Machine automation system with autonomy electronic control module

Patent metadata

Field	Value
Publication number	US-10114370-B2
Application number	US-201615357446-A
Country	US
Kind code	B2
Filing date	Nov 21, 2016
Priority date	Nov 21, 2016
Publication date	Oct 30, 2018
Grant date	Oct 30, 2018

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.

First claim

What is claimed is:

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 t

Assignees

• Caterpillar Inc

Inventors

• Nelson Anthony Keith Nathan
• May Shane A
• Kandula Suneel Venkata

Classifications

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F3/28

  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 title

• G05B19/409

  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 title

• E02F9/00

  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 title

• G05D1/0022 Primary

  characterised by the communication link (data switching networks in general H04L12/00) · CPC title