Patent Publication Number: US-2023155423-A1

Title: System, apparatus, and method for machine-to-machine charging at a worksite

Description:
TECHNICAL FIELD 
     Embodiments of the disclosed subject matter relate to systems, apparatuses, and methods for machine-to-machine charging at a worksite. 
     BACKGROUND 
     International Publication No. WO2019226630A1, published Nov. 28, 2019, discloses connections between vehicles for vehicle-to-vehicle charging in general. 
     German Patent Application Publication DE102013104211 A1, published Oct. 30, 2014, and entitled “Road paver or feeder, compressor, and method for operating a construction machine System” discloses switching entire energy storage devices between machines. This involves exchanging energy storage devices using a loading station and requires the energy storage devices in the machines are interchangeable. 
     U.S. Patent Publication No. 20210008997, published Jan. 14, 2021, and entitled “System and method for charging machines” discloses centrally controlling machines on a worksite to return to a charging zone and control the amount of charge received based on the paving plan and perimeter of the worksite. 
     SUMMARY 
     According to an aspect of the present disclosure a paving system is disclosed or implemented. The paving system may include a first machine configured to perform a first act on paving material at a worksite, the first machine being powered, at least in part, by a first energy accumulator, a second machine configured to perform a second act on paving material at the worksite, second first machine being powered, at least in part, by a second energy accumulator, a first location sensor connected to the first machine and configured to determine a current location of the first machine at the worksite, a second location sensor connected to the second machine and configured to determine a current location of the second machine at the worksite, and control circuitry. The control circuitry is configured to operate the first and second machines at the worksite based at least in part on a worksite plan including a first total amount of power for the first machine to complete the first task and a second total amount of power for the second machine to complete the second task, determine a first remaining amount of power in the first energy accumulator and a second remaining amount of power in the second energy accumulator, and, on condition that one of the first remaining amount of power is less the first total amount of power and charging of the first machine takes priority over performing of the second task, send the second machine to the first machine and charge the first energy accumulator. 
     According to another aspect of the present disclosure system control circuitry is disclosed or implemented. System control circuitry is configured operate the first and second machines at the worksite based at least in part on a worksite plan including a first total amount of power for the first machine to complete the first task and a second total amount of power for the second energy machine to complete the second task, determine a first remaining amount of power in the first energy accumulator and a second remaining amount of power in the second energy accumulator, and on condition that one of the first remaining amount of power is less the first total amount of power and charging of the first machine takes priority over performing of the second task, send the second machine to the first machine and charge the first energy accumulator. 
     And in another aspect of the present disclosure is a method for controlling machines at a worksite. The method includes operating the first and second machines at the worksite based at least in part on a worksite plan including a first total amount of power for the first machine to complete the first task and a second total amount of power for the second machine to complete the second task, determining a first remaining amount of power in a first energy accumulator of the first machine and a second remaining amount of power in a second energy accumulator of the second machine, and, on condition that one of the first remaining amount of power is less the first total amount of power and charging of the first machine takes priority over performing of the second task, send the second machine to the first machine and charge the first energy accumulator. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a schematic illustration of a worksite according to one or more embodiments of the present disclosure. 
         FIG.  2    is flow chart of a control method according to one or more embodiments of the disclosed subject matter. 
         FIG.  3    is flow chart of a priority determination method according to one or more embodiments of the disclosed subject matter. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the disclosed subject matter relate to systems, apparatuses, and methods for using power generated by an integrated generator of a machine, e.g., a paving machine, to charge one or more other machines at a worksite. 
     Currently, many worksites are full of electric machines that need to be charged. Thus, there is a need for a mobile charging station or any other equipment to keep the electric machines charged. This is particularly a problem in areas that are far away from any electrical infrastructure. There is also an additional constraint on such jobsites other than just power levels of individual machines, but also determining the amount of charge needed to complete a planned task and/or return to a trailer and/or reach a charging station. For example, an asphalt paver needs to finish the paving task so that any hot asphalt is not wasted and so that the asphalt mat ends up smooth and uninterrupted. As another example, if a milling machine is cutting a particular groove pattern into the road, the mill needs to keep cutting uninterrupted so that the pattern is even and continuous. 
     Quick charge power transfer from one machine to another can occur by wired charging from machine to machine or through wireless power transfer from machine to machine. A power transfer device may be as simple as wires to transfer power from one machine to another. A quick power transfer device may include an electronics device that can use the batteries and turn them into a quick transfer feature that allows for transfer of power from one machine to another. This quick power transfer device may use components, e.g., capacitors, super capacitors, rewiring batteries together, etc. This quick power transfer device could utilize the entire battery pack or a portion of it. The battery pack could also be a variety of types and the quick transfer device could be tailored to the specific battery type. 
     A system for powering an electric vehicle/work machine is disclosed. The system can include a power transfer device configured to transfer electric power from one vehicle to another vehicle either by utilizing wires or through wireless charging. The power transfer device may include electronic devices (e.g., capacitors, super capacitors) which are configured to utilize a battery pack for transfer of the electric power. The system may utilize an entire battery pack or a portion of the battery pack for transferring the electric power. 
     First, a general layout of worksite will be described with reference to  FIG.  1   . Then, with reference to  FIGS.  2  and  3   , a basic flow chart of a control method according to one or more embodiments of the present disclosure will be described. 
       FIG.  1    is a schematic illustration of an example system may include one or more machines configured to perform paving, construction, farming, mining, or other operations. Such a system may be, e.g., a paving system  100  for use on a work surface  110  of a worksite  112 . As shown in  FIG.  1   , an example paving system  100  may include a plurality of machines such as one or more haul trucks  104  and/or one or more paving machines  106 . For instance, one or more haul trucks  104  may be loaded with a desired amount of paving material, e.g., asphalt, at a paving material plant, which may be on or off the worksite  112 . Once a haul truck  104  has delivered the paving material to the worksite  112 , the haul truck  104  may transfer the paving material to a hopper or other component of the paving machine  106 , and the paving machine  106  may apply the paving material  108  to and/or otherwise deposit the paving material  108  on the work surface  110  in the form of a substantially flat, substantially smooth paving material mat. The paving system  100  may also include one or more other machines, such as one or more compaction machines  114 ,  116 ,  118 , one or more milling machines  220 , remixing transfer vehicles, wheel loaders, excavators, track-type tractors, motor graders, and/or other construction, mining, or paving machines. In such examples, the one or more compaction machines  114 ,  116 ,  118  may be configured to compact the mat of paving material  108  to a desired density. The one or more milling machines  220  may be configured to remove material from the work surface  110 . It is understood that the consistency, density, and/or quality of the mat of paving material may be maximized when the paving machine  106  is controlled to operate at a substantially constant speed, and without stopping. Further, the quality of the pattern formed by the milling machine  220  may be maximized when the milling machine  220  is controlled to operate at a substantially constant speed, and without stopping. 
     Accordingly, to avoid paving machine stoppages and/or milling machine stoppages, embodiments of the present disclosure may be used to monitor, manage, and/or otherwise control the recharging of the haul trucks  104 , the paving machines  106 , the milling machines  220 , the compaction machines  114 ,  116 ,  118 , and/or other components of the paving system  100  on a substantially continuous basis and in substantially real time. Controlling components of the paving system  100  in this way may minimize work stoppage, which can improve the quality of the mat and the overall efficiency of the paving system  100 . 
     The paving system  100  shown in  FIG.  1    may also include a control system  120  and one or more system controllers  122 . In some examples, the control system  120  and/or the system controller  122  may be located on or off the worksite  112 . In such examples, the control system  120  and/or the system controller  122  may also include components located, e.g., on any one or more of the machines of the paving system  100 , at the worksite  112 , and/or at a remote command center. In any of the examples described herein, the functionality of system controller  122  may be distributed so that certain operations are performed at the worksite  112  and other operations are performed remotely. For example, some operations of the system controller  122  may be performed at the worksite  112 , on one or more of the haul trucks  104 , on one or more of the paving machines  106 , etc. It is understood that the system controller  122  may comprise a component of the paving system  100 , one or more of the haul trucks  104 , one or more of the paving machines  106 , one or more of the compaction machines  114 ,  116 ,  118 , one or more of the milling machines  220 , a component of a separate mobile device (e.g., a mobile phone, a tablet, a laptop computer, etc.), and/or the control system  120 . 
     The system controller  122  may be an electronic controller that operates in a logical fashion to perform operations, execute control algorithms, store and retrieve data and other desired operations. The system controller  122  may include or access memory, secondary storage devices, processors, and any other components for running an application. The memory and secondary storage devices may be in the torn of read-only memory ROM) or random access memory (RAM) or integrated circuitry that is accessible by the controller. Various other circuits may be associated with the system controller  122  such as power supply circuitry, signal conditioning circuitry, driver circuitry, and other types of circuitry. 
     The system controller  122  may be a single controller or may include more than one controller (such as additional controllers associated with each of the haul trucks  104 , paving machines  106 , compaction machines  114 ,  116 ,  118 , milling machines  220 , and/or other machines of the paving system  100 ) configured to control various functions and/or features of the paving system  100 . As used herein, the term “controller” is meant in its broadest sense to include one or more controllers and/or microprocessors that may be associated with the paving system  100 , and that may cooperate in controlling various functions and operations of the machines of the paving system  100 . The functionality of the system controller  122  may be implemented in hardware and/or software without regard to the functionality. The system controller  122  may rely on one or more data maps relating to the operating conditions and the operating environment of the paving system  100  that may be stored in the memory of the system controller  122 . Each of these data maps may include a collection of data in the form of tables, graphs, and/or equations to maximize the performance and efficiency of the paving system  100  and its operation. 
     It is also understood that the various haul trucks  104 , paving machines  106 , compaction machines  114 ,  116 ,  118 , milling machines  220 , and/or other components of the paving system  100  may include respective controllers, and each of the respective controllers may be in communication and/or may otherwise be operably connected via the network  124 . For example, the network  124  may include a component of a wireless communication system of the paving system  100 , and as part of such a wireless communication system, the one or more haul trucks  104 , the paving machine  106 , the one or more compaction machines  114 ,  116 ,  118 , the milling machines  220 , and/or other components of the paving system  100  may include respective communication devices  126 . Such communication devices  126  may be configured to permit wireless transmission of a plurality of signals, instructions, and/or information between the haul trucks  104 , the paving machines  106 , the compaction machines  114 ,  116 ,  118 , and the system controller  122 , as well as to permit communication with other machines and systems remote from the worksite  112 . For example, such communication devices  126  may include a transmitter configured to transmit signals to a receiver of one or more other such communication devices  126 . In such examples, each communication device  126  may also include a receiver configured to receive such signals. In some examples, the transmitter and the receiver of a particular communication device  126  may be combined as a transceiver or other such component. In any of the examples described herein, such communication devices  126  may also enable communication with one or more tablets, computers, cellular/wireless telephones, personal digital assistants, mobile devices, or other electronic devices  128  located at the worksite  112  and/or remote from the worksite  112 . Such electronic devices  128  may include, e.g., mobile phones and/or tablets of project managers (e.g., foremen) overseeing daily paving operations at the worksite  112 . 
     The network  124 , communication devices  126 , and/or other components of the wireless communication system described above may implement or utilize any desired system or protocol including any of a plurality of communications standards. The desired protocols will permit communication between the system controller  122 , one or more of the communication devices  126 , and/or any other desired machines or components of the paving system  100 . Examples of wireless communications systems or protocols that may be used by the paving system  100  described herein include a wireless personal area network such as Bluetooth® (e.g., IEEE 802.15), a local area network such as IEEE 802.11b or 802.11g, a cellular network, or any other system or protocol for data transfer. Other wireless communication systems and configurations are contemplated. In some instances, wireless communications may be transmitted and received directly between the control system  120  and a machine (e.g., paving machine  106 , haul truck  104 , milling machine  220 , etc.) of the paving system  100  or between such machines. In other instances, the communications may be automatically routed without the need for re-transmission by remote personnel. 
     In example embodiments, one or more machines of the paving system  100  (e.g., the one or more haul trucks  104 , the paving machine  106 , the one or more compaction machines  114 ,  116 ,  118 , the milling machine  220 , etc.) may include a location sensor  130  configured to determine a location and/or orientation of the respective machine. In such embodiments, the communication device  126  of the respective machine may be configured to generate and/or transmit signals indicative of such determined locations and/or orientations to, for example, the system controller  122  and/or to the other respective machines of the paving system  100 . In some examples, the location sensors  130  of the respective machines may include and/or comprise a component of global navigation satellite system (GNSS) or a global positioning system (GPS). Alternatively, universal total stations (UTS) may be utilized to locate respective positions of the machines. In example embodiments, one or more of the location sensors  130  described herein may include a GPS receiver, transmitter, transceiver, laser prisms, and/or other such device, and the location sensor  130  may be in communication with one or more GPS satellites  132  and/or UTS to determine a respective location of the machine to which the location sensor  130  is connected continuously, substantially continuously, or at various time intervals. One or more additional machines of the paving system  100  may also be in communication with the one or more GPS satellites  132  and/or UTS, and such GPS satellites  132  and/or UTS may also be configured to determine respective locations of such additional machines. In any of the examples described herein, machine locations determined by the respective location sensors  130  may be used by the system controller  122  and/or other components of the paving system  100  to coordinate activities of the haul trucks  104 , paving machine  106 , compaction machines  114 ,  116 ,  118 , milling machine  220  and/or other components of the paving system  100 . For example, machine locations determined by the respective location sensors  130  may be used by the system controller  122  and/or other components of the paving system  100  to determine travel paths, return paths, progress (e.g., a completion percentage) associated with a worksite plan, a return power required for one or more machines of the paving system  100  to traverse a return path, and/or other parameters described herein. Such parameters may be useful in minimizing and/or avoiding work stoppages caused by, for example, refueling and/or recharging of one or more machines of the paving system  100 . 
     Each haul truck  104  may include a truck control system  152  and a truck controller  154  generally similar or identical to the control system  120  and the system controller  122 , respectively. The truck control system  152  and the truck controller  154  may be located on the haul truck  104  and may also include components located remotely from the haul truck  104  such as on any of the other machines of the paving system  100  or at a command center. For example, the truck controller  154  may include one or more processors, one or more hard drives, memory, or other storage devices, and/or other components. The functionality of truck controller  154  may be distributed so that certain functions are performed on the haul truck  104  and other functions are performed remotely. In some examples, the truck control system  152  and/or the truck controller  154  may enable autonomous and/or semi-autonomous control of the haul truck  104 . As used herein, an “autonomous” machine of the paving system  100  may comprise a machine (e.g., a haul truck  104 , a paving machine  106 , a compaction machine  114 ,  116 ,  118 , milling machine  220 , etc.) configured to traverse a travel path and/or perform various tasks or operations (e.g., lifting, dumping, paving, compacting paving material, etc.) without operator control or input. In such examples, the system controller  122  and/or a respective controller of the autonomous machine may substantially completely control such machine operations based on instructions, stored logic/programs, learning algorithms, or other components. As used herein, a “semi-autonomous” machine of the paving system  100  may comprise a machine configured to traverse a travel path and/or perform various tasks or operations upon receiving input and/or approval from an operator. In such examples, the system controller  122  and/or a respective controller of the semi-autonomous machine may substantially completely control such machine operations based on instructions, stored logic/programs, learning algorithms, or other components in combination with receipt of one or more inputs from an operator. 
     The haul truck  104  may also be equipped with a plurality of sensors connected to and/or otherwise in communication with the truck controller  154  and/or with the system controller  122 . Such sensors may be configured to provide data indicative (directly or indirectly) of various operating parameters of the haul truck  104 , systems associated with the haul truck  104 , and/or the worksite  112  and/or other environment in which the haul truck  104  is operating. In any of the examples described herein, such sensors may include components of the truck control system  152 , the control system  120 , and/or the paving system  100 , generally. For example, as noted above, the haul truck  104  may be equipped with a location sensor  130  configured to sense, detect, and/or otherwise determine a location and/or orientation of the haul truck  104 . The location sensor  130  may include a plurality of individual sensors that cooperate to generate and provide location signals to the truck controller  154  and/or to the system controller  122  indicative of the location and/or orientation of the haul truck  104 . In some examples, the location sensor  130  may be fixed to the cab  148 , the chassis  146 , and/or any other component of the haul truck  104 . In other examples, however, the location sensor  130  may be removably attached to the haul truck  104  and/or disposed within, for example, the cab  148  of the haul truck  104  during operation of the haul truck  104 . In some examples, the haul truck  104  may also include a load sensor  156  configured to sense, measure, and/or otherwise determine the load or amount of paving material  108  disposed within the dump body  150 . The haul truck  104  may further include a temperature sensor  158  configured to sense, measure, and/or otherwise determine the temperature of the load (e.g., paving material  108 ) within the dump body  150 . 
     The paving machine  106  may include a frame  160  having a set of ground engaging wheels or tracks  162  mounted thereto, as well as a screed  164  for spreading paving material  108  across a width of the work surface  110 . The paving machine  106  may further include a hopper  166  for storing paving material  108  supplied by the haul truck  104  or another supply machine, and a conveyor system which transfers paving material  108  from the hopper  166  to the screed  164 . The paving machine  106  may further include a display  168 , such as an LCD display. The display  168  may be mounted to the frame  160  for viewing by an operator. In an example embodiment, the display  168  may be configured to display a map of the worksite  112  including icons or other visual indicia representing the work surface  110 , the paving machine  106 , the haul truck  104 , one or more of the compaction machines  114 ,  116 ,  118 , and/or other components of the paving system  100 . 
     The paving machine  106  may also include a paving machine control system  170  and a paving machine controller  172  generally similar or identical to the control system  120  and the system controller  122 , respectively. The paving machine control system  170  and the paving machine controller  172  may be located on the paving machine  106  and may also include components located remotely from the paving machine  106  such as on any of the other machines of the paving system  100 , at a paving material plant, or at a command center. For example, the paving machine controller  172  may include one or more processors, one or more hard drives, memory, or other storage devices, and/or other components. The functionality of paving machine controller  172  may be distributed so that certain functions are performed on the paving machine  106  and other functions are performed remotely. In some examples, the paving machine control system  170  and/or the paving machine controller  172  may enable autonomous and/or semi-autonomous control of the paving machine  106 . 
     The paving machine  106  may also be equipped with a plurality of sensors connected to and/or otherwise in communication with the paving machine controller  172  and/or with the system controller  122 . Such sensors may be configured to provide data indicative (directly or indirectly) of various operating parameters of the paving machine  106 , systems associated with the paving machine  106 , and/or the worksite  112 , and/or other environments in which the paving machine  106  is operating. In any of the examples described herein, such sensors may comprise components of the paving machine control system  170 , the control system  120 , and/or the paving system  100 , generally. For example, in addition to the location sensor  130  and communication device  126  described above, the paving machine  106  may also include a temperature sensor  174  mounted, for example, on or proximate the screed  164 . The temperature sensor  174  may be positioned and/or otherwise configured to determine the temperature of the mat of paving material  108  deposited on the work surface  110  by the screed  164 . 
     As noted above, the paving system  100  may include one or more compaction machines  114 ,  116 ,  118  configured to compact the mat of paving material  108  deposited by the paving machine  106 . In some examples, the compaction machine  114  may include a “breakdown” compactor having a breakdown drum  176 , and the compaction machine  114  may be configured to follow relatively closely behind the paving machine  106 , such that the breakdown drum  176  can compact paving material  108  distributed by the paving machine  106  while the paving material  108  is still relatively hot. Compacting with the compaction machine  114  when the paving material  108  is still relatively hot allows the breakdown drum  176  of the compaction machine  114  to perform a relatively large proportion of the total compaction desired for a particular lift of paving material  108 , as relatively hotter asphalt in the paving material  108  can flow relatively readily and is thus readily compacted. 
     In addition to the communication device  126  and the location sensor  130  described above, the compaction machine  114  may further include any number of additional sensors configured to assist the compaction machine  114  in performing various paving (e.g., compaction) tasks. For example, such sensors may include one or more accelerometers or vibration sensors configured to sense the level of vibration (e.g., impacts per foot) imparted by the breakdown drum  176 . The compaction machine  114  may also include a temperature sensor  178  mounted thereon and configured to sense, measure, and/or otherwise determine a temperature of the paving material  108  with which the compaction machine  114  is interacting or with which it has interacted. In some examples, the temperature sensor  178  may be substantially similar to and/or the same as the temperature sensor  174  of the paving machine  106 . 
     The compaction machine  116  may be substantially similar to and/or the same as the compaction machine  114 . In some examples, the compaction machine  116  may comprise an “intermediate” compactor, and may include an intermediate drum  180  which compacts paving material  108  already compacted at least once by the compaction machine  114 . The compaction machine  116  may include a sensor or other device configured to sense a smoothness and/or stiffness of the paving material  108 . Additionally, the compaction machine  116  may include the communication device  126  and the location sensor  130  described above, as well as any number of additional sensors configured to assist the compaction machine  116  in performing various paving (e.g., compaction) tasks. For example, such sensors may include one or more accelerometers or vibration sensors configured to sense the level of vibration (e.g., impacts per foot) imparted by the intermediate drum  180 . The compaction machine  116  may also include a temperature sensor  182  mounted thereon and configured to sense, measure, and/or otherwise determine a temperature of the paving material  108  with which the compaction machine  116  is interacting or with which it has interacted. In some examples, the temperature sensor  182  may be substantially similar to and/or the same as the temperature sensor  174  of the paving machine  106 . 
     The compaction machine  118  may also be substantially similar to and/or the same as the compaction machine  114 . In some examples, the compaction machine  118  may comprise a “finishing” compactor, and may include a finish drum  184  configured to perform a final squeeze of the paving material  108 . In such examples, the compaction machine  118  may be configured to follow relatively closely behind compaction machine  116 . In some instances, it will be desirable to compact paving material  108  with the compaction machine  118  prior to its cooling below a temperature in the range of about 50 degrees Celsius to about 65 degrees Celsius. To this end, the compaction machine  118  may also include a temperature sensor  186  to verify whether the final compaction is taking place at an appropriate paving material temperature. As noted above with respect to the compaction machines  114 ,  116 , the compaction machine  118  may also include a communication device  126  and a location sensor  130 , as well as any number of additional sensors configured to assist the compaction machine  118  in performing various paving (e.g., compaction) tasks. For example, such sensors may include one or more accelerometers or vibration sensors. 
     As noted above, the paving system  100  may include the milling machine  220  configured to remove portions of the work surface  110 . The milling machine  220  may include a frame  222  supported by one or more traction devices  224 , a milling drum  226  rotationally supported under a belly of frame  222 , and an engine  228  mounted to frame  222  and configured to drive milling drum  226  and traction devices  224 . Traction devices  224  may include either wheels or tracks connected to actuators  230  that are adapted to controllably raise and lower frame  222  relative to surface  110 . It should be noted that, in the disclosed embodiment, raising and lowering of frame  222  may also function to vary a milling depth of milling drum  226  into work surface  110 . A conveyor system  232  may be pivotally connected at a leading end to frame  222  and configured to transport material away from milling drum  226  and into a receptacle, such as a haul truck  104 . Other types of receptacles may be used, if desired. 
     In addition to the communication device  126  and the location sensor  130  described above, the milling machine  220  may further include any number of additional sensors configured to assist the milling machine  220  in performing various paving (e.g., milling) tasks. For example, the milling machine  220  may include a speed sensor, a depth sensor, one or more material measurement sensors, a bit wear sensor, and the like. 
     As noted above, one or more machines of the paving system  100  may include respective controllers configured to control various operations of the machine. Such controllers may be utilized, for example, to assist in controlling the autonomous and/or semi-autonomous machines of the paving system  100  described herein. For example, one or more of the compaction machines  114 ,  116 ,  118  and the milling machine  220  may include a respective controller  188 , and the controller  188  may be substantially similar to and/or the same as the truck controller  154  and/or the paving machine controller  172  described above. For example, the controller  188  may include a compaction machine controller or a milling machine controller, and the controller  188  may be located on the one or more compaction machines  114 ,  116 ,  118  or non the milling machine  220 . The controller  188  may also include components located remotely from the one or more of the compaction machines  114 ,  116 ,  118 , and the milling machine, such as on any of the other machines of the paving system  100  or at a command center. For example, the controller  188  may include one or more processors, one or more hard drives, memory, or other storage devices, and/or other components. The functionality of the controller  188  may be distributed so that certain functions are performed on the one or more of the compaction machines  114 ,  116 ,  118 , or on the milling machine  220 , and other functions may be performed remotely. In some examples, the controller  188  may enable autonomous and/or semi-autonomous control of the respective compaction machine  114 ,  116 ,  118  or the milling machine  220  to which it is operably connected 
     Each machine of the paving system may be powered by electric motors as the prime or secondary power source using power stored in one or more energy storage device  190 . The energy storage device  190  may be an energy accumulator that accepts, stores, and releases energy on demand. The energy storage in the energy accumulator may be based on electrical, e.g., capacitors, electrochemical, e.g., rechargeable batteries, and so forth, that require periodic recharging for continued operation. One or more machines of the paving system  100  may also include a coupling device  192  operably connected to the energy storage device  190  of the respective machine. In such examples, the coupling device  192  may be configured to receive energy or to transmit energy of the energy storage device  190  of the respective machine to recharge the energy storage device  190  of the respective machine or to discharge energy to an energy storage device  190  of another machine. 
     As shown in  FIG.  1   , the coupling device  192  may include a cable  250 , e.g., a retractable cable, to connect the coupling devices  192  to transfer power between respective machines. Alternatively or additionally, the coupling device  192  may include a transceiver configured to transmit and receive electrical power to wirelessly transfer power between electric machines, e.g., through electric (capacitive) or magnetic (inductive) fields. The coupling device  192  may constitute the quick power transfer device. 
     The system controller  122 , the paving machine controller  172 , the truck controller  154 , and the controllers  188  may include a microprocessor for executing a specified program, which controls and monitors various functions associated with its respective machine and/or the entire system. The microprocessor may include a memory, such as read only memory (ROM), for storing a program or programs, and a random access memory (RAM) which serves as a working memory area for use in executing the program(s) stored in the memory. It is also possible and contemplated to use other electronic components such as a microcontroller, an ASIC (application specific integrated circuit) chip, or any other integrated circuit device. 
     The system controller  122 , the paving machine controller  172 , the truck controller  154 , and the controllers  188  or portions thereof (e.g., a processor), can be implemented using circuitry. As used herein, the term “circuitry” can refer to any or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and/or digital circuitry); (b) to combinations of circuits and software (and/or firmware), such as (as applicable): (i) a combination of processor(s) or (ii) portions of processor(s)/software (including digital signal processor(s)), software and memory(ies) that work together to cause an apparatus to perform various functions); and (c) to circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. 
     INDUSTRIAL APPLICABILITY 
     As noted above, embodiments of the disclosed subject matter relate to systems, apparatuses, and methods for transmitting power from one machine to another at a worksite. This may be achieved by moving a machine to transmit power to a machine to receive power and transmitting power while the machines are stationary or moving. 
       FIG.  2    is a basic flow chart of a control method  200  according to one or more embodiments of the disclosed subject matter. The control method  200  may be implemented via a non-transitory computer-readable storage medium having stored thereon instructions that, when executed by one or more processors or controllers, cause the one or more processors or controllers to perform the control method  200 . The system controller  122 , the paving machine controller  172 , the truck controller  154 , the controllers  188  and/or other centralized monitor in communication with machines of the paving system  100  or portions thereof may perform the method  200 . Methods as described herein can include some or all of the operations of the method  200 . 
     Generally, the method  200  can start at operation S 202  when a worksite plan is generated. This worksite plan may include an amount of power or charge for each machine to complete its assigned task in the worksite plan. The assigned task may include performing a worksite function of the machine and/or returning to a charging station/trailer/home base. This can mean an additional amount of charge added to an existing battery state or an overall amount of charge to complete the assigned task. For ease and simplicity, the following discussion assumes that only two machines are involved. For example, these may be machines closest to each other or may be one machine for which continuous operation may be more critical, e.g., the paving machine  106  or the milling machine  220 , and the compaction machine  114 ,  116 ,  118 . Some or all machines designated in the worksite plan may be operated and monitored as discussed below. 
     Then, the first and second machines can be operated at operation S 204 . A power level in energy accumulators of the first and second machines can be respectively monitored in operation S 206 . Then, whether the power level of either the first or second machines drops below a level needed to complete the assigned task can be determined in operation S 208 . If not, the operation can return to operation S 206 . 
     If the power level of one of the first and second machines does fall below a level needed to complete the assigned task, whether charging the machine that has the insufficient power level has priority over continuing the task performed by the other machine can be determined in operation S 210 . Operation S 210  may be done manually by a user or automatically in accordance with predetermined parameters discussed below with respect to  FIG.  3   . If not, the method  200  can proceed to output a warning about power level in operation S 218 , e.g., to an operator of the machine, the electronic device  128 , etc., and/or request a substitute machine to perform its operation, and can return to operation S 206 . Alternatively, if other machines are on site that may be used to transfer power, the method  200  may proceed to determine the availability of another machine, e.g., a next closest machine, a machine have the most excess power, a machine not currently in use, and so forth, by checking whether charging of the receiving machine has priority over performing a task being performed by the another machine as set forth in  FIG.  3   . 
     If it does, then the method  200  can proceed to operation S 212 , at which the machine can move to the machine needing power and transfers power thereto. Operation S 214  can determine whether the machine needing power is sufficiently charged, e.g., to finish its task or proceed to a charging station. If not, the method  200  can return to operation S 212  to continue charging. Once the machine is sufficiently charged, the machine that has moved to power the other machine can returns to its position on the worksite (or another predefined or non-defined position) and the method  200  can return to operation S 204 . 
     When the machine needing power is to receive power while moving, the first and second machines may be controlled, autonomously, or semi-autonomously, for instance, to synchronize speeds so the two machines can travel at the same speed or within a speed window from each other. In one example, the two machines can be stopped and connected and then the two machines can move together at the same speed. In another example, the machine needing power may be moving at a speed and the other machine to charge the machine needing power can move into position next to and match the speed of the machine needing power. Both determination of the power level of the machines and control of movement of the machines may be realized, e.g., by the control system  120  or other centralized monitor in communication with both machines. 
     Automatic priority of charging the machine that needs power may be determined in a method  300  shown in  FIG.  3   . In operation S 302 , whether the transferring machine has sufficient power to travel to the receiving machine, supply the receiving machine with needed power, and return to its position (or another position) can be determined, i.e., the transferring machine has power in excess of a total power needed for the transferring machine to perform its task. The power needed to travel and return may be determined using a distance to the receiving machine based on the location sensors and a travel path determined based on a worksite map. The sufficient power may be determined by subtracting power needed for the transferring machine to complete its task from a total power in the energy accumulator of the transferring machine and comparing this excess power to that needed to travel to the receiving machine and back and to charge the receiving machine. If it does, then YES is output to operation S 210 . If not, operation S 304  may determine whether the receiving machine is more critical or important, e.g., whether the receiving machine&#39;s loss of power will more adversely affect the paving operation than the loss of power of the transferring machine. If it is, then YES is output to operation S 210 . If not, then operation S 306  may determine whether the receiving machine needs more power to reach a charging station. If it does, then YES is output to operation S 210 . If not, operation S 308  may determine whether a substitute machine is available for the transferring machine. If it is, then YES is output to operation S 210 . If not, then NO is output to operation S 210 . 
     While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, assemblies, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof. 
     Unless explicitly excluded, the use of the singular to describe a component, structure, or operation does not exclude the use of plural such components, structures, or operations or their equivalents. The use of the terms “a” and “an” and “the” and “at least one” or the term “one or more,” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B”) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, as used herein, the word “or” refers to any possible permutation of a set of items. For example, the phrase “A, B, or C” refers to at least one of A, B, C, or any combination thereof, such as any of: A; B; C; A and B; A and C; B and C; A, B, and C; or multiple of any item such as A and A; B, B, and C; A, A, B, C, and C; etc.