System and method for controlling a machine
First Claim
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1. A system for communicating between a machine and a remote system, comprising:
- an off-board controller associated with the remote system off-board the machine;
a position sensor on-board the machine configured to generate position signals indicative of a pose of the machine, the position sensor interacting with a global positioning system;
a plurality of machine sensors on-board the machine configured to generate machine signals indicative of a plurality of machine characteristics of the machine;
a perception sensor associated with the machine configured to generate raw data points reflective of a perceived work environment associated with the machine; and
an on-board controller configured to;
determine the pose of the machine based upon the position signals;
determine a plurality of machine characteristic of the machine based upon the machine signals;
associate the pose of the machine with the plurality of machine characteristics;
generate a relative point cloud of the perceived work environment associated with the machine based upon the raw data points;
determine an absolute point cloud based upon the relative point cloud and the pose of the machine;
segment the plurality of machine characteristics to define a plurality of machine data subsets;
segment the absolute point cloud to define a plurality of image data subsets;
transmit at least some of the plurality of machine data subsets and less than the entire plurality of image data subsets off-board the machine to the off-board controller; and
the off-board controller being configured to;
store an electronic map of a portion of a work site;
update the electronic map based upon the less than the entire plurality of image data subsets; and
generate a machine movement plan based upon the updated electronic map.
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Abstract
A system for communicating between a machine and a remote system generates machine data and image data on-board the machine. The data is segmented into machine data subsets and image data subsets. At least some of the machine data subsets and only some of the image data subsets are transmitted off-board the machine to an off-board controller. The off-board controller updates an electronic map based upon the image data subsets, and generates a machine movement plan based upon the updated electronic map.
60 Citations
20 Claims
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1. A system for communicating between a machine and a remote system, comprising:
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an off-board controller associated with the remote system off-board the machine; a position sensor on-board the machine configured to generate position signals indicative of a pose of the machine, the position sensor interacting with a global positioning system; a plurality of machine sensors on-board the machine configured to generate machine signals indicative of a plurality of machine characteristics of the machine; a perception sensor associated with the machine configured to generate raw data points reflective of a perceived work environment associated with the machine; and an on-board controller configured to; determine the pose of the machine based upon the position signals; determine a plurality of machine characteristic of the machine based upon the machine signals; associate the pose of the machine with the plurality of machine characteristics; generate a relative point cloud of the perceived work environment associated with the machine based upon the raw data points; determine an absolute point cloud based upon the relative point cloud and the pose of the machine; segment the plurality of machine characteristics to define a plurality of machine data subsets; segment the absolute point cloud to define a plurality of image data subsets; transmit at least some of the plurality of machine data subsets and less than the entire plurality of image data subsets off-board the machine to the off-board controller; and the off-board controller being configured to; store an electronic map of a portion of a work site; update the electronic map based upon the less than the entire plurality of image data subsets; and generate a machine movement plan based upon the updated electronic map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method of communicating between a machine and a remote system, comprising:
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determining a pose of the machine based upon position signals from a position sensor on-board the machine, the position sensor interacting with a global positioning system; determining a plurality of machine characteristic of the machine based upon machine signals from a plurality of machine sensors on-board the machine; associating the pose of the machine with the plurality of machine characteristics; generating a relative point cloud of a perceived work environment associated with the machine based upon raw data points from a perception sensor associated with the machine; determining an absolute point cloud based upon the relative point cloud and the pose of the machine; segmenting the plurality of machine characteristics to define a plurality of machine data subsets; segmenting the absolute point cloud to define a plurality of image data subsets; transmitting at least some of the plurality of machine data subsets and less than the entire plurality of image data subsets off-board the machine to an off-board controller; and storing an electronic map of a portion of a work site off-board the machine; updating the electronic map based upon the less than the entire plurality of image data subsets; and generating off-board the machine a machine movement plan based upon the updated electronic map. - View Dependent Claims (19)
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20. A system for communicating between a machine and a remote system, comprising:
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an off-board controller associated with the remote system off-board the machine; a machine including; a ground engaging drive mechanism to propel the machine; a position sensor on-board the machine configured to generate position signals indicative of a pose of the machine, the position sensor interacting with a global positioning system; a plurality of machine sensors on-board the machine configured to generate machine signals indicative of a plurality of machine characteristics of the machine; a perception sensor associated with the machine configured to generate raw data points reflective of a perceived work environment associated with the machine; and an on-board controller configured to; determine the pose of the machine based upon the position signals; determine a plurality of machine characteristic of the machine based upon the machine signals; associate the pose of the machine with the plurality of machine characteristics; generate a relative point cloud of the perceived work environment associated with the machine based upon the raw data points; determine an absolute point cloud based upon the relative point cloud and the pose of the machine; segment the plurality of machine characteristics to define a plurality of machine data subsets; segment the absolute point cloud to define a plurality of image data subsets; transmit at least some of the plurality of machine data subsets and less than the entire plurality of image data subsets off-board the machine to the off-board controller; and the off-board controller being configured to; store an electronic map of a portion of a work site; update the electronic map based upon the less than the entire plurality of image data subsets; and generate a machine movement plan based upon the updated electronic map.
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Specification