Remote control system for a machine

• US 9,213,331 B2
• Filed: 12/19/2012
• Issued: 12/15/2015
• Est. Priority Date: 12/19/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Johnson, Lonny E., Mason, James, Felty, Timothy
• Primary Examiner(s): Dunn, Darrin
• Assistant Examiner(s): Everett, Christopher E
• Application Number:
  US13/719,606
• Publication Number:
  US 20140172128A1
• Time in Patent Office: 1,091 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 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 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/36542 Cryptography, encrypt, access, authorize with key, code, password
• CPC Class Codes: G05B 2219/45012 Excavator
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/12 in graphical form

Abstract

A controller implemented method of remotely operating a machine includes determining, for each of a plurality of operating conditions of the machine, a predetermined configuration of a machine instrument array and removably mounting a portable computing device on a remote control console. The method further includes defining a configuration of a console instrument array of the remote control console in which, for each of the plurality of operating conditions, the configuration of the console instrument array is generally identically to the predetermined configuration of the machine instrument array. A system is also disclosed.

Claims

1. A system for remotely operating a machine, the machine being configured to perform a plurality of different operations, the system comprising:

a portable computing device, the portable computing device being removably mountable at the machine and at a remote control console, the portable computing device including a portable device controller;

the machine including;

a plurality of sensors for generating first and second signals, the first signals being indicative of an operation being performed by the machine and the second signals being indicative of operating conditions of the machine;

a visual image sensor for generating visual image signals indicative of a point of view relative to the machine;

a machine mounting location for removably mounting the portable computing device thereat;

a machine instrument array including, upon operatively mounting the portable computing device at the machine mounting location, a machine display device and a machine input device, the machine display device being configured to display information related to operation of the machine, the machine input device being configured to receive an input command from an operator; and

a remote control console configured to control the machine remotely, the remote control console including;

a console mounting location for removably mounting the portable computing device thereat;

a console instrument array including, upon operatively mounting the portable computing device at the console mounting location, a console display device and a console input device, the console display device being configured to display information related to operation of the machine, the console input device being configured to receive an input command from an operator;

a point of view display for displaying an image of the point of view relative to the machine; and

a controller including the portable device controller, and upon operatively mounting the portable computing device at the machine, the controller is configured to;

store a plurality of configurations of the machine instrument array;

receive first and second signals from the plurality of sensors of the machine;

determine which of the plurality of different operations is being performed based upon the first signals;

determine the operating conditions of the machine based upon the second signals;

for each operation being performed and each operating condition, select one of the plurality of configurations of the machine instrument array;

transmit a plurality of machine signals to the machine instrument array indicative of the operating conditions of the machine; and

display the operating conditions of the machine on the machine instrument array using the selected configuration of the machine instrument array; and

upon operatively mounting the portable computing device at the remote control console, the controller is further configured to;

store a plurality of configurations of the console instrument array;

receive first and second signals from the plurality of sensors of the machine;

determine which of the plurality of different operations is being performed based upon the first signals;

determine the operating conditions of the machine based upon the second signals;

for each operation being performed and each operating condition, select one of the plurality of configurations of the console instrument array, the configuration of the console instrument array being generally identical to the configuration of the machine instrument array;

transmit visual image signals indicative of the point of view relative to the machine to the remote control console;

display point of view images on the point of view display based upon the visual image signals;

transmit signals from the remote control console to the machine to direct the machine to perform desired operations;

transmit a plurality of console signals to the console instrument array indicative of the operating conditions of the machine; and

display the operating conditions of the machine on the console instrument array using the selected configuration of the console instrument array.

2. The system of claim 1, wherein the portable computing device further includes a portable device display, and the portable device display forms only a portion of the machine instrument array upon mounting the portable computing device at the machine and forms only a portion of the console instrument array upon mounting the portable computing device at the remote control console.

3. The system of claim 2, wherein the console instrument array includes a console display and the controller determines images to be displayed on the console display and the portable device display based upon the operating conditions of the machine.

4. The system of claim 1, wherein the machine instrument array includes a machine display and the console instrument array includes a console display.

5. The system of claim 4, wherein the controller is configured to determine a plurality of images to be displayed based at least in part upon a set of operating conditions of the machine, and is further configured to display the plurality of images on the machine display upon mounting the portable device display at the machine, and to display the plurality of images on the console display upon mounting the portable device display at the remote control console.

6. The system of claim 1, wherein the machine instrument array further includes a machine gauge at a predetermined location on the machine instrument array, the console instrument array includes a console display, and the controller is configured to display an image of a gauge on the console display at a location on the console instrument array generally corresponding to the predetermined location.

7. The system of claim 6, wherein the machine instrument array further includes a machine gauge and the console instrument array further includes a console gauge, the machine gauge and the console gauge being generally identically configured.

8. The system of claim 1, wherein the console instrument array includes a console input device generally identical to the machine input device.

9. The system of claim 1, wherein each of the machine instrument array and the console instrument array includes a modifiable function input device, and the controller is configured to determine a plurality of images to be displayed generally adjacent each modifiable function input device based at least in part upon a set of operating conditions of the machine, and is further configured to display the plurality of images generally adjacent the modifiable function input device of the machine instrument array upon mounting the portable computing device at the machine, and to display the plurality of images generally adjacent the modifiable function input device of the console instrument array upon mounting the portable computing device at the remote control console.

10. The system of claim 1, wherein the portable computing device includes at least one input device for providing data input to the controller.

11. The system of claim 10, wherein the portable computing device is configured to receive voice commands from an operator and the controller is configured to operate components of the machine based upon the voice commands.

12. The system of claim 1, wherein the machine includes a machine controller, and the portable computing device is configured to communicate with the machine controller wirelessly.

13. The system of claim 1, wherein the machine includes a machine controller, and the portable computing device is configured to communicate with the machine controller through a wired connection.

14. The system of claim 1, wherein the portable computing device is configured to wirelessly communicate with a remote system distinct from the machine.

15. The system of claim 1, wherein the portable computing device further includes a portable device input to receive an input command from an operator, and the portable device input forms a portion of the machine instrument array upon mounting the portable computing device at the machine and forms a portion of the console instrument array upon mounting the portable computing device at the remote control console.

16. A system for remote control operation of a machine, the machine being configured to perform a plurality of different operations, comprising:

a portable computing device, the portable computing device being removably mountable at the machine and at a remote control console, the portable computing device including a portable device controller;

the machine including;

a prime mover;

a plurality of sensors for generating first and second signals, the first signals being indicative of an operation being performed by the machine and the second signals being indicative of operating conditions of the machine;

a display for displaying images related to the operating conditions of the machine; and

a visual image sensor for generating visual image signals indicative of a point of view relative to the machine;

a machine mounting location for removably mounting the portable computing device thereat;

a machine instrument array including, upon operatively mounting the portable computing device at the machine mounting location, a machine display device and a machine input device, the machine display device being configured to display information related to operation of the machine, the machine input device being configured to receive an input command from an operator;

a remote control console configured to control the machine remotely, the remote control console including;

a console mounting location for removably mounting the portable computing device thereat;

a console instrument array including, upon operatively mounting the portable computing device at the console mounting location, a console display device and a console input device, the console display device being configured to display information related to operation of the machine, the console input device being configured to receive an input command from an operator;

a point of view display for displaying an image of the point of view relative to the machine; and

a controller including the portable device controller, and upon operatively mounting the portable computing device at the machine, the controller is configured to;

store a plurality of configurations of the machine instrument array;

receive first and second signals from the plurality of sensors of the machine;

determine which of the plurality of different operations is being performed based upon the first signals;

determine the operating conditions of the machine based upon the second signals;

for each operation being performed and each operating condition, select one of the plurality of configurations of the machine instrument array;

transmit a plurality of machine signals to the machine instrument array indicative of the operating conditions of the machine; and

display the operating conditions of the machine on the machine instrument array using the selected configuration of the machine instrument array; and

upon operatively mounting the portable computing device at the remote control console, the controller is further configured to;

store a plurality of configurations of the console instrument array;

receive first and second signals from the plurality of sensors of the machine;

determine which of the plurality of different operations is being performed based upon the first signals;

determine the operating conditions of the machine based upon the second signals;

for each operation being performed and each operating condition, select one of the plurality of configurations of the console instrument array, the configuration of the console instrument array being generally identical to the configuration of the machine instrument array;

transmit visual image signals indicative of the point of view relative to the machine to the remote control console;

display point of view images on the point of view display based upon the visual image signals;

transmit signals from the remote control console to the machine to direct the machine to perform desired operations;

transmit a plurality of console signals to the console instrument array indicative of the operating conditions of the machine; and

display the operating conditions of the machine on the console instrument array using the selected configuration of the console instrument array.

17. A method of remotely operating a machine, comprising:

storing a plurality of configurations of a machine instrument array;

storing a plurality of configurations of a console instrument array;

receiving first and second signals from a plurality of sensors associated with the machine, the first signals being indicative of an operation being performed by the machine and the second signals being indicative of operating conditions of the machine;

determining the operation being performed by the machine based upon the first signals received from the plurality of sensors;

determining the operating conditions of the machine based upon the second signals received from the plurality of sensors;

removably mounting a portable computing device on a remote control console, the portable computing device having a portable device controller;

selecting, for each operation being performed and each operating condition, one of the plurality of configurations of the machine instrument array that would displayed if the portable computing device were mounted on the machine;

selecting, for each operation being performed and each operating condition, one of the plurality of configurations of the console instrument array, the configuration of the console instrument array being generally identical to the selected configuration of the machine instrument array;

transmitting visual image signals indicative of a point of view relative to the machine to the remote control console;

displaying point of view images on the point of view display based upon the visual image signals;

transmitting signals from the remote control console to the machine to direct the machine to perform desired operations;

transmitting a plurality of console signals to the console instrument array indicative of the operating conditions of the machine; and

displaying the operating conditions of the machine on the console instrument array based upon the plurality of console signals.

18. The method of claim 17, further including determining a plurality of images to be displayed based at least in part upon a set of operating conditions of the machine, displaying the plurality of images on a machine display of the machine instrument array upon mounting the portable device display at the machine, and displaying the plurality of images on a console display of the console instrument array upon mounting the portable device display at the remote control console.

19. The method of claim 17, further including determining a plurality of images to be displayed generally adjacent a modifiable function input device based at least in part upon a set of operating conditions of the machine, displaying the plurality of images generally adjacent a modifiable function input device of the machine instrument array upon mounting the portable computing device at the machine, and displaying the plurality of images generally adjacent a modifiable function input device of the console instrument array upon mounting the portable computing device at the remote control console.

20. The method of claim 17, further including the portable computing device receiving voice commands from an operator and operating components of the machine based upon the voice commands.