Controlling a machine in remote or autonomous mode

• US 9,560,692 B2
• Filed: 01/13/2014
• Issued: 01/31/2017
• Est. Priority Date: 01/13/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Eisenmenger, Brett Andrew, Jeyamani, Deepa, Chesko, Kent James, Glover, Clarence Matthew, Mohammed, Shahul Hameed, McGee, Robert Jason, Clar, Jean-Jacques, Koehrsen, Craig L., Funke, Brian Gerard
• Primary Examiner(s): Rampuria, Satish
• Application Number:
  US14/153,614
• Publication Number:
  US 20150198936A1
• Time in Patent Office: 1,114 Days
• Field of Search: 700/40
• US Class Current: 1/1
• CPC Class Codes: E02F 9/20 Drives; Control devices gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• 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: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: H04W 88/00 Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices

Abstract

A system for controlling a machine may include a remote control (RC) input device configured to remotely initiate a RC enabled mode on the machine. The RC input device may subsequently establish a communication link with the machine when no other RC input device currently has a communication link with the machine. The RC input device may transition the machine to a RC reserved mode in which the machine is reserved for control by the RC input device, and transition a mode of control for the machine to a RC active mode from the RC reserved mode. The RC input device may selectively control the machine when in the RC active mode. The RC input device may also transition the mode of control for the machine to an autonomous mode from the RC active mode.

Claims

1. A system for controlling a machine, the system comprising:

a plurality of remote control (RC) devices comprising at least a first RC device and a second RC device, the first RC input device configured to;

remotely initiate a RC enabled mode on the machine;

subsequently establish a communication link with the machine when no other RC input device currently has a communication link with the machine;

transition the machine to a RC reserved mode in which the machine is reserved for control by the RC input device;

transition a mode of control for the machine to a RC active mode from the RC reserved mode, the RC input device selectively controlling the machine when in the RC active mode; and

transition the mode of control for the machine to an autonomous mode from the RC active mode;

a remote control module (RCM) on-board the machine, the RCM being configured to be allocated to only one of the RC input devices at a time when the machine is in the RC enabled mode; and

a central site command server, the central site command server being configured to allocate the RCM to one RC input device of the plurality of RC input devices at a time by providing identifying information for the one RC input device to the RCM in response to receiving a signal from the RCM.

2. The system of claim 1, wherein the first RC input device is a RC operator console configured to be portable to allow for movement around a work site.

3. The system of claim 1, wherein the first RC input device is a RC operator station configured to include features found inside a cab of a mobile machine including an operator seat and other controls used by an operator to control the machine.

4. The system of claim 1, further including:

a central site command server configured to provide a mission plan for autonomous control of the machine.

5. The system of claim 4, further including a planner electronic control module (ECM) on-board the machine, the planner ECM being configured to determine and specify how the machine will carry out tasks assigned to the machine by the mission plan received from the central site command server.

6. The system of claim 1, further including:

the RCM being configured to receive identifying information directly from one RC input device of the plurality of RC input devices that has been previously configured to control the machine.

7. The system of claim 1, further including:

a remote control module (RCM) on-board the machine, the RCM being configured to;

arbitrate between the plurality of RC input devices attempting to establish communication links with the machine; and

reserve the machine for control by a first RC input device of the plurality of RC input devices to establish a communication link with the machine.

8. A method for controlling a machine;

comprising;

transitioning a mode of control for the machine using a processor to a remote control (RC) enabled mode from a manual mode;

establishing a communication link between a first RC input device of a plurality of RC input devices and the machine;

changing the mode of control for the machine, using a processor, from the RC enabled mode to a RC reserved mode in which other RC input devices are no longer permitted to establish a communication link with the machine;

transitioning the mode of control for the machine, using a processor, from the RC reserved mode to a RC active mode in which the machine is being operated by signals received from the first RC input device;

selectively transitioning the mode of control for the machine, using a processor, to an autonomous active mode in which the machine is being operated by signals including signals indicative of an overall mission plan for the machine received from a central site command server; and

allocating a remote control module (RCM) on-board the machine to one RC input device at a time when the mode of control for the machine is the RC enabled mode by;

transmitting a machine available signal to the central site command server, and

providing identifying information for the one RC input device from the central site command server to the RCM.

9. The method of claim 8, further including:

allocating the RCM on-board the machine to the one RC input device by receiving identifying information directly from the one RC input device when the one RC input device has been previously configured to control the machine.

10. The method of claim 8, further including determining and specifying how the machine will carry out tasks assigned to the machine by a mission plan received from the central site command server using a planner electronic control module (ECM) on-board the machine.

11. The method of claim 8, further including:

arbitrating between a plurality of RC input devices attempting to establish communication links with the machine; and

reserving the machine for control by the first RC input device to establish a communication link with the machine.

12. The method of claim 8, further including:

transitioning the mode of control for the machine from the autonomous active mode back to the RC active mode when an operator attempts to initiate a non-overridable command while the machine is still in the autonomous active mode.

13. The method of claim 8, further including:

overriding the autonomous active mode of control of the machine when an operator attempts to initiate an overridable command while the machine is still in the autonomous active mode.

14. The method of claim 8, further including:

transitioning the mode of control for the machine from the autonomous active mode to a RC idle mode when the communication link between the first RC input device and the machine is disconnected.

15. A machine configured to operate in a plurality of modes, the machine comprising:

a remote control (RC) input device;

a controller, the controller configured to;

place the machine in a selected mode of operation based on an input received from the RC input device, the selected mode of operation being one of a manual mode, a RC enabled mode, a RC reserved mode, a RC active mode, and an autonomous active mode; and

transition the machine to the autonomous active mode only from the RC active mode; and

a remote control module (RCM) on-board the machine, the RCM being configured to;

arbitrate between a plurality of RC input devices attempting to establish communication links with the machine; and

reserve the machine for control by a first RC input device to establish a communication link with the machine.