Retrofit remote control system for a machine

Patent metadata

Field	Value
Publication number	US-12072700-B2
Application number	US-202117370784-A
Country	US
Kind code	B2
Filing date	Jul 8, 2021
Priority date	Jul 24, 2020
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

Abstract

A retrofittable remote control system is provided for enabling remote controlling of an on-board component of machine that is inherently incapable of being remote controlled. An interface control module is retrofitted on machine and is configured to communicate with off-board remote control over wireless communication channel. The interface control module detects presence of an on-board control module that communicates with the on-board component over a digital communication channel. The interface control module is configured to then establish either a digital communication link with the on-board control module or a direct Input/Output (I/O) communication link with the on-board component of the machine based on the detection. The interface control module is configured to send a control signal over either the direct I/O communication link or the digital communication channel via the detected on-board control module, for controlling the on-board component.

First claim

What is claimed is:

1. A retrofittable remote control system for enabling remote controlling of an on-board component of a machine that was previously incapable of being remote controlled, the remote control system comprising:
an interface control module configured to be retrofitted to the machine; and
an off-board remote control configured to communicate with the interface control module over a wireless communication channel,
wherein the interface control module is configured to:
detect presence of an on-board control module associated with the on-board component of the machine, the on-board control module being configured to communicate with the on-board component over a digital communication channel disposed on the machine;
establish a digital communication link with the on-board control module over the digital communication channel when the on-board control module is detected to be present on the machine;
establish a direct Input/Output (I/O) communication link with the on-board component of the machine when the on-board control module is detected to be absent from the machine;
wirelessly receive a remote operation command from the off-board remote control to control the on-board component of the machine; and
send, based on the detection, a control signal over one of the direct I/O communication link or the digital communication channel via the detected on-board control module, for controlling the on-board component of the machine, the control signal being corresponding to the wirelessly received remote operation command; and

a machine automation system (MAS) having an Autonomous electronic control module (AECM) and Ethernet Local Area Network (LAN) communication channels in communication with the interface control module, off-board control module, at least one machine sensor, at least one transmission sensor, and at least one engine sensor, and wherein the AECM is configured to:
operatively communicate with the interface control module over an Ethernet communication channel;
wirelessly communicate with the off-board remote control to receive remote operation command from the off-board remote control for facilitating an autonomous mode of operation of the on-board component;
send control signals to the interface control module over one of the Ethernet LAN communication channel for controlling the on-board component of the machine via one of the digital communication link or the direct I/O communication link.

2. The retrofittable remote control system as claimed in claim 1 , wherein the on-board component includes one or more of machine controls, steering controls, brakes controls, implement controls, engine controls, transmission controls, hydraulic controls, work light controls, in cab controls, in-cab displays, tire monitoring system controls, engine cooling system controls, battery controls, horn assembly controls, cab-door actuation mechanism controls, indicator system controls, exhaust after treatment system controls, and Heating, Ventilation and Air Conditioning (HVAC) system controls associated with the machine.

3. The retrofittable remote control system as claimed in claim 1 , wherein the on-board control module includes one or more of a machine electronic control module, transmission electronic control module, implement control electronic control module, engine electronic control module, exhaust after treatment electronic control module, battery control module, and Heating, Ventilation and Air Conditioning (HVAC) electronic control module associated with the machine.

4. The retrofittable remote control system as claimed in claim 1 , wherein the digital communication channel includes one or more of a controller area network (CAN), datalink (DL) communication channel, and Ethernet Local Area network (LAN).

5. The retrofittable remote control system as claimed in claim 1 further comprising a first set of one or more ad-hoc components, configured to be retrofitted on to the machine to support functioning of the interface control module, each of the one or more ad-hoc components within the first set being configured to communicate with the interface control module over a respective direct I/O communication link, and wherein the first set of one or more ad-hoc components include one or more of a machine strobe light assembly, an enclosure cooling assembly, a safety expander relay assembly, an automation control enable switch, and an enclosure temperature sensor.

6. The retrofittable remote control system as claimed in claim 1 further comprising a second set of one or more ad-hoc components, configured to be retrofitted on to the machine to provide additional functionalities on the machine, each of the one or more ad-hoc components within the second set being configured to communicate with the interface control module over a respective direct I/O communication link, and wherein the second set of one or more ad-hoc components include one or more of environment monitoring assembly, fire suppression system, and a positioning system.

7. The retrofittable remote control system as claimed in claim 1 , wherein the off-board remote control is one of a line of sight remote control, remote operating console, or a handheld mobile device having a graphical user interface (GUI) application installed thereon for remotely operating the machine.

8. A method for enabling remote controlling of an on-board component of a machine that was previously incapable of being remote controlled, the method comprising:
retrofitting an interface control module on to the machine, the interface control module being configured to communicate with an off-board remote control over a wireless communication channel;
detecting, by the retrofitted interface control module, presence of an on-board control module associated with the on-board component of the machine, the on-board control module being configured to communicate with the on-board component over a digital communication channel;
establishing, by the interface control module, a digital communication link with the on-board control module over the digital communication channel when the on-board control module is detected to be present on the machine;
establishing, by the interface control module, a direct Input/Output (I/O) communication link with the on-board component when the on-board control module is detected to be absent from the machine;
wirelessly receiving, by the interface control module, a remote operation command from the off-board remote control over the wireless communication channel to control the on-board component of the machine;
sending, by the interface control module, based on the detection, a control signal over one of the direct I/O communication link or the digital communication link via the detected on-board control module, for controlling the on-board component, the control signal being corresponding to the wirelessly received remote operation command; and
retrofitting a machine automation system (MAS) having an Autonomous electronic control module (AECM) and Ethernet Local Area Network (LAN) communication channel on to the machine to enable autonomous operations of the machine, the MAS being in communication with the off-board remote control over the wireless communication channel;
communicating, by the AECM, with the interface control module over an Ethernet LAN communication channel;
wirelessly receiving, by the AECM, a remote operation command for autonomously operating the on-board component of the machine;
sending, by the AECM, control signals to the interface control module over the Ethernet LAN communication channel for controlling the on-board component of the machine via one of the digital communication link through the on-board control module or the direct I/O communication link.

Assignees

• Caterpillar Inc

Inventors

• Kandula Suneel Venkata
• Varghese Ashish Abraham
• Gundlapalli Sai Praveen
• Nelson Anthony Keith Nathan
• Pilgrim Martin Victor

Classifications

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/2235

  involving the operator tracking the vehicle by direct line of sight · CPC title

• B60W10/30

  including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W10/18

  including control of braking systems · CPC title