# US 2020/0401141 A1 · System for Modifying a Spot Location > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401141 A1 - Document ID: US20200401141A1 - Status: Published application - Kind: A1 - Application number: 16/447,268 - Filed: 2019-06-20 - Published: 2020-12-24 - Earliest claimed: 2019-06-20 - Assignees: Caterpillar Global Mining LLC - Applicants: Caterpillar Global Mining LLC - Inventors: Andrew J. Vitale; Bryan J. Everett; Mark H. Banham; Craig L. Koehrsen - Web page: https://patentgrep.com/patent/US20200401141A1 ## CPC - G05D 1/021: {specially adapted to land vehicles} - E02F 3/435: {for dipper-arms, backhoes or the like} - E02F 3/439: {Automatic repositioning of the implement, e.g. automatic dumping, auto-return (E02F3/438 takes precedence)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - G05D 1/0297: {by controlling means in a control room} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A system for moving material from a first location to a second location includes a planning system to identify an initial spot location. A perception sensor is configured to generate perception signals indicative of whether an obstacle is in the path between a material carrying machine and the initial spot location. An alternate spot location is determined if an obstacle is in the path and a propulsion command is generated to move the material carrying machine from the current pose to the alternate spot location. ## Claims ### Claim 1 A system for changing a spot location while moving material from a first location to a second location at a work site, comprising: a ground engaging drive mechanism to propel a material carrying machine along a ground surface at the work site; a truck pose sensor configured to generate truck pose signals indicative of a pose of the material carrying machine; a perception sensor configured to generate perception signals indicative of an environment at the work site; a controller configured to: store an obstacle threshold for the material carrying machine; determine an initial spot location for the material carrying machine; determine a current pose of the material carrying machine based upon the truck pose signals; determine a path between the material carrying machine and the initial spot location based upon the current pose of the material carrying machine; determine a topography of the path between the material carrying machine and the initial spot location based upon the perception signals from the perception sensor, the topography locating at least one obstacle in the path; determine an alternate spot location if the at least one obstacle in the path between the material carrying machine and the initial spot location exceeds the obstacle threshold, the alternate spot location being based upon a position of the at least one obstacle; and generate a propulsion command to move the material carrying machine from the current pose to the alternate spot location. ### Claim 2 (depends on 1) The system of claim 1, wherein the obstacle threshold is a height of an obstacle. ### Claim 3 (depends on 1) The system of claim 1, wherein the obstacle threshold is a distance between a pair of obstacles. ### Claim 4 (depends on 1) The system of claim 1, further comprising: an implement system of a loading machine at the work site having a linkage assembly including a material engaging work implement; an implement system pose sensor configured to generate implement system pose signals indicative of a pose of a portion of the implement system; the controller being further configured to: store a kinematic model of the implement system; determine a current pose of the portion of the implement system based upon the implement system pose signals; and determine the initial spot location for the material carrying machine based upon the kinematic model and the current pose of the implement system. ### Claim 5 (depends on 4) The system of claim 4, wherein the alternate spot location is based upon the kinematic model of the implement system. ### Claim 6 (depends on 4) The system of claim 4, wherein the loading machine and the material carrying machine are each operated autonomously. ### Claim 7 (depends on 4) The system of claim 4, wherein the perception sensor is disposed on a movable machine spaced from the loading machine. ### Claim 8 (depends on 7) The system of claim 7, wherein the perception sensor is disposed on the movable machine remote from the material carrying machine. ### Claim 9 (depends on 1) The system of claim 1, wherein the perception sensor is disposed on the material carrying machine. ### Claim 10 (depends on 1) The system of claim 1, further including a rotatable platform having the linkage assembly mounted thereon, the linkage assembly including a boom member operatively connected to the rotatable platform, a connecting member operatively connected to the boom member and the material engaging work implement. ### Claim 11 (depends on 1) The system of claim 1, wherein the material carrying machine includes a truck controller, and the alternate spot location is determined by the truck controller. ### Claim 12 (depends on 11) The system of claim 11, wherein the alternate spot location is approved by a controller remote from the material carrying machine. ### Claim 13 (depends on 12) The system of claim 12, wherein the controller remote from the material carrying machine is a loading machine controller of a loading machine configured to load material on the material carrying machine. ### Claim 14 (depends on 1) The system of claim 1, wherein the material carrying machine includes a truck controller, and a first alternate spot location is determined by the truck controller, and a second alternate spot location is determined by a controller remote from the material carrying machine, and the propulsion command moves the material carrying machine to the second alternate spot location. ### Claim 15 (depends on 1) The system of claim 1, wherein the controller is further configured to generate a cleanup request based upon a topography of the at least one obstacle in the path. ### Claim 16 (depends on 1) The system of claim 1, wherein the controller is further configured to direct an alternate material carrying machine to the alternate spot location based upon a topography of the at least one obstacle in the path. ### Claim 17 A method of changing a spot location while moving material at a work site from a first location to a second location, comprising: storing an obstacle threshold for a material carrying machine; determining an initial spot location for the material carrying machine; determining a current pose of the material carrying machine based upon truck pose signals from a truck pose sensor; determining a path between the material carrying machine and the initial spot location based upon the current pose of the material carrying machine; determining a topography of the path between the material carrying machine and the initial load location based upon perception signals from a perception sensor, the topography locating at least one obstacle in the path; determining an alternate spot location if the at least one obstacle in the path between the material carrying machine and the initial spot location exceeds the obstacle threshold, the alternate spot location being based upon a position of the at least one obstacle; and generating a propulsion command to move the material carrying machine from the current pose to the alternate spot location. ### Claim 18 (depends on 17) The method of claim 17, further comprising determining the alternate spot location by a truck controller on the material carrying machine. ### Claim 19 (depends on 17) The method of claim 17, further comprising: storing a kinematic model of an implement system; determining a current pose of a portion of the implement system based upon implement system pose signals from an implement system pose sensor associated with the implement system; and determining the initial spot location for the material carrying machine based upon the kinematic model and the current pose of the implement system. ### Claim 20 (depends on 19) The method of claim 19, further comprising operating autonomously each of the implement system and the material carrying machine.