Simulation system implementing real-time machine data

• US 20080180523A1
• Filed: 01/31/2007
• Published: 07/31/2008
• Est. Priority Date: 01/31/2007
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Stratton, Kenneth L., Clar, Jean-Jacques, Shults, Jamie, Santamaria, Juan Carlos, Darby, Derrick, Opdenbosch, Augusto J.
• Granted Patent: US 8,139,108 B2
• Time in Patent Office: Days
• US Class Current: 348/114
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G09B 9/048 a model being viewed and manoeuvred from a remote point G09B9/052, G09B9/058 take precedence

Abstract

A simulation and control system for a machine is disclosed. The simulation and control system may have a user interface configured to display a simulated environment. The machine simulation and control system may also have a controller in communication with the user interface and a remotely located machine. The controller may be configured to receive from the machine real-time information related to operation of the machine at a worksite. The controller may also be configured to simulate the worksite, operation of the machine, and movement of a machine tool based on the received information. The controller may further be configured to provide to the user interface the simulated worksite, operation, and movement in the simulated environment.

Claims

1. A machine simulation and control system, comprising:

a user interface configured to display a simulated environment; and

a controller in communication with the user interface and a remotely located machine, the controller being configured to;

receive from the machine real-time information related to operation of the machine at a worksite;

simulate the worksite, operation of the machine, and movement of a machine tool based on the received information; and

provide to the user interface the simulated worksite, operation, and movement in the simulated environment.

2. The machine simulation and control system of claim 1, wherein the simulated environment is in three dimensions.

3. The machine simulation and control system of claim 1, wherein the simulated environment includes a plurality of selectable onboard and offboard view reference locations.

4. The machine simulation and control system of claim 1, wherein the simulated environment further includes a display of at least one parameter value included in the real-time information.

5. The machine simulation and control system of claim 1, wherein the real-time information includes a machine position parameter.

6. The machine simulation and control system of claim 5, wherein the real-time information further includes at least one of a travel speed, a steering command, and a load parameter.

7. The machine simulation and control system of claim 5, wherein the real-time information further includes the position of an actuator associated with the machine tool.

8. The machine simulation and control system of claim 5, wherein the real-time information further includes roll and pitch parameters.

9. The machine simulation and control system of claim 5, wherein the real-time information further includes at least one of a slip parameter associated with a traction device of the machine, a transmission gear ratio, and an engine speed.

10. The machine simulation and control system of claim 1, wherein:

the user interface is further configured to receive real-time machine operation instructions from a user; and

the controller is further configured to communicate the instructions to the machine for remote control of the machine.

20. The machine simulation and control system of claim 1, wherein the real-time information includes a machine position parameter, a travel speed, a steering command, a load parameter, and the position of an actuator associated with the machine tool.

11. A method of remotely controlling a machine, comprising:

monitoring machine operation;

simulating in real-time a worksite, machine movement within the worksite, and machine tool movement within the worksite based on the monitored machine operation;

receiving machine control instructions at a location remote from the machine; and

affecting operation of the machine in response to the received instructions.

12. The method of claim 11, further including displaying at the remote location the simulated worksite, machine movement, and machine tool movement in three dimensions from a plurality of selectable onboard and offboard view reference locations.

13. The method of claim 11, wherein monitoring machine operation includes determining a global position of the machine.

14. The method of claim 13, wherein monitoring machine operation includes detecting an engine operating condition.

15. The method of claim 13, wherein monitoring machine operation includes detecting at least one of a machine travel speed, a steering angle, and a load on the machine tool.

16. The method of claim 13, wherein monitoring machine operation includes detecting a position of the machine tool.

17. A machine operating at a worksite, comprising:

a plurality of sensing elements disposed on the machine to produce one or more signals indicative of a machine operation and a machine tool operation;

a machine data module located on the machine to collect and transmit the one or more signals offboard the machine;

a user interface configured to receive operational instructions from an offboard user; and

an offboard controller in communication with the machine data module and the user interface, the offboard controller being configured to;

receive the one or more signals;

simulate in real-time a three dimensional machine environment based on the one or more signals, the simulated environment including the worksite, the machine operation, and the machine tool operation;

provide to the user interface for display the simulated machine environment; and

transmit to the machine the operational instructions for remote control of the machine and machine tool operations.

18. The machine of claim 17, wherein the simulated environment includes a plurality of selectable onboard and offboard view reference locations.

19. The machine of claim 17, wherein the simulated environment further includes a display of at least one parameter value included in the one or more signals.