US 12,353,208 B2
System and method for optimized perception sensing in a work area using virtual perimeters
Travis J. Davis, Polk City, IA (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Oct. 17, 2022, as Appl. No. 17/967,167.
Prior Publication US 2024/0126260 A1, Apr. 18, 2024
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0094 (2013.01) [G05D 1/0214 (2013.01); G05D 1/0223 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of distributed perception sensing via at least one object detection station arranged such that, for each of the at least one station, an associated one or more object detection sensors have respective fields of perception including at least a portion of a virtually defined perimeter extending at least partially about a working area having one or more working machines operating there within, the one or more working machines external to and independent of the at least one object detection station, the method comprising:
detecting, via one or more of the at least one object detection station, a motion incident corresponding to a violation of the virtually defined perimeter;
classifying a detected source of the motion incident with respect to one or more defined source types;
determining, at the one or more of the at least one object detection station, first position data for the classified source of the motion incident in a reference frame independent of the one or more working machines;
wirelessly communicating one or more signals at least corresponding to the motion incident and the first position data from the one or more of the at least one object detection station to the one or more working machines operating within the working area;
converting, at each of the one or more working machines, the first position data to second data in a reference frame associated with a local object detection system of the respective working machine, for determining a location of the detected source relative to the respective working machines; and
selectively transitioning at least one of the one or more working machines from a normal operating mode to a hierarchical intervention mode with respect to one or more of the detected source and a relative position thereof within the working area, wherein the selectively transitioning comprises automatically selecting a responsive operation of adjusting a range and/or sensitivity of the local object detection system for the at least one working machine.