Work site perception system

• US 10,264,431 B2
• Filed: 02/01/2016
• Issued: 04/16/2019
• Est. Priority Date: 02/01/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Vandapel, Nicolas, Happold, Michael
• Primary Examiner(s): Huang, Min
• Application Number:
  US15/012,538
• Publication Number:
  US 20170220009A1
• Time in Patent Office: 1,170 Days
• Field of Search: 701 50
• CPC Class Codes: H04W 4/70 Services for machine-to-machine communication [M2M] or machine type communication [MTC]
• CPC Class Codes: H04W 4/80 Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

Abstract

A short range peer-to-peer communications system includes a first perception sensor and a first peer-to-peer communications system on a first machine and a second perception sensor and a second peer-to-peer communications system on a second machine. A first controller generates a first electronic map of a first perceived work environment associated with the first machine and transmits first data associated with first electronic map to the second machine through the first peer-to-peer communications system. A second controller generates a second electronic map of the second perceived work environment associated with the second machine based upon the plurality of second raw data points, receives the first data from the first machine through the second peer-to-peer communications system, and supplements the second electronic map based upon the first data.

Claims

1. A short range peer-to-peer communications system for communicating between machines, comprising:

a first machine including;

a first ground engaging drive mechanism to propel the first machine;

a first position sensor associated with the first machine for generating first position signals indicative of a position of the first machine;

a first perception sensor associated with the first machine for generating a plurality of first raw data points reflective of locations of a work surface and obstacles within a first perceived work environment associated with the first machine;

a first peer-to-peer communications system on the first machine; and

a first controller configured to;

generate first movement commands to propel the first machine;

determine the position of the first machine based upon the first position signals;

generate a first electronic map of the locations of the work surface and obstacles within the first perceived work environment associated with the first machine based upon the plurality of first raw data points;

transmit first data associated with first electronic map to the second machine through the first peer-to-peer communications system;

a second machine including;

a second ground engaging drive mechanism to propel the second machine;

a second position sensor associated with the second machine for generating second position signals indicative of a position of the second machine;

a second perception sensor associated with the second machine for generating a plurality of second raw data points reflective of locations of the work surface and obstacles within a second perceived work environment associated with the second machine;

a second peer-to-peer communications system on the second machine; and

a second controller configured to;

determine the position of the second machine based upon the second position signals;

generate a second electronic map of the locations of the work surface and obstacles within the second perceived work environment associated with the second machine based upon the plurality of second raw data points, the second electronic map including a blind zone;

generate a second movement command to propel the second machine towards the blind zone;

generate a request for information to supplement the second electronic map including information regarding the blind zone from the first machine prior to generating the second movement command;

receive the first data, from the first machine through the second peer-to-peer communications system; and

supplement the second electronic map based upon the first data to reduce the blind zone; and

wherein the first electronic man includes an object moving towards the second machine and the first controller transmits the first data to second machine upon determining that the object is moving towards second machine.

2. The system of claim 1, wherein the first data extends a range of the second electronic map in a first direction.

3. The system of claim 1, wherein the second controller is configured to request the first data only as part of determining the movement command.

4. The system of claim 1, wherein the first controller is configured to determine a distance between the first machine and the second machine and transmit the first data when the distance is less than a threshold distance.

5. The system of claim 1, wherein the first controller is configured to transmit the first data only upon determining the object is moving towards the second machine.

6. The system of claim 1, wherein the first data includes a location of a portion of the first perceived work environment from the first electronic map.

7. The system of claim 1, wherein the first data includes an identity of at least one object from first electronic map.

8. The system of claim 7, wherein the first data includes a velocity of movement of an object from the first electronic map.

9. The system of claim 1, wherein the first data includes a portion of the plurality of first raw data points reflective of the first perceived work environment.

10. A method of communicating between mobile machines at a work site, comprising;

propelling a first machine about the work site with a first ground engaging drive mechanism;

determining a position of a first machine based upon first position signals from a first position sensor;

generating a first electronic map of locations of the work surface and obstacles within a first perceived work environment associated with the first machine based upon a plurality of first raw data points from a first perception sensor associated with the first machine;

transmitting first data associated with first electronic map to a second machine through a first peer-to-peer communications system;

propelling a second machine about the work site with a second ground engaging drive mechanism;

determining a position of the second machine based upon second position signals from a second position sensor;

generating a second electronic map of locations of the work surface and obstacles within a second perceived work environment associated with the second machine based upon a plurality of second raw data points from a second perception sensor associated with the second machine, the second electronic map including a blind zone;

generating a request for information to supplement the second electronic map including information regarding the blind zone from the first machine prior to generating second movement commands to propel the second machine towards the blind zone;

receiving the first data from the first machine through a second peer-to-peer communications system;

supplementing the second electronic map based upon. the first data to reduce the blind zone; and

further including determining that an object is moving towards the second machine and transmitting the first data second machine upon determining that the object is moving towards second machine.

11. The method of claim 10, further including requesting the first data only as part of determining, the movement command.

12. The method of claim 10, further including determining a distance between the first machine and the second machine and transmitting the first data when the distance is less than a threshold distance.

13. The method of claim 10, further including transmitting the first data only upon determining the object is moving towards the second machine.