Interactive Vehicle Automation System

Abstract

A cross-platform automated vehicle communication and operations management system is provided. The communication system can utilize a dual communication system to support remote vehicle operations transitioning to interactive machine activities. The communication system uses remote communications to coordinate multiple vehicles, establish missions, and remotely monitor and track vehicle fleets. The dual communications of the system include direct vehicle-to-vehicle communications to manage direct interactive activities without delay. The operations management system establishes machine profiles and mission planning systems for multiple machine project control across multiple platforms.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This international application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 336,627, filed April 29, 2022, and U.S. Provisional Patent Application No. 63 / 424,591, filed November 11, 2022, both of which are hereby incorporated by reference.

[0002] The present invention relates generally to the operation of automated vehicles and machines. [Background technology]

[0003] Autonomous off-highway machines, as they exist in the off-highway machinery domain or other off-road machinery domains (e.g., agriculture, lawn mowing, construction, and mining), include a single machine that tackles a task autonomously or semi-autonomously with human supervision. Multiple autonomous machines may work on a single mission, but are constrained to work within a specific area to prevent direct interaction with other machines in the mission.

[0004] Machine automation systems (e.g., vehicle automation systems) drive and control machines (e.g., vehicles) using on-board motion systems that may also include on-board sensors to identify potential obstacles and provide feedback to the driving and operation of the machine.

[0005] The machines can share data over conventional cellular communication networks, as embodied in products for machine telematics, precision agriculture and construction machinery control. In some embodiments, synchronous operation between two machines is possible, but at least one of the machines has a human operator on board.

[0006] In addition to limited operation of multiple machines (e.g., multiple vehicles), some combinations of machines (e.g., combinations of vehicles) are specifically designed for operation and interaction in cooperative groups (e.g., coordinated pairs). These machines are configured to operate with each other and recognize unpaired machines as obstacles. These specialized designs may include direct wireless communication techniques and components to maintain proper data links between the machines. Specific communication messages are built into the group instructions to ensure the machines operate in unison. These communication messages are not compatible with machines that are not built on the same dedicated system and programmed with compatible applications. Summary of the Invention [Problem to be solved by the invention]

[0007] Increasing automation in applications (e.g., off-highway or other off-road applications) may require intelligent machines to be aware of the behavior of other machines working in close proximity and have the ability to work together in unison. Intelligent machine systems need to understand the capabilities, detailed behaviors, and limitations of each participating machine in the system to precisely plan and coordinate interactive tasks.

[0008] Intelligent machines may need to communicate in real time to safely accomplish larger and more complex tasks than individual machines and operators can manage. Today's automated combinations of machines (machine fleets) may not be able to work together in an automated manner with other machines in the fleet. In addition, machines in a fleet may rely on independent communication systems with messaging tailored for each aspect of the collaborative operation. These communications and operational controls cannot be shared with other participating machines in the fleet without requiring significant design changes and modifications for different machine attributes (e.g., vehicle attributes). [Means for solving the problem]

[0009] The present disclosure provides an automation system for allocating and managing the coordinated interactive work of multiple independent machines (e.g., vehicles). The system may include application programming interfaces (APIs) and protocols that are manufacturer, control system, and component independent. The APIs may assist in the communication of machine characteristics with a defined framework for autonomous machines to communicate their capabilities, capacities, and requirements to other different parties in the machine ecosystem. These characteristics may be aggregated into detailed machine profiles to enable the generation of accurate mission plans for multiple different automated machines. The machine profiles may further include machine-specific behaviors and instructions.

[0010] Some embodiments provide an automation system for managing multiple independent machines (e.g., vehicles) and their cooperative operations utilizing a communication system designed to communicate with a shared set of communication components over at least two channels, including both short-range and long-range communication. This results in an initial reduction in the design of components and communication protocols, and provides significant advantages when deploying machine fleets in which multiple machines work cooperatively. Each machine in the system can communicate over the same communication channel.

[0011] In some embodiments, machine profiles can be used to create accurate mission plans for different vehicle fleets with different operating systems. Creating compatible machine profiles that accurately reflect the characteristics of the machines improves fleet configuration and enables interactive autonomous task execution. The present disclosure teaches an enhanced system for machine communication and fleet operations that is applicable to different machines and allows multiple machines to work together. This enhanced system overcomes the constraints created by the proprietary nature of purpose-built autonomous machines and the siloed design approach to intra-machine communication.

[0012] The present disclosure creates the ability to extend the interfaces of an autonomous machine ecosystem to enable support for a broader range of applications or machine product lines, addressing limitations in the collaboration of multiple machines built specifically for the same functional model of machine.

[0013] Embodiments may provide a communication and control system for work machines, including machines designed for agricultural, mining, construction, turf and logistics projects, among others. The machines may be mobile machines (e.g., off-highway or other off-road mobile machines) capable of performing automated cooperative behaviors. These work machines are often vehicle machines and, in addition to their work operations, are capable of moving from one location to another.

[0014] Embodiments may include a plurality of implements. Each implement may include a communication device configured to provide multi-channel communication. The multi-channel communication may include a long-range channel and a short-range communication channel. In some embodiments, the communication system may be a vehicle-to-everything (V2X) system or may provide a cellular-based direct communication option.

[0015] In some embodiments, the communication device may be configured to transmit status information of the work machine and receive a set of machine instructions. These updates and instructions may be initially transmitted over a long-range communication channel. The work machine may also include a controller that controls the operation of the work machine. The controller may be a system having a computer for processing and driving control actuators throughout the work machine. The controller may also receive feedback regarding the operation via various operational sensors, such as on-board sensing systems, proximity sensors, position detection systems, operational load sensors, and other sensor systems, to collect operational information in real time.

[0016] In some embodiments, each work machine can send independent status updates to and receive machine specific instructions from the remote system. The remote system can process mission plans for multiple work machines and send the mission plans to each work machine, which may include machine specific instructions for each machine participating in the mission.

[0017] In some embodiments, the first work machine may receive situation information from the second work machine via a short-range communications network. The first controller may control the first work machine based on the first machine specific instructions and the second situation context information. In some embodiments, the second situation information may relate to expected interactions and guidance information regarding the interactions. In some embodiments, the second situation information may request the first controller to modify application of machine specific instructions.

[0018] In some embodiments, if the work machine behaves in a manner different than programmed by the set of machine instructions, the work machine's communication device may be configured to transmit an updated set of machine instructions to the remote system over the cellular communication network. In some embodiments, if the work machine is behaving in a manner different than the behavior dictated in the mission plan, the remote system may monitor for such differences in the machine state information it receives over the cellular network. The remote system may generate a new fleet mission plan and redeploy the new machine-specific instructions to each work machine.

[0019] In some embodiments, the second work machine may receive status information from the first work machine via the short-range communications network. A controller of the second work machine may control the second work machine based on the second set of operating instructions and the status information from the first work machine. In some embodiments, the first work machine and the second work machine may work interactively. The first work machine and the second work machine may have a real-time information exchange regarding status information from each machine via the short-range communications network. In some embodiments, the interactive work may be managed by a first controller utilizing a first set of machine instructions and a real-time information exchange, and a second controller utilizing a second set of machine instructions and a real-time information exchange.

[0020] In some embodiments, the controller system may be configured to keep the work machine at a distance from the detected obstacle. The controller may be further configured to enable interactive operation with a second work machine within this distance based on real-time information exchange. The communication device may, in some embodiments, send periodic operation update information to the server via a cellular communication network. The operation update information may include the machine instructions of the machine set and any changes to the machine status information. The remote server may evaluate the operation update information and may generate an updated second machine instruction set for another work machine based on the operation update information from the first work machine. The second work machine may receive the updated second machine instruction set and the second controller may execute the updated second machine instruction set.

[0021] In some embodiments, the work machine may include a communication device configured to perform multi-channel communication and an automatic control system that manages operation of the work machine. The multi-channel communication may include communication over a cellular communication network and a short-range communication network. In some embodiments, the communication device may be a V2X communication module. The communication device may be configured to transmit work machine status information, receive a mission plan over the cellular communication network, and receive collaborative machine information from the second work machine over the short-range communication network. The second work machine may also include a communication device configured to perform multi-channel communication over the cellular communication network and the short-range communication network. In some embodiments, the automatic control system may manage interactive operations with the second work machine based on the mission plan and the collaborative machine information. In some embodiments, the mission plan may be maintained in a remote server system and a machine specific set of instructions may be transmitted to the work machine.

[0022] In some embodiments, the work machine may have an obstacle safety system for keeping the work machine at a safe distance from detected obstacles. The automatic control system may manage operation of the work machine to keep the machine at a distance from detected obstacles. The automatic control system may control the work machine to interact with a second work machine within said distance based on a real-time information exchange with the second work machine over a short-range communications network. In some embodiments, the mission plan may direct the automatic control system to interact with the second work machine, and the automatic control system may manage the interaction through a real-time information exchange.

[0023] In some embodiments, the mission plan may instruct the automated control system to interact with multiple implements utilizing real-time information from each of the multiple implements. One or more machines may be arranged hierarchically and interactive tasks may be prioritized by the machine without further direction from a remote system.

[0024] In some embodiments, a system may include multiple machines operating on a defined mission. Each machine may include an intelligent hardware component, such as an application gateway. The intelligent hardware component may also include or be operatively connected to a wireless cellular module that enables both long-range and short-range communications. In some embodiments, these communications are referred to as vehicle-to-cellular (V2C) and vehicle-to-everything (V2X) communications.

[0025] In some embodiments, the machines may operate primarily non-interactively and at a safe distance from each other within the mission boundary, e.g., 10 meters or more. Under such conditions, the machines may be aware of each other's situation via network data connections via V2C communications with a cloud infrastructure.

[0026] In certain situations, machines may need to interact and work within closer than a safe distance, perhaps in a collaborative manner. When working in close proximity, machines may establish a real-time communication connection using short-range communication technologies such as V2X. The short-range communication connection may enable the machines to safely react to each other's behavior and maintain the scripted workflow of collaborative functions without the limitations in terms of latency, bandwidth, and network availability associated with traditional network connections.

[0027] To maximize the value of machine automation, the system may support multiple automated machines working simultaneously. To increase the efficiency and safety of intelligent autonomous machines, the present disclosure teaches mechanisms and systems that support real-time communication between machines to facilitate close-proximity operation and collaborative working.

[0028] Some embodiments include a networked ecosystem with multiple implements having automation systems, such as machines designed for agricultural, construction, turf, and logistics projects. An embodiment of the networked ecosystem may also have a remote cloud management system and control system. The remote cloud management system may receive communications from the implements and the control system. In some embodiments, the remote cloud management system may receive communications from other sources, such as a machine deployment system.

[0029] In some embodiments, the remote cloud management system includes storage for holding and managing activity instructions, machine profile information, and mission planning rules and restrictions. In some embodiments, the cloud management system includes collection information of selectable mission activities and interactive tasks that may be applied as part of the mission planning instructions if the required work machines are present to perform the activities. In some embodiments, the collection information may be stored in a database format.

[0030] In some implementations, the cloud management system assists in the development of a mission plan. The cloud management system may receive a mission plan request from the control system to assemble a project to accomplish the mission plan. The control system may have a dedicated user interface. In some embodiments, the remote user interface accesses the control system via a wireless network connection, such as a mobile phone application.

[0031] In some embodiments, assembling a project for a mission plan includes identifying account information, project location or boundaries, available materials and machines, project goals, project constraints, and other information. In some embodiments, a control system may be used to define a mission plan using information from a cloud management system.

[0032] In some embodiments, the remote cloud management system may include an automated system that creates a mission plan based on machine profiles and mission activities. The automated system may identify a machine fleet to accomplish a project based on machine constraints and machine availability. The machine fleet may include different machines that operate on different technologies (frameworks).

[0033] In some embodiments, the automated system may build a common mission plan for the fleet using each machine's profile and mission activity options within the machine's capabilities, assigning machine-specific tasks compatible with each machine's operating technology.

[0034] In some embodiments, the work machines transmit machine status information and updates to their machine profiles over a long-range communication channel, such as cellular communications. The work machines may also receive updates, mission plans, and / or mission participant information. Each work machine may send direct communications to other machines in its assigned fleet. In some embodiments, the mission plans may include a communication protocol for direct communication between disparate machines in the fleet. The communication protocol may accommodate differences in operating technologies and system languages.

[0035] An embodiment of the API includes a coordination system and a translation system that converts each set of machine information from its native format into a common set of profile characteristics for the mission plan, and the API can convert the common characteristic definitions back into machine-specific instructions and information when submitting the mission plan for execution by the machine fleet.

[0036] In some embodiments, the machine characteristics are compiled during the manufacture of the machine and provided to the cloud management system via an API. The API converts the characteristics into the system's common machine profile format, if necessary. The machine characteristics may include multiple features, component descriptions, and machine attributes, such as speed, torque, power take-off rpm, hydraulic power, clearances, etc. In some embodiments, the machine characteristics may be determined during the installation and implementation of aftermarket automation systems for the machine.

[0037] Embodiments may include a training system for determining machine characteristics using a sensor system and a defined operating protocol. The training system may be utilized to generate an initial machine profile or to update the machine profile. The training system may utilize an automatic controller and associated sensors to evaluate the machine characteristics. In some embodiments, additional sensors may be utilized to obtain specific feedback regarding the machine characteristics.

[0038] The cloud management system may assign a default (standard) machine profile to each machine of the same class, make, model, and selected features. The default machine profile may be modified by the manufacturer, dealer, or a third party based on known modifications. In another embodiment, the machine may undergo an abbreviated training session to ensure that machine operation matches default settings or to identify machine-specific characteristics. [Brief description of the drawings]

[0039] Embodiments will now be described, by way of example only, with reference to the accompanying drawings, in which: [Figure 1] 1 illustrates a system application according to one embodiment. [Diagram 2] FIG. 2 is a block diagram of components of an interactive machine according to one embodiment. [Diagram 3] 4 is a system operation flowchart according to an embodiment. [Figure 4] 7 is an operation flowchart of a work machine according to another embodiment. [Diagram 5] 7 is an operation flowchart of a work machine according to another embodiment. [Figure 6] 1 illustrates a system application according to one embodiment. [Figure 7] FIG. 1 is a system configuration diagram according to an embodiment. [Figure 8]13 is a flowchart illustrating an operation of a current machine profile according to an embodiment. [Figure 9] 1 is a system flow diagram for developing a mission plan according to one embodiment. [Figure 10] 1 is a system flow diagram for mission planning according to one embodiment. [Figure 11] 1 is a flowchart illustrating a selection of a machine fleet according to an embodiment. [Figure 12] 1 is a flowchart illustrating a mission plan generation according to an embodiment. [Figure 13] 11 is a flowchart illustrating a mission plan generation according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0040] The present invention can be embodied in many different forms, and the preferred embodiment of the present invention will be described in detail with the understanding that the present disclosure should be considered as an exemplification of the principles of the present invention and is not intended to limit the broad aspects of the invention to the illustrated embodiment. It will be understood that the present invention can be embodied in other specific forms without departing from its spirit or central characteristics. The present embodiment is therefore to be considered in all respects as illustrative and not restrictive, and the invention is not to be limited to the detailed description given herein.

[0041] FIG. 1 shows a system layout from a field machine to a remote system. The field machine in this embodiment includes two automatic fertilizer applicators 102, 104 and one tender machine 106. Those skilled in the art will understand that the applicators 102, 104 and tender machine 106 are illustrative examples, and the system is applicable to many combinations of work machines. The work machines may be tractors, lawnmowers, agricultural machines, mining machines, road construction machines, terraforming machines, construction machines, and other work machines.

[0042] The automatic fertilizer applicators 102, 104 have a fertilizer container 120 for containing fertilizer before application and include a drive system and a fertilizer distribution system. The tender machine 106 includes a large capacity fertilizer storage container, a drive system, and a fertilizer delivery arm 122 for supplying supplemental fertilizer to the automatic applicators 102, 104.

[0043] Each of the automatic fertilizer applicators 102, 104 and the tender machine 106 has a control system for driving a number of actuators and motion controls. These motion controls control the throttle and steering to control the direction and speed of movement of the automatic fertilizer applicators 102, 104. In addition, the control system of the automatic fertilizer applicators 102, 104 may control the spreading speed and spreading pattern of the spreading system. In some embodiments, the control system may be connected to a fertilizer level sensor to determine when the on-board fertilizer level is low. The control system of the tender machine 106 may control the distribution of fertilizer using the delivery arm 122. In some embodiments, the control system may control the movement of the delivery arm 122 to adjust the position of the delivery arm 122.

[0044] The automatic fertilizer applicators 102, 104 and the tender machine 106 are equipped with a communication system, such as a V2X system having a cellular communication channel 130 and a direct communication channel 132. As will be appreciated by those skilled in the art, the communication system and communication module have a known class of components that provide communication functions and include communication chipsets (communication components), antennas, and other known components. Furthermore, alternative communication systems to the illustrated V2X system may be employed, and the communication module may employ a different combination of short-range and long-range communication functions.

[0045] As the automated fertilizer applicators 102, 104 perform fertilizer application operations in the field, each transmits machine status updates (update status signals) to a nearby cellular tower 110 or 112 via a cellular communication channel 130. In some embodiments, the updates are transmitted in near real-time. In another embodiment, a periodic update system may require each fertilizer applicator 102, 104 to transmit updates on a set time schedule, for example, every 5 or 10 minutes. In some embodiments, updates are transmitted when a trigger condition is met. For example, the fertilizer applicator 102 may encounter a series of unexpected obstacles after a detour that requires supplemental fertilizer application. The control system of the fertilizer applicator 102 may transmit updates when the path or scheduled progress is changed. In some cases, the trigger for transmitting an update requires that the path or scheduled progress change exceeds a threshold level, such as 2%, 6%, or 10%. If the fertilizer applicator 104 continues to follow the machine instructions without deviating from the machine instructions, the fertilizer applicator 104 may not transmit an update status. In some embodiments, if the fertilizer applicator 104 continues to follow the machine instructions without deviating from the machine instructions, instead of transmitting an update status, the fertilizer applicator 104 may transmit a signal that it is on track. This signal may be a simplified message to limit the use of the communication system and communication network.

[0046] In some embodiments, the implement, i.e., fertilizer applicator 102, 104, sends status updates based on both a periodic schedule and a trigger condition, where an update is sent when a trigger condition is met, and periodic status updates are sent every 2, 5, 15, or 20 minutes. In some embodiments, a periodic status update may be sent only if a trigger update was not sent within the most recent period. In such a case, the period may be restarted each time an update is sent, whether based on a trigger or a periodic update.

[0047] The communication information is transmitted from the cellular tower 110 or 112 to the remote cloud management system 118 using the cellular communication channel 130 or another communication option. For example, the communication information received at the cellular tower 110 may be transmitted from the cellular tower 110 to the cloud management system 118 via the Internet. Those skilled in the art will recognize that alternative communication channels for long distance communications may be utilized instead of the cellular communication channel 130, and that the cellular towers 110, 112 may facilitate alternative or additional communication network connections.

[0048] The update status (update status signal) includes location information, fertilization area coverage, obstacle information, route adjustments, speed, current operation diagnostics (such as fuel level or battery life), current fertilizer level, and other information. The cloud management system 118 can receive update status from each fertilizer applicator 102, 104. In some embodiments, if no status update is received from the fertilizer applicator 102, 104, the cloud management system 118 assumes that the fertilizer applicator 102, 104 continues to operate according to its mission plan, and uses the expected information from the mission plan for analysis.

[0049] In some embodiments, the cloud management system 118 may send a ping message over the cellular communication channel 130 to determine whether the fertilizer applicators 102, 104 are connected to the cellular communication network. In addition to sending ping messages to the fertilizer applicators 102, 104, the cloud management system 118 may request updates from the fertilizer applicators 102, 104 from time to time.

[0050] The cloud management system 118 may use the updates to determine whether the fertilizer applicators 102, 104 are operating according to the current mission plan or if a deviation from the mission plan was necessary. If the cloud management system 118 determines that the fertilizer applicators have deviated from the mission plan, it may automatically modify the mission plan based on the updates. For example, if one fertilizer applicator 104 is working at a slower pace to address a detected obstacle and is behind schedule, the cloud management system 118 may adjust the mission plan to change the working area of ​​the other fertilizer applicator 102 to a larger field to compensate for the overall time (timing) and efficiency to complete the field fertilization operation.

[0051] When the cloud management system 118 modifies the mission plan, it may output new machine operation instructions, which are transmitted to the fertilizer applicators 102, 104 via the cellular communication channel 130. The fertilizer applicators 102, 104 update the machine operation instructions, continue operation, and transmit updated status.

[0052] In some embodiments, the update status (signal) may include a fertilizer refill request, or the cloud management system 118 may determine that the fertilizer level in one or both containers 120 is sufficiently low. In response, the cloud management system 118 may send a tender machine 106 out into the field and guide the tender machine 106 to the location or expected location of the first fertilizer applicator to replenish the fertilizer. For example, if the fertilizer level in the container 120 of the fertilizer applicator 102 is the lowest, the tender machine 106 may be guided to the fertilizer applicator 102 first. In some embodiments, the refill request may include a time frame or assembly time to coordinate the interactive operation of the refill.

[0053] In some embodiments, the tender machine 106 may receive a mission plan including instructions for each fertilizer applicator 102, 104 and interactive operation of refilling at a pre-planned time and assembly location. Additionally, the tender machine 106 may be guided to a pre-established assembly area near the first assembly location or in close proximity to the field being worked on for a pre-planned or requested treatment. The pre-planned treatment may correspond to predicted state information of the fertilizer applicators 102, 104 at the assembly time. This predicted state information may be compared to actual state information to evaluate the consistency of the actual amount of fertilizer consumed with the expected amount of fertilizer. Based on the results of this comparison, the cloud management system 118 may update the mission plan to account for unexpected results.

[0054] In some embodiments, the pre-planned feeding activity may include one or more start triggers in addition to the preset rendezvous time. If a start trigger occurs, the feeding process may begin before the preset rendezvous time. The start trigger may include the fertilizer applicator entering a threshold range of the feeding device (replenishment device), an update indicating that the fertilizer remaining amount is below a threshold level, a refill request from the cloud management system 118 or the fertilizer applicator 102, 104, or any other applicable trigger or combination thereof. The inclusion of multiple start triggers allows for a pre-programmed process that changes only when necessary based on periodic updates, limiting dependency on a cellular or long-range connection to the cloud management system 118.

[0055] As the tender machine 106 approaches the fertilizer applicator 102, the cloud management system 118 may increase communication of updates and send information regarding the location, heading, and speed of each of the machines (including the fertilizer applicator 102 and the tender machine 106) to the other machines. In addition, the fertilizer applicator 102 and the tender machine 106 may send ping signals over the short-range communication channel 132 to identify the machines and initiate direct communication between the machines. Once the tender machine 106 comes within short-range communication range of the fertilizer applicator 102 and direct communication is initiated, machine instructions for cooperative interaction may be initiated for both machines.

[0056] The interaction protocol in the instructions may include inputting a near real-time communication protocol over the short-range communication channel 132. In some embodiments, the machines 102, 106 suspend all long-range communication during the interaction. In another embodiment, the machines 102, 106 may send more updates to the cloud management system 118. In some embodiments, the interaction protocol instructions may include the controller of each machine 102, 106 modifying obstacle detection behavior to allow each machine 102, 106 to enter a proximity range where it would not be allowed to get closer due to an obstacle.

[0057] During the dialogue protocol, the machines 102, 106 communicate the information required to position the delivery arm 122 over the container 120, such as the location, direction, speed, fertilizer level, and other information of the tender machine 106. Once the delivery arm 122 is in position, the tender machine 106 delivers supplemental fertilizer to the container 120. In some embodiments, the amount of supplemental fertilizer may be a predetermined amount obtained from the cloud management system 118 based on recent updates and the amount of fertilizer required to complete the fertilization according to the mission plan. In some embodiments, the tender machine 106 refills the container 120 with fertilizer to bring the container 120 to a full fill level. In some embodiments, the tender machine 106 may measure the amount of fertilizer to ensure that only the specified amount of fertilizer is delivered. The tender machine 106 may also measure the amount delivered and update the cloud management system 118 to manage inventory, costs, and other logistical information. In some embodiments, the fertilizer applicator 102 measures its fertilizer levels and sends status updates to the tender machine 106 over the short-range communications channel 132. The fertilizer applicator 102 may send a full or stop notification before the container 120 is full to avoid spilling or overfilling.

[0058] In some embodiments, the fertilizer applicator 102 may perform sufficient refilling without interrupting the fertilizer application. For example, the tender machine 106 may approach from behind the fertilizer applicator 102 to avoid interfering with the fertilizer application. After the delivery arm 122 is in place, the tender machine 106 may change speed to match the fertilizer applicator 102. The control system of the tender machine 106 may adjust its approach and speed to the fertilizer applicator 102 based on situational information received from the fertilizer applicator 102 in near real-time communication. Both machines (fertilizer applicator 102 and tender machine 106) move in cooperation (e.g., in tandem) with the delivery arm 122 positioned above the container 120 while the fertilizer applicator 102 continues to apply fertilizer along the path. During this coordinated operation, information and notifications of obstacles from the fertilizer applicator 102 can be immediately addressed through direct short-range communication. Additionally, the fertilizer applicator 102 may output notifications when approaching a boundary or turning location so that the tender machine 106 can adjust operations in response. For example, the fertilizer applicator 102 may share upcoming path adjustments and speed changes to navigate around an obstacle so that the tender machine 106 can adjust or abort refill operations and take another appropriate path to continue refilling.

[0059] Once a fertilizer applicator 102 has been refilled, the tender machine 106 may send an update status signal over the cellular communication channel 130 and output a signal from the cloud management system 118 requesting an update regarding the next fertilizer applicator to be refilled. The cloud management system 118 issues an update regarding the applicator 104, and the tender machine 106 sends a ping message to move forward to the next applicator 104 and initiate the next contact and interaction. In some embodiments, once a fertilizer applicator 104 has been refilled, the tender machine 106 may return to a predetermined location, such as a staging point (before moving) or the next rendezvous point in the mission plan. The tender machine 106 may receive updated mission parameters, which may change the methodology, timing, location, or other parameters of the tender machine's 106 next mission.

[0060] In some embodiments, the work machines 102, 104, and 106 periodically utilize short-range communication for other work machines in the area. This may be to identify interactions between the work machines and to identify potential obstacles to coordinate. If a responsive ping signal is received from the second machine, the first machine may determine whether the second machine is an interactive machine identified in the machine operation instructions. If so, the first machine may further verify that an interaction time is appropriate before entering into an interaction protocol. If the interaction time is not appropriate or the second machine is not an interactive machine with respect to the first machine's operation, the second machine may be identified as an obstacle and the two machines may communicate via direct communication channel 132 to coordinate operations to avoid colliding or interfering with either operation.

[0061] For example, if a field fleet has multiple fertilizer applicators 102, 104 and a tender machine 106, the two fertilizer applicators 102, 104 may be within communication range of a short-range communication protocol. This can be expected to occur when the mission plans are approaching each other on the final fertilizer path. In such a case, the cloud management system 118 may share obstacle profiles for each machine expected to work near the other machine. The first machine may utilize these machine-specific obstacle profiles to distinguish between allowed machines and potential obstacles. The machine may compare objects (obstacles) captured by the obstacle perception system to the obstacle profiles and appropriately flag potential risks. These obstacle profiles may also be shared between machines via short-range communication standards to further facilitate the distinction between allowed machine approaches and potential obstacles.

[0062] When the fertilizer applicators 102, 104 enter the same area, they may communicate to ensure that their positions, headings and speeds do not cause a collision condition or that fertilizer application does not overlap to an unacceptable extent. As another example, when the tender machine 106 returns to the fertilizer store and passes the fertilizer applicator 102 that recently replenished it with fertilizer, both machines may know that the other machine is on the interaction list. At the same time, the tender machine 106 may know that it is not time to replenish because it does not have enough fertilizer loaded to perform the replenishment operation and a notification has been output to the fertilizer applicator 102 that the cooperation will not be performed. Similarly, the fertilizer applicator 102 may determine that a replenishment operation is not necessary and send a notification to the tender machine 106 to avoid cooperation. Both machines communicate to avoid interfering with each other, but do not perform close-proximity interactive operations in the vicinity.

[0063] In some embodiments, the system includes a remote control center 114 that includes a cloud interface 116. The cloud interface 116 communicates status information regarding a fleet of implements or fleets for display at the remote control center 114 or for other output. The cloud interface 116 can also receive command or request signals from the remote control center 114 that can be processed by a cloud management system 118.

[0064] In some embodiments, remote control center 114 serves as a hub for multiple fleet projects, including the example field fertilization fleet project using implements 102, 104 and implement 106. In some embodiments, remote control center 114 assists in large-scale monitoring, management, and configuration of the projects, while cloud management system 118 executes the projects through automated mission planning, machine-specific instruction generation, and active updating and direction of fleet activities.

[0065] The remote control center 114 may determine the projects to be completed, the machines available for the projects, the prioritization between the projects, and the overall timing requirements, as well as other comprehensive information and requirements. The cloud management system 118 may utilize the requirements and project definitions, along with the profile of each available machine, to create a mission plan for each project. In some embodiments, the mission scheduling, expectations, and deployment of the machines may be sent back to the control center 114 for final approval or authorization. The operator of the control center 114 may instruct re-evaluation based on new or changed requirements, set new parameter conditions, or manually input project adjustments to be entered. For example, if the operator wants to restrict the use of a machine for unrelated reasons, he or she may input temporal or geographical conditions for that machine to modify the surrounding operation for the cloud management system 118. In some embodiments, the returned information is output for notification.

[0066] In some embodiments, the cloud management system 118 may determine whether there are conflicts between the requests and send the conflicts to the control center 114 for review and determination. For example, if two projects are given equal priority and require the same available vehicles, the cloud management system 118 may request an operator from the control center 114 to determine which project should be executed first, or may request the operator to provide additional criteria (such as completion deadlines and fuel economy) for the cloud management system 118 to determine.

[0067] In some embodiments, the tender machine 106, fertilizer applicator 102, or fertilizer applicator 104 may send a notification to the cloud management system 118 regarding a detected problem, such as a detected unknown obstacle, equipment error, or other problem. The cloud management system 118 may initiate a drone assessment if a drone is available for the location. In some embodiments, the control center 114 may be required to initiate a drone operation. The drone may be equipped with a perception system including a camera and V2X communication components that may assist in communication with the local machine. After the drone operation is initiated, the drone communicates in real-time over the V2X channel with the local machine that reported the problem. The drone may be used to obtain images or other information related to the reported problem. For example, the drone may capture images of an unknown obstacle for further review. In some embodiments, the drone does not include a cellular communication component, and instead, after forwarding the images or other perception information to the local machine, the local machine may forward the information to the cloud management system 118 and the control center 114 over the cellular communication channel 130.

[0068] In another embodiment, the drone may be operated in an area with good cellular connectivity or other connectivity to the Internet. If the cloud management system 118 determines that the machine has issues or is outside of the cellular connectivity area, the drone may use the V2X direct communication channel to collect information from the machine, and then return the drone to a staging area to transfer the machine's status information over a known good communication link. In some embodiments, one or more drones may be used to create a pass-through network between areas with poor cellular coverage and areas with good coverage. The drone transfers information over the V2X communication channel until it reaches another drone or other machine with good network coverage and can transmit the information to the cloud management system 118.

[0069] In some embodiments, the system may utilize multiple communication options depending on the selected objective. For example, the implements 102, 104 and 106 may receive a mission plan via a cellular network or other long-range network. During operation, the implements 102, 104 and 106 may use a medium-range communication option, such as Bluetooth 5, to send ping signals for other machines in the area. A fleet of machines working on a project can remain aware of each other at a range greater than the range of a short-range communication standard, even if long-range communication is unavailable for one or more machines. This communication option may be a low-bandwidth communication standard that is not suitable for the requirements of long-range communication or short-range two-way communication. When the implements 102, 104 and 106 reach a threshold vicinity, the medium-range communication may transition to a higher bandwidth short-range communication system to facilitate interactive operation or control active collision avoidance.

[0070] A multi-communication system may encompass a single communication module that includes all communication options. In some embodiments, the communication module may include a single chip that incorporates all communication components associated with the antenna system. Alternatively, the communication module may be a board that includes two or more communication chips and antennas to support communication processing. In another alternative, the communication module may house multiple boards, chips, antennas, and other communication system components to support multiple communication options in a single package.

[0071] When executing a project, the work vehicles 102, 104 and 106 start at a staging area or home base that receives a strong long-range communication signal. At this starting location, the work vehicles 102, 104 and 106 receive mission plans or vehicle-specific instructions from the control center 114 over the cellular network.

[0072] Once a project begins, the implements 102, 104 and 106 may communicate via a medium-range communication system for field communication according to a mission plan. The implements 102, 104 and 106 may use the medium communication system to monitor the location and movement of other implements in the fleet. For example, the fertilizer applicator 102 may use the medium communication system to determine the distance to the tender machine 106, and the fertilizer applicator 102 may track several past distance calculations to determine the direction and speed of movement relative to the tender machine 106. In this way, awareness of the implements 102, 104 and 106 may be provided through limited bandwidth communication and may be extended throughout the project fleet.

[0073] While executing a project, the fleet may utilize default medium-range communications until a trigger initiates alternative communications. For example, any malfunction in the medium-range communications system may attempt to use short-range communications to cause the communications module to output a ping signal to nearby machines to report an error in the long-range communications option. As another example, upon receiving another form of communication, such as long-range or short-range communications, the communications module may respond using the same form of communication. Other triggers may include proximity thresholds, scheduled reports, sensor detection thresholds, and other triggers that would benefit from another range or bandwidth communications option. For example, support requests from machines or individuals at the project location that are not able to utilize medium-range communications may be sent to the control center 114 via long-range communications.

[0074] For interactive operations, the proximity threshold may be associated with an interactive operation protocol in a mission plan that controls the transition to high bandwidth, short range communications to support the interactive operation, or a safety protocol may be triggered by the proximity threshold to cause the system to switch to high bandwidth, short range communications to control machine operations to avoid collisions.

[0075] In some embodiments, multiple communication systems may operate in parallel. For example, a low-bandwidth communication system may operate continuously to aid in awareness between machines in a fleet. The low-bandwidth communication may continue to operate while a high-bandwidth communication is initiated and performed for more active interaction relying on the increased communication capabilities.

[0076] FIG. 2 is a block diagram of a vehicle interaction system for work machines 202-208. Many of the components in work machines 202-208 have the same shared or exemplary components. In this embodiment, work machines 202, 204 have an application gateway 210 that includes a communication module 212 and an antenna 228 (e.g., a single communication module and antenna). In some embodiments, antenna 228 may include multiple arrays. In some embodiments, antenna 228 may use one or more different arrays to support alternative communication channels or directionality. Communication module 212 and antenna 228 have the configuration of the communication system described in FIG. 1.

[0077] The work machine 206 and work machine 208 of this embodiment have an alternative application gateway 230 with a cellular communication module 232 and an attached antenna 238, as well as a short-range communication radio 234 and an antenna 236. The cellular communication module 232, the short-range communication radio 234, and the antennas 236, 238 comprise another configuration of the communication system.

[0078] The application gateways 210, 230 manage input and output communications over their respective communication systems. The application gateways 210, 230 are configured as part of an architectural computer and bus system that supports a security layer and ensures that incoming instructions are authorized and sent to the machine control unit 214 for their implementation. The application gateways 210, 230 have intelligent hardware components for controlling the machine control unit 214.

[0079] In some embodiments, the application gateway 210 routes the communication output from the machine control unit 214 to the appropriate communication channel via the combined communication module 212. For the application gateway 210, the routing may include instructions or message prefixes to define the communication path. Upon receiving the routing instructions and the routing message, the communication module 212 transmits the directed communication to the cellular tower 250 via the antenna 228 using cellular communication 242 or short-range communication 240. In this embodiment, the communication module 212 supports communication via the vehicle to the cellular channel 242 or the vehicle to all channels 240. The configuration of V2C / V2X is understood by those skilled in the art.

[0080] In some embodiments, application gateway 230 similarly routes outgoing communications from machine control unit 214 to the appropriate communication channel via communication module 232 or communication module 234. Application gateway 230 routes messages to the associated communication module 232 or 234 to ensure the appropriate communication channel output transmits the message. When communication module 232 receives a message, it transmits the communication information to cellular tower 250 via cellular communication 242 from antenna 238. When communication module 234 receives a message, it transmits the communication information via short-range P2P (peer-to-peer) wireless communication 244 from antenna 236. In some embodiments, short-range P2P wireless communication 244 is compatible with V2X communication channel 240, thereby enabling a two-way communication system.

[0081] Each of the work machines 202-208 includes a machine control unit 214, an auto sensor suite 216, and a machine control actuator 218. For ease of explanation, these components are described with reference to a single work machine 202. The machine control unit 214 may be a machine control module that is configurable as a dedicated unit for automated management operation of the work machine 202.

[0082] The machine control unit 214 is configured with machine control actuators 218 for controlling the throttle, steering, power drive, and other vehicle components to enable automatic operation of the implement 202. Examples of systems driven by the machine control actuators 218 include the engine 224 and power take off (PTO drive) 226 shown. The PTO drive 226 is used to drive vehicle-powered attachments such as a chipping system, spreader, or other rotary-driven attachments. In some embodiments, the machine control actuators 218 may control hydraulic or electrical systems to drive additional or alternative equipment.

[0083] The machine control unit 214 also receives information and feedback from an auto sensor suite 216 that includes various sensors for detecting operational information such as position, obstacle detection, speed, heading, PTO drive speed, lift load, and other information. Examples of sensors that are part of the auto sensor suite 216 include, but are not limited to, an optical sensor 220 and a position sensor 222 as shown. The optical sensor 220 may be any number of structures for optical sensing, including cameras, laser detection, range finders, and other optical sensor systems. The position sensor 222 may be a GNSS device, a local geospatial system, an inertial sensor, or any other structure for determining position and altitude by WGS coordinates and heading or another reference system. For example, in a fenced lot, each corner post may be assigned a landmark, and the location may be defined based on a grid utilizing the corner landmarks.

[0084] Each work machine 202-208 receives specific instructions from a control center or cloud automation system. The specific instructions are based on a fleet mission plan, and the multiple work machines 202-208 participating in the plan work together to accomplish the mission plan by completing the specific instructions. These instructions are received by application gateways 210, 230, which verify that the instructions are from an authorized source, parse them, and send the instructions to the machine control unit 214. The machine control unit 214 follows the instructions and initiates and controls the machine control actuators 218 based on the instructions and feedback from the automated sensor suite 216.

[0085] The system operational flow is shown in Figure 3. The system process 300 tracks mission planning through the implementation of a multi-vehicle project with interactive operations. The system may be implemented and the process may be performed using vehicles such as the control center 114 and the multiple implements 202-208 described above.

[0086] In this embodiment, the process begins with selecting participating vehicles to participate in the project, as shown in box 302 of FIG. 3. Participating vehicles are either identified by the operator when placing the request or selected by the cloud system from a fleet of available vehicles. The involvement of the cloud system in identifying participating vehicles depends on the vehicles available in the system. For example, if a farmer has one tractor with a tiller and one tractor with a seeder and the request requires both, these are the only available and identifiable options. In contrast, if a farmer has a fleet of tillers and seeders and the project requires only a portion of each, the participating vehicles are identified as a subset of the available fleet.

[0087] In this embodiment, after the vehicles are identified, a mission plan or machine-specific instructions are output to each participating vehicle over a cellular communication channel available on the combined V2X communication system, as shown in box 304 of FIG. 3. In some embodiments, a mission plan is a machine-specific instruction for a project, and multiple mission plans may work together to accomplish a project. In some embodiments, a single mission plan may be split into multiple machine-specific instructions to accomplish a project. In some embodiments, each vehicle may receive a copy of the same mission plan with instructions or flags indicating the sections of the mission plan that contain instructions for the machine. In this example, each vehicle may receive a machine-specific mission plan, and these machine-specific mission plans may collectively comprise a project plan.

[0088] In some embodiments, the mission plan is created by the cloud management system and provided to the vehicles. The mission plan includes instructions for vehicle operations including interactive operations between multiple vehicles. In some embodiments, the interactive operations are primary operations such as a combine harvester and a grain storage system. In other embodiments, the interactive operations reflect secondary operations such as periodic refueling operations during a longer session than mowing a field.

[0089] In box 306 of Figure 3, each vehicle begins executing its mission plan. In this step, each vehicle follows mission plan execution instructions received over the cellular communication channel. The mission plan may call for individual actions to be initiated and performed until an interaction event is required or occurs.

[0090] As an example, a field clearing project may have a set of three mowing vehicles for mowing grass and one fueling vehicle for maintaining the mowing vehicles in operation. The mission plan for each mowing vehicle may define a starting point, a travel path, and a mowing boundary. These boundaries may be designed to divide the field into three parts for simultaneous mowing operations. Each mower may execute a start sequence to operate the vehicle. Each mower may also perform a system check. In some embodiments, the mission plan defines an initial sequence for execution. In another embodiment, the mission plan calls for a start sequence built into the automated control system on board the vehicle. When the system is started, the mower moves to the start position of the mission plan. In some embodiments, the mission plan includes a path from the (current) vehicle position to the start position. When the vehicle is at the start mowing position, the vehicle lowers the deck height, activates the PTO drive to start the mowing process, and moves along the path specified in the mission plan.

[0091] A refueling vehicle may also follow the start-up process and move to the same field. In some embodiments, the start-up process of the refueling vehicle may be delayed to allow fuel to be used by the mower. The mission plan start time may be set based on the amount of fuel remaining at the time the mower is started and the expected burn rate.

[0092] In box 308 of FIG. 3, each of the multiple vehicles performs interactive work by exchanging information through the direct communication channel. Interactive work from the mission plan includes two or more vehicles working together (e.g., in coordination) when in close proximity. The V2X direct communication channel provides a real-time or near real-time communication platform for collaborative interaction. As the proximity distance between the two vehicles decreases, the communication speed may be increased to ensure active and accurate interaction. In some embodiments, the application gateway may modify the messaging protocol for the V2X channel to reduce message size (communication load) and increase communication speed when the two machines are working in close proximity. Message content may be targeted to specific information required for close interactive work.

[0093] Continuing with the above example, the refueling vehicle's mission plan may be configured to time the start of the refueling process to complete refueling of all three mowers before the fuel runs out, so that the first mower is refueled with ¼ of a tank and the third mower may be closer to empty when refueled.

[0094] The interaction involves a mower and a refueling vehicle approaching each other. As the two vehicles approach each other, they begin to exchange information about their respective positions, direction of travel, speed, etc. The two machine control units coordinate their respective operations to place the interactive components of each vehicle in position. In this example, the refueling vehicle may include an extension arm with a nozzle configured to reach a refueling port of the mower's refueling tank. The two machines adjust their positions to get into the proper approach position, and the refueling vehicle may further adjust the extension arm for more precise control to engage (align) the nozzle with the fuel tank. Stable communication via a direct communication channel aids in accurate positioning of the extension arm. For interaction while the vehicles move and continue to work, direct communication allows the control system to maintain position and work throughout the process.

[0095] At box 310 of FIG. 3, each vehicle outputs an update status to a remote hub or cloud management system via a cellular communication channel. After the interactive task, each vehicle may output updated information and status. For example, a mower may update its fuel remaining and projected work area. Additionally, ancillary updates such as progress of the mission plan may be sent as part of the post-interactive update. A refueling vehicle may similarly output updates including updated fuel information, amount of fuel refueled, and next update task.

[0096] 4 illustrates a vehicle-to-vehicle interactive work process 400. This process 400 may operate within a more comprehensive system process 300. In another embodiment, it is a set of instructions within a more comprehensive machine instruction set designed to accomplish a mission plan.

[0097] The process 400 begins with the vehicle initiating an interactive task from a mission plan, as shown in box 402 of Figure 4. In this embodiment, the vehicle is assigned an interactive task to perform. For example, a grain bin vehicle may be assigned the interactive task of collecting harvested grain from a combine. The grain bin vehicle initiates the interactive task as it travels toward the collection location.

[0098] In box 404 of FIG. 4, the vehicle transmits a signal over a short-range direct communication channel, such as a V2X channel, to identify a second vehicle for interactive operations. This process is outlined in decision block 406 and decision block 408 of FIG. 4. The vehicle first determines whether the second vehicle responded to the signal in decision box 406. If no response is received, the vehicle checks whether cellular communication is available in the area. If cellular communication is available, the vehicle checks the location of the second vehicle, as shown in box 416 of FIG. 4. In some embodiments, this checking process may include sending a request signal to a remote hub for the location of the second vehicle and receiving the last known location via the cellular communication capabilities of the V2X communication system. In another embodiment, the vehicle may send a request signal to the second vehicle over the cellular communication system to receive updates.

[0099] If the first vehicle receives a response signal from the second vehicle, the first vehicle determines whether the response signal confirms that the second vehicle is intended for interactive operation, as shown in box 408 of Figure 4. If the second vehicle is not intended for interactive operation, the process returns to box 416, where the first vehicle verifies the location of the second vehicle via cellular communication (if available).

[0100] If the second vehicle confirms the interactive operation, the first and second vehicles exchange (communicate) operation information over a direct communication channel in box 410 of Figure 4. This exchanged information may include location, direction of travel, and speed information, as well as possibly additional sensor information such as battery level, fuel level, obstacle detection, etc.

[0101] Once the two vehicles are within range, the vehicles maintain a direct communication connection and initiate an interactive operation according to a mission operation trigger, as shown in box 412 of FIG. 4. The direct communication connection is utilized to maintain up-to-date information for the machine control unit to move the two machines to a predetermined position. The interactive operation may be any cooperative operation, such as refilling herbicide to remove specific weeds in a field, loading an automatic hay transporter, cooperative tilling and seeding, and other operations. The initiation of the interactive operation may be the adjustment of the machine position and preparation for the cooperative operation. For example, refilling the fertilizer supply of the automatic fertilizer application machine may be initiated by aligning a refill arm extending from the tender machine over the fertilizer container of the automatic fertilizer application machine.

[0102] After initiation, in box 414 of FIG. 4, the vehicles interact with the exchanged communication information and the mission plan for the project. Some mission plans involve continuous interaction throughout the project, such as a grain bin machine operating in a niche between two harvesters to collect and hold harvested grain until the grain bin capacity is reached. In this example, the grain bin machine may request communication and response from both harvesters to set up all three machines for cooperative operation. As another example, a concrete transport vehicle may work in coordination (e.g., in tandem) with a boom pump to deliver concrete to a job site.

[0103] 5 illustrates another vehicle operation system 500 for addressing approaching or approaching other vehicles. A vehicle or machine implementing the system 500 may include a V2X communication system as described herein, or a combination of other communication systems.

[0104] The process begins in box 502 of FIG. 5 with a first vehicle performing mission planning tasks and receiving signals from a second vehicle over a V2X short-range communication channel during the process. In some embodiments, the overall system of multiple vehicles may be configured to use the short-range communication system to periodically send ping signals for other vehicles, as well as for additional safety functions. This may be done by the second vehicle to search for an interactive machine in order to pair with the interactive machine to perform the interactive tasks.

[0105] The vehicle controller then determines whether the received signal from the second vehicle corresponds to an interactive task in the mission plan in box 504 of FIG. 5. Decision box 506 processes the result of this determination as whether the interactive task with the second vehicle is part of the mission plan. The vehicle controller may first check whether the mission plan includes an interactive task. The vehicle controller may also check whether the second vehicle is applicable to any interactive task in the mission plan. If the answer to either of the first and second checking processes is negative, the interactive task with the second vehicle is not part of the mission plan, and the vehicle controller uses the obstacle detection system to control the vehicles and control a safe approach (distance) between the vehicles, as shown in box 512 of FIG. 5.

[0106] If an interactive task with a second vehicle is part of the mission plan, the vehicle interaction system tolerates the second vehicle within a proximity range of an obstacle detection system threshold, as shown in box 508 of FIG. 5. In some embodiments, if the controller determines that the interactive task is part of the mission plan, the second vehicle is not considered an obstacle. In another embodiment, the obstacle detection system modifies the proximity requirements if the second vehicle is identified as part of the interactive task. In some embodiments, the obstacle detection sensors are utilized to assist in controlling the interactive task.

[0107] In box 510 of FIG. 5, the first and second vehicles interact with the information and mission plan communicated over the V2X direct communication channel. As described above, the interaction may occur while one or both vehicles continue to work on the mission plan. As described above, some interaction is limited to interaction such as fueling and fertilizing the vehicle. Other interaction may be longer duration interaction, and other interaction may be long term interaction such as bulldozers and pan scrapers working to prepare land for storage tanks and fields.

[0108] In some embodiments, the multi-channel communication system improves overall communication and system status updates in remote and hard-to-reach areas. Vehicle fleets may periodically utilize direct short-range communication to share machine-specific updates with other local vehicles in the fleet along with the latest network updates or network connectivity characteristics. If one vehicle has better network connectivity characteristics, such as cellular connectivity, it can forward all hard-to-reach or delayed updates from other vehicles in the fleet. This improves network-wide awareness of vehicle fleet operations and allows for efficient management of project and mission planning.

[0109] 6 shows a system configuration of the automated implement system. Two implements 606 and 608 are illustrative examples, and those skilled in the art will recognize that the application of the system is applicable to numerous implements and combinations thereof. The implements may be tractors, lawnmowers, agricultural machinery, road construction machinery, terraforming equipment, construction machinery, and other implements.

[0110] The system includes a cloud management system 602 that remotely interacts with implements 606 and 608 via a long range communication channel. In this embodiment, the cloud management system 602 also communicates with a cloud interface 604.

[0111] Each of the automated implements 606, 608 includes a control system that uses an electronic control unit to drive a number of actuators and motion controls. These motion controls control the direction and speed of the implement 606, 608 using throttle and steering controls. In addition, the implement 606, 608 control system may control additional attachment systems such as buckets, scrapers, fill arms, towed applicators, etc. In some embodiments, the control system may be connected to a sensor system on the attached components to determine operating conditions and needs such as refilling, drug dispensing, speed adjustments, or other accessory requests. For example, the attached components or implements may indicate that the implement should reduce travel speed depending on the speed of the implement.

[0112] The automated implements 606, 608 may also include a communication system, such as a V2X system, having cellular and direct communication channels. Those skilled in the art will recognize that the communication system and communication module are a known class of components that provide communication capabilities and include communication chipsets, antennas, and other known components. Additionally, alternative communication systems may be employed in the illustrated V2X system, and the communication module may employ various combinations of short-range and long-range communication capabilities. In some embodiments, the communication system and communication module may support hierarchical communication options with various ranges and bandwidths. For example, the communication module may include a short-range high-bandwidth option, a medium-range low-bandwidth option, and a long-range high-bandwidth option. A communication hub on each implement 606, 608 may control the communication options to limit high-bandwidth communication to required operations and rely on low-bandwidth operations as a default for the vehicle fleet.

[0113] As the implements 606, 608 operate, each may send machine status updates to the cloud management system 602 via a cellular communication channel. In some embodiments, the updates are sent in near real-time. In another embodiment, a periodic update system may require each implement 606, 608 to send status updates on a set time schedule. In some embodiments, status updates are sent when a trigger condition is met. For example, if a first implement 606 encounters a series of unexpected obstacles, the first implement 606 may send a notification to the cloud management system 602 that it has detected the obstacles.

[0114] If the implement 606 does not deviate from the machine instructions and continues to follow the machine instructions, the implement 606 does not transmit an update status. In some embodiments, if the implement 606 does not deviate from the machine instructions and continues to follow the machine instructions, the implement 606 may transmit a signal indicating that it is continuing to work as planned, rather than an update status signal. This signal may be a simplified message to limit the use of the communication system and network (reducing communication load).

[0115] The updated status of the work equipment 606, 608 may include location information, coverage area, obstacle information, route adjustments, speed, current operational diagnostics (such as fuel level or battery life), current ancillary conditions, and other information. Using the updated information, the cloud management system 602 may determine whether the work equipment 606, 608 is operating in accordance with the current mission plan or whether a deviation from the current mission plan was necessary. If the cloud management system 602 determines that the work equipment 606, 608 is deviating from the mission plan, it may automatically modify the mission plan based on the updated information. For example, if the work equipment 606 is operating at a slower pace and falling behind schedule to address detected obstacles, the cloud management system 602 may adjust the mission plan and redirect to other available and capable machines to compensate for the overall timing and efficiency of completing the task.

[0116] When the cloud management system 602 modifies the mission plan, it may output new machine operation instructions, which are transmitted over a cellular communication channel to the work machines 606, 608. The work machines 606, 608 update to the new machine operation instructions, continue working, and transmit the updated status.

[0117] The cloud interface 604 in this system may be a hub for a remote control center that may manage a fleet(s) of one or more implements. The cloud interface 604 communicates status information for the fleet(s) of one or more implements that may be displayed or otherwise output at the remote control center. The cloud interface 604 may also receive instructions or requests from the remote control center, which may be processed by the cloud management system 602. In some embodiments, the cloud interface 604 may serve as an entry point for external user interfaces, such as phones, computers, tablets, and other devices used by the remote team to define, request, update, or manage implement projects.

[0118] 7 illustrates an embodiment of a system for managing a fleet of work machines utilizing a cloud management system 602. The cloud management system 602 includes a mission planning system 702 according to an embodiment, a machine profile storage 704, and an activity program storage 706. The mission planning system 702 according to this embodiment includes a machine profile analysis system 710, a project analysis system 712, and a mission plan generation system 714. In some embodiments, the mission planning system 702 may include a path planning system as an additional or alternative system component.

[0119] In some embodiments, these system components may be separate components or one or more dedicated servers within the cloud management system 602. In another embodiment, these system components may be integrated. In some embodiments, certain component systems are maintained within the mission planning system 702, while other system components are operably connected to serve the mission planning system 702 via wireless connections, wired network connections, or direct wired connections such as a bus interface.

[0120] The machine profile storage 704 and the activity program storage 706 may be any type of electronic storage structure or memory device. Additionally, the data, scripts, and other information stored in the machine profile storage 704 and the activity program storage 706 may be stored in the memory structures in a variety of formats, such as a database, an indexed file system, or other formats.

[0121] The mission planning system 702 may access or receive information from the machine profile storage 704 and the activity program storage 706. In some embodiments, the mission planning system 702 may send information to the machine profile storage 704 or the activity program storage 706.

[0122] In some embodiments, the machine profile storage 704 stores machine profiles for multiple implements. The machine profile for each implement may include detailed identification information, operational information, and utilization information specific to the machine. Identification information may include machine make and model data, serial numbers, owner or user information, and / or other identification information.

[0123] The operational information may include various machine operational and functional information such as speed, torque, turning radius, size, PTO drive speed, sensor array, automation kit, control information, and other information. Additional information may include operational information regarding the machine's specific tools, such as tool load type, range of motion, lift load, reach, operational speed range, interactive work limits, and other information. For machines that can utilize any of a variety of accessories, corresponding information related to each optional accessory may also be stored. In some embodiments, the basic information of the machine may be stored along with information regarding each of the accessories to consider changes in the machine operational information associated with changing and connecting one of the accessories to another. In some embodiments, any accessory includes adjustment information that may be used during analysis to update the machine's operational information based on the connected accessory.

[0124] The machine profile usage information may include the work history of the machine, information regarding known wear and tear or damage to the machine or specific components, scheduling information, or other information regarding the use of a particular machine. The machine profile may include additional information regarding the current status of the machine, such as location, battery or fuel levels, currently installed accessories, and other status information. In some embodiments, types of information may be stored as separate records for independent access and analysis. For example, the machine profile may include machine specific characteristics, which act as a configuration or information file for the machine. Separately, the system may store telematic records and usage records indicating work history, usage data and logs, and current status information.

[0125] The activity program storage 706 may contain a selection of activity scripts for operation of various implements. An activity script may contain program code for implementing a particular activity by an implement. For example, an activity script may provide an initiation process for starting a class of implements with a particular automation kit or electronic control unit. Some activity scripts may be operable on multiple implements while others may be operable on a more specific implement. Some activity scripts may be machine specific.

[0126] In some embodiments, the mission planning system 702 operates on the same structure, such as a server, along with the machine profile storage 704 and the activity program storage 706. In a cloud structure, such as the illustrated cloud management system 602, the mission planning system 702 may connect to the machine profile storage 704 or the activity program storage 706 via one or more communication systems, depending on the underlying server array structure. For example, the mission planning system 702 may be implemented on a first server with a processor and program memory connected via a wired bus. When evaluating the machine profile, the mission planning system 702 may use the first server communication card to access the Internet or other network in conjunction with the machine profile storage 704.

[0127] In some embodiments, processing operations may be shared among multiple processors or separate computers to speed up the evaluation through parallel processing operations. For example, when identifying capable machines, the machine profile analysis system 710 may implement parallel processing of multiple assigned sections of the machine profile storage 704 to identify all capable machines. As another example, the mission planning system 702 may assign separate computers to process two different project requests in parallel.

[0128] In this embodiment, the machine profile storage 704 may receive data from machine data sources 720 and 722. This system embodiment may include any number of machine data sources 720, 722. The machine data sources 720, 722 may be external user interfaces such as phones, computers, server systems, tablets, and other devices used by manufacturers, technicians, machine users, aftermarket suppliers, and other sources. In addition, the machine profile storage 704 may receive information directly from the work machines 716, 718.

[0129] The activity program storage 706, in this embodiment, receives information from an activity program source 724. In some embodiments, the system may include additional activity program sources 724. The activity program source 724 may be an external user interface such as a phone, computer, server system, tablet, and other device used by a developer, programmer, manufacturer, user, aftermarket supplier, or other entity that may prepare activity scripts for the work machine. In some embodiments, the machine data sources are 720 and 722, and the activity program source 724 may be an operator of the cloud interface 604.

[0130] In this embodiment, a single project request source 726 is identified. In other embodiments, the system may have multiple project request sources. The project request source 726 may be an external user interface such as a phone, computer, server system, tablet, and other devices used by any machine user or entity. In some embodiments, the project request source 726 may be an operator of the cloud interface 604. The cloud interface 604 may receive requests from the project request source 726 and transmit the requests to the appropriate mission planning system 702.

[0131] In some embodiments, the mission planning system 702 or cloud interface 604 may convert the project request into a standard format for the mission planning system 702 to parse and analyze. For example, the project request received from the project request source 726 may be a natural language request from a project manager, such as a request received in a voice format. The mission planning system 702 may convert the voice to text and identify the project definition. In some embodiments, the mission planning system 702 may convert only keywords that are applicable to the project.

[0132] The mission planning system 702 may analyze the project request in a project analysis system 712. The project analysis system 712 may receive the fully formatted request. In some embodiments, the project analysis system 712 may include a request processing step to parse the project request into an analysis format. The project analysis system 712 may further evaluate the project definition and objectives to identify machine selection criteria (such as machine capabilities, location, ownership restrictions, schedule availability, etc.), other fleet requirements, project work areas, project schedules (timelines) and other constraints, project goals and other project information.

[0133] The machine profile analysis system 710 may access the machine profile storage 704 to review the machine profiles and identify machines that fit the project requirements. In some embodiments, the machine profile analysis system 710 may send a query to the machine profile storage 704 requesting machine profiles that match the project requirements. For example, if the project requires machines located around a particular area, the machine profile analysis system 710 may send a query to the machine profile storage 704 requesting all machines within a given radius from the project area. In some embodiments, receiving a selected group of machine profiles increases the efficiency of the process analysis to identify which machines fit the project. In some embodiments, utilizing a selected group of machine profiles may reduce the processing requirements for the machine profile storage 704 to allow other requests to be fulfilled in parallel without overloading the processor of the machine profile storage 704.

[0134] The machine profile analysis system 710 receives machine criteria requirements, location information, and other information from the project analysis system 712 or directly from the project requirement source 726. The machine profile analysis system 710 can utilize the machine criteria requirements during analysis of the machine profile to identify machines that fit the project. In some implementations, the machine profile analysis system 710 and the project analysis system 712 work together to identify a preferred machine and define project requirements that fit the selected machine. For example, if multiple choices exist for the capabilities required to complete a project, the machine profile analysis system 710 and the project analysis system 712 may determine which machines are available and ensure that the project definition matches the capabilities of the available machines.

[0135] The mission planning system 702 may then select an activity script from the activity program storage 706 that matches the selected machine using the machine profile analysis system 710. In some embodiments, the mission plan generation system 714 may select an activity script from the activity program storage 706 that is compatible with the selected machine and prescribe the machine operations required to accomplish one or more functions required for the project.

[0136] Once an activity script is selected by the mission plan generation system 714, the mission plan generation system 714 may generate additional scripts necessary to accomplish the project and link together the various activity scripts required for each operation. The mission plan generation system 714 creates individual plans for each selected machine that are compiled to generate a complete mission plan for the project. The mission plan system 702 may then output the mission plan to each work machine 716, 718. A communications system network card may be used to transmit mission plan communications over one or more communications channels to communications modules and electronic control units located on each work machine 716, 718.

[0137] As with other embodiments, implements 716, 718 may be any number of implements. Additionally, in some embodiments, implements 716, 718 may be the same type of machine. For example, implements 716, 718 may both be tractors with mowers assigned to a common field to share the task of mowing the entire field. In other embodiments, implement 716 may be a different type of machine than implement 718. For example, implement 716 may be a forklift designed to move loads at a work site, and implement 718 may be a crane designed to lift a particular load at a work site to a higher level of a building under construction.

[0138] 8 illustrates a flow chart for generating or verifying a machine profile that can be stored in the machine profile storage 704. In the cloud management system 602, the process of developing a machine profile may begin through a number of different processes. For example, the generation of a machine profile for a manufacturer associated with the cloud management system 602 may be different than the process of generating a machine profile by a user of an existing machine.

[0139] In box 802 of FIG. 8, an original (original) machine profile may be received for a newly commissioned implement. This original machine profile may be received via the cloud interface 604 or a dedicated interface for the particular manufacturer that manufactures the machine. In some embodiments, the original machine profile for a newly commissioned machine may be a standard (default) machine profile for the particular type, class or model of machine obtained from the manufacturer. In some embodiments, the manufacturer may provide a machine-specific machine profile based on testing or other steps utilized to determine the data for the machine profile.

[0140] In some embodiments, the original manufacturer may provide updates to the machine profile. In box 804 of FIG. 8, the cloud management system 602 may update the machine profile with any applicable manufacturer updates received. In some embodiments, the updates may update the machine's software, firmware, or other machine operational information, which may affect how mission plans are assigned and analyzed for an operating machine.

[0141] In some embodiments, a manufacturer may utilize a standard machine profile for a newly commissioned machine and provide more detailed information updates for the machine. For example, all tractors of a certain make and model that roll off the assembly line may be commissioned with the same machine profile on the commissioning date. Once commissioned, the manufacturer may test several tractors to determine the accuracy of the machine profile data, such as turning radius, speed, and PTO speed. If the original machine profile data does not match the test data, the manufacturer may provide machine profile updates associated with a group of machines that have been commissioned together.

[0142] In some embodiments, the update information is managed within a manufacturer's portal in the cloud interface 604. In another embodiment, the update information may be integrated into an existing machine profile in the machine profile storage 704 of the cloud management system 602.

[0143] In box 806 of FIG. 8, the cloud management system 602 may receive an on-board machine profile directly from the implement. In some embodiments, the on-board machine profile may be received when a user or project manager configures one or more vehicles in the cloud management system 602. This may be the first machine profile the machine loads, or the machine profile may correspond to a profile previously loaded by a manufacturer-commissioned machine. The on-board machine profile may be received via the cloud interface 604 or a user-specific interface. For example, a fleet manager of a company that manages a fleet of implements may load a machine profile for a new machine through a company portal in the cloud interface 604.

[0144] 8, the cloud management system 602 identifies operating machine profile elements and usage information. In some embodiments, the operating machine profile elements may correspond to data included in the original machine profile. For example, the operating machine profile elements may include characteristics such as speed, turning radius, load capacity, and additional operating information.

[0145] The usage information of the machine profile may reflect the activity of the machine since it was first put into operation. The usage information may include, for example, information such as the mileage of the machine, the number of load cycles, accidents or other damage, and other machine history. Additionally, the usage information may include user settings for the machine that differ from the standard capabilities. For example, a user may set a modified maximum load capacity that is lower than the capabilities of the machine. As another example, a user may set a minimum fuel level for driving activities.

[0146] Decision box 810 of Figure 8 represents a comparison and analysis to determine whether the operating machine profile is the same as the manufacturer's machine profile. If the operating machine profile is the same as the manufacturer's machine profile, the system checks the current machine profile in box 812 of Figure 8. The checked current machine profile includes machine provided usage information.

[0147] 8, if only the machine profile was received directly from the machine, then that machine profile is identified as the current machine profile. In some embodiments, the current machine profile may be updated with additional manufacturer updates that include software related to the operation of the machine and / or correspond to machine test updates related to the operation of the machine.

[0148] 8 indicates that the operational machine profile is not identical to the manufacturer's machine profile, the process proceeds to box 814, where the cloud management system 602 may analyze and identify differences between the operational machine profile and the manufacturer's machine profile. Additionally, in box 814, the cloud management system 602 may identify any update sources (update information sources) related to the differences between the operational machine profile and the manufacturer's machine profile.

[0149] In box 816 of FIG. 8, the cloud management system 602 may evaluate the source trustworthiness of the update source associated with the differences between the operational machine profile and the manufacturer machine profile. In some embodiments, the evaluation of source trustworthiness may consider source identification information, including authorization codes and other information indicating that the update information has been authorized by a trusted source. In some embodiments, the cloud management system 602 may include a security system to check the update source. These security features may include any number of software security codes or keys designed to ensure that only those authorized to update the information were able to access and direct the update information. Additionally, the cloud management system 602 may verify that any update information is compatible with the class, make, and model of the machine to which it is applied.

[0150] Further, the cloud management system 602 may determine the correct machine profile based on the analysis results. If the cloud management system 602 determines that the difference between the two machine profiles is due to updates from a trusted source, the cloud management system 602 may prioritize the updates based on the most recent changes from the trusted source. For example, if the difference is between the load capacity data in each machine profile, and the operational machine profile includes a load capacity that has changed due to the addition of accessories that were installed after the machine left the manufacturer and that increase the load capacity, the cloud management system 602 may determine that the manufacturer machine profile includes an update from the manufacturer to the load capacity of the original lift. In this example, the operational machine profile is treated as the correct machine profile.

[0151] In addition to determining the accurate profile in box 816 of FIG. 8, the cloud management system 602 may identify system updates required for the machine if the manufacturer's machine profile is believed to be more accurate or if updates from the manufacturer's machine profile are believed to have not been applied to the operational machine profile. In some embodiments, the cloud management system 602 may output a report or other message to the operator or company responsible for the machine. In some embodiments, the cloud management system 602 may approve the required updates to be sent directly to the machine. In such embodiments, the cloud management system 602 may send a notification to the operator or company responsible for the machine.

[0152] Once the correct machine profile is identified, the machine profile is identified as the current machine profile in box 812. The current machine profile is stored in the machine profile storage 704. This machine profile may be utilized for accurate analysis and planning in future project opportunities.

[0153] In some embodiments, a third party accessory device company, installation company, or repair shop may have an appropriate interface to the cloud management system 602 to retrieve or update the machine profile in the field. The accessory device installation company or repair shop may also update the machine directly using service tools when installing a new accessory device or performing maintenance or repair on the machine. In some embodiments, a third party accessory company may send accessory specific profiles to the cloud management system 602, which may be stored in the machine profile storage 704. These accessory specific profiles may be associated with or integrated into the machine profile when a machine update is received indicating that an accessory device has been added or attached to the machine.

[0154] 9 illustrates a flow chart according to another embodiment for verifying that the machine database version utilized by the mission planning system 702 corresponds to the on-board machine database version. Although described herein with respect to a single machine, i.e., implement 716, the process may be similar or related to the verification process for multiple implements. In some embodiments, the machine database may correspond to machine operational parameters and characteristics in the on-board machine profile. In another embodiment, the machine database may be an alternative reference to a complete machine profile, including operational parameters and characteristics along with user settings and usage history.

[0155] 9, box 902, the cloud management system 602 communicates with the implement 716 regarding a machine status query and on-board machine database (MD) version. In some embodiments, the implement 716 may initiate the communication by sending status information and a current machine database identifier to the cloud management system 602 as a check-in operation. The cloud management system 602 may perform version verification before storing the current machine information in the machine profile storage 704.

[0156] In some embodiments, the cloud management system 602 may send queries to the implement 716 to keep the implement 716 updated. Alternatively, the cloud management system 602 may request machine information when the mission planning system 702 is reviewing or developing a mission plan to utilize the machine.

[0157] A machine status request may request information regarding current location, operational status (full charge, current maintenance status, availability of automatic allocation, etc.), and upcoming events or activities assigned to the on-board system. For example, the implement 716 may be independently operable by direct communication from a user or programming. If a user directs the implement 716 to remain offline for a period of time to perform maintenance on the machine or to move the machine, the on-board status may include such information.

[0158] 9, the system determines whether the on-board machine database correlates to the latest machine database version. In some embodiments, this machine database version validation may be performed within an interface component for the mission planning system 702. In other embodiments, this validation may be performed within a component of the mission planning system 702.

[0159] Those skilled in the art will also recognize that embodiments of the system may have one or more decision elements and approvals performed on behalf of a user device or machine control system. For example, the cloud management system 602 may send a latest machine database version identifier and request a validation report from the machine, which compares the latest version identifier with the on-board version identifier and reports matches or mismatches to the cloud management system 602.

[0160] In some embodiments, machine database version verification may be based on a comparison of version identification codes between the on-board code and the latest code. In such embodiments, each code may be used to track the version of the machine database. In such embodiments, manufacturer updates may generate an entirely new code, and other changes are tracked using additional codes. For example, if a third party modifies a machine to include a new accessory device, the code may include the current manufacturer code and an additional code for the accessory device.

[0161] In some embodiments, verifying the machine database version allows one or more machine characteristics or machine features to be reviewed and compared. This evaluation may be in addition to the comparison for identification. In some embodiments, the cloud management system 602 generates a report on the discrepancies between the versions and identifies the respective sources of the discrepancies. The respective sources of the discrepancies may range from version updates to machine modifications to test accuracy updates. This information report may be shared with authorized users or entities to identify options for updating the machine database. Alternatively, the information report may be provided to the manufacturer for further evaluation. If the discrepancy is due to test accuracy or measurement, this option may be the default option.

[0162] If the on-board machine database is the latest version, then in decision box 906 of Figure 9, the cloud management system 602 determines whether a mission plan has been prepared for the machine database version. In some embodiments, the mission plan may include a machine database version identifier for the selected machine. The mission plan is created using the latest version of the machine database information, and if the on-board machine database matches, the mission plan is correlated with the machine's operating system.

[0163] In another embodiment, a mission plan may be generated for an older version of the machine database, which may not function correctly with a different version. As one skilled in the art will recognize, the operability and accuracy of the mission plan depends on the use of the corresponding machine characteristics. For example, if a machine characteristic associates a first distance with a set travel speed, and this machine characteristic changes between versions, outputting an instruction to travel at a set speed for a certain period of time will cause the machine to reach a different location depending on the on-board version. These validations are designed to mitigate the possibility of errors caused by inconsistent version definitions.

[0164] If a mission plan is configured for the on-board machine database version, the mission planning system 702 may deploy the mission plan to the vehicle in box 908 of Figure 9. The deployed mission plan may assign schedules of actions or initiate actions, as appropriate.

[0165] If the mission plan is configured for a machine database version different than the on-board version, then the mission plan is updated or regenerated to correspond to the on-board machine database version in box 910 of Figure 9. Once the updated mission plan is established, in box 908, the updated mission plan is deployed to the machine.

[0166] Returning to box 904 of FIG. 9, evaluation of the on-board machine database may determine that the on-board version does not match the latest machine database version utilized by the cloud management system 602. In box 912, the cloud management system 602 communicates to the authorized user of the machine a request to update the machine database version. The request may be communicated via a voice system, an email system, a messaging system, as a request in an operational application or any other feedback system. For example, the system may initiate a pop-up within a project control application on the user's phone, tablet or computer. In response, the user may provide approval for the update.

[0167] At decision box 914, the system determines whether the user approved the update of the machine database. If the user approved the update, the machine may receive the latest machine database version update. In some embodiments, the cloud management system 602 may transmit the update information wirelessly to facilitate immediate updates. In another embodiment, the cloud management system 602 may transmit the update information to a user, a maintenance service, or a device to facilitate direct upload to the machine. In yet another embodiment, the cloud management system 602 may output a request to a third party supplier, such as a manufacturer, to facilitate updating the machine.

[0168] In box 916 of Figure 9, the machines are updated with the machine database version. The length of time required to update the machines depends on the nature of the update information and the communication connection. In some embodiments, the need for an update may trigger a re-planning evaluation for the mission plan and the overall project. For example, if the update time is expected to increase beyond a threshold, the mission planning system may determine whether an alternate machine or alternate machine fleet(s) is available for the project and re-allocate the mission plan accordingly.

[0169] Once updated with the new version of the machine database, process flow proceeds to decision box 906 described above to evaluate whether a mission plan has been configured for the on-board database version.

[0170] In this embodiment, if the user does not approve the machine database update at decision box 914, the process flow proceeds to decision box 906 described above to evaluate whether the mission plan is set to the on-board machine database version. In some embodiments, the user may be provided with alternative machine database versions to choose from if the latest version is not approved. Another alternative is to allow custom modifications to the machine database characteristics, which may be provided to the mission planning system 702 to redefine the mission plan with characteristics that match the machine.

[0171] If the mission plan matches the machine database version and modified characteristics, the mission plan may be deployed, if not, the mission planning system 702 regenerates the mission plan with the corresponding on-board machine database and characteristics before deploying the mission plan.

[0172] In some embodiments, the evaluation to match the mission plan to the machine database may be limited to characteristics and features necessary for the mission plan or safe interactive work. Such a partial match may be sufficient for some embodiments. For example, if a mowing project is assigned to a machine with mowing and front-loading capabilities, the match / mismatch evaluation may consider only characteristics related to mowing operations and not specific characteristics as a front-loader.

[0173] FIG. 10 illustrates a process for generating a mission plan based on project requirements. In some embodiments, the order of events in the process may be changed. In some embodiments, multiple steps may occur in parallel to improve efficiency in processing and machine planning. In some embodiments, the project requirements may define certain elements that make one or more steps optional or skippable in the development of the mission plan.

[0174] 10, in box 1002, the cloud management system 602 receives a project request including parameters from a user via a project request source. The project request source may be a phone, computer, tablet, or other device that a project manager utilizes to request a new project or redefine an existing project. In some embodiments, the project request source may send the request via the cloud interface 604.

[0175] In some embodiments, a project request is a defined request for a project that utilizes an automated machine. For example, a farmer may provide a request for a field plant that requires a tiller or transplanter to be towed behind a tractor. The project request may include multiple parameters and information about the project that is needed to define the scope of the project, including the expected machine capabilities and goals. For example, the project request may identify a particular field or location boundary for the project, crop type, company or project lead information, and the duration of the project. In some embodiments, the project request may provide available machine information or other fleet restrictions.

[0176] In some embodiments, the project request may be a form that is presented to a user. The form may be presented to a user or to a project lead of an organization on a tablet, phone, computer, or other user device. The form may include information that the user must provide to request the project. For example, the form may request location information, requester information, machine limitations, project goals, project timeframe, project limitations, and other information that constitutes the project. The form may also include any information categories, such as required or available machine limitations, schedule requirements, planned path requirements, known obstacles, related projects and priorities, and other information related to the project.

[0177] In some embodiments, the mission planning system 702 receives a natural language or alternative project request format, which is transferred or converted into a categorized format for review and analysis. The standardized format for project request information may be stored in an indexed or relational database to streamline the analysis process.

[0178] In some embodiments, multiple project requests may be received and analyzed simultaneously. These requests may be organized to increase efficiency of analysis. For example, projects may be prioritized by the request's timestamp and categorized by the project's operating time frame.

[0179] In box 1004 of FIG. 10, the mission planning system 702 can analyze the project request and identify available machines based on the request parameters. For example, the mission planning system 702 may examine the project request to determine whether any machines have been identified as standard options in the project request. As another example, if a machine has not been identified in the project request, the project analysis system 712 may identify a planned location or other machine-related constraints for the machine profile analysis system 710 to consider. The machine profile analysis system 710 may then identify available machines based on location relative to the project request location, availability during a time period defined in the project request, or other constraint information from the project request.

[0180] For example, the project analysis system 712 may send a query to the machine profile storage 704 to receive an identification of all machines related to or available to the requesting party within a predetermined radius of the project location. Those skilled in the art will recognize that the applicable radius for identifying available machines within a predetermined distance from the project location may vary depending on the project, the type and movement performance of the machine, and the redundancy of the machine. For example, an agricultural enterprise with multiple fields spread across a large area and multiple machines of the same type may provide a radius intended to capture only one or two groups of machines closest to the project location. As another example, an agricultural enterprise with a large area but only a few types of machines of any type may have a larger radius to ensure that all options are included when selecting a suitable machine.

[0181] As shown in box 1006 of FIG. 10, once available machines have been identified, the machine profile analysis system 710 may receive machine profiles for the available machines. The machine profile analysis system 710 may receive the machine profiles from the machine profile storage 704 based on a request indicating available machines identified in the project analysis system 712. In some embodiments, the machine profile analysis system 710 may access machine profiles of available machines stored in the machine profile storage 704. In such embodiments, the machine profile analysis system 710 may analyze one or more features or characteristics of the machine profiles by sending a query to the machine profile storage 704.

[0182] In box 1008 of FIG. 10, the machine profile analysis system 710 may select a machine fleet that is suitable for the project based on the project parameters and machine profile analysis. For example, the machine profile analysis system 710 may identify machines that have the capabilities required by the project requirements and are located closest to the project location. In some embodiments, the machine profile analysis system 710 may evaluate whether each machine is ready to participate in the project. For example, the machine profile analysis system 710 may evaluate the machines' fuel levels, known wear and tear, maintenance schedules, and other information related to their ability to participate in the project.

[0183] The mission planning system 702 selects a machine fleet for a project based on an analysis that balances various factors relevant to the project, such as efficiency, economic requirements (fuel costs, transportation requirements, etc.), and size of the project area, in addition to preferred machine capabilities. Thus, the selection of a proposed machine fleet considers the availability of particular types of machines and the combination of available machines that provides the desired benefits.

[0184] For example, the mission planning system 702 may determine the most efficient means of applying fertilizer to a defined project area by coordinating six automated fertilizer applicators pre-loaded with fertilizer. If the required machines are available, the mission planning system 702 may assign the six compatible fertilizer applicators as a machine fleet. If six fertilizer applicators are not available, the mission planning system 702 may find an alternative solution using three fertilizer applicators and a tender machine to periodically replenish the fertilizer applicators with fertilizer while they are performing active operations.

[0185] In some embodiments, the initial selection of the machine fleet may be the closest selection of machines capable of carrying out the project. In another embodiment, the initial selection may be based on project history or input from a user. In some embodiments, the proposed machine fleet selection may be an initial machine fleet that is compatible with the project and may modify the initial machine fleet based on an analysis of the alternative machines. The mission planning system 702 may replace the initial machines with alternative machines for a number of reasons, including protecting the initial machines from wear and tear, making the initial machines available for another project, including more fuel-efficient machines, or other reasons that may be favorable in configuring the proposed fleet in place of one or more alternative machines in the initial machines.

[0186] In box 1010 of FIG. 10, the mission planning system 702 analyzes the machine capabilities of the machine fleet and selects an activity script for each machine based on the project requirements. The mission planning system 702 evaluates the capabilities of each machine in the machine fleet to identify the capabilities of each machine that can be adapted to the project. The mission planning system 702 selects an activity script from the activity program storage 706 according to the project requirements and the functions that each machine supports. For example, an excavator may have the functions of removing soil and removing rock obstacles for terraforming. When the mission planning system 702 assigns a project to a machine fleet that includes a pan scraper and a shovel, the mission planning system 702 may assign one excavator to the task of removing obstacles for the pan scraper. The script assigned to that excavator may only relate to the function of removing rocks, not the function of removing soil of the excavator. At the same time, other excavators in the machine fleet may be assigned the tasks of both removing soil and removing rocks.

[0187] The selected scripts may include a start script that turns on each machine. In some embodiments, the start script may perform auto diagnostics to ensure the machine is operating properly and that sensors and communication functions are functioning to ensure safety in automated operation. The selected scripts may be in the machine specific language of the machine auto kit, which may vary between machines in a fleet.

[0188] In addition to the start script, the mission planning system 702 may select the work scripts necessary to perform the desired tasks for each machine. These may include scripts to adjust pan height for mowing select grades, scripts to manage travel speed to suit expected ground conditions and other machine characteristics. Those skilled in the art will recognize that various characteristics may be machine specific options or may vary by machine type or by make, model, or specific machine capabilities.

[0189] In addition to selecting the appropriate script, the mission planning system 702 also sets a path plan for each machine and / or a working boundary for each machine, as shown in box 1012 of Figure 10. The mission planning system 702 may choose whether to generate a path plan, a working boundary, or both based on the nature of the project and the automated capabilities of the machines.

[0190] In some embodiments, the mission planning system 702 may set a path plan for each machine to follow. In some embodiments, as a preferred solution, the mission planning system 702 may set the path plan. In another embodiment, one or more automated machines in the fleet are not configured to determine a path themselves when only the work boundary is provided. The path plan may start at a staging area, travel an expected work path, and proceed to a completion area. In some embodiments, the path plan may include optional additional routing that is determined in relation to other machines in the fleet based on the overall fleet progress. For example, in a fleet of two mowers, each machine may be assigned half of a field with a path plan that includes an optional path that overlaps with the other machine's section. When the first machine finishes its half of the field, it may send a short-range communication to determine if the second machine's work is on schedule or behind schedule. If the second machine is significantly behind schedule, the first machine may enter the other section to complete an optional path to speed up the overall completion time.

[0191] In some embodiments, the mission planning system 702 may utilize a working boundary that defines the overall area in which the machine can operate and move. For example, the working boundary may define a static line that the machine will not cross. These boundaries may or may not correspond to physical barriers in the area, such as fences, ditches, walls, or other physical barriers. In some embodiments, the area limits the operation of the tool or accessory, although the tool or accessory may move outside the boundary while it is off. For example, a field may include a boundary area that serves as a separator between different crops. When tilling a field, the tiller may be lifted to stop operation while the machine is turning in the field boundary area. In such an application, the mission planning system 702 may transmit the working boundary and the machine boundary to distinguish between the movement limit and the working limit in the area.

[0192] In some embodiments, the mission planning system 702 can utilize the path plan and these boundaries to define movements and tasks. For example, a machine may be provided with a path plan to define the machine's movements, and task boundaries that define when to start and finish tasks throughout the path plan.

[0193] In box 1014 of Figure 10, the mission planning system 702 sets triggers (trigger events) for initiating certain activities. For example, the mission planning system 702 may set working boundaries as triggers for starting and stopping machine operation. These triggers may initiate certain scripts that change standard operation, for example, when an unexpected obstacle is identified by a sensor system, when another machine enters the proximity area, when a fuel level falls below a threshold, when a machine goal is achieved, or when another trigger event occurs.

[0194] The mission planning system 702 may include several standard trigger events and scripts for common operational matters such as obstacle detection and avoidance, attachment or removal of attachments, safety protocols, and other events. In addition, the mission planning system 702 may incorporate project specific triggers to initiate actions related to the specific project responsible. For example, the mission planning system 702 may include a fertilizer applicator refill trigger such that if on-board fertilizer falls below a threshold, a communication is sent to the fleet tender machine requesting a refill. In addition, the mission plans for the fertilizer applicator and tender machines may include a proximity operation trigger to manage interactive refill operations.

[0195] In box 1016 of Figure 10, the mission planning system 702 generates a mission plan including activities, a path plan or boundaries, and triggers. The mission plan may be created as a single plan for multiple machines in a fleet, whereby each machine performs operations within the scope of its assigned mission plan. In some embodiments, this shared mission plan may be transmitted as a single signal to a fleet assembly point that is received simultaneously by each machine.

[0196] In these embodiments, the mission plan may include multiple scripts that are utilized by different vehicles. For example, two construction vehicles with the same type of autokit may utilize the same start-up sequence script, while another construction vehicle in the fleet may have a different autokit that utilizes an alternative language and script for the start-up sequence.

[0197] In addition to some efficiencies associated with integration, the control unit of each machine may have improved awareness of the expected location of other vehicles in the fleet throughout the mission plan to improve safety and operational efficiency when evaluating and responding to obstacle sensor information. For example, if there are no other vehicles in the area and sensor readings indicate a detected obstacle, the machine control unit may direct action based on the obstacle instead of checking interactive machine signals. Additionally, if the second machine is not where it should be or is not where it is expected to be when the program runs, the first machine may notify the cloud management system 602 to ensure that the second machine is still operational and in communication with the cloud management system 602. The cloud management system 602 may then determine if corrective action is needed to correct the second machine or if the mission plan for the fleet needs to be updated.

[0198] In some embodiments, a mission plan may be designed for a single machine, with each machine in the fleet receiving a specific mission plan and not a fleet-level plan. In these embodiments, individual transmissions of the mission plan may be more efficient, but in some cases, the efficiency of transmission across the fleet may be reduced. Each machine may operate with reduced awareness of the rest of the fleet, in this embodiment, except for certain interactive tasks built into the machine's mission plan.

[0199] The configuration of the mission plan may be further defined based on the machine profile information of the machine fleet. For example, certain autokits may utilize an overall mission plan for multiple machines, while other autokits may utilize machine-specific mission plans. The mission planning system 702 may reference the machine profiles of selected machines to provide compatible mission plans for each machine in the fleet. In some embodiments, this may require the mission planning system 702 to generate two corresponding mission plan formats for a fleet with a mixed autokit protocol. In some embodiments, after generating a single overall mission plan, the mission plans may be parsed, if necessary, before sending them to the machine-specific systems.

[0200] FIG. 11 illustrates an embodiment of a machine fleet selection flow chart. As will be appreciated by those skilled in the art, some steps may be optionally omitted or reordered. Alternatively, additional steps may be included during the machine fleet selection process. For example, the system may preliminarily evaluate only machines with common types of auto kits, and only expand the evaluation if a complete machine fleet cannot be identified.

[0201] In box 1102 of Figure 11, the mission planning system 702 may analyze project requirement parameters to determine project time and location constraints. As will be appreciated by those skilled in the art, additional project factors may be analyzed in addition to or in place of the time and location information described herein. For example, ownership or authentication information may be determined to limit the potential sources of the machine.

[0202] These project request parameters may be received from a project request source 726 or via other cloud interface 604 entities. In some embodiments, constraints regarding project time and location may be provided directly in the project request. For example, the project request system may include a form for entering a request, including the duration and location of the project, or define the information required to enter.

[0203] In some embodiments, project time and location constraints may be indirectly determined by the mission planning system 702 from project request parameters. For example, a request may be entered for hay baling operations at multiple farms in the summer. The mission planning system 702 may subdivide the request to identify periods for mowing, gathering, and baling operations in mid-summer and late-summer based on historical growth information. The mission planning system 702 may further identify farm groups and individual farms to be addressed independently. The mission planning system 702 may then define individual projects based on the grouped farms and expected durations for each activity. In some embodiments, the mission planning system 702 may further refine the timing based on additional relevant information, such as weather forecasts or pre-scheduled activities for the farms.

[0204] In box 1104 of Figure 11, the mission planning system 702 can analyze the current schedule and location status of each machine to determine a set of potentially available machines. In some embodiments, the mission planning system 702 may utilize the project time frame determined in box 1102 to identify all machines that are not yet scheduled for the project time frame. In addition, the mission planning system 702 may utilize the project location to identify machines that are in the vicinity of the project. Taken together, these two considerations identify a subset (part of the overall set) of machines available for the project and located in the relevant vicinity.

[0205] As one skilled in the art will recognize, the vicinity of a location may vary based on the project, the type of machine required, and the number of machines that may be involved. For example, a terraforming project that requires heavy equipment may provide a broad vicinity that encompasses sufficient potentially involved machines. In some embodiments, the machine learning system may develop and implement relevant regions for consideration based on past performance and predictive analysis. For example, the machine learning system may determine that a particular machine is expected to be shipped to a particular location. This may provide a hierarchical vicinity that identifies additional locations that have both machines and shipping capabilities, such as truck and trailer systems, ascertaining that certain machines are not nearby.

[0206] Once a selection of potentially available machines has been identified, as shown in box 1106 of FIG. 11 , the mission planning system 702 may analyze the machine profiles of the potentially available machines to determine which potential machines meet the project requirements. Additional project requirements, as well as time and location constraints, may be determined directly or indirectly from the project request. In some embodiments, the analysis may further evaluate available auxiliary information that impacts the underlying project goals. For example, if the project request identifies a particular type of excavator required to convert a reservoir into a field, the mission planning system 702 may determine that additional equipment is required for tree removal based on available photographs of the area.

[0207] During the analysis, the mission planning system 702 may select a set of machines that have at least one function to accomplish the project requirements. In some embodiments, each machine may be associated with one or more steps of the project. For example, the mission planning system 702 may identify one machine to plow a field, another machine to transplant, and three machines to fertilize. These three tasks may fulfill the requirements of a crop growing project. In some embodiments, the mission planning system 702 may identify one or more redundant machines to cover the same project steps. This allows for greater efficiency in completing the project and better analysis during fleet selection.

[0208] In addition, additional machines may be identified to cover auxiliary tasks such as refueling, quality checks, monitoring, and other tasks. These additional machines may improve the efficiency and / or accuracy of the project. For example, the mission planning system 702 may include an aerial photography drone in the machine fleet to periodically observe the progress and accuracy of the planned terraforming project. As one skilled in the art will recognize, these auxiliary tasks are not directly required by the project, but may provide benefits in completing the project in a timely and accurate manner. In some embodiments, the auxiliary tasks may be an indirect requirement of the project. For example, if the project requires machines to continue working in the field to complete the project within time constraints, the mission planning system 702 may identify a refueling aircraft as a requirement.

[0209] Once available and applicable potential machines have been identified, in decision box 1108, the mission planning system 702 determines whether all project requirements are covered with the potential machines. For example, the mission planning system 702 may compare the identified project requirements to the collective machine capabilities to identify missing capabilities required for the project.

[0210] If the project requirements are not covered, then in box 1110 of FIG. 11, the system identifies features that are required by the project requirements but are missing. These missing features may reflect complete project work or ancillary work identified in the project requirements. For example, if an excavator is missing from an excavation project, a complete excavator work step may be missing. As another example, if a dirt-transport machine is missing, the project may be able to accomplish the excavation requirements but not address the dirt-transport requirements as planned.

[0211] In box 1112, the mission planning system 702 may analyze the scope of the machine capabilities and project requirements to identify constraints and alternative solutions. In some embodiments, the mission planning system 702 may evaluate the available capabilities of the machine and how alternative uses of the machine capabilities may achieve the project requirements. For example, if the project requirements call for two mowers and one fueler to mow a large pasture, the mission planning system 702 may allocate the work to one or more additional mowers to compensate for the missing fueler. As another example, if the project requires an excavator to excavate a large tank, the mission planning system 702 may redefine the requirements to accommodate a small backhoe loader and a bulldozer working in tandem. In some embodiments, alternative solutions may include options other than existing available machines, such as identifying machines available for rent in the area, identifying non-automated options for one or more capabilities, or other potential solutions.

[0212] In box 1114, the mission planning system 702 generates a report on the project constraints and identifies alternative solutions. The report may be communicated to the user via a voice system, email system, messaging system, work application, or other request for feedback system. In some embodiments, the report may include an option to approve one of the alternative solutions, which allows the mission planning system 702 to finalize the machine fleet and move forward with the mission planning process.

[0213] In some embodiments, a report of a lack of capable machines may result in the mission planning process being completed or may suspend the mission planning process for user feedback. For example, the report may indicate that the available machines are unable to meet the project requirements and a copy of the mission planning evaluation may be saved in a storage system for later review. If the project request indicates a future work date, the project may be automatically reevaluated as the work date approaches to determine whether a new machine has become available to address the missing capabilities.

[0214] In some embodiments, the user may review the report to identify new machine capabilities desired in a rental or new machine. Once the user acquires a new machine or identifies a suitable rental machine to include in the analysis, the user may access the previous request and select the machine fleet for a reevaluation of the mission planning process.

[0215] If all project requirements are covered by potential machine capabilities, the process proceeds to box 1120 of FIG. 11 where the mission planning system 702 can analyze the machine profiles and current state of the identified machines to determine a preferred set of machines for the project fleet. For example, the mission planning system 702 may determine that efficiency can be maximized with a particular combination of machine types. These machines may be evaluated to determine the combination of machines that minimizes travel time to a staging area, whether the machines start with enough fuel to maximize the area covered by the project (including planned refueling iterations), whether they have properly maintained equipment, and other factors that further increase efficiency.

[0216] In some embodiments, other factors may also be provided to accommodate machine fleet preferences. For example, a user request may identify one or more preferred machines to include in the fleet. Mission planning system 702 may then tailor other machine selections to complement the user-specified machine selections.

[0217] As another example, the mission planning system 702 may identify a preferred selection taking into account upcoming maintenance schedules and needs. In some embodiments, the mission planning system 702 may select machines with upcoming maintenance due to the likelihood that additional wear or tear will be repaired during the subsequent maintenance. In another embodiment, the mission planning system 702 may avoid machines with upcoming maintenance due to an increased probability of error. As one skilled in the art will recognize, the purpose of the maintenance may be an important indicator of this preference.

[0218] In box 1122 of Figure 11, a machine fleet for the project is selected. In some embodiments, the proposed machine fleet selection may be sent to a user via the cloud management system 602 for approval of the machine fleet before further mission planning takes place. In some embodiments, when selected by the mission planning system 702, the machine fleet is automatically scheduled for the project. In some embodiments, the machine fleet may be temporarily put on hold while a specific mission plan is created by the mission planning system 702, along with any logistics required to move the vehicles to a staging area.

[0219] Once the logistics are completed and reviewed by the mission planning system, the mission planning system may update the machine's schedule to reflect the time required for the project, the final location of the machine, and updated status information (such as expected fuel levels, wear and tear, maintenance needs, or other status information anticipated by the project requirements). This schedule and expected information may be updated in the temporal section of the machine profile. This temporal information may be utilized by the mission planning system 702 when analyzing future project requests. Once the project is completed, the temporal information is removed from the machine profile and the actual data is updated based on the results of the project. In some embodiments, the temporal data, along with actual dates, may be forwarded to an analytical engine to further improve the predicted results of future projects.

[0220] FIG. 12 illustrates an example of a mission planning process. In box 1202 of FIG. 12, the mission planning system 702 analyzes the machine profiles for the project fleet and the project requirements and frames the operation of each machine. In this embodiment, the mission planning system 702 may identify machine functions related to the overall project. The mission planning system 702 may also decompose the overall project into tasks that can be accomplished by the collective capabilities of the selected machines. In some embodiments, the nature of the selected project tasks may change based on the collective capabilities of the machines. For example, if the machine fleet includes a seeding / fertilizing machine, the project may identify the requirements as a single task. In contrast, if the machine fleet includes separate machines, a seeding machine and a fertilizing machine, the project may request two tasks to achieve the same result.

[0221] During the operations framing stage, the mission planning system 702 can identify potential operations for the project for each machine. For example, the mission planning system 702 may identify a combination seeding / fertilizer applicator pair, along with a seeder and fertilizer applicator for seeding and fertilizing operations. Additional machines may be identified for fueling and seed and fertilizer refill operations as needed for the project.

[0222] As will be appreciated by those skilled in the art, in some embodiments, the order of operations may be changed or may overlap with other process steps. For example, the mission planning system 702 may simultaneously assign operations to selected machines when analyzing the machine profile to identify the machines. This may avoid consecutively analyzing the same information in the machine profile and improve computational efficiency.

[0223] In box 1204 of FIG. 12, the mission planning system 702 prioritizes the operation of multiple machines based on capabilities and current conditions. At this stage, different machines and different combinations of machines may be prioritized for a particular project task. For example, a set of combination seeding / fertilizing machines may be prioritized for precisely planted fields and crops, while complementary seeding and fertilizing machines may be sent to project areas that require less precision. Prioritization may be based on a number of factors, such as accuracy, efficiency, location of the machine, capabilities relative to the terrain, user metrics, or other factors that affect favorable utilization between machines. For example, machines that cover functions required for the task may be prioritized based on their proximity to the parcel or project field where the task is performed.

[0224] In box 1206 of FIG. 12, the mission planning system 702 can assign working boundaries and path plans to accommodate each machine's tasks. In some embodiments, the mission planning system 702 can assign one or more working boundaries. These working boundaries can define one or more areas within which tasks should be performed. In some embodiments, the mission planning system 702 can assign (set) working boundaries and boundary areas to provide space to turn or move without engaging in the defined tasks.

[0225] In some embodiments, the mission planning system 702 may define a path plan instead of a work boundary. In another embodiment, the mission planning system 702 may generate a path plan for traveling areas within a work boundary defined for a project. For example, a project may output fields selected for fertilization utilizing a plot of location data, such as a GPS coordinate system or other positioning coordinate system. The mission planning system 702 may then create a path plan within the defined coordinates of the field area to ensure fertilizer coverage in the field.

[0226] In addition to outputting a work boundary or path plan, the mission planning system 702 may generate a drive and assemble plan to guide the machine from a start location to a work area. For example, the machine may be transported from a storage building to a staging area of ​​a selected field to perform work. Before proceeding with the work procedure, a path may be set and provided for the machine to travel to the staging area, such as a road, paved path, or other path. In some embodiments, the set travel path may include an intermediate path, such as a path between a first work field and a second work field.

[0227] In some embodiments, the mission planning system 702 may output the operational boundary along with instructions to support interactive operations only when needed or requested by the machine. For example, a refueling machine may be instructed to wait for a fuel request from a first machine and then instructed to move to a rendezvous point within the operational boundary of the project output by the first machine along with the fuel request.

[0228] In box 1208 of FIG. 12, the mission planning system 702 determines and assigns activity scripts for each machine's work distribution based on the analysis of each machine's capabilities and work location. In some embodiments, the mission planning system 702 assigns scripts to machines based on that machine's automation system and operating language, the assigned work, the required functions, patterns, and other necessary scripts to accomplish the work. In addition to the operation scripts, the mission planning system 702 includes scripts required to assist in moving the machine to the staging area. If the machine cannot automatically move to the staging area, logistics arrangements may be scheduled to ensure the machine is available at the staging area at the scheduled time for the project.

[0229] The scripts may include machine start-up procedures, speed and direction of travel from a staging area along a route plan, operation controls and speed requirements or limitations, completion and shutdown scripts, and additional scripts for the project. These scripts may be selected or created based on those stored in the activity program storage 724. The mission planning system 702 may select the script language and provide project information based on each machine's automation system.

[0230] In box 1210 of FIG. 12, the mission planning system 702 further assigns a start schedule and an operation trigger for each machine. The start schedule may define the start timing and project execution schedule for each machine. In some embodiments, the start schedule is set by a time or relative clock system. In another embodiment, the start schedule is assigned to the first machine and each additional machine start is timed from the actual start of the first machine. In such an embodiment, to manage the start of the system, the modified start time needs to be applied only to the first vehicle.

[0231] In addition to a start schedule, operation triggers may be set by the mission planning system 702. Operation triggers may include different aspects such as path planning, interactive operations, sensor readings, or other information. In some embodiments, operation triggers may be associated with specific activities within the mission plan.

[0232] For example, mission planning may define geographic boundaries for mowing operations on a pasture, and path planning may move the machine outside the boundaries to perform a turn or other operation. As the machine follows the path plan and monitors the boundaries, the geographic boundaries may act as action triggers. If the machine determines that it has crossed the boundaries and entered the mowing area, it will engage the blade to mow the grass. If the machine determines that it has left the boundaries of the mowing area, it will stop the blade and discontinue mowing.

[0233] As another example, the machine may include an obstacle detection sensor that acts as an action trigger. When an obstacle is detected, the action trigger causes the machine to enter into obstacle avoidance action. This may be an alternative form of action. The machine may assist in the detection and evaluation of a particular obstacle to determine the type of obstacle, for example, a fixed (non-moving) obstacle, a moving obstacle, a potential hazard (e.g., elevated heat, chemical release, etc.) or other obstacle. This may be done through alternative scripts for sensor activity and evaluation by the on-board electronic control unit to determine the type of obstacle. Once an obstacle is identified, the machine's operation may be changed to redirect the machine around or away from the obstacle. The alternative machine operation may correspond to the particular obstacle identified. For example, if the machine detects a moving obstacle, the machine may utilize the sensor to determine the direction of movement. If the obstacle does not collide with the machine, the operation may be stopped until the path is clear to continue operation. If the obstacle is on a collision path, the machine avoids the collision based on the direction of movement of the obstacle.

[0234] In box 1212 of FIG. 12, the mission planning system 702 identifies an interactive task and assigns a trigger for initiating the interactive task. In some embodiments, the interactive task may be a required feature of the mission plan. For example, a terraforming project may require an excavator and a fleet of earthmoving vehicles to periodically perform interactive tasks. In such an embodiment, the mission planning system 702 may set a trigger for the interactive task in the excavator's mission plan based on a communication signal received from one of the active work locations and earthmoving vehicles. The excavator may change its current task to load earth into an earthmoving device. In some embodiments, the current task may be another interactive task. For example, the excavator may use a trigger to transition from loading a first earthmoving vehicle to loading a second earthmoving vehicle. In some embodiments, the trigger may require multiple steps. For example, transitioning from a first soil-carrying device to a second soil-carrying device requires a trigger signal from the first soil-carrying device that it is full and a trigger signal from the second soil-carrying device that it is in position.

[0235] In some embodiments, interactive tasks may be potential interactions not required by the mission plan, but identified by the mission planning system 702. For example, the mission plan may assign mowers in a pasture to a machine fleet and include a fueler in the plan only if necessary. If one or more mowers reach a low fuel threshold, the cloud management system 602 may send a start signal to the fueler to enter the pasture and merge with the machine low on fuel. Mowers low on fuel may be assigned an interactive trigger to notify them of the presence of a fueler and to initiate interactive tasks and protocols.

[0236] In some embodiments, the obstacle detection sensors may work in conjunction with a direct short-range communication system to identify nearby machines for interactive operations. Detection of a nearby machine and receiving a communication containing appropriate identification information may be a trigger for entering into the interactive operation.

[0237] In box 1214 of FIG. 12, the mission planning system 702 generates a mission plan that includes identifying the assignment, trigger, and staging area for each machine, as well as fleet machines that may be working in close proximity. In some embodiments, the generated mission plan is ready to be deployed to the machine fleet for a project. Once the mission plan is generated, it may be automatically sent from the mission planning system 702 to the machine fleet via a network communication card in the cloud management system 602, such as a cellular chip, an internet connection to a wireless transmitter, or a local wired connection of the machine in the fleet. For example, the cloud management system 602 may transmit to a wireless local area network at a storage or staging area of ​​the work machines 716, 718. The wireless local area network may transmit the mission plan to each of the work machines 716, 718.

[0238] In some embodiments, the mission plan may include an assignment of separate, individually packaged plans for each of the multiple machines. For example, the generated mission plan may assign a first package for the work machine 716 and a second package for the work machine 718. In some implementations, each package may be smaller than the entire mission plan. As an example, the first package may include active details and scripts for the first machine 716. Also, the first package may include comprehensive work information for the second machine 718 without including details or scripts that are unnecessary or irrelevant to the activity of the first machine 716.

[0239] As will be appreciated by those skilled in the art, the type of project and machine may affect the level of additional information related to the work of the second machine 718. For example, if machines 716 and 718 are of the same type, additional information and potential scripts may be included as a contingency in case the first machine 716 must expand its scope of work to cover (complement) the work of the second machine 718. Alternatively, if the machines 716, 718 are of different types, it may not be worthwhile to provide detailed information and scripts since the first machine 716 cannot perform the activities of the second machine 718.

[0240] In some embodiments, the entire mission plan may be included in each individual package, while machine-specific plans may be tailored to each machine individually. For example, the mission planning system 702 may generate a mission plan with a machine-specific package tailored to each machine's work function, on-board control system language and its components, timing patterns, path procedures, and other characteristics. In some embodiments, the common mission plan generated by the mission planning system 702 may be output via a communication interface of a specific machine control system for each work machine 716, 718. The communication interface may translate the standard format mission plan into a machine-specific (or control system-specific) format and language before transmission.

[0241] In some embodiments, a mission plan may be generated and stored in an active project database until a scheduled delivery time prior to its scheduled start. In such embodiments, the mission plan may include a delivery trigger that causes the cloud management system 602 to send the mission plan to the machine fleet at a selected time or when a selected event occurs. In such embodiments, the cloud management system 602 may send schedule information or assembly and preparation instructions to the machine fleet, local machine collaboration system, machine user, project requester, or other party to ensure that the machine fleet is available and ready when the project is to begin.

[0242] FIG. 13 illustrates another embodiment of a mission planning process. In box 1302 of FIG. 13, the cloud management system 602 receives a project request signal including an available machine list and project parameters. The cloud management system 602 may receive the project request signal from an authorized system participant, such as a project manager, a private owner, an entity that owns or rents available machines, or other user, via a project request source 726. A user may provide or select machines that the user is authorized to assign to form the available machine list. In some examples, a user may have the option to select whether to include a rental machine to address missing functionality among already authorized machines.

[0243] The project parameters may also be received from a project request source 726. In some embodiments, the project's time and location constraints may be provided directly in the project request. In some embodiments, the project's time and location constraints may be indirectly determined from the project request parameters by the mission planning system 702. The project parameters may also include geographic boundaries, accessible routes to the work location, detailed requirements and limitations of the work or work results, and other information.

[0244] In some embodiments, the project request source 726 can help generate forms or define the necessary information to enter a request including project parameters and available machines. In some embodiments, geographic boundaries may be dynamically selected on a map or other visual display selected by a user. For example, a user may select a map view of a location and select a specific area for work. These may be specified in detail (e.g., GPS boundaries, relationship boundaries or other formats) by the user or by analysis of the user selections by the mission planning system 702 as part of a site plan analysis.

[0245] In some embodiments, the project request may include authentication information. For example, the system may require the user to provide a profile name and password associated with an approved account and associated machine. As another example, submitting a project request may require digital identification information, such as the request originating from an approved phone number or IP address. In some embodiments, multiple authorization forms may be required.

[0246] Once the form or other request format is completed and received, in box 1304 of Figure 13, the cloud management system 602 authenticates the project request source 726 and the available machine list. In some embodiments, this authentication may utilize authentication information received in the project request. This received authentication information may be compared to the account authorization information and vehicle authorization information to ensure that the received information corresponds appropriately.

[0247] In some embodiments, the authenticity of the project request may be verified using a multi-part verification process. For example, the cloud management system 602 may request a username and password when the project request is submitted. The cloud management system 602 may receive the username and password along with a phone number or IP address associated with the user's device. The cloud management system 602 may then check the authenticated account records to identify an account associated with the username. Once an account associated with the username is identified, the cloud management system 602 may verify the password through a comparison process using encrypted versions of the stored password and the received password. If the password is verified, the authentication system may verify that the device identifier (phone number, IP address, etc.) corresponds to an authorized source. In some embodiments, a two-step authentication step may be utilized as well. For example, the cloud management system 602 may send an approval notification to another email or contact source within the cloud management system 602 account.

[0248] In some embodiments, the initial authentication may be used for all accesses of a user within the cloud management system 602. In other embodiments, an additional verification step may be required to verify the available machine list. Machine authentication may rely on the same type of authentication or may require different authentication options. For example, authorized users may be required to store a secure key and authentication application for each machine.

[0249] If the authentication process indicates that the project request is not from an approved user, device, or otherwise, the cloud management system 602 may provide a new account setup option and provide information or forms to set up the account. If the account is seeking to associate with an existing machine or existing account, the cloud management system 602 may send an approval request to the existing account or machine manager with the new user's information.

[0250] The cloud management system 602's information requests for a new user may include machine registration options and authorization. For example, the user may be requested to identify the machine and provide detailed information. In some embodiments, a serial number or code to identify the machine may be provided with the purchase order, and authorization may be granted for the cloud management system 602 to configure or download a machine profile from the previous owner or manufacturer.

[0251] If the account and machine list are authorized for the project request, the cloud management system 602 may initiate a mission planning process in the mission planning system 702. In box 1306 of FIG. 13, the mission planning system 702 generates a site plan including active lines and areas based on the project parameters. In some embodiments, the site plan is primarily planned in the project requirements, and the mission planning system 702 may perform the conversion to a work definition for the machines. For example, the project requirements may provide an outline on a map for the site plan, and the mission planning system 702 may convert the outline into GPS parameters for the mission planning system 702 and the machines to be utilized.

[0252] In some embodiments, general location information may be provided to identify areas, which may be evaluated by the mission planning system 702 to determine a site plan. For example, a user may select and circle holes from tee to green for a mowing and fertilization project on a golf course. The mission planning system 702 may determine the GPS boundaries of each hole from tee to green and individually identify boundaries of greens that have different requirements than fairways. Additionally, the mission planning system 702 may receive the machine location and identify available travel paths from the machine location to one or more staging areas adjacent the site plan.

[0253] The mission planning system 702 may also generate a site plan based on alternative selection options. For example, a user may identify a field using road signs and owner names. The mission planning system 702 may verify the location and owner through tax records and pull plots for generation of the site plan. Aerial imagery, such as Google Maps imagery or drone imagery, may be analyzed by the system to identify boundary items, such as fences, roads, plot lines or other boundaries, and visual obstructions, such as trees, ponds, large rocks and other obvious obstacles. Once this framework is determined, the mission planning system 702 may generate a site plan that accounts for all boundaries and anticipated obstructions.

[0254] In some embodiments, the cloud management system 602 may store previously identified site plans. For example, the generated site plans may be part of a project history storage system. Once a project is received and authorized, the mission planning system 702 may compare the project information and location information with previous project information and location information to see if the same project or location has been used before. If the same project has been stored, the mission planning system 702 may ask for confirmation from the user to use the past mission plan. If the location has been used in the past, the mission planning system 702 may pull multiple site plans previously generated for the location and send the site plans to the user to select the appropriate site plan for the current project. In other embodiments, the mission planning system 702 may evaluate multiple past site plans to determine an appropriate site plan for the current project.

[0255] In some embodiments, the site plan may provide an overall project area and access routes independent of specific machine tasks or assignments. The site plan may serve as a backdrop for the machine-specific task assignments of the mission plan.

[0256] In box 1308 of FIG. 13, the mission planning system 702 generates a preliminary work plan for the machine, including work line and work zone assignments, and activity definitions. The preliminary work plan may be created using the site map boundaries and available routes for machine movement. The preliminary work plan may be configured to work on specific sections of the site map based on the machine's starting location and staging area. If multiple machines are utilized for a common activity, the mission planning system 702 may generate preliminary partitions that define specific sections of the site map for each machine's work plan.

[0257] A work plan may also incorporate interactive work between multiple machines, for example a work plan for a lawnmower may include instructions for interactive refueling with a refueling machine at a secondary staging area.

[0258] In some embodiments, the work plan defines active work areas, where the machine performs an active operation separate from moving to the next location. As an example, the active operation may be mowing a field, fertilizing a crop, delivering concrete to a frame, or other operation. The machine may repeatedly move across inactive spaces to perform the activity again. For example, when cultivating a crop, the machine may interrupt the operation of the planter while completing a planting pass and turning for a second planting pass.

[0259] These work zones or work lines can be utilized to trigger alternative operations, for example, a fertilizer applicator can actively apply fertilizer as a primary operation, and upon entering the replenishment work zone, the fertilizer applicator can coordinate movement and interactively communicate to receive fertilizer replenishment from a second tender machine.

[0260] In box 1310 of FIG. 13, the mission planning system 702 determines a path plan for the machine within the operating area in the preliminary work plan. In this embodiment, the mission planning system 702 determines a vehicle path plan that covers the operating area assigned to the machine in the preliminary work plan and manages the scope of the path plan in the overall site plan. For example, the path plan may define a driving line that starts at a staging area and travels back and forth across the machine's working area along multiple parallel or near-parallel paths until the machine's working area is completed. In some embodiments, the machine may be assigned additional areas that are connected to the travel path in the path plan. Additionally, staging areas, interaction areas, and other defined areas in the path plan may be flagged. For example, a mower that has traveled covering a series of fairways may stop at a staging area between two fairways to wait for interaction with a tanker before proceeding to the next path.

[0261] In some embodiments, the route plan may include a travel path from a storage area to a staging area adjacent to the work area. Similarly, some embodiments may include a route plan termination step to return the machine to the storage area or other area in preparation for another project.

[0262] Some embodiments may analyze the machine profile to determine the spacing of each pass and define the path according to the spacing required for the machine. For example, the mission planning system 702 may use the mowing width to determine the pass separation for determining the path plan. As another example, the mission planning system 702 may use the spray pattern width of a liquid fertilizer applicator when determining the path plan spacing to ensure that fertilizer is properly sprayed over the entire path.

[0263] In some embodiments, the path planning may not be designed as a serpentine or parallel path. For example, the mission planning system may design a spiral path, either expanding from the center or contracting to the center. As another example, an abstract pattern may be formed to effectively accommodate obstacles. The path planning may take into account paths created by other machines. The path planning may also generate abstract patterns to adjust the path to natural barriers, terrain, field management, water management, potential machine risks, and / or field characteristics.

[0264] In some embodiments, generating a preliminary task plan may include generating a path plan for the machine. In such embodiments, the mission planning system 702 may generate a path plan for a defined task area before or after a specific task for the task area is defined.

[0265] These steps may be processed simultaneously in some embodiments and overlapped as they are completed. For example, the cloud management system 602 may include parallel processing paths or processing systems available for allocation by the mission planning system 702. In some embodiments, these processing systems may be networked computer systems, servers, or other components customized for specific analytical features. For example, one server processing system may include specialized hardware, software, and / or firmware tailored to define a path plan from geographic data points and map constraints. The system may further require basic operational information such as the application width of the device to define separation patterns for intervals within the path plan. This system may select and build script patterns that follow the selected path plan. A second processing system may be tailored to define multiple trigger regions and boundaries for script transitions during operation. This second processing system may associate operation scripts and transition scripts with specific geographic boundaries. These processing systems are therefore more efficient than integrated or serialized systems. As one skilled in the art will recognize, parallel processing options may vary depending on project requirements and efficiency thresholds. Additionally, additional processing systems may be employed for redundancy and quality assurance checks.

[0266] In box 1312 of FIG. 13, the mission planning system 702 generates a final work plan by incorporating the path plan into the preliminary work plan. As described above, this step may be implemented as part of a parallel or integrated processing system that collaboratively generates the work plan and the path plan. The generation of the final work plan for the machine provides a formal procedure for transferring the machine's stored scripts and information, which may then become part of the mission plan to accomplish the overall project. This final work plan may be stored in a temporary storage device in some embodiments. Alternatively or simultaneously, the final work plan may be stored in a work plan storage device that can be utilized for evaluation and generation of subsequent project plans.

[0267] As an example of generating a final work plan, the mission planning system 702 may utilize a third processing system to compile and coordinate scripts for path planning and activity processing to generate a complete script for the machine operation. In some embodiments, various features of the machine operation may be received as partial scripts from a separate processing system prior to compilation. In some embodiments, the final work plan may incorporate additional scripts for machine startup processes, system check processes, trigger management scripts, and other information for the machine operation.

[0268] In box 1314 of Figure 13, the mission planning system 702 checks whether additional machines are involved in the project. If so, the process repeats the steps of boxes 1308-1312 of Figure 13 to generate a final work plan for the next machine. This process may continue until a final work plan has been assigned to the last machine.

[0269] In alternative embodiments, the generation of the final work plan may be processed concurrently. For example, the mission planning system 702 may identify all machines for a project and assign parallel processing options to coordinate and complete the steps described in conjunction with boxes 1308-1312 of FIG. 13. In such embodiments, a final check may be performed to ensure that all final work plans are completed for each machine in the project fleet.

[0270] As one skilled in the art will appreciate, mission planning system 702 may utilize both parallel and serial processing options depending on the circumstances and associated efficiencies. For example, mowers in a fleet may be processed in parallel with a final work plan, while tankers in the fleet may be processed serially behind the mowers to receive fuel marks and timing from each mower's work plan.

[0271] Once all machines have been assigned a final work plan, the process generates a mission plan from the site plan and the final work plan in box 1316 of Figure 13. The mission planning system 702 integrates the final work plan and the overall site plan and compiles it into a mission plan that covers the entire project. During this step, the mission planning system 702 may perform quality assurance evaluations to ensure that all work plans are within acceptable site plan limits and also to verify travel paths that allow machines to access staging areas and travel between individual work areas of the site plan.

[0272] As with other embodiments, generating a mission plan can result in a single complete plan for the cloud management system 602 and a package of plans specific to each machine utilized during the project. In some embodiments, the mission plan may include any assembly requirements for the project requester or machine supplier. For example, the mission plan may include schedules and instructions for the machine supplier to ensure that the machine is at the start time or assembly area by the project start time. Similarly, the mission plan may inform when the project should be completed and where the owner or user should pick up the machine. For machines stored at a local location, the above logistical notifications may not be necessary. As one skilled in the art will recognize, the logistical notifications may relate to any number of operational guidance such as checking the timing of maintenance, pre-filling fuel tanks, installing accessories, or other preparatory actions to ensure that the machine is assembled and ready to work at the start of the project.

[0273] In box 1318 of Figure 13, the cloud management system 602 sends the mission plan to all mission participants, including the selected machine fleet, operations hub or center, project manager, machine handlers, and others who may be involved in assembling, working, or overseeing the project. Additionally, the project request may include a list of entities other than the mission participants.

[0274] As described in other embodiments, the mission plan sent to each machine may be the complete mission plan or a modified version of the mission plan tailored to each machine. In some implementations, the mission plan is automatically transmitted after creation. Another embodiment supports timely deployment of the mission plan to each machine. In yet another embodiment, deployment of the mission plan to each machine may include a staggered transmission process.

[0275] In some embodiments, the cloud management system 602 may streamline the communication process to improve communication efficiency and control bandwidth considerations. For example, the cloud management system 602 may break down a mission plan into smaller packets and send a series of packets over a distributed time period to a remote machine utilizing a slower communication system. As another example, the cloud management system 602 may facilitate near real-time communication for machines operating in a high-speed coverage area.

[0276] In some embodiments, the cloud management system 602 may transmit the entire mission plan to a hub local to the machine if it is directly connected to a high-speed transmission channel. The local hub may then relay the mission plan to the machine using a wired or wireless local communication system. For example, the local hub may use a direct short-range communication system built into the machine's dual communication components for fast interaction.

[0277] In some embodiments, the cloud management system 602 may send schedule notifications to mission participants for future planned projects, and the schedule notifications may specify the timing of mission plan transmissions and verify signal quality and location.

[0278] Most of the devices described above include hardware and associated software. For example, a typical work machine includes one or more processors and software executable on those processors to perform the tasks described above. The term software is used herein in its commonly understood sense to mean programs or routines (subroutines, objects, plug-ins, etc.) available to a machine or processor, as well as data. As is well known, computer programs generally include instructions stored in a machine-readable or computer-readable storage medium. Some embodiments of the invention may include executable programs or instructions stored in a machine-readable or computer-readable storage medium, such as a digital memory. We do not suggest that a "computer" in the traditional sense is required in any particular embodiment. For example, devices such as the components described herein may utilize a variety of processors, embedded or otherwise.

[0279] It should be noted that memory for storing software is widely known. In some embodiments, memory associated with a given processor may be stored in the same physical device as the processor ("implemented" memory), such as, for example, RAM or flash memory located in an integrated circuit microprocessor. In other instances, the memory includes an independent device, such as an external disk drive, a storage array, or a portable flash key fob. In such a case, a memory is "associated" with a digital processor if the two memories are operatively connected together in cooperation or communicate with each other, for example, by an I / O port, a network connection, etc., so that the processor can read files stored on the memory. The associated memory may be memory that is "read only" (ROM) by design, or memory that is "read only" by permission settings. Other instances include, but are not limited to, WORM memory, EPROM memory, EEPROM memory, FLASH memory, etc. These technologies are often implemented with solid-state semiconductor devices. Other memories may include moving parts, such as conventional rotating disk drives. All such memories are "machine-readable" or "computer-readable" and may be utilized to store executable instructions for performing the functions described herein.

[0280] A "software product" refers to a memory device in which a set of executable instructions are stored in machine-readable form such that an appropriate machine or processor can properly access the software product to execute the instructions and perform the process implemented by the instructions. Software products may be used in the distribution of software. Any type of machine-readable memory may be used to produce a software product, including but not limited to those summarized above. However, software may also be distributed by electronic transmission ("download"), in which case there is typically a software product corresponding to the sending end, or the receiving end, or both.

[0281] While the present invention has been described above and further claimed, it will be obvious that the same may be modified in various ways. Such modifications are not to be regarded as departures from the spirit and scope of the invention, and all such variations obvious to those skilled in the art are intended to be included within the scope of the described device.

Claims

1. 1. A management system for coordinating automated and interactive operations of a plurality of work machines, comprising: A network server system; A first working machine; A second working machine, The network server system includes: a server communications card configured to communicate over a communications network; A server memory drive; a server controller operatively connected to the server communication card and the server memory drive and configured to manage the server memory drive and communications via the server communication card; The first working machine is a first application gateway including a first communication card configured to communicate with the server communication card over the communication network; a first machine control unit including a first processor and a first memory for storing first machine characteristic information and first machine operations; a first machine actuator system having a first machine control actuator; A first automatic sensor, The second working machine is a second application gateway including a second communication card configured to communicate with the server communication card over the communication network; a second machine control unit including a second processor and a second memory storing second machine characteristic information and second machine operations; a second machine actuator system having a second machine control actuator; a second automatic sensor; The first work machine transmits the first machine characteristic via the first communication card to the server communication card of the network server system; the server controller determines attributes of the first work machine by analyzing the first machine characteristic information and generates a first machine profile, the first machine profile being generated by the server controller converting the first machine characteristic information into a standard framework for a mission planning system of the network server system; the mission planning system uses the standard framework to generate a mission plan for a plurality of work machines including the first work machine and the second work machine, the mission plan including operation instructions for the first work machine and the second work machine; the server controller translates motion instructions for the first work machine from the standard framework to the first machine actions and translates motion instructions for the second work machine from the standard framework to the second machine actions; A management system in which the first machine operation and the second machine operation are not framework compatible.

2. the first work machine further comprises an obstacle safety system for keeping the first work machine at a safe distance from a detected obstacle; The system of claim 1 , wherein the first machine control unit manages operation of the first work machine to keep the first work machine at the safe distance from the detected obstacle.

3. The management system of claim 1 , wherein the first communications card is further configured to communicate over a short-range communications network different from the communications network.

4. The management system of claim 2, wherein the first machine control unit controls the first work machine to perform interactive work with the second work machine within the range based on real-time information exchange with the second work machine via a short-range communication network.

5. the mission plan directs the first machine control unit to interact with the second machine; 5. The system of claim 4, wherein said first machine control unit utilizes said real-time information exchange to manage said interactive operations.

6. the first communication card is further configured to communicate over a medium-range communication network different from the communication network and the short-range communication network; The management system of claim 3 , wherein the medium range communication network operates at a lower bandwidth than the communication network and the short range communication network.

7. The system of claim 1 , wherein the mission plan instructs the first machine control unit to interactively operate with a plurality of work machines utilizing real-time information from each of the plurality of work machines.

8. 1. A communications and control system for coordinating close-proximity interactive operations for a plurality of work machines, comprising: A first working machine; A second working machine, The first working machine is a first communication device configured for multi-channel communication including communication over a cellular communication network and a short-range communication network, the first communication device configured to transmit first status information of the first work machine and to receive a first set of machine instructions including an interactive task; A first controller for controlling an operation of the first work machine, The second working machine is a second communication device configured to communicate through the multi-channel communication, including communication over the cellular communication network and the short-range communication network, and configured to transmit second status information for the second work machine and to receive a second set of machine instructions; a second working machine having a second controller for controlling an operation of the second working machine, the first work machine receives the second status information from the second work machine via the short-range communication network; The first controller is a communication and control system that controls operation of the first work machine to perform the interactive task based on the first set of machine instructions and the second status information.

9. a server accessible via the cellular communications network; 9. The communication control system of claim 8, wherein the server transmits the first set of machine instructions and the second set of machine instructions over the cellular communication network.

10. 10. The communication control system of claim 9, wherein the first communication device is configured to transmit a first machine update instruction set to the server via the cellular communication network if the first work machine operates in a manner different from that programmed by the first machine instruction set.

11. the second work machine receives the first status information from the first work machine via the short-range communication network; The communication control system according to claim 8 , wherein the second controller controls the operation of the second work machine based on the second machine instruction set and the first machine update instruction set.

12. the first work machine and the second work machine perform interactive work and exchange the first status information and the second status information in real time via the short-range communication network; 12. The communication control system of claim 11, wherein the interactive work is managed by the first controller utilizing the first machine instruction set and the real-time information exchange, and the second controller utilizing the second machine instruction set and the real-time information exchange.

13. The first controller is further configured to maintain a distance from a detected obstacle to the first work implement; The communication and control system of claim 12 , wherein the first controller is further configured to permit interactive operation with the second work machine within the distance based on the real-time information exchange.

14. The first communication device transmits periodic first operational update information to a server via the cellular communication network; The communications control system of claim 13 , wherein the first operational update information includes any changes to the first set of machine instructions and the first status information.

15. the server evaluates the first operation update information and generates a second set of machine update instructions based on the first operation update information; The communication control system according to claim 14 , wherein the second work machine receives the second machine update instruction set, and the second controller executes the second machine update instruction set.

16. a communication device configured to realize multi-channel communication including communication via a cellular communication network and a short-range communication network, the communication device being configured to transmit status information of the work machine, receive a mission plan via the cellular communication network, and receive collaborative machine information from the second work machine via the short-range communication network, the second work machine having a second communication device configured to realize multi-channel communication via the cellular communication network and the short-range communication network; an automatic control system for managing the operation of the work machine; The automatic control system of the work machine manages interactive work with the second work machine based on the mission plan and the collaborative machine information.

17. an obstacle safety system for keeping the first work implement at a distance from a detected obstacle; 17. The work implement of claim 16, wherein the automatic control system manages operation of the work implement to maintain a distance from the detected obstacle.

18. The work machine of claim 17, wherein the automatic control system controls the work machine to perform interactive work with the second work machine within the distance based on real-time exchange information with the second work machine via the short-range communication network.

19. The mission plan instructs the automated control system to operate interactively with the second work vehicle; 20. The work machine of claim 18, wherein the automatic control system utilizes the real-time exchange information to manage the interactive operation.

20. 17. The work machine of claim 16, wherein the mission plan directs the automated control system to operate interactively with a plurality of work machines using the real-time exchanged information from the plurality of work machines.

Images