Clock synchronization for a machine control system

• US 20070124504A1
• Filed: 11/30/2005
• Published: 05/31/2007
• Est. Priority Date: 11/30/2005
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ferguson, Alan, McNealy, Anthony
• Granted Patent: US 9,236,966 B2
• Time in Patent Office: Days
• US Class Current: 709/248
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05B 2219/33097 Variable ticks, align clocks, to synchronise cycles with other machine, robot
• CPC Class Codes: G05B 2219/33144 Module clock, synchronised by controller message, to send message in time slice
• CPC Class Codes: H04J 3/0638 Clock or time synchronisation among nodes; Internode synchronisation synchronization for ring networks H04L12/422; data switching networks with synchronous transmission H04L12/43
• CPC Class Codes: H04J 3/0655 using timestamps
• CPC Class Codes: H04J 3/0661 using timestamps

Abstract

A clock synchronized control system includes a controller configured to control at least one function of a work machine. The controller may also be configured to select a clock source from among a plurality of external clock sources based on a predetermined order. The controller may be further configured to obtain information from the selected clock source. The controller may also be configured to use the obtained information to affect the at least one function of the work machine.

Claims

1. A clock synchronized control system comprising:

a controller configured to;

control at least one function of a work machine;

select a clock source from among a plurality of external clock sources based on a predetermined order;

obtain information from the selected clock source; and

use the obtained information to affect the at least one function of the work machine.

2. The clock synchronized control system of claim 1, wherein the controller includes a primary component and a gateway component;

the gateway component being configured to select the clock source from among the plurality of external clock sources based on the predetermined order, obtain information from the selected clock source, and transmit the obtained information to the primary component; and

the primary component being configured to use the obtained information to affect the at least one function of the work machine.

3. The clock synchronized control system of claim 2, wherein the primary component includes a processor separate from a processor of the gateway component.

4. The clock synchronized control system of claim 1, wherein the information obtained from the selected clock source includes clock information.

5. The clock synchronized control system of claim 4, wherein the clock information is used by the controller to timestamp a message sent from the work machine to a remote system.

6. The clock synchronized control system of claim 4, wherein the clock information is used by the controller to affect the start time and stop time of a power source of the work machine.

7. The clock synchronized control system of claim 4, wherein the clock information is used by the controller to affect a regeneration duration of an exhaust element of the work machine.

8. The clock synchronized control system of claim 2, further including a receiving controller operably connected to at least one of the primary and gateway components, the receiving controller being configured to:

control at least one function of another work machine;

obtain clock information from at least one of the primary and gateway components; and

use the obtained clock information to affect the at least one function of the another work machine.

9. The clock synchronized control system of claim 8, wherein the clock information is used by the receiving controller to timestamp a message sent from the another work machine to a remote system.

10. The clock synchronized control system of claim 8, wherein the clock information is used by the receiving controller to affect the start time and stop time of a power source of the another work machine.

11. The clock synchronized control system of claim 8, wherein the clock information is used by the receiving controller to affect a regeneration duration of an exhaust element of the another work machine.

12. The clock synchronized control system of claim 8, wherein the receiving controller receives clock information from at least one of the primary and gateway components using one or more data protocols.

13. The clock synchronized control system of claim 12, wherein the one or more data protocols include at least one of a wireless Ethernet protocol, cellular protocol and real time clock synchronization protocol.

14. The clock synchronized control system of claim 1, wherein the plurality of external clock sources includes at least one of a global positioning system (“

GPS”

), a low earth orbiting satellite (“

LEO”

), a cellular network, a radio data system (“

RDS”

), and a computer network.

15. The clock synchronized control system of claim 14, wherein the predetermined order includes ordering the GPS before the LEO, ordering the LEO before the cellular network, ordering the cellular network before the RDS, and ordering the RDS before the computer network.

16. A method for clock synchronized control of a machine, the method comprising:

selecting a clock source from among a plurality of external clock sources based on a predetermined order;

obtaining information from the selected clock source; and

using the obtained information to affect at least one function of a work machine.

17. The method of claim 16, wherein the information obtained from the selected clock source includes clock information.

18. The method of claim 17, wherein affecting the at least one function of the work machine includes using the clock information to timestamp a message sent from the work machine to a remote system.

19. The method of claim 17, wherein affecting the at least one function of the work machine includes using the clock information to affect the start time and stop time of a power source of the work machine.

20. The method of claim 17, wherein affecting the at least one function of the work machine includes using the clock information to affect a regeneration duration of an exhaust element of the work machine.

21. The method of claim 17, further including transmitting the obtained clock information to another work machine that is remotely located from the work machine.

22. The method of claim 21, further including using the clock information received at the another work machine to control one or more electronically controllable operations of the another work machine.

23. The method of claim 16, wherein the plurality of external clock sources includes at least one of a global positioning system (“

GPS”

), a low earth orbiting satellite (“

LEO”

), a cellular network, a radio data system (“

RDS”

), and a computer network

24. The method of claim 23, wherein the predetermined order includes ordering the GPS before the LEO, ordering the LEO before the cellular network, ordering the cellular network before the RDS, and ordering the RDS before the computer network.

25. A clock information transfer system including:

a first work machine including a controller configured to;

control at least one function of the first work machine;

select a clock source from among a plurality of external clock sources based on a predetermined order;

obtain clock information from the selected clock source;

use the obtained clock information to affect the at least one function of the first work machine; and

transmit the obtained clock information to a second work machine including a receiving controller, the receiving controller being configured to;

control at least one function of the second work machine;

operably connect to the controller of the first work machine;

obtain clock information from the controller of the first work machine; and

use the obtained clock information to affect the at least one function of the second work machine.

26. The clock information transfer system of claim 25, wherein the obtained clock information is used by the controller to timestamp a message sent from the first work machine to a remote system.

27. The clock information transfer system of claim 25, wherein the obtained clock information is used by the controller to affect the start time and stop time of a power source of the first work machine.

28. The clock information transfer system of claim 25, wherein the obtained clock information is used by the controller to affect a regeneration duration of an exhaust element of the first work machine.

29. The clock information transfer system of claim 25, wherein the obtained clock information is used by the receiving controller to control one or more electronically controllable operations of the second work machine.

30. The clock information transfer system of claim 25, wherein the plurality of external clock sources includes at least one of a global positioning system (“

GPS”

), a low earth orbiting satellite (“

LEO”

), a cellular network, a radio data system (“

RDS”

), and a computer network.

31. The clock information transfer system of claim 25, wherein the predetermined order includes ordering the GPS before the LEO, ordering the LEO before the cellular network, ordering the cellular network before the RDS, and ordering the RDS before the computer network.

32. A work machine comprising:

a frame;

a power source operably connected to the frame;

a controller configured to;

control at least one function of a work machine;

select a clock source from among a plurality of external clock sources based on a predetermined order;

obtain clock information from the selected clock source; and

use the obtained clock information to affect the at least one function of the work machine.

33. The work machine of claim 32 wherein the clock information is used by the controller to control one or more electronically controllable operations of the work machine.

34. The work machine of claim 32, wherein the plurality of external clock sources includes at least one of a global positioning system (“

GPS”

), a low earth orbiting satellite (“

LEO”

), a cellular network, a radio data system (“

RDS”

), and a computer network.

35. The work machine of claim 34, wherein the predetermined order includes ordering the GPS before the LEO, ordering the LEO before the cellular network, ordering the cellular network before the RDS, and ordering the RDS before the computer network.