US 11,914,365 B2
System and method for autonomous operation of a machine
William J. Schlacks, IV, Columbia, MO (US); Brian Adams, Columbia, MO (US); James Dianics, Columbia, MO (US); Ian Graves, Columbia, MO (US); Rob Martin, Columbia, MO (US); and Scott Pfursich, Columbia, MO (US)
Assigned to EQUIPMENTSHARE.COM INC., Columbia, MO (US)
Filed by EQUIPMENTSHARE.COM INC, Columbia, MO (US)
Filed on Jun. 30, 2021, as Appl. No. 17/363,575.
Application 17/363,575 is a continuation of application No. 16/939,358, filed on Jul. 27, 2020, granted, now 11,079,755.
Application 16/939,358 is a continuation of application No. PCT/US2020/026877, filed on Apr. 6, 2020.
Claims priority of provisional application 62/987,062, filed on Mar. 9, 2020.
Claims priority of provisional application 62/829,986, filed on Apr. 5, 2019.
Prior Publication US 2021/0325878 A1, Oct. 21, 2021
Int. Cl. G05D 1/00 (2006.01)
CPC G05D 1/0044 (2013.01) [G05D 1/0027 (2013.01); G05D 1/0055 (2013.01); G05D 1/0238 (2013.01); G05D 1/0255 (2013.01); G05D 1/0278 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A system for enabling autonomous or semi-autonomous operation of a plurality of vehicles at a work site, comprising:
a machine automation portal (MAP) application configured to be executed on each of a plurality of computing devices, wherein, for each of the computing devices, the MAP application is configured to enable the computing device to provide a graphical user interface that presents a list of vehicles available for task assignment and enables a user to (a) select at least one vehicle from the list, (b) define a boundary of an autonomous operating zone for the selected vehicle, and (c) define a task to be performed by the selected vehicle;
a sensor mast system configured to collect sensor data from each of the vehicles operating at the work site; and
a robotics processing unit in communication with each of the computing devices and the sensor mast system, wherein the robotics processing unit is configured to provide centralized control of the vehicles operating at the work site by, for each of the vehicles, (a) generating a planned command path that the vehicle will travel to perform the defined task for the vehicle within the defined boundary of the autonomous operating zone for the vehicle, (b) controlling operation of the vehicle so that the vehicle travels the planned command path for the vehicle, (c) utilizing the sensor data to determine the current location of the vehicle, and (d) updating a map to reflect the current location of the vehicle during performance of the defined task for the vehicle, and wherein the robotics processing unit is further configured to transmit an updated map with the current location of each of the vehicles operating at the work site to each of the computing devices;
wherein the MAP application is further configured to enable each of the computing devices to display the updated map with the current location of each of the vehicles operating at the work site, and for each of the computing devices, the graphical user interface of the MAP application enables the user to transmit one or more control commands for the selected vehicle to the robotics processing unit, wherein the robotics processing unit is configured to transmit the one or more control commands to the selected vehicle.