Remote training system and method

Abstract

In one aspect, a method for shared access to a machine for operator training includes receiving authorization from an access device to share access to the machine and entering a shared control state based at least on the authorization received from the access device. The method also includes receiving commands from a remote operating device during the shared control state and operating at least one of the traction device or the implement of the machine based at least on the commands from the remote operating device when an operator is present in the machine.

Description

Technical Field

[0001] The present invention relates generally to training apparatus and methods, and more particularly to training apparatus and methods for operator training of machines. Background Art

[0002] Machines such as bulldozers, tractors, motor graders, and excavators are versatile but can be complex. These and other mobile machines include multiple control devices that allow an operator to guide the machine and perform various tasks on site. Both the system for controlling the movement of the machine and the system for controlling the action of one or more implements may include multiple input devices. Typically, multiple devices are manipulated simultaneously to perform the desired task. Before achieving proficiency, a novice may need long periods of practice and training. Even experienced operators may need additional training or practice before successfully learning a new task or technique. To facilitate real-time supervision and guidance of novices by more experienced operators or trainers, some machines include an operator station that includes a second seat for a trainer. However, the inclusion of an additional seat increases cost, uses valuable cab space, and requires an on-site trainer. For these or other reasons, many machines do not include cab modifications for trainers.

[0003] U.S. Patent No. 6,633,800 (the '800 patent) issued to Ward et al. describes an exemplary machine having a remote control system. The control system disclosed in the '800 patent allows a remote operator to control a mining vehicle from a remote location. The control system includes a visual system that provides a view of the environment of the mining vehicle, and a communication device for receiving audio from the environment or engine noise audio. Although the remote control system disclosed in the '800 patent may be useful in certain circumstances, such as mining operations, it may not be useful for shared control of a machine and may not be useful for training operators. For example, the remote control system disclosed in the '800 patent may not facilitate shared operation of a machine for operator training. In addition, the system disclosed in the '800 patent may lack sufficient communication and supervision for an experienced operator to issue instructions.

[0004] The disclosed methods and systems may solve one or more of the above problems and / or other problems in the art. However, the scope of the present invention is defined by the appended claims, rather than by the ability to solve any specific problem. Summary of the invention

[0005] In one aspect, a method for shared access to a machine for operator training, the machine including a traction device and an implement, may include receiving authorization for shared access to the machine from an access device, and entering a shared control state based at least on the authorization received from the access device. The method may also include receiving commands from a remote operating device during the shared control state, and operating at least one of the traction device or the implement of the machine based at least on the commands from the remote operating device while an operator is present in the machine.

[0006] In another aspect, a method for sharing access to a machine including a traction device and an implement may include receiving a request to oversee operation of the machine from a remote system and providing image information to the remote system. The method may also include receiving an operator command from an operator input device in the machine and operating at least one of the traction device or the implement of the machine based at least on the command received from the operator input device while providing the image information to the remote system.

[0007] In yet another aspect, a training system for shared control of a machine may include an operator input device configured to generate operator commands in response to input generated by an operator present in the machine and a communication device configured to receive commands from a remote operating device. The training system may also include a training control unit configured to receive operator commands and commands from the remote operating device and an access authorization device configured to cause the training control unit to activate a shared control state that grants control to the remote operating device for controlling one or more functions of the machine using commands from the remote operating device when the operator is present in the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various exemplary embodiments and, together with the description, serve to explain the principles of the disclosed embodiments.

[0009] Figure 1 is a diagram illustrating a machine training system according to one aspect of the present invention.

[0010] Figure 2 Yes Figure 1 A partially schematic interior view of an operator station featuring a machine training system.

[0011] Figure 3 It is shown Figure 1 Block diagram of an exemplary configuration of a training control unit of a machine training system.

[0012] Figure 4 is a flow chart illustrating an exemplary method according to one aspect of the present invention. DETAILED DESCRIPTION

[0013] Both the foregoing general description and the following detailed description are exemplary and illustrative only and do not limit the claimed features. As used herein, the terms "comprises," "comprising," "having," "including," or other variations thereof are intended to encompass a non-exclusive inclusion such that a process, method, article, or apparatus comprising a list of elements includes not only those elements, but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. In addition, in the present invention, relative terms (such as, "about," "substantially," "generally," and "approximately," etc.) are used to indicate possible variations of ±10% in the stated values.

[0014] Figure 1 A machine training system 12 is shown for facilitating shared operation of machines 20. Figure 1 2, a bulldozer is shown, but machine 20 may be any suitable machine, such as a tractor, a motor grader, an excavator, or any other machine. Training system 12 may include components of machine 20 and a remote operating device or remote system 50 for sharing control of machine 20. Remote system 50 may include or form a remote operating station for use by an instructor, supervisor, or expert operator, and may include one or more devices to observe and / or share (e.g., override) control of machine 20 while an operator is present in machine 20.

[0015] The machine 20 may include one or more traction devices 22, such as tracks or wheels, and one or more implements 24 for performing operations such as dozing, ripping, scraping, digging, etc. In an exemplary configuration, the machine 20 may include a scraper implement 24 and a ripping implement 24. One or more environmental cameras 28 may be provided to detect images (e.g., as real-time video) of the environment of the machine 20 and / or the operation of the implement 24. In an exemplary configuration, one or more environmental cameras 28 may have a line of sight toward the front of the machine 20 and toward a first implement 24 (e.g., a scraper), while one or more environmental cameras 28 may have a line of sight toward the rear of the machine 20 and toward a second implement 24 (e.g., a blade). The communication device 26 may be configured to communicate wirelessly with components of the remote system 50 via the training system communication device 70 and network 72 of the remote system 50. The communication device 26 may include a radio transmitter and receiver (e.g., a satellite or cellular transmitter and receiver, or any other suitable communication device). Training control unit 80 secured to or within machine 20 may be configured to facilitate control of traction device 22 and / or implement 24 based on instructions issued by an operator operating machine 20 and an instructor operating remote system 50 .

[0016] The remote system 50 may include a training control system 30 in communication with a training system communication device 70 to facilitate observation and control of the operation of the machine 20. The control system 30 may be any suitable control device, such as a computing system including one or more processors, memory, storage devices, etc., which controls the components of the remote system 50 to simulate or approximate an operator station 32 ( Figure 2 Remote system 50 may communicate with a network 72 , such as the Internet, via training control system 30 , and thus may be located at any suitable location relative to machine 20 (eg, tens, hundreds, or thousands of miles from machine 20 ).

[0017] The remote system 50 may also include a display device 52 (e.g., a monitor) and input devices such as a trainer joystick 60, a trainer pedal 62, etc. The display device 52 may be configured to provide an image similar to the view within the operator station 32 ( Figure 2 ), while the input devices may be similar to those present within the operator station 32. As such, any display or input device of the machine 20 may be replicated by a similar feature or device of the remote system 50. The display device 52 may include a replica display 54, an operator viewing display 56, and / or an environmental viewing display 58. The replica display 54 may replicate or mirror (reproduce) a portion or all of the display or physical indicators of the machine 20, which may indicate the status of the machine 20. The operator viewing display 56 may display a real-time video of an operator operating one or more input devices of the machine 20. The environmental viewing display 58 may display a view of the front and / or rear of the machine 20, as well as a view of the implement 24, work material, or obstacles in the vicinity of the machine 20. One or more of the displays 54, 56, and 58 may be provided on a separate display device. If desired, two, three, or more of the displays 54, 56, and 58 may be provided as part of a shared display device (see, e.g. Figure 1 The remote system 50 may also include communication devices, such as a trainer microphone 64 and a trainer speaker 66.

[0018] The remote system 50 may also include one or more devices for requesting authorization to view and / or share control of the machine 20, such as an access request switch or access request device 68. Although the access request device 68 may be provided in the form of a physical or electronic button ( Figure 1 ), but the access request device 68 may instead be provided in the form of a physical or electronic switch, a plurality of buttons, or any other suitable form for receiving input from a trainer or other user of the remote system 50. Figure 1As shown by the dashed lines in , each of the display 52, access request device 68, trainer microphone 64, speaker 66, trainer joystick 60, trainer pedal 62 and training system communication device 70 can communicate with the training control system 30.

[0019] Figure 2 3 is a view of the interior of the machine 20, including the operator station 32. The operator station 32 may include one or more operator seats 34 from which the operator may view one or more machine status indicators or displays 36 and access one or more input devices, such as a machine joystick 38 and one or more machine pedals (not shown), to generate commands that may be received by the training control unit 80 to control the operation of the machine. The operator station 32 may also include an access authorization or assistance request device 40, and communication devices such as an operator microphone 42 and a machine speaker 44. A viewing device such as an operator workstation camera 46 may detect video (e.g., real-time video) of the operation of the machine 20 via the operator workstation 32. At least one operator station camera 46 may be provided with a line of sight directed toward an input device within the operator station 32, such as a machine joystick 38 and / or one or more pedals. The training control unit 80 may communicate with the machine display 36, the machine joystick 38, the machine pedals or other input devices, the access authorization device 40, the operator microphone 42, the machine speaker 44, the operator station camera 46, and the communication device 26.

[0020] In an exemplary configuration of machine 20, a plurality of input devices including machine joysticks 38 and pedals may be provided within operator station 32. First machine joystick 38 may form an input device that allows an operator to control movement of machine 20 via traction device 22. For example, first (e.g., left) machine joystick 38 may facilitate movement, transmission state selection, and, if desired, steering operations, while second (e.g., right) machine joystick 38 may control implements (e.g., raising, lowering, or tilting blades). Pedals within operator station 32 may allow an operator to control acceleration, braking, steering, etc., by controlling traction device 22. Additional input devices (e.g., switches, buttons, knobs, etc.) may be provided within operator station 32 for controlling various functions of machine 20.

[0021] The training control unit 80 may be configured to control the operation of the traction device 22 and the implement 24 of the machine 20 based on inputs received from the input devices of the machine 20 and inputs received from the input devices of the remote system 50. For example, the training control unit 80 may be embodied as or included in an electronic control module of the machine 20 that outputs control signals to one or more systems for controlling the machine 20 (e.g., an internal combustion engine system, a transmission system, a hydraulic system for the implement 24, etc.). In one aspect, the training control unit 80 may be operated in a plurality of modes or states during control of the machine 20, including a separate control mode or state and a training mode or shared control state. In the separate control state, the training control unit 80 may prohibit control of the machine 20 from the remote system 50. In the shared control state, the training control unit 80 may allow control of the machine 20 from the remote system 50, and may also allow control of the machine 20 from the operator station 32 (e.g., when no commands are issued from the input devices of the remote system 50). Each of these modes or states may be selected or authorized via the access authorization device 40. Access authorization device 40 may be a suitable physical or electronic (e.g., touch screen element) button and / or switch that, when pressed or otherwise activated (e.g., switched to a first position), provides access authorization to training control unit 80. Access authorization may cause training control unit 80 to enter a shared control state. When access authorization device 40 is subsequently pressed or otherwise activated (e.g., switched to a second position), the access authorization may be revoked, causing training control unit 80 to enter a sole control state and interrupt the shared control state.

[0022] Figure 3 is a block diagram illustrating an exemplary configuration of a training control unit 80, which may include a communication module 150 to facilitate communication between a trainer and an operator, and a control module 152 to facilitate shared control of a machine 20. The training control unit 80 may receive a plurality of inputs, including communication inputs 90, control inputs 110, and authorization inputs, such as access authorization 100 and access request 102. The training control unit 80 may provide a communication output 122 and a machine control output 132 (e.g., a command signal for operating one or more of the traction device 22 and the implement 24).

[0023] The training control unit 80 may include or be embodied as a single microprocessor or multiple microprocessors that receive inputs (e.g., input 90) and issue control signals or other outputs (e.g., outputs 122, 132). The training control module 80 may include a memory, an auxiliary storage device, a processor (such as a central processing unit), or any other device for performing tasks according to the present invention. The memory or auxiliary storage device associated with the training control unit 80 may store data and software to allow the training control unit 80 to perform its functions, including with respect to the method 200 ( Figure 4 ) described herein. In particular, such data and software in the memory or secondary storage device may allow the training control unit 80 to perform functions associated with the communication module 150 and the control module 152, as well as to generate outputs 122 and 132 for controlling the machine 20 and for facilitating supervision and communication between an operator of the machine 20 (e.g., in the operator station 32) and a trainer, supervisor, and / or expert operator present at the remote system 50. Many commercially available microprocessors may be configured to perform the functions of the training control unit 80. Various other known circuits may be associated with the training control unit 80, including signal conditioning circuits, communication circuits, and other appropriate circuits. In some aspects, the training control unit 80 may be separate from one or more control units of the machine 20 and may act as a switch or filter for selectively disabling and enabling control signals for one or more machine control units.

[0024] The communication inputs 90 to the training control unit 80 may be received by the communication module 150 and may include training audio or training communications 92 from the trainer microphone 64, operator audio or operator communications 94 from the operator microphone 42, environmental video 96 from the front and / or rear environmental cameras 28, and operator station video 98 from the operator station camera 46. Based on these inputs, the training control unit 80 may output audio and video information including one or more of an environmental display 124, an operational display 126, an operator station audio 128, and a trainer audio 130. The environmental display output 124 may correspond to an image or video captured by the environmental camera 28 and may be used as an environmental viewing display 58 ( Figure 1) to the trainer. The environmental display output 124 may provide visual information about the state of the implement 24 (e.g., position, inclination, etc.), as well as a view of any adjacent obstacles or materials located near the implement 24. This information may be provided in the remote system by the environmental viewing display 58. The operational display output 126 may correspond to an image or video captured by the operator station camera 46, and may provide visual information of one or more input devices (such as the machine joystick 38) within the operator station 32. Thus, the trainer is able to visually monitor the operator's input devices to the machine 20, including the use of input devices for controlling the implement 24, via the operator viewing display 56. The operational display output 126 may also include operational information of the machine 20 (e.g., engine speed, machine speed, fuel information, engine temperature, slope, or any other desired information), which allows the replica display 54 to replicate (reproduce) information that may be provided to the operator via the machine display 36 (e.g., physical indicators, electronic images, or both of the display 36). To facilitate training or supervision, the displays 36 and 56 may provide information about the operation of the machine 20 to the operator and the trainer simultaneously or substantially simultaneously. The operator station audio 128 may correspond to audio captured with the operator microphone 42 and may be output via the trainer speaker 66. The trainer audio 130 may correspond to audio received via the trainer microphone 64 and output via the machine speaker 44.

[0025] The access authorization 100 and the access request 102 may also be received by the training control unit 80. The access authorization 100 may be issued by interacting with the access authorization device 40 within the operator station 32. In one aspect, interacting with the access device 40 may generate a signal received by the training control unit 80. The signal may indicate a command for the training control unit 80 to enter a separate control state or a command or authorization to enter a shared control state. The signal generated by interacting with the access device 40 may also indicate a request to enter a view-only state, in which audio and video are shared by the training control unit 80 and the remote system 50 (e.g., by sharing audio and video via cameras 28 and 46, microphones 42 and 64, and speakers 44 and 66 via the communication module 150), but control of the machine 20 is not shared with the remote system 50. When the access authorization device 40 is implemented as a single button or similar device, a first activation (press) of the button may generate a command to enter the view-only state, a second activation may generate a command to enter the shared control state, and a third activation may generate a command to enter the separate control state. If desired, the access device 40 may include multiple buttons corresponding to each state. When the access device 40 is implemented as a switch, the switch may include three positions corresponding to the sole control, view only and shared control states, respectively.

[0026] The access request 102 may include a request initiated by interacting with the access request device 68 of the remote system 50. The access request 102 may indicate a request to supervise the operation of the machine 20 (e.g., by entering an observation-only state or a shared control state). For example, the access request 102 may include a request to share control of the machine 20 and a request to observe the operation of the machine 20. Receiving the request 102 may cause the training control unit 80 to present a notification to the operator, such as an audio notification and / or a visual notification, to notify the operator of the request 102. The operator may take appropriate actions in response to receiving the access request 102 to authorize the observation-only state or the shared control state of the machine 20. In one aspect, the access request device 68 may include a plurality of buttons or switches to request the observation-only state or the shared control state. If desired, the training control unit 80 may be configured to enter the observation-only state in response to receiving the request 102, or may alternatively be configured to enter the shared control state only upon receiving the access authorization 100 (either alone or in response to the request 102).

[0027] Control inputs 110 may be received by the control module 152 from input devices within the remote system 50 and the operator station 32. For example, the control inputs 110 may include operator commands 112 issued by an operator by manipulating one or more machine joysticks 38, machine pedals, etc. The operator commands 112 may thus include commands for moving the machine 20 via the traction device 22 and / or for performing functions with the implement 24. The training commands 114 may similarly include commands for the traction device 22 and / or the implement 24, but generated by the training control system 30 and sent from the remote system 50. In particular, the training commands 114 may be provided to the training control unit 80 in response to operation of the trainer joystick 60, the trainer pedal 62, or other input devices of the remote system 50. The control module 152 may generate machine control outputs 132 (e.g., commands), including traction device control 134 commands and implement control 136 commands. As described below, control module 152 may provide outputs 134 and 136 based on the current state or mode of training control unit 80 and based on whether commands 112 and 114 conflict with each other.

[0028] Industrial Applicability

[0029] The machine training system 12 may be used in conjunction with any suitable machine or vehicle. For example, the machine training system 12 may be used with a bulldozer, tractor, motor grader, excavator, etc. to facilitate shared control of the machine 20. The machine training system 12 may also facilitate communication between the machine 20 (and the operator) and the remote system 50 (and the trainer) via any suitable communication system or network 72. During operation of the machine 20, the training control unit 80 may receive training commands 114 for operating the machine 20 via the communication device 26. In addition, the training control unit 80 may transmit video to the remote system 50 and may provide two-way audio communication between the operator station 32 and the remote system 50 during operation of the machine 20. The training control unit 80 may operate according to a shared control state (or mode) or a separate control state (or mode) according to the operator's use of the access authorization device 40.

[0030] Figure 4 2 is a flow chart illustrating an exemplary process or method 200 performed using the machine training system 12. In step 202, the control module 152 may receive operator commands 112 based on the operator's interaction with one or more input devices. These operator commands 112 may correspond to requested actions of the traction device 22, the implement 24, the transmission component, the accessories (e.g., wipers, lights, etc.), or any other component of the machine 20. Although step 202 is shown as the first step of the method 200, as will be appreciated, step 202 may be performed at different times (intermittently or continuously) during the operation of the machine 20 and the execution of the method 200.

[0031] In step 204, the training control unit 80 may determine whether an access authorization 100 has been received from the operator station 32. In one aspect, the access authorization 100 may be initiated by the access authorization device 40 to generate a command to cause the training control unit 80 to enter a training or shared control state. The access authorization 100 may be generated when an operator interacts with the authorization device 40 within the operator station 32. In some aspects, the trainer may initiate an access request 102 by interacting with the access request device 68. The request may represent a request from the remote station 50 to control the machine 20 and / or a request from the remote station 50 for the ability to override the command 112. Step 204 may include determining whether an authorization 100 generated from the operator station 32 has been received in response to such a request 102.

[0032] When no access authorization 100 is received (or when access is revoked via the access authorization device 40), the method 200 may proceed to step 206, in which the training control unit 80 enters or remains in the sole control state. In step 208, the machine 20 is operated according to the sole control state. When in the sole control state, the training control unit 80 may operate the machine 20 solely or entirely based on the operator commands 112. During operation in the sole control state, the training commands 114 issued via the remote system 50 may be prohibited from affecting the operation of the machine 20. Therefore, during the sole control state, when the operator commands 112 and the training commands 114 conflict with each other, the training control unit 80 may operate the machine 20 entirely based on the operator commands 112. Therefore, the training control unit 80 may prohibit the remote operating device or system 50 from controlling the machine 20. Optionally, audio and / or video communications between the machine 20 and the remote system 50 may also be blocked or prohibited when in this state. However, if desired, audio and / or video communications between the remote system 50 and the machine 20 may be enabled during the sole control state. This may be performed, for example, by interacting with the second access authorization means 40 (eg a second button), by interacting with the access authorization means 40 in the form of a switch, or by interacting with any other suitable access means.

[0033] When the determination in step 204 is affirmative, an access authorization 100 has been received when an operator interacts with the authorization device 40 individually or in response to an access request 102 generated by a trainer interacting with the access request device 68. In step 210, in response to receiving the access authorization 100, the training control unit 80 may enter a training or shared control state. When in the shared control state, two-way communication between the operator station 32 and the remote system 50 may be enabled via the communication module 150. For example, the microphones 42, 64 and the speakers 44, 66 may allow audio communications (e.g., voice communications, operator station audio 128 and trainer audio 130 communications), allowing the trainer to provide training to the operator, listen to and answer questions from the operator, and explain the functions of the machine 20 to the operator. At the same time, the cameras 28 and 46 may provide real-time video to the trainer through the display device 52. In addition, the operation display output 126 may provide a real-time indication of the operating conditions of the machine 20. Thus, the training control unit 80 may allow a trainer using the remote system 50 to observe the machine, the environment, the state of the machine, and / or the operator in real time.

[0034] In step 212, training commands 114 may be received by control module 152. For example, a trainer may interact with one or more input devices of remote system 50 to generate training commands 114 that are received by training control unit 80 via network 72. Training commands 114, like operator commands 112, may request actions of traction device 22, implement 24, or any other component of machine 20. In one aspect, training commands 114 may be issued to override conflicting operator commands 112 (e.g., to demonstrate correct techniques, or to correct erroneous or inefficient commands issued from an operator), or may be issued without an operator command 112 (e.g., to demonstrate a specific action or function).

[0035] In step 214, the training control unit 80 may cause one or more traction devices 22 or implements 24 to perform one or more functions in accordance with the commands received in step 212. Step 214 may also include operating the machine 20 based on the operator commands 112 (e.g., in the absence of training commands 114, or in response to a determination that the input device of the remote system 50 is in a neutral position). Thus, the trainer may observe and oversee the operation of the machine 20. During operation of the machine 20 in step 214, the operator and trainer may generate operator commands 112 and training commands 114 simultaneously or during overlapping time periods. In at least some cases, these commands 112 and 114 may conflict with each other. As understood, "conflicting" commands include any different commands for operating the traction devices 22 and / or implements 24, and are not limited to opposing commands.

[0036] In one aspect, the trainer may input commands to correct the operator's actions. For example, the operator command 112 may request a specific function of the implement 22, such as lowering the scraper, while the training command 114 may request a conflicting function of the implement 22, such as raising or tilting the scraper. In response to receiving the conflicting commands 112 and 114, the training control unit 80 may determine whether the command 112 is related to a safety function (e.g., deceleration) or a safety device (e.g., parking brake). When the command 112 is not related to a safety function or a safety device, the training control unit 80 may override the operator command 112 with the training command 114 to facilitate the trainer to make corrections. In one aspect, during the shared control state, the implement operation command received from the remote system 50 may override the implement operation command from the operator station 32. Conversely, when the operator command 112 is directed to a safety function or a safety device, the training command 114 may be overridden by the operator command 112. For example, an operator command 112 for decelerating or engaging the parking brake may override the training command 114 for accelerating. Thus, the machine control unit 80 may be configured to prioritize commands from the remote system 50 based on the type of action (e.g., safety) requested by the command from the input device of the machine 20. Additionally or alternatively, command prioritization may be based on the type of action, such as an implement command, a traction device command, or any other type of action. In one example, all braking and deceleration commands that slow or stop the machine 20 may be prioritized over commands that accelerate the machine 20 or operate the machine 20 at a constant speed. In another example, a command to lock the implement 24, which may be generated by a lock switch located in the operator station 32, may be prioritized over commands to move or otherwise manipulate the implement 24. In yet another example, commands associated with the machine joystick 38, such as commands to manipulate the implement 24 (e.g., raise or lower the blade) and steering commands, may be prioritized over corresponding commands from the remote system 50.

[0037] The machine training system 12 may facilitate remote observation and / or demonstration of the machine 20 by a trainer while the operator is present in the operator station 32 of the machine. The system 12 may facilitate operator training or coaching, particularly for machines 20 that do not include adjustments for a trainer (such as a so-called "buddy seat"). The system 20 may allow a trainer or supervisor to interact, observe, and / or override the operator's controls (which may be manually input by an operator present in the operator station 32). The system 20 may allow the operator to operate the machine 20 in real time while the instructor observes and, if necessary, overrides one or more commands input by the operator, thereby allowing the instructor to correct or demonstrate the operation of the machine 20. This may improve operator safety and training efficiency. In addition, the system 20 may allow the trainer to instruct or otherwise verbally communicate with the operator (e.g., via a two-way communication system), observe the operator's performance (e.g., via camera 46), observe worksite conditions (e.g., via camera 28), and troubleshoot the machine 20 and / or worksite problems. In addition, the system 12 may be configured to receive control commands from a remote system 50 and an operator. System 12 may override operator-initiated safety-related controls, such as a parking brake, over commands from remote system 50 , thereby allowing the operator to maintain full control over safety-related operations of machine 20 .

[0038] It is obvious to those skilled in the art that various modifications and variations may be made to the disclosed method and system without departing from the scope of the present invention. Other embodiments of the method and system will be apparent to those skilled in the art by considering the specification and practice of the method and system disclosed herein. This specification and examples are intended to be considered exemplary only, with the true scope of the present invention being indicated by the appended claims and their equivalents.

Claims

1. A method for shared access to a machine for operator training, the machine comprising a traction device and an implement, the method comprising: receiving, from an access device, authorization for shared access to the machine; entering a shared control state based at least on said authorization received from said access device; receiving a command from a remote operating device during the shared control state; as well as When an operator is present in the machine, at least one of the traction device or the implement of the machine is operated based at least on the command from the remote operating device. 2 . The method of claim 1 , further comprising receiving a request from the remote operating device to supervise operation of the machine. 3 . The method of claim 2 , further comprising sending information to the remote operating device in response to the authorization to cause the remote operating device to mirror a display of the machine.

4. The method according to any one of claims 1 to 3, wherein the access device is arranged in an operator station of the machine.

5. The method according to any one of claims 1 to 3, further comprising: receiving a command from the access device to interrupt shared control of the machine; interrupting the shared control state; as well as After the shared control state is deactivated, at least one of the traction device or the implement of the machine is controlled using only the operator command. 6 . The method of claim 5 , further comprising disabling control of the machine by the remote operating device in response to receiving a request to discontinue shared control from the access device.

7. The method according to any one of claims 1 to 3, further comprising: receiving operator commands from an operator input device in the machine; as well as When the operator command includes a command to engage a parking brake during the shared control state, the operator command is prioritized over commands from the remote operating device.

8. The method according to any one of claims 1 to 3, further comprising: receiving operator commands from an operator input device in the machine; as well as When the operator command and the command from the remote operating device are commands for operating the implement and conflict during the shared control state, the command from the remote operating device is prioritized.

9. A training system for shared control of a machine, the training system comprising: an operator input device configured to generate operator commands in response to input generated by an operator present in the machine; a communication device configured to receive commands from a remote operating device; a training control unit configured to receive said operator instructions and said commands from said remote operating device; and An access authorization device is configured to cause the training control unit to activate a shared control state, the shared control state authorizing control of the remote operating device so as to control one or more functions of the machine using the commands from the remote operating device when the operator is present in the machine.

10. The training system according to claim 9, wherein: The access authorization device is configured to cause the training control unit to activate a second state that prohibits the remote operation device from controlling the one or more functions.

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