# US 10,480,157 B2 · Control system for a machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,480,157 B2 - Document ID: US10480157B2 - Status: Granted - Kind: B2 - Application number: 15/258,620 - Filed: 2016-09-07 - Published: 2018-03-08 - Granted: 2019-11-19 - Earliest claimed: 2016-09-07 - Assignees: Caterpillar Inc. - Applicants: Caterpillar Inc. - Inventors: Paul Friend; Kenneth L. Stratton - Web page: https://patentgrep.com/patent/US10480157B2 ## CPC - E02F 9/2054: {Fleet management} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - E02F 3/308: {working outwardly} - E02F 3/7604: {Combinations of scraper blades with soil loosening tools working independently of scraper blades (soil loosening attachments fixed on blades E02F3/8152, E02F3/8155)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A system for controlling operation of a first material engaging work implement includes a first machine, a second machine, and a controller. The controller is configured to store a kinematic model and characteristics of the implement system, determine a second machine operation zone, with the second machine operation zone being defined by a material movement plan of the second machine, and determine a current pose of the first machine. The controller is further configured to determine a first machine operation zone based upon the pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, with the first machine operation zone being spaced from the second machine operation zone, and generate a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position. ## Claims ### Claim 1 A system for controlling operation of a first material engaging work implement comprising: a first machine including: a first ground engaging drive mechanism to propel the first machine; a base mounted on the first ground engaging drive mechanism, the base including an implement system having a linkage assembly with a boom and the first material engaging work implement, the base being rotatable relative to the first ground engaging drive mechanism; a first machine pose sensor for generating first machine pose signals indicative of a pose of the first machine; a second machine including: a second ground engaging drive mechanism to propel the second machine; a second material engaging work implement; and a controller configured to: store a kinematic model and characteristics of the implement system of the first machine; determine a second machine operation zone, the second machine operation zone being defined by a material movement plan of the second machine and including a current location and planned locations of the second machine; determine a current pose of the first machine based upon the first machine pose signals, the current pose of the first machine and the kinematic model and characteristics of the implement system of the first machine defining a range of operation of the first material engaging work implement of the first machine; while the second machine operation zone is within the range of operation of the first material engaging work implement of the first machine, determine a first machine operation zone of the first material engaging work implement based upon the current pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the first machine operation zone being within the range of operation and spaced from the second machine operation zone; and generate a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position while avoiding passing through the second machine operating zone. ### Claim 2 (depends on 1) The system of claim 1, wherein the first position is a dig location and the second position is a dump location. ### Claim 3 (depends on 2) The system of claim 2, wherein the controller is further configured to: store a first dig location, the first dig location corresponding to the dig location and being within the second machine operation zone; generate first dig command signals to move the first material engaging work implement from the first dig location to the dump location; generate dump command signals to dump a load of material carried by the first material engaging work implement at the dump location; and generate command signals to move the first material engaging work implement from the dump location to a second dig location. ### Claim 4 (depends on 2) The system of claim 2, wherein the controller is further configured to: store a first dump location, the first dump location corresponding to the dump location and being within the second machine operation zone; generate dig command signals to move the first material engaging work implement from the dig location to the first dump location; generate dump command signals to dump a load of material carried by the first material engaging work implement at the first dump location; and generate command signals to move the first material engaging work implement from the dump location to a second dig location. ### Claim 5 (depends on 1) The system of claim 1, wherein the material movement plan of the second machine is based upon input from an operator of the first machine. ### Claim 6 (depends on 5) The system of claim 5, wherein the controller is configured to operate in a learning mode and receive instructions from an operator during a material movement operation. ### Claim 7 (depends on 1) The system of claim 1, wherein the material movement plan of the second machine is based upon input from a perception system. ### Claim 8 (depends on 7) The system of claim 7, wherein the perception system is mounted on the first machine. ### Claim 9 (depends on 1) The system of claim 1, wherein the material movement plan of the second machine is based upon a material movement plan of the first machine. ### Claim 10 (depends on 9) The system of claim 9, wherein the material movement plan of the second machine is based upon operation of the first machine through a predetermined number of material movement cycles. ### Claim 11 (depends on 9) The system of claim 9, wherein the material movement plan of the second machine is further based upon material characteristics of material being moved by the first machine. ### Claim 12 (depends on 1) The system of claim 1, wherein the controller is further configured to autonomously generate the material movement plan of the second machine and communicate the material movement plan of the second machine to the second machine. ### Claim 13 (depends on 1) The system of claim 1, wherein the second machine further includes a second machine pose sensor for generating second machine pose signals indicative of a current pose of the second machine, and the second machine operation zone being further defined by a current pose of the second machine. ### Claim 14 A method of controlling operation of a first material engaging work implement comprising: providing a first machine including a first ground engaging drive mechanism to propel the first machine, a base mounted on the first ground engaging drive mechanism, the base including an implement system having a linkage assembly with a boom and the first material engaging work implement, the base being rotatable relative to the first ground engaging drive mechanism; providing a second machine including a second ground engaging drive mechanism to propel the second machine and a second material engaging work implement; storing a kinematic model and characteristics of the implement system of the first machine; determining a second machine operation zone, the second machine operation zone being defined by a material movement plan of the second machine and including a current location and planned locations of the second machine; determining a current pose of the first machine based upon first machine pose signals generated by a first machine pose sensor, the current pose of the first machine and the kinematic model and characteristics of the implement system of the first machine defining a range of operation of the first material engaging work implement of the first machine; while the second machine operation zone is within the range of operation of the first material engaging work implement of the first machine, determining a first machine operation zone of the first material engaging work implement based upon the current pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the first machine operation zone being within the range of operation and spaced from the second machine operation zone; and generating a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position while avoiding passing through the second machine operating zone. ### Claim 15 (depends on 14) The method of claim 14, wherein the first position is a dig location and the second position is a dump location. ### Claim 16 (depends on 15) The method of claim 15, further including determining a current pose of the second machine based upon second machine pose signals generated by a second machine pose sensor and defining the second machine operation zone based upon the current pose of the second machine. ### Claim 17 A machine for use with a second machine, the second machine including a second ground engaging drive mechanism to propel the second machine, a second material engaging work implement, and a second machine operation zone defined by a material movement plan of the second machine and including a current location and planned locations of the second machine, the machine comprising: a first ground engaging drive mechanism to propel the first machine; a base mounted on the first ground engaging drive mechanism, the base including an implement system having a linkage assembly with a boom and a material engaging work implement, the base being rotatable relative to the first ground engaging drive mechanism; a machine pose sensor for generating machine pose signals indicative of a pose of the machine; and a controller configured to: store a kinematic model and characteristics of the implement system of the first machine; determine a current pose of the machine based upon the machine pose signals, the current pose of the first machine and the kinematic model and characteristics of the implement system of the first machine defining a range of operation of the first material engaging work implement of the first machine; while the second machine operation zone is within the range of operation of the first material engaging work implement of the first machine, determine a machine operation zone of the material engaging work implement based upon the current pose of the machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the machine operation zone being within the range of operation and spaced from the second machine operation zone; and generate a plurality of command signals to move the material engaging work implement within the machine operation zone between a dig location and a dump location while avoiding passing through the second machine operating zone.