DETERMINE THAT A DESTINATION IS NOT A PREDICTED TRAVEL OBJECTIVE OF A PROJECTED PATH OF A MACHINE

Abstract

A machine (100) comprises: an attachment (110) and a linkage (122), a perception sensor system (112) with one or more perception sensors (126), a machine sensor system (130) with one or more machine sensors (132), and a controller (114). The controller (114) receives initial perception information from the perception sensor system (112) and, based on this initial perception information, determines that a target (306) is a predicted travel destination of a projected path (310) of the machine (100) at a first time. After determining that the target (306) is the predicted travel destination of the projected path (310) of the machine (100) at the first time, the controller (114) receives second perception information from the perception sensor system (112).The control system (114) determines, based on the second perception information, that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at a second time point.

Description

Technical field

[0001] The present disclosure relates generally to a machine and, for example, to determining that a destination is not a predicted destination of a projected path of the machine. State of the art

[0002] To perform an unloading operation, a machine, such as a wheel loader, can use an attachment (e.g., a bucket or other implement) to load and transport material (e.g., asphalt, deposits, soil, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, wood chips, or similar material) and unload the material into a destination (e.g., another machine, such as a dump truck). The machine may include sensing sensors to detect the location of the destination, for example, to enable an automatic attachment lifting operation.For example, a machine control system can use the perception sensors to identify when the machine is sufficiently close to the unloading target and thereby automatically cause the attachment to be raised to a height to enable efficient unloading of material from the attachment into the unloading target when the machine reaches the unloading target.

[0003] In many cases, however, a delivery point is not the intended destination of the machine, for example, when the machine is operated manually. For instance, despite the operator's intention to drive past the delivery point, the control system may identify the delivery point as the machine's destination (e.g., because the destination is within the field of view of the machine's sensors). This results in the attachment lifting operation being performed unnecessarily when the machine is sufficiently close to the delivery point, even though the operator intends to drive past it. Consequently, the attachment is lifted to a high position at an inconvenient time (e.g., when the machine is driving past the delivery point to proceed to another location, such as a different delivery point), leading to an increased center of gravity for the machine (e.g.,(because the machine is traveling with the attachment in a raised position). This can lead to a reduction in the machine's stability and control, which in turn can cause material being transported by the machine to spill. Furthermore, unnecessary lifting of the attachment while carrying a heavy load can increase wear on the attachment and the linkage connecting it to the machine, which can impair the performance of both the attachment and the linkage, as well as reduce the machine's service life.

[0004] The control system described in this disclosure solves one or more of the problems listed above and / or other prior art problems. Brief description

[0005] In some implementations, a machine comprises: an attachment and linkage; a perception sensor system with one or more perception sensors; a machine sensor system with one or more machine sensors; and a controller designed to: receive initial perception information from the perception sensor system; determine, based on the initial perception information, that a target is a predicted destination of a projected path of the machine at a first time point; receive, after determining that the target is the predicted destination of the projected path of the machine at the first time point, second perception information from the perception sensor system; and determine, based on the second perception information, that the target is not the predicted destination of the projected path of the machine at a second time point.

[0006] In some implementations, a machine controller includes one or more memories; and one or more processors coupled to the one or more memories and designed to: determine, based on initial perceptual information obtained from a perceptual sensor system of the machine, that a target is a predicted destination of a projected path of the machine at a first time; determine, based on determining that the target is the predicted destination of the projected path of the machine at the first time, that a distance from the machine to the target satisfies a distance threshold;and determine, based on determining that the distance from the machine to the target meets the distance threshold, and based on at least one of the first or second perception information received from the perception sensor system, that the target is not the predicted destination of the machine's projected path at a second time point.

[0007] In some implementations, a procedure involves determining, by a machine controller, that a distance from the machine to a target, which is a predicted destination of a projected path of the machine at a first time, satisfies a distance threshold; and determining, by the controller, based on determining that the distance from the machine to the target satisfies the distance threshold, and based on perceptual information obtained from a perceptual sensor system of the machine, that the target is not the predicted destination of the projected path of the machine at a second time. Brief description of the drawings Fig. Figure 1 is a representation of an exemplary machine described herein. Fig. Figure 2 shows an example configuration of the front of the machine. Fig. Figures 3A-3D are representations of an exemplary implementation described herein. Fig. Figures 4A-4B are representations of an exemplary implementation described herein. Fig. Figure 5 is a representation of exemplary components of a device that is associated with determining that a target is not a predicted destination of a projected path of a machine. Detailed description

[0008] This disclosure relates to the control of a machine (which, for example, performs an unloading operation) and is applicable to any machine capable of loading and moving material (e.g., from one location to another) and / or unloading the material (e.g., into a delivery destination). The machine could be, for example, any machine that performs an operation related to an industry such as mining, construction, agriculture, transportation, or any other industry.In some examples, the machine may be a vehicle, wheel loader, backhoe loader, cold cutter, compactor, felling grapple, forestry machine, loader, harvester, excavator, industrial loader, articulated loader, material handler, motor grader, pipelayer, road conditioner, skid steer loader, tractor, bulldozer, tractor scraper, or other aboveground equipment, underground equipment, aerial equipment, or marine equipment.

[0009] Fig. Figure 1 is a representation of an exemplary machine 100 as described herein. For example, machine 100 could be a mobile machine, such as the one described in Fig. The machine shown in Figure 1 may include the wheel loader, or any other type of mobile machine. Furthermore, the machine may be manned or unmanned and / or fully autonomous, semi-autonomous, or remotely controlled.

[0010] As shown, the machine 100 can have a frame 102 that supports an operator station 104, a power system 106, a drive system 108, an attachment 110, a perception sensor system 112, and a control unit 114. The operator station 104 can include operator controls 116 for operating the machine 100 via the power system 106. In some examples, the machine 100 may not include an operator station 104 and / or operator controls 116 (e.g., the machine 100 may be controlled by other means, such as a remote control system). The operator station 104 can be designed to define an interior cabin 118 in which the operator controls 116 are housed.

[0011] The power system 106 is designed to supply power to the machine 100. The power system 106 can be configured to receive control signals from the operator controls 116 in the operator station 104 and / or from the controller 114. Additionally or alternatively, the power system 106 can be configured to operate the drive system 108 and / or the attachment 110 selectively according to the control signals. The power system 106 can provide operating power for driving the drive system 108 and / or operating the attachment 110. The power system 106 can include a motor, an electric motor, an electric drive, a fuel cell, and / or another type of power system.

[0012] The drive system 108 can be operationally arranged with the power system 106 to selectively drive the machine 100 via the control signals. The drive system 108 can include a variety of ground engagement elements, such as wheels 120, as shown, which can be movably connected to the frame 102 via axles, drive shafts, and / or other components. The drive system 108 can be in the form of a chain drive system, a wheel drive system, or another type of drive system designed to drive the machine 100.

[0013] The attachment 110 can be arranged in an operational configuration with the power system 106, so that the attachment 110 can be selectively moved by control signals transmitted from the operator controls 116 and / or the control unit 114 to the power system 106. As shown in Fig. As shown in Figure 1, the attachment 110 can be coupled to the machine 100 via a linkage 122, for example at the front 124 of the machine 100. The attachment 110 can also be referred to as an attachment, working tool, implement, and / or tool. Fig. Figure 1 shows the attachment 110 as an example in the form of a shovel. Other embodiments may include any attachment 110 suitable for a variety of tasks, such as, but not limited to, grading, sweeping, compacting, leveling, lifting, loading, plowing, and / or ripping. Exemplary attachments 110 include, but are not limited to, a stump grinder, a trenching machine, a sweeper, a brush cutter, a cold planer, a mower, a mulcher, a processor, a pulverizer, a rake, a saw, a snow gun, a snowblower, a cultivator, a winch, an auger, a shovel, a crusher / hammer, a compactor, a cutter, a forklift, a grader and end chisel, a grapple, a bucket, and / or a ripper. As described elsewhere herein, the attachment 110 may include one or more components or parts that are electrically powered.

[0014] The perception sensor system 112 includes one or more perception sensors 126, which can be coupled to the machine 100, for example, on the front 124 of the machine 100. The one or more perception sensors 126 can include a sonar sensor, a camera, a light detection and distance measurement sensor (LIDAR sensor), and / or a radio detection and distance measurement sensor (RADAR sensor), or another type of sensor to perceive the environment of the machine 100. That is, one or more perception sensors 126 can include at least one sensor designed to acquire perception data that can be used (e.g., by the controller 114) to determine at least one of a position (which, among other examples, specifies a distance and an azimuth angle) from a target (e.g., an unloading target), such as in relation to the machine 100, or a height of the target.

[0015] The control unit 114 may comprise an electronic control module (ECM) or other computer device. The control unit 114 may be designed to receive perception information acquired by the one or more perception sensors 126 of the perception sensor system 112 and thereby control an automatic control operation associated with at least one of the machine 100 or the attachment 110 and the linkage 122, and / or to initiate the performance of one or more other activities as further described herein.

[0016] A rear section 128 of the machine 100 can include a drive and a transmission. The drive can be any type of drive suitable for performing work with the machine 100, such as an internal combustion engine, a diesel engine, a gasoline engine, a gaseous fuel-powered engine, and / or the like. In other examples, the machine 100 can include a different power system instead of a drive, such as a motor (e.g., an electric motor), a battery-powered system, a fuel cell, or another type of power system. The transmission can transfer power from the drive to the drive system 108 and / or the attachment 110.

[0017] The machine can include a machine sensor system 130 with one or more machine sensors 132, which can be housed within the machine 100. The one or more machine sensors 132 can include, among other things, a position sensor (e.g., a global positioning system (GPS) sensor or a local positioning system sensor) designed to determine a location (e.g., a physical location) and / or a heading of the machine 100, a position sensor (e.g., a rotation sensor or another sensor) designed to detect a position of the attachment 110 and the linkage 122, a speed sensor designed to determine a speed of the machine 100 (e.g., while driving), and a steering angle sensor designed to determine a steering angle of the machine 100.

[0018] As mentioned above, Fig. 1 is provided as an example. Other examples may differ from what is associated with Fig. 1 is described. Fig. Figure 2 is a representation of an exemplary configuration 200 of the front 124 of the machine 100 (e.g., when the attachment 110 and the linkage 122 are extended to a “high” position, as further described herein). The perception sensor system 112 can include one or more perception sensors 126 positioned at different locations (e.g., on the machine 100, on the front 124 of the machine 100).

[0019] For example, as in Fig. As shown in Figure 2, one or more perception sensors 126 can be positioned at a first height that is associated with a top surface of the operating station 104 (e.g., aligned with it or nearly aligned with it), and one or more perception sensors 126 can be positioned at a second height that is associated with the wheels 120 (e.g., aligned with them or nearly aligned with them).

[0020] As stated above, Fig. 2 is provided as an example. Other examples may differ from what is associated with Fig. 2 is described.

[0021] Fig. 3A-3D are representations of an exemplary implementation 300 described herein. Fig. Figures 3A-3B show side views of the machine 100 when the attachment 110 and the linkage 122 are in different positions and fields of view of one or more perception sensors 126 of the perception sensor system 112. Fig. 3C-3D shows top views of the machine 100 and fields of view of one or more perception sensors 126 of the perception sensor system 112 with respect to determining that a target is not a travel destination of a projected path of the machine 100.

[0022] As in Fig. As shown in Figure 3A, the implement 110 and the linkage 122 can be in a "low" position (e.g., when the implement 110 is aligned with or nearly aligned with the wheels 120). As part of an automatic control operation (which is assigned, for example, to at least one of the machine 100 or to the implement 110 and the linkage 122), the control unit 114 can cause the implement 110 and the linkage 122 to be in the lower position. For example, as part of the automatic control process, the control unit 114 can cause the attachment 110 and the linkage 122 to be in the lowered position (e.g., when the machine 100 is moving, such as forwards) to allow loading and / or transporting material, for example, from one location to another, which is assigned to a discharge destination (e.g., another machine, such as a dump truck). As in Fig. As shown in Figure 3A, when in the lower position, the attachment 110 and the linkage 122 cannot obscure a field of view 302 of a first perception sensor 126 of the perception sensor system 112, and they can obscure a field of view 304 of a second perception sensor 126 of the perception sensor system 112.

[0023] As in Fig. As shown in Figure 3B, the attachment 110 and the boom 122 can be in a "high" position (e.g., when the attachment 110 is aligned with or nearly aligned with the top of the operator station 104). As part of the automatic control process, the controller 114 can cause the attachment 110 and the boom 122 to be in the high position. For example, as part of the automatic control process (e.g., when the machine 100 is moving, for instance, in a forward direction), the controller 114 can cause the attachment 110 and the boom 122 to be in the high position when the machine 100 is within a "discharge distance" (e.g., within a threshold distance) of the discharge destination (e.g., to facilitate the imminent discharge of the material transported by the attachment 110). As shown in Figure 3B, the attachment 110 and the boom 122 can be in the high position when the machine 100 is within a "discharge distance" (e.g., within a threshold distance) of the discharge destination (e.g., to facilitate the imminent discharge of the material transported by the attachment 110). Fig. As shown in Figure 3B, the attachment 110 and the linkage 122, when in the high position, can obscure the field of view 302 of the first perception sensor 126 of the perception sensor system 112, but cannot obscure the field of view 304 of the second perception sensor 126 of the perception sensor system 112.

[0024] As in Fig. As shown in Figure 3C, the machine 100 can travel in a specific direction (e.g., east), and a target 306 (e.g., an unloading target) can be located within the field of view 302 of the first perception sensor 126 or the field of view 304 of the second perception sensor 126 (shown as and subsequently referred to as the common field of view 302 / 304). The target 306 can be associated with an identification element 308 (e.g., a reference point, a radar reflector, a sonar beacon, a retroreflective marker, or some other type of identification element that can be detected by the one or more perception sensors 126 of the perception sensor system 112) that identifies the target 306 (e.g., identifies the target 306 individually as distinct from other targets or identifies the target 306 generally as a target).The identification element 308 can be connected to the target 306 or positioned near the target 306 and thus be within the common field of view 302 / 304. Accordingly, the controller 114 can receive perceptual information from the perceptual sensor system 112 (e.g., from the first perceptual sensor 126 and / or the second perceptual sensor 126) indicating the position of the target 306. Due to the proximity of the identification element 308 to the target 306, the identification element 308 can be a positioning element that enables the perceptual sensor system 112 to determine the position of the target 306.

[0025] As further in Fig. As shown in Figure 3C, the controller 114 can determine a projected path 310 of the machine 100. The projected path 310 can be an estimated actual path of the machine 100, which may be based on machine information obtained from one or more machine sensors 132 of the machine sensor system 130. The machine information may, for example, specify a steering angle of the machine 100 and / or a steering geometry of the machine 100.

[0026] In some implementations, the controller 114 can determine that the target 306 is a predicted destination of the projected path 310 (e.g., that the machine 100 is traveling to the target 306). Accordingly, the controller 114 can determine a distance threshold 312 associated with the target 306 (e.g., represented as a straight-line distance to the target 306, as the distance traveled to the target 306, as a distance associated with a specific travel time to the target, or as another distance metric). The distance threshold 312 can, for example, define a radius or boundary around the target 306. If the distance of machine 100 to target 306 meets the distance threshold value 312 (e.g., is less than or equal to) (e.g., if machine 100 crosses the radius or boundary around target 306), the controller 114 can determine that initiating or performing an automatic control operation (e.g.,which is to be carried out when the machine 100 is near a destination of the projected path 310) is permissible. That is, the control 114 can allow the initiation or execution of the automatic control operation when the machine 100 is sufficiently close to the destination 306.

[0027] As in Fig. In 3D representation, machine 100 may cross the distance threshold 312 (e.g., a distance of machine 100 to target 306 may meet the distance threshold 312), and machine 100 may travel in a different direction (e.g., northeast). Accordingly, target 306 and / or identification element 308 may not be (or no longer be) within the common field of view 302 / 304 of the perception sensor system 112. The controller 114 may therefore determine (e.g., based on determining that target 306 and / or identification element 308 are not within the common field of view 302 / 304 of the perception sensor system 112) that target 306 is not, or is no longer, the predicted destination of the projected path 310 of machine 100. Accordingly, the control unit 114 can cause the automatic control process not to be initiated or, if already initiated, to be aborted (e.g.(since the automatic control process is to be carried out when the machine 100 is near a destination of the projected path 310 and since the destination 306 is not or no longer the predicted destination of the projected path 310).

[0028] As stated above, the Fig. 3A-3D is provided as an example. Other examples may differ from what is associated with Fig. 3A to 3D is described.

[0029] Fig. Figures 4A-4B are representations of an exemplary implementation 400 associated with a control that determines that a target is not a predicted destination of a projected path of a machine.

[0030] As in Fig. As represented by reference number 402 and 4A, the controller 114 can receive initial perceptual information. For example, the controller 114 can receive the initial perceptual information from the perceptual sensor system 112 (e.g., from the one or more perceptual sensors 126 of the perceptual sensor system 112). The initial perceptual information can include corresponding initial perceptual data acquired by the one or more perceptual sensors 126.

[0031] This means that each perception sensor 126 of the one or more perception sensors 126 can send initial perception data acquired by the perception sensor 126 to the controller 114 (e.g., in real time or near real time), and therefore the controller 114 can receive corresponding initial perception data acquired by the one or more perception sensors 126 collectively as perception information. The perception information can specify a position of the target 306 and / or a position of an identification element 308 associated with the target 306 (e.g., located within the field of view of at least one perception sensor 126 of the perception sensor system 112).

[0032] As shown in reference number 404, the controller 114 can receive initial machine information. For example, the controller 114 can receive initial machine information from the machine sensor system 130 (e.g., from the one or more machine sensors 132 of the machine sensor system 130). The initial machine information can include corresponding initial machine data acquired by the one or more machine sensors 132. That is, each machine sensor 132 of the one or more machine sensors 132 can send initial machine data acquired by the machine sensor 132 to the controller 114 (e.g., in real time or near real time), and therefore the controller 114 can receive the respective initial machine data acquired by the one or more machine sensors 132 collectively as initial machine information.The initial machine information can include, among other things, at least one piece of information associated with a speed of machine 100 (e.g., information specifying the speed of machine 100 and / or any derivative of the speed of machine 100), information associated with a steering angle of machine 100 (e.g., information specifying the steering angle of machine 100 and / or any derivative of the steering angle of machine 100), information associated with a course of machine 100 (e.g., information specifying the course of machine 100 and / or any derivative of the course of machine 100), information associated with a location of machine 100 (e.g., information specifying the location of machine 100 and / or any derivative of the location of machine 100), and information associated with a steering geometry of machine 100 (e.g.,Information indicating how the steering angle of machine 100 corresponds to a turning radius of machine 100, or other information), or information that is associated with one or more performance limits of machine 100 (e.g., information associated with a steering speed limit, a deceleration limit, an acceleration limit and / or other performance limits of machine 100).

[0033] As described in reference 406, the controller 114 can determine that the destination 306 is a predicted destination of a projected path 310 of the machine 100, for example, based on the initial perception information and, optionally, the initial machine information. The controller 114 can determine that the destination 306 is the predicted destination of the projected path 310 of the machine 100 at a first time point (e.g., prior to a second time point, as further described herein). Thus, the controller 114 can receive the initial perception information and / or the initial machine information (e.g., as described herein with reference to references 402 and 404) prior to the first time point to enable it to determine that the destination 306 is the predicted destination of the projected path 310 of the machine 100 at the first time point.

[0034] For example, in order to determine that target 306 is the predicted destination of the projected path 310 of the machine 100 at the first time, the controller 114 can determine, based on the initial perceptual information, such as by processing (e.g., parsing and / or reading) the initial perceptual information, that target 306 and / or the identification element 308 associated with target 306 lie within a field of view of at least one perceptual sensor 126 of the perceptual sensor system 112. The controller 114 can thereby determine that the target is the predicted destination of the projected path 310 of the machine 100 at the first time.

[0035] As a further example, the controller 114 can determine the position of the target 306 based on the initial perceptual information, such as through processing (e.g., parsing and / or reading). Additionally, the controller 114 can determine the projected path 310 of the machine at the first time point based on the initial machine information. To determine the projected path 310 at the first time point, the controller 114 can determine information associated with a steering angle of the machine 100 and information associated with a steering geometry of the machine 100, for example, by processing (e.g., parsing and / or reading) the initial machine information. The controller 114 can thereby determine a projected path radius of the machine 100 (e.g.,(with the steering angle of machine 100 held constant), and it can determine the projected path 310 of machine 100 at the first time point based on the projected path radius of machine 100. The projected path 310 of machine 100 (or at least a segment of the projected path 310 of machine 100) at the first time point can therefore, in some implementations, be a circle (or a segment of a circle) defined by the projected path radius. Accordingly, based on the projected path 310 of machine 100 at the first time point and the position of the target 306, the controller 114 can determine that the target 306 is the predicted destination along the projected path 310 of machine 100 at the first time point. For example, the controller 114 can determine that the projected path 310 at the first time point is likely to lead to the position of the target 306.As a further example, the controller 114 can determine possible paths of the machine 100 to the destination 306 (e.g., based on the initial perception information and / or the initial state information), such as possible feasible paths of the machine 100 to the destination 306, and can determine (e.g., using a cost function or another analysis technique) that the projected path 310 at the first time point is associated with a certain possible path (e.g., is similar). The controller 114 can therefore determine that the destination 306 is the predicted travel destination of the projected path 310 of the machine 100 at the first time point.

[0036] As described in reference 408, the controller 114 can determine that a distance from machine 100 to target 306 satisfies a distance threshold value 312 associated with target 306 (e.g., is less than or equal to) (e.g., based on determining that target 306 is the predicted destination of the projected path 310 of machine 100 at the first time). As described herein with reference to the Fig. As described in 3C-3D, the distance threshold 312 can define a radius or boundary around the target 306, and if a distance of the machine 100 to the target 306 (e.g., as the predicted destination of the projected path 310) meets the distance threshold 312 (e.g., when the machine 100 crosses the radius or boundary around the target 306), the controller 114 can determine that initiating or performing an automatic control operation (which, for example, is to be carried out near a destination of the projected path 310) is permissible.

[0037] The controller 114 can determine the distance between the machine 100 and the target 306 at a time point that occurs at or after the first time point and before a second time point, as further described herein. For example, based on the first perceptual information or other perceptual information (obtained, for example, from the perceptual sensor system 112 after the first time point and before the second time point), such as by processing (e.g., including parsing and / or reading) the perceptual information or other perceptual information, the controller 114 can determine the distance of the machine 100 to the target 306 that occurs at that time point. Accordingly, the controller 114 can determine that the distance from the machine 100 at that time point is less than or equal to the distance threshold 312, and that the distance threshold 312 is therefore met.The other perceptual information can also be referred to here as third perceptual information.

[0038] As in Fig. As described in Figure 4B and reference number 410, the controller 114 can obtain second perception information (e.g., based on determining that the target 306 is the predicted destination of the projected path 310 of the machine 100 at the first time point and / or determining that the distance from the machine 100 to the target 306 meets the distance threshold 312). The controller 114 can obtain the second perception information in a similar manner to that described herein with reference to Fig. 4A and reference number 402. For example, the controller 114 can receive the second perception information from the perception sensor system 112 (e.g., from one or more perception sensors 126 of the perception sensor system 112). The controller 114 can receive the second perception information after receiving the first perception information, after determining that the target 306 is the predicted destination of the projected path 310 of the machine 100 at the first time, and / or after determining that the distance from the machine 100 to the target 306 meets the distance threshold 312.

[0039] In some implementations, such as in Fig. As shown in 3D, the course of machine 100 can change (e.g., compared to the course of machine 100 when the controller 114 received the initial perception information). Accordingly, the target 306 and / or the identification element 308 may not be (or no longer be) within the field of view of a perception sensor 126 of the perception sensor system 112. Therefore, the second perception information cannot specify the position of target 306 and / or the position of the identification element 308 associated with target 306.

[0040] As described in reference 412, the controller 114 can obtain second machine information (e.g., based on determining that the target 306 is the predicted destination of the projected path 310 of the machine 100 at the first time and / or determining that the distance from the machine 100 to the target 306 satisfies the distance threshold 312). The controller 114 can obtain the second machine information in a similar manner to that described herein with reference to Fig. 4A and reference number 404 are described. For example, the controller 114 can receive the second machine information from the machine sensor system 130 (e.g., from one or more machine sensors 132 of the machine sensor system 130). The second machine information can provide similar but more up-to-date information than the first machine information.

[0041] As described in reference 414, the controller 114 can determine that the destination 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100, for example, based on the second perception information and, optionally, the second machine information. The controller 114 can determine that the destination 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100 at the second time point (e.g., the one occurring after the first time point described herein). Thus, the controller 114 can receive the second perception information and / or the second machine information (e.g., as described herein with reference 410 and 412) before the second time point to enable it to determine that the destination 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100 at the second time point.

[0042] For example, in order to determine that the target 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100 at the second time point, the controller 114 can determine, for example by processing (e.g., including parsing and / or reading) the second perceptual information, that the target 306 and / or the identification element 308 associated with the target 306 are not, or are no longer, within the field of view of at least one perceptual sensor 126 of the perceptual sensor system 112. Thus, the controller 114 can determine that the target is not, or is no longer, the predicted destination of the projected path 310 of the machine 100 at the second time point.

[0043] As a further example, the controller 114 can determine the position of the target 306, for instance, by processing (e.g., by parsing and / or reading) the first and / or second perceptual information. Additionally, based on the second machine information, the controller 114 can determine the projected path 310 of the machine at the second time. To determine the projected path 310 at the second time, the controller 114 can, for instance, by processing (e.g., by parsing and / or reading) the second machine information, determine information associated with a steering angle (e.g., an updated steering angle) of the machine 100 and information associated with the steering geometry of the machine 100.Accordingly, based on the information associated with the steering angle of machine 100 and the information associated with the steering geometry of machine 100, the controller 114 can determine an updated projected path radius of machine 100 (e.g., with the steering angle of machine 100 held constant), and based on the updated projected path radius of machine 100, it can determine the projected path 310 of machine 100 at the second time point. The projected path 310 of machine 100 (or at least a segment of the projected path 310 of machine 100) at the second time point can therefore be a circle (or a segment of a circle) defined by the projected path radius.

[0044] Accordingly, based on the projected path 310 of machine 100 at the second time point and the position of target 306, the controller 114 can determine that target 306 is not, or is no longer, the predicted destination of the projected path 310 of machine 100 at the second time point. For example, the controller 114 can determine that the projected path 310 at the second time point is unlikely to lead to the position of target 306. As another example, the controller 114 can determine possible paths of machine 100 to target 306 (e.g., based on the second perception information and / or the second state information), such as possible feasible paths of machine 100 to target 306, and can determine (e.g., using a cost function or another analysis technique) that the projected path 310 at the second time point is not associated with any possible path (e.g., is not similar to it).Additionally, if the projected path 310 was previously assigned to a specific possible path (e.g., at the first time), the control 114 can determine that the projected path 310 is not assigned to the specific possible path at the second time (e.g., is not similar to it), such as due to a change in the cost characteristics of the specific possible path at the second time (e.g., among other things, increased costs due to a sharp turn required to reach the position of target 306, increased costs due to an unstable driving maneuver required to reach the position of target 306, or increased costs due to extreme braking or steering speed required to reach the position of target 306).The control unit 114 can therefore determine that the destination 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100 at the second time.

[0045] As shown in reference number 416, the controller 114 can cause an automatic control operation not to be initiated or, if already initiated, to be terminated (e.g., based on determining that the destination 306 is not, or is no longer, the predicted destination of the projected path 310 of the machine 100, as at the second time point). The automatic control operation can be associated with a destination (e.g., an actual destination) of the projected path 310. For example, the automatic control operation can be designed to be carried out when the machine 100 is near the destination of the projected path 310. The automatic control operation can also be associated with the machine 100 or the implement 110 and the linkage 122. For example, the automatic control operation can cause the machine 100 to travel to or from the destination 306 (e.g.,as the predicted destination of the projected path 310 of the machine 100) and / or can cause the attachment 110 and the linkage 122 to move into certain positions (e.g., based on the proximity of the machine 100 to the destination 306). Thus, the controller 114 can cause the automatic control operation not to be initiated or, if already initiated, to be aborted (e.g., because the automatic control operation is to be carried out when the machine 100 is near the destination of the projected path 310 and because the destination 306 is not, or is no longer, the predicted destination of the projected path 310).

[0046] As stated above, the Fig. 4A to 4B are provided as examples. Other examples may differ from what is shown in connection with Fig. 4A to 4B are described. Fig. Figure 5 is a representation of exemplary components of a device 500 associated with determining that a target is not a predicted destination of a projected path of a machine. The device 500 can correspond to the perception sensor system 112, the controller 114, the plurality of perception sensors 126, the machine sensor system 130, and / or the plurality of machine sensors 132. The perception sensor system 112, the controller 114, the plurality of perception sensors 126, the machine sensor system 130, and / or the plurality of machine sensors 132 can include one or more devices 500 and / or one or more components of the device 500. As shown in Figure 5, the device 500 is represented by the following components: Fig. As shown in Figure 5, the device 500 can include a bus 510, a processor 520, a memory 530, an input component 540, an output component 550 and / or a communication component 560.

[0047] The bus 510 can include one or more components that enable wired and / or wireless communication between the components of the device 500. The bus 510 can include two or more components of the Fig. 5 couple with each other, such as by operational coupling, communicative coupling, electronic coupling, and / or electrical coupling. For example, the bus 510 may include an electrical connection (e.g., a wire, a trace, and / or a conductor) and / or a wireless bus. The processor 520 may include a central processing unit, a graphics processing unit, a microprocessor, a control unit, a microcontroller, a digital signal processor, a general-purpose integrated circuit, an application-specific integrated circuit, or some other type of processing component. The processor 520 may be implemented in hardware, firmware, or a combination of hardware and software. The processor 520 may have one or more processors that can be programmed to perform one or more operations or processes described elsewhere herein.The memory 530 can include volatile and / or non-volatile memory. For example, the memory 530 can include random-access memory (RAM), read-only memory (ROM), a hard disk drive, and / or another type of memory (e.g., flash memory, magnetic memory, and / or optical memory). The memory 530 can include internal memory (e.g., RAM, ROM, or a hard disk drive) and / or removable memory (e.g., removable via a universal serial bus connection). The memory 530 can be a non-volatile, computer-readable medium. The memory 530 can store information, one or more instructions, and / or software (e.g., one or more software applications) relating to the operation of the device 500. The memory 530 can have one or more memories that are coupled, for example, via the bus 510 to the one or more processors (e.g., processor 520).are communicatively coupled). The communicative coupling between a processor 520 and a memory 530 enables the processor 520 to read and / or process information stored in the memory 530 and / or to store information in the memory 530.

[0048] The input component 540 enables the device 500 to receive inputs, such as user input and / or captured input. For example, the input component 540 can include a touchscreen, keyboard, keypad, mouse, button, microphone, switch, sensor, global positioning system sensor, global satellite navigation system sensor, accelerometer, gyroscope, and / or actuator. The output component 550 enables the device 500 to provide outputs, such as via a display, speaker, and / or LED. The communication component 560 enables the device 500 to communicate with other devices via a wired and / or wireless connection.For example, the 560 communication component can include a receiver, a transmitter, a transceiver, a modem, a network interface card and / or an antenna.

[0049] The device 500 can perform one or more operations or processes described herein. For example, a non-volatile, computer-readable medium (e.g., memory 530) can store a set of instructions (e.g., one or more instructions or codes) for execution by the processor 520. The processor 520 can execute the set of instructions to perform one or more operations or processes described herein. The execution of the set of instructions by one or more processors 520 can cause the one or more processors 520 and / or the device 500 to perform one or more operations or processes described herein. Hardwired circuits can be used instead of, or in combination with, the instructions to perform one or more operations or processes described herein.Additionally or alternatively, the 520 processor can be configured to perform one or more of the operations or processes described herein. The implementations described herein are not limited to any particular combination of hardware and software.

[0050] The number and arrangement of the in Fig. The components shown in the 5 illustrations are provided as an example. The device 500 can have additional components, fewer components, different components, or components arranged differently than those shown. Fig. 5 shown. A set of components (e.g., one or more components) of the device 500 can perform one or more functions that are described as being performed by another set of components of the device 500. Commercial applicability

[0051] The implementations described herein can be used with any machine that has a control system and a perception sensor system with one or more perception sensors, such as any machine that uses an attachment and linkage, such as a wheel loader, which includes an attachment and linkage for loading, transporting, and unloading material (e.g., into a delivery destination).

[0052] A machine can incorporate one or more perception sensors to detect the position of a target (e.g., a delivery point, such as a dump truck) to facilitate an automatic control operation (e.g., one that controls the movement of the machine or the operation of an attachment and linkage of the machine, for example, relative to the target). For instance, the one or more perception sensors can capture perception information indicating the target's position and transmit it to the machine's controller, which then identifies the target as a travel destination along a projected path of the machine. Accordingly, the controller initiates an automatic control operation relative to the target when the machine moves sufficiently close to it.

[0053] However, in many cases, the target is not the intended destination of the machine's projected path. For example, an operator might instruct the machine to move toward the target, but the operator might intend to steer the machine around the target as it approaches, in order to allow the machine to travel to the intended destination (e.g., a different destination). Consequently, because the control system has mistakenly identified the target as the destination of the machine's projected path, it initiates the automatic steering maneuver when the machine moves sufficiently close to the target, even though the target is not the machine's intended destination.

[0054] This can impair machine performance (e.g., due to unnecessary execution of the automatic control procedure). For example, the machine's center of gravity is raised if the automatic control procedure involves lifting the attachments (which may contain material for later unloading) and the boom to a high position. This can lead to reduced stability and control of the machine, which in turn can cause the material being transported by the machine to spill. Furthermore, unnecessary lifting of the attachment and boom, especially while carrying a heavy load of material, can increase wear on the attachment and boom, which can affect the performance of both the attachment and boom, as well as the machine itself, and reduce their service life.

[0055] In some implementations, a machine controller receives initial perceptual information (e.g., indicating the position of a target) from a perceptual sensor system and initial machine information from a machine sensor system. The controller determines (e.g., based on the initial perceptual information and optionally on the initial machine information) that the target is a predicted destination of a projected path of the machine at a first time point. The controller then receives second perceptual information from the perceptual sensor system and second machine information from the machine sensor system. Because a machine's course may have changed after the first time point, the target (and / or an identification element associated with the target) may not be within the perceptual sensor system's field of view when the second perceptual information is acquired by the perceptual sensor system, and thus (e.g.,Since the second set of perceptual information does not indicate that the target and / or the identification are within the field of view of the perceptual sensor system, the control system can determine that the target is not, or is no longer, the predicted destination of the machine's projected path at a second time. Accordingly, based on this determination that the target is not the predicted destination of the projected path at the second time, the control system prevents an automatic control operation from being initiated or, if already initiated, terminates it (e.g., when the machine is moving sufficiently close to the target).

[0056] In this way, the machine's control system can determine that a target is not the predicted destination of a projected path, for example, after it has previously been determined that the target is the predicted destination of the machine's projected path. Accordingly, the control system prevents an automatic control operation from being erroneously performed (or fully performed) by the machine when it is near the target (which, for example, is not or no longer the predicted destination), or at least reduces the probability of this happening. This reduces unnecessary lifting of an attachment (which, for example, contains material for later unloading) and the machine's boom, for example, when the automatic control operation involves lifting the attachment and boom to a high position. Therefore, the machine's stability and control are improved (e.g.,(by not unnecessarily raising the machine's center of gravity), which can reduce the likelihood of spillage of material transported by the attachment. Furthermore, wear and tear on the attachment and boom is reduced, thereby improving the performance of the attachment, boom, and machine, and extending their service life.

Claims

[1] Machine (100), comprising: an attachment (110) and a linkage (122); a perception sensor system (112) with one or more perception sensors (126); a machine sensor system (130) comprising one or more machine sensors (132); and a controller (114) designed for a: Receipt of initial perceptual information from the perceptual sensor system (112); Determine, based on the initial perceptual information, that a target (306) is a predicted destination of a projected path (310) of the machine (100) at a first time point; Obtained, after determining that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time point, second perception information from the perception sensor system (112); and Determine, based on the second perceptual information, that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at a second time point. [2] Machine (100) according to claim 1, wherein the control (114) is further designed for a: Based on the determination that the target (306) is not the predicted destination of the projected path (310) at the second time, cause an automatic control operation associated with the target (306) and at least one of the machine (100) or attachment (110) and linkage (122) not to be initiated or, if already initiated, to be terminated. [3] Machine (100) according to one of claims 1 to 2, wherein the control (114) to determine that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time is designed for a: Determine, based on the initial perceptual information, that an identification element (308) associated with the target (306) is located within a field of view (302) of at least one perceptual sensor (126) of the one or more perceptual sensors (126) of the perceptual sensor system (112); and Determine, based on determining that the identification element (308) is within the field of view (302) of the at least one perception sensor (126), that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time. [4] Machine (100) according to any one of claims 1 to 3, wherein the control (114) is designed to determine that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time: Determine, based on the second perceptual information, that an identification element (308) associated with the target (306) is not located within a field of view (302) of at least one perceptual sensor (126) of the one or more perceptual sensors (126) of the perceptual sensor system (112); and Determine, based on determining that the identification element (308) is not within the field of view (302) of the at least one perception sensor (126), that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time. [5] Machine (100) according to any one of claims 1 to 4, wherein the control (114) to determine that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time is designed for a: Receiving machine information from the machine sensor system (130); Determine, based on the machine information, the projected path (310) of the machine (100) at the first time point; Determine, based on the initial perceptual information, a position of the target (306); and Determine, based on the projected path (310) of the machine (100) at the first time and the position of the target (306), that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time. [6] Machine (100) according to any one of claims 1 to 5, wherein the control (114) is designed to determine that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time: Receiving machine information from the machine sensor system (130); Determine, based on the machine information, the projected path (310) of the machine (100) at the second time point; Determine, based on at least one of the first perceptual pieces of information or the second perceptual pieces of information, a position of the target (306); and Determine, based on the projected path (310) of the machine (100) at the second time and the position of the target (306), that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time. [7] Machine (100) according to any one of claims 1 to 6, wherein the controller (114) is designed to obtain the second perception information from the perception sensor system (112): Determine, based on at least one of the first or third perceptual information received from the perceptual sensor system (112), a distance from the machine (100) to the target (306) at a time that occurs at or after the first time and before the second time; Determine that the distance from the machine (100) to the target (306) is less than or equal to a distance threshold value (312); and Obtaining the second perceptual information based on determining that the distance from the machine (100) to the target (306) is less than or equal to the distance threshold (312). [8] Control (114) of a machine (100), comprising: one or more memory locations (530); and one or more processors (520) coupled to one or more memories (530) and designed for: Determine, based on initial perceptual information obtained from a perceptual sensor system (112) of the machine (100), that a target (306) is a predicted destination of a projected path (310) of the machine (100) at a first time point; Determine, based on determining that the target (306) is the predicted destination of the projected path (310) of the machine (100) at the first time, that a distance from the machine (100) to the target (306) satisfies a distance threshold (312); and Determine, based on determining that the distance from the machine (100) to the target (306) satisfies the distance threshold (312), and based on at least one of the first perception information or the second perception information obtained from the perception sensor system (112), that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at a second time. [9] Controller (114) according to claim 8, wherein the one or more processors (520) are further configured for: Based on the determination that the target (306) is not the predicted destination of the projected path (310) at the second time, cause an automatic control operation associated with the target (306) not to be initiated or, if already initiated, to be terminated. [10] Control (114) according to one of claims 8 to 9, wherein the one or more processors (520) are designed to determine that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time: Determine, based on the second perceptual information, that an identification element (308) associated with the target (306) is not located within a field of view (302) of the perceptual sensor system (112); and Determine, based on the determination that the identification element (308) is not within the field of view (302) of the perception sensor system (112), that the target (306) is not the predicted destination of the projected path (310) of the machine (100) at the second time.

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