Command for underground

Patent metadata

Field	Value
Publication number	US-9910434-B1
Application number	US-201615357638-A
Country	US
Kind code	B1
Filing date	Nov 21, 2016
Priority date	Nov 21, 2016
Publication date	Mar 6, 2018
Grant date	Mar 6, 2018

Abstract

A MAS for a machine that includes an implement, and a related method of controlling such machine is provided. The MAS may comprise a plurality of Vehicle ECMs, a local transceiver, an Ethernet LAN, a first CAN, an AECM, an environment monitoring system and an RSM. The AECM is configured to generate output control signals based, at least in part, on input from the environment monitoring system, and to 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 MAS is configured to execute semi-autonomous functions of the machine based on input from the environment monitoring system.

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 operatively connect an autonomy ECM (AECM), one or more of the vehicle ECMs, 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, and a second switch, the local router in operable communication with the AECM and the environment monitoring system via the first switch, the local router in operable communication with at least one Vehicle ECM via the second switch, the local router configured to receive and transmit the input control signals from the local transceiver to the AECM;
the first switch in operable communication with the AECM and the environment monitoring system; and
the second switch in operable communication with at least one vehicle ECM;

a controller area network (CAN) disposed on the machine, the AECM and at least one of the vehicle ECMs in operative communication via the CAN;
the environment monitoring system including, at least, a plurality of internet protocol (IP) cameras and a plurality of LADARs disposed on the machine, the IP cameras configured to transmit video data to the local transceiver via the first switch, the LADARs configured to transmit positioning data associated with the machine to the AECM via the first switch;
the AECM disposed on the machine and configured to:
receive one or both of the input control signals from the local router and the positioning data from the environment monitoring system, via the first switch;
generate output control signals based on one or both of the input control signals and the positioning data; 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; and

the first switch including a plurality of Ethernet input ports, each of the plurality of Ethernet input ports assigned to one of the plurality of IP cameras, one of the plurality of LADARs, the AECM, or the local router.

2. The MAS of claim 1 , wherein each of the plurality of Ethernet input ports is assigned to one of the plurality of IP cameras or one of the plurality of LADARs based on a Dynamic Host Configuration Protocol (DHCP) address assignment.

3. The MAS of claim 1 , in which the plurality of LADARs includes a front LADAR proximate to a front portion of the machine and a rear LADAR proximate to a rear portion of the machine; and
in which the plurality of Ethernet input ports includes a front LADAR input port configured to receive positioning data associated with the front portion of the machine as input from the front LADAR and the plurality of Ethernet input ports includes a rear LADAR input port configured to receive positioning data associated with the rear portion of the machine as input from the rear LADAR.

4. The MAS of claim 1 , wherein each of the plurality of IP cameras are affixed to the machine at a plurality of IP camera locations, and
wherein each of the plurality of Ethernet input ports assigned to one of the plurality of IP cameras is associated with one of the plurality of IP camera locations.

5. The MAS of claim 4 , in which the plurality of IP cameras includes a first IP camera affixed to the machine at a first IP camera location, the first IP camera location configured to replicate a field of view of an operator looking forward from a cab of the machine, and
in which the plurality of Ethernet input ports includes a first IP camera input port configured to receive video data associated with the first IP camera location as input from the front first IP camera.

6. The MAS of claim 4 , in which the plurality of IP cameras includes a second IP camera affixed to the machine at a second IP camera location, the second IP camera location configured to replicate a field of view of an operator looking rearward from a cab of the machine, and
wherein the plurality of Ethernet input ports includes a second IP camera input port configured to receive video data associated with the second IP camera location as input from the second IP camera.

7. The MAS of claim 4 , in which the plurality of IP cameras includes a third IP camera affixed to the machine at a third IP camera location, the third IP camera location configured to replicate a forward field of view on a front of a body frame of the machine, and
in which the plurality of Ethernet input ports includes a third IP camera input port configured to receive video data associated with the third IP camera location as input from the third IP camera.

8. The MAS of claim 4 , in which the plurality of IP cameras includes a fourth IP camera affixed to the machine at a fourth IP camera location, the fourth IP camera location configured to engage when the machine moves in reverse, and
in which the plurality of Ethernet input ports includes a fourth IP camera input port configured to receive video data associated with the fourth IP camera location as input from the fourth IP camera.

9. The MAS of claim 1 , in which the Vehicle ECMs include one or more of a machine ECM, a transmission ECM, an implement ECM, an engine ECM, an aftertreatment ECM or an HVAC ECM, the machine ECM configured to generate control signals that control movement of the machine, the transmission ECM configured to control operation of a transmission disposed on the machine, the implement ECM configured to control movement of the implement, the engine ECM configured to control operation of an engine disposed on the machine, the aftertreatment ECM configured to control machine emissions, the HVAC ECM configured to control operation of the heating, ventilation or air conditioning of the machine.

10. The MAS of claim 9 , wherein the AECM, the machine ECM, the transmission ECM and the implement ECM are in operative communication via the Ethernet LAN.

11. A machine comprising:
a body frame;
an engine disposed on the body frame;
an implement;
a cab; and
a machine automation system (MAS), including:
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 operatively connect an autonomy ECM (AECM), one or more of the vehicle ECMs, 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, and a second switch, the local router in operable communication with the AECM and the environment monitoring system via the first switch, the local router in operable communication with at least one Vehicle ECM via the second switch, the local router configured to receive and transmit the input control signals from the local transceiver to the AECM;
the first switch in operable communication with the AECM and the environment monitoring system, the first switch including a plurality of Ethernet inpu

Assignees

• Caterpillar Inc

Inventors

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

Classifications

• G05D1/028

  using a RF signal · CPC title

• G05D1/0022 Primary

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

• H04L67/125 Primary

  involving control of end-device applications over a network · CPC title

• G05D1/0248

  in combination with a laser (lasers per se H01S) · CPC title