will be spaced within the virtual boundary  308  by the buffer zone  316 . 
       FIGS.  4 A- 4 C  shows a control system  400  and method  402  similar to those previously described in reference to  FIGS.  2 A- 3 C . However, the  FIGS.  4 A- 4 C  differ in that one or more obstacle detection sensors (such as the one or more obstacle detection sensors  128 ) can be utilized in alternative to or in combination with operator input. Thus, the controller, such as in  FIG.  4 B , can issue one or more warning  409  via an icon, etc. on the control interface  122 . This warning can state that sensor(s) have sensed obstacles within or near a recorded area  406  of  FIG.  4 A  and can ask the operator to confirm the entire area (the potential compaction area corresponding to the recorded area of  FIG.  4 A ) within the recorded boundary corresponding to a virtual boundary  408  and areas adjacent and outside the virtual boundary  408  is free of obstacles. If the operator confirms this by selecting “OK”, the controller  130  may allow the compactor to compact the entire area corresponding to the recorded area  406  (the area of potential compaction) and this area of potential compaction will extend up to the virtual boundary  408 . As shown, a larger area of maneuver  410  can also be generated by the controller  130  if “OK” is selected. This larger area of maneuver  410  will allow the compactor to perform turns, etc. without vibration. This larger area of maneuver  410  will extend outside of the virtual boundary  408 . The controller can determine a work plan  412  with in the recorded area  406  and the work plan  412  will have a compaction area that will extend up to the virtual boundary  408  (and indeed, the work plan  412  will extend over the virtual boundary  408  into the larger area of maneuver  410  for turns, etc.). 
     However, according to further examples if obstacles are detected the operator may not be able to override and create the work plan  412  until a further recorded area is regenerated (e.g., repeated) and no obstacles are sensed. 
     However, as shown in  FIG.  4 C , should the operator decline to confirm (e.g., select “NO” or equivalent) in response to the warning, icon, etc. regarding obstacles, the controller  130  can reduce the area of actual compaction  414  in size from the potential area of compaction (the recorded area  406 ). This area of actual compaction  414  will not extend up to the virtual boundary  408  but instead will be spaced within the virtual boundary  408  by a buffer zone  416  that allows for the compactor to maneuver for turns, etc. without crossing the virtual boundary  408 . The controller  130  will develop a second work plan  418  within the area of actual compaction  414  and the buffer zone  416 . This second work plan  418  will differ from the work plan  412 . This second work plan  418  will not allow the compactor to cross the virtual boundary  408 . Put another way, the area of actual compaction  414  as dictated by the second work plan  418  will be spaced within the virtual boundary  408  by the buffer one  416 . 
     INDUSTRIAL APPLICABILITY 
     The present disclosure provides apparatuses such as compactor  100 , systems such as control systems  200 ,  300  and/or  400  and methods  202 ,  302  and/or  402  for defining a perimeter such as virtual boundary  208 ,  308  and  408  of a compaction area such as  210 ,  314  and  414  within a worksite. This perimeter is defined by operation of the compactor along at least a portion of the perimeter such as the first desired boundary  204 , the second desired boundary  206  and/or the distinct points  304 A,  304 B,  304 C and  304 D to gather position data. This position data can be used by a controller such as the controller  130  to define the virtual boundary (e.g., virtual boundary  208 ,  308  and/or  408 ) within which the compactor  100  can compact. In some cases, if the compaction area  210 ,  314  and/or  414  extends up to the virtual boundary  208 ,  308  and/or  408 , the compactor can operate outside the virtual boundary  208 ,  308  and/or  408  such as in the area of maneuver  310  and/or  410  to maneuver for turns, etc. 
     The systems such as the control systems  200 ,  300  and/or  400  and methods such as methods  202 ,  302  and/or  402  can rely on operator or other input (e.g., regarding obstacles within the recorded area  306  and/or  406  or in the area adjacent and outside the recorded area). The systems such as the control systems  200 ,  300  and/or  400  and methods  202 ,  302  and/or  402  can formulate a plurality of work plans (e.g., the first work plan  212 , the work plan  312 , the second work plan  318 , the work plan  412  and/or the second work plan  418 ) and can revise/create/update a new work plan (e.g., the second work plan  318  and/or second work plan  418 ) in response to the operator (and/or sensors such as one or more obstacle detection sensors  128 ) indicating obstacles are present within or adjacent the recorded area  306  and/or recorded area  406  (e.g., the area originally intended for compaction). 
     The control systems  200 ,  300  and/or  400  and methods  202 ,  302  and/or  402  may be used to align the compaction area (compaction area  210 ,  314  and  414 ) with the perimeter such as the first desired boundary  204 , the second desired boundary  206  and/or the distinct points  304 A,  304 B,  304 C and  304 D defined by the operator. As a result, the systems such as the control systems  200 ,  300  and/or  400  and methods such as methods  202 ,  302  and/or  402  can avoid a decrease in compaction area due to the automatic addition of a safety or buffer zone within the perimeter, while ensuring protection of personnel and equipment through the addition of the area of maneuver  310  and/or  410  outside of the virtual boundary  208 ,  308  and/or  408 . As well, with the disclosed systems and methods, an operator can accurately define in advance the area of a worksite to be compacted, and additional steps of manually compacting areas automatically blocked for the safety or buffer zone in legacy systems can be avoided. 
     The above detailed description is intended to be illustrative, and not restrictive. The scope of the disclosure should, therefore, be determined with references to the appended claims, along with the full scope of equivalents to which such claims are entitled.