Machine automation system with autonomy electronic control module

• US 10,114,370 B2
• Filed: 11/21/2016
• Issued: 10/30/2018
• Est. Priority Date: 11/21/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Nelson, Anthony Keith Nathan, May, Shane A., Kandula, Suneel Venkata
• Primary Examiner(s): WHITTINGTON, JESS G
• Application Number:
  US15/357,446
• Publication Number:
  US 20180143625A1
• Time in Patent Office: 708 Days
• CPC Class Codes: E02F 3/28 with digging tools mounted on a dipper- or bucket-arm , i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
• CPC Class Codes: E02F 5/00 Dredgers or soil-shifting machines for special purposes
• CPC Class Codes: E02F 9/00 Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00 laying-out or take-up devices for trailing electric cables B66C
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2058 Electric or electro-mechanical or mechanical control devices of vehicle sub-units for vehicles in general B60W
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: G05B 19/042 using digital processors G05B19/05 takes precedence
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/45004 Mining
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: H04B 1/38 Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
• CPC Class Codes: H04L 12/28 characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks] wireless communication networks H04W ; arrangements for dividing the transmission path H04W40/00

Abstract

A Machine Automation System (MAS) for a machine with an implement includes a plurality of Vehicle Electronic Control Modules (ECMs), a local transceiver, an Ethernet Local Area Network (LAN), a first Controller Area Network (CAN), an Autonomy Electronic Control Module (AECM), an environment monitoring system, and a Remote Shutdown Module (RSM). The AECM is configured to generate output control signals, and to transmit the output control signals to at least one ECM of the plurality of Vehicle ECMs, wherein the output control signals control an operation of the machine. The RSM is disposed on the machine and configured to receive a safety control signal from off-board the machine. The MAS is configured to operate advanced machine control features concurrently with execution of the input control signals received from off-board the machine.

Claims

1. A Machine Automation System (MAS) for a machine that includes an implement, the MAS comprising:

a plurality of Vehicle Electronic Control Modules (ECMs) disposed on the machine;

a local transceiver disposed on the machine and configured to receive input control signals from off-board the machine, wherein the local transceiver is a wireless radio;

an Ethernet Local Area Network (LAN) disposed on the machine and configured to enable operative communication between an Autonomy Electronic Control Module (AECM), at least some ECMs of the plurality of Vehicle ECMs, a Remote Shutdown Module (RSM), an environment monitoring system and the local transceiver, the Ethernet LAN including;

a plurality of communication channels configured to transfer data between two points;

a local router disposed on the machine and in operable communication with the local transceiver, a first switch, the RSM, and a second switch, the local router being in operable communication with the AECM and the environment monitoring system via the first switch, the local router being in operable communication with at least one Vehicle ECM of the plurality of Vehicle ECMs via the second switch, the local router being configured to receive and transmit the input control signals from the local transceiver to the AECM,

the first switch being in operable communication with the AECM and the environment monitoring system,

the second switch being in operable communication with the at least one vehicle ECM; and

a first Controller Area Network (CAN) disposed on the machine, the AECM and the at least one Vehicle ECM being in operative communication via the first CAN,

the AECM being disposed on the machine and being configured to;

receive the input control signals from the local router;

generate output control signals based on the input control signals; and

transmit the output control signals to at least one of the Vehicle ECMs, wherein the output control signals control an operation of the machine,

the environment monitoring system including a plurality of Internet Protocol (IP) cameras, a microphone and a plurality of Laser Detection and Ranging Systems (LADARS) disposed on the machine, each IP camera of the plurality of IP cameras being configured to transmit video data in a video stream to the local transceiver via the first switch and the router, the microphone being configured to capture audio data, and the LADARS being configured to transmit positioning data of the machine to the local transceiver via the first switch and the router, wherein the video stream from one IP camera of the plurality of IP cameras includes the audio data captured by the microphone,

the RSM being disposed on the machine and being configured to receive a safety control signal from off-board the machine,

the MAS being configured to operate advanced machine control features concurrently with execution of the input control signals received from off-board the machine.

2. The MAS of claim 1, in which the plurality of Vehicle ECMs includes a machine ECM, a transmission ECM, an implement ECM, an engine ECM, an aftertreatment ECM, and a Heating, Ventilation, and Air Conditioning (HVAC) ECM,

the machine EMC being configured to generate control signals that control movement of the machine,

the transmission ECM being configured to control operation of a transmission disposed on the machine,

the implement ECM being configured to control movement of the implement,

the engine ECM being configured to control operation of an engine disposed on the machine,

the aftertreatment ECM being configured to control machine emissions, and

the HVAC ECM being configured to control operation of heating, ventilation or air conditioning of the machine.

3. The MAS of claim 2, wherein the AECM, the machine ECM, the transmission ECM, and the implement ECM are in operative communication via the Ethernet LAN.

4. The MAS of claim 2, wherein the AECM and a positioning system are in operative communication via the Ethernet LAN, the positioning system being configured to communicate fleet information off-board the machine.

5. The MAS of claim 4, wherein the local router is in operable communication with the positioning system via the second switch.

6. The MAS of claim 2, wherein at least one communication channel of the plurality of communication channels is disposed between the machine ECM and the transmission ECM, and another communication channel of the plurality of communication channels is disposed between the transmission ECM and the implement ECM.

7. The MAS of claim 2, further comprising a second CAN disposed on the machine, the second CAN including a plurality of segments,

a first segment of the plurality of segments operatively connecting the AECM and the machine ECM,

a second segment of the plurality of segments operatively connecting the engine ECM and the aftertreatment ECM,

a third segment of the plurality of segments operatively connecting the transmission ECM and the implement ECM.

8. The MAS of claim 1, wherein the local transceiver is configured to receive the input control signals from a Remote Operator Station (ROS) ECM disposed off-board and remotely from the machine.

9. A method for controlling operation of a machine that includes an implement, the method comprising:

receiving, by a local transceiver, an input control signal from off-board the machine, wherein the local transceiver is a wireless radio;

transmitting the input control signal over an Ethernet Local Area Network (LAN), by the local transceiver, to a local router;

transmitting the input control signal over the Ethernet LAN, by the local router, to an Autonomy Electronic Control Module (AECM);

processing the input control signal by the AECM;

transmitting an output control signal, based on a result of the processing the input control signal by the AECM, to a machine Electronic Control Module (ECM) to control the operation of the machine; and

shutting down the machine when a safety control signal ceases to be received by the machine ECM and a transmission ECM, the transmission ECM being disposed on the machine,

wherein the local transceiver, the Ethernet LAN, the local router, the AECM, and the machine ECM are disposed on the machine.

10. The method of claim 9, wherein the output control signal is transmitted to the machine ECM via the Ethernet LAN.

11. The method of claim 9, wherein the output control signal is transmitted to the machine ECM via a first Control Area Network (CAN).

12. A control system for a machine that includes an implement, the control system comprising:

a Machine Automation System (MAS) that includes;

a plurality of Vehicle Electronic Control Modules (ECMs) disposed on the machine, the plurality of Vehicle ECMs including a machine ECM, a transmission ECM, an implement ECM, and an engine ECM;

a local transceiver disposed on the machine and configured to receive input control signals from an off-board system, the input control signals being based on operator input;

an Ethernet Local Area Network disposed on the machine and configured to operatively connect an Autonomy Electronic Control Module, at least some ECMs of the plurality of Vehicle ECMs, a first display, a Remote Shutdown Module (RSM), an environment monitoring system, and the local transceiver, the Ethernet LAN including;

a plurality of communication channels configured to transfer data between two points;

a local router disposed on the machine and in operable communication with the local transceiver, a first switch, the RSM, and a second switch,

the local router being in operable communication with the AECM and the environment monitoring system via the first switch,

the local router being in operable communication with the machine ECM and the first display via the second switch,

the local router being configured to receive and transmit the input control signals from the local transceiver to the AECM,

the first switch being in operable communication with the AECM and the environment monitoring system, and

the second switch being in operable communication with the machine ECM and the first display;

a first CAN disposed on the machine and configured to enable operative communication between the AECM, the machine ECM, the transmission ECM, the implement ECM, the Engine ECM, and the first display;

the AECM being disposed on the machine and in operable communication with the plurality of Vehicle ECMs, the AECM being configured to;

receive from the local router the input control signals, the input control signals being generated by a Remote Operator Station (ROS) ECM;

generate output control signals based on the input control signals; and

transmit the output control signals to the machine ECM, wherein the output control signals control movement of the machine;

the environment monitoring system including a plurality of Internet Protocol (IP) cameras, each IP camera being configured to capture video data;

the RSM being disposed on the machine and being configured to receive a safety control signal from off-board the machine; and

an off-board system that includes;

a first input device and a second input device located remote from the machine; and

a first interface device configured to display video data captured by at least one of the IP cameras;

the ROS ECM being disposed remotely from the machine and in communication with the first input device and the second input device, the ROS ECM being configured to;

receive input from the first input device or the second input device; and

transmit the input control signals, based on the received input, to the AECM for control of the operation of the machine,

the MAS being configured to operate advanced machine control features on the machine concurrently with execution of the input control signals received from the ROS ECM.

13. The control system of claim 12, further including a second CAN disposed on the machine, the second CAN including a plurality of segments, a first segment of the plurality of segments being operatively connecting the AECM and the machine ECM.

14. The control system of claim 12, wherein each IP camera of the plurality of IP cameras is configured to transmit video data in a video stream to the local transceiver via the first switch and the router.

15. The control system of claim 14, in which the environment monitoring system further comprises a microphone and a plurality of Laser Detection and Ranging Systems (LADARs) disposed on the machine,

the microphone being configured to capture audio data,

the LADARs being configured to transmit positioning data of the machine to the local transceiver via the first switch and the router,

wherein the video stream from one IP camera of the plurality of IP cameras includes the audio data captured by the microphone.

16. The control system of claim 12, in which the local transceiver wirelessly transmits data from the AECM to the ROS ECM.

17. The control system of claim 12, wherein the off-board system further includes a Line of Sight (LOS) operator console, and the MAS further includes a LOS transceiver, wherein control signals generated by the LOS operator console are transmitted to the machine ECM via the LOS transceiver.

18. The control system of claim 15, in which the MAS further includes a machine strobe light assembly disposed on the machine.

19. The control system of claim 18, wherein the machine strobe light assembly is illuminated based on a mode in which the machine is operating.