Full site controller and method for battery status-based machine management

Abstract

The present disclosure relates to battery health across a fleet of machines (104). Battery life on a machine (104(1)) varies significantly depending on the work application. A work site (102) has multiple identical machines (104(1)) working in various applications to meet productivity requirements. More particularly, the present disclosure relates to balancing the state of health (SoH) of batteries across a fleet of machines (104). A full-site model is used to determine the severity of various machine applications at a given work site (102). The model actively tracks the work history and current battery state of health of each machine (104) to determine the appropriate allocation so that the machines (104) are periodically rotated through the various applications. In addition, the model ensures that the batteries have sufficient state of health to complete the assigned tasks. A reduction in battery life results in downtime to troubleshoot perceived problems and the associated additional costs. Balancing battery life across a fleet produces more consistent operations.

Description

Technical Field

[0001] The present disclosure generally relates to balancing battery state of health (SoH) across a fleet of mobile machines at a work site, and more particularly to automatically allocating and mobilizing mobile machines to complete work site tasks based on their battery state. Background Art

[0002] A mobile machine can be, for example, a self-propelled vehicle having an implement or tool operably connected thereto for performing work, or a vehicle capable of hauling materials or personnel. For example, such a mobile machine can be a construction machine, such as a bulldozer, wheel loader, motor grader, compactor, off-highway truck, and other earthmoving equipment or construction equipment typically found at a work site. When a work project is ongoing, various mobile machines perform multiple tasks at different locations on the work site each day. For example, an excavator can dig a trench at one location one day and at another location three days later. In between, a haul truck can haul the excavated material from the trench.

[0003] Some mission assignments can be done programmatically or semi-programmatically. For example, U.S. Patent No. 7,415,333 (hereinafter referred to as the "'333 patent") describes ranking potential missions based on the severity of the environmental stress expected to be experienced by a fleet of vehicles while completing the mission. Potential missions are generated and assigned based on vehicle usage and maintenance data as well as environmental data. Once potential missions are generated, they are assigned to vehicles based on the likelihood that the vehicle will reliably complete the mission.

[0004] While the system described in the '333 patent addresses specific scenarios involving assigning tasks to a fleet of vehicles based on external environmental factors such as weather, the system is not useful for assigning and maneuvering mobile machines on a work site to complete work site tasks while balancing battery SoH across a fleet. For example, while the system described in the '333 patent considers how weather conditions affect battery performance, the system does not assess how the work site tasks themselves affect battery SoH. Consequently, the system described in the '333 patent is prone to error when assigning work site tasks to one or more mobile machines and is not configured to optimize battery SoH across a fleet.

[0005] The example systems and methods of the present disclosure are directed to overcoming the aforementioned deficiencies. Summary of the Invention

[0006] According to a first aspect, a full-site controller includes one or more processors and a non-transitory computer-readable medium storing computer-executable instructions. The computer-executable instructions, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include identifying one or more machines associated with a worksite. The operations also include determining a first state of health (SoH) for a first battery associated with the first machine. The operations also include determining a second SoH for a second battery associated with a second machine. The operations also include identifying one or more worksite tasks to be performed at the worksite. The operations also include determining, for each of the one or more worksite tasks, a first predicted impact on the first SoH and a second predicted impact on the second SoH. The operations also include assigning the first task to the first machine based at least in part on the first SoH, the second SoH, a first predicted impact corresponding to a first task of the one or more worksite tasks, and a second predicted impact corresponding to a second task of the one or more worksite tasks, wherein assigning the first task to the first machine indicates a low predicted impact on the first SoH. The operations also include assigning the second task to the second machine based at least in part on the first SoH, the second SoH, the first predicted impact corresponding to the first task, and the second predicted impact corresponding to the second task. Assigning the second task to the second machine indicates a low predicted impact on the second SoH. The operations also include generating a first task command, the first task command indicating a worksite task corresponding to the first machine. The operations also include generating a second task command, the second task command indicating a worksite task corresponding to the second machine. The operations also include sending the first task command indicating the first worksite task to the first machine. The operations also include sending the second task command indicating the second worksite task to the second machine.

[0007] According to another aspect, a method includes identifying, by one or more processors, one or more machines associated with a worksite. The method also includes determining, by the one or more processors, a first state of health (SoH) for a first battery associated with the first machine. The method also includes determining, by the one or more processors, a second SoH for a second battery associated with a second machine. The method also includes identifying, by the one or more processors, one or more worksite tasks to be performed at the worksite. The method also includes determining, by the one or more processors, for each of the one or more worksite tasks, a first predicted impact on the first SoH and a second predicted impact on the second SoH. The method also includes assigning, by the one or more processors, the first task to the first machine based at least in part on the first SoH, the second SoH, a first predicted impact corresponding to a first task of the one or more worksite tasks, and a second predicted impact corresponding to a second task of the one or more worksite tasks. Assigning the first task to the first machine indicates a low predicted impact on the first SoH. The method also includes assigning, by the one or more processors, the second task to the second machine based at least in part on the first SoH, the second SoH, the first predicted impact corresponding to the first task, and the second predicted impact corresponding to the second task. Assigning the second task to the second machine indicates a low predicted impact on the second SoH. The method also includes generating, by the one or more processors, a first task command, the first task command indicating a worksite task corresponding to the first machine. The method also includes generating, by the one or more processors, a second task command, the second task command indicating a worksite task corresponding to the second machine. The method also includes sending, by the one or more processors, the first task command indicating the first worksite task to the first machine. The method also includes sending, by the one or more processors, a second task command indicating the second worksite task to the second machine.

[0008] According to another aspect, a method includes identifying, by one or more processors, one or more machines associated with a worksite. The method also includes determining, by the one or more processors, a first state of health (SoH) for a first battery associated with the first machine. The method also includes determining, by the one or more processors, a second SoH for a second battery associated with a second machine. The method also includes identifying, by the one or more processors, one or more worksite tasks to be performed at the worksite. The method also includes determining, by the one or more processors, for each of the one or more worksite tasks, a first predicted impact on the first SoH and a second predicted impact on the second SoH. The method also includes assigning, by the one or more processors, the first task to the first machine based at least in part on the first SoH, the second SoH, a first predicted impact corresponding to a first task of the one or more worksite tasks, and a second predicted impact corresponding to a second task of the one or more worksite tasks. Assigning the first task to the first machine indicates a low predicted impact on the first SoH. The method also includes assigning, by the one or more processors, the second task to the second machine based at least in part on the first SoH, the second SoH, the first predicted impact corresponding to the first task, and the second predicted impact corresponding to the second task. Assigning the second task to the second machine indicates a low predicted impact on the second SoH. The method also includes generating, by the one or more processors, a first task command, the first task command indicating a worksite task corresponding to the first machine. The method also includes generating, by the one or more processors, a second task command, the second task command indicating a worksite task corresponding to the second machine. The method also includes sending, by the one or more processors, the first task command indicating the first worksite task to the first machine. The method also includes sending, by the one or more processors, a second task command indicating the second worksite task to the second machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 An example system according to examples of the present disclosure is shown that includes an example mobile machine configured to receive task commands and complete worksite tasks.

[0010] Figure 2 A flow chart depicting an example method for sending task commands to a mobile machine to perform a worksite task according to examples of the present disclosure is shown.

[0011] Figure 3A flow chart depicting an example method for assigning one or more mobile machines at a work site to corresponding tasks for a period of time according to examples of the present disclosure is shown.

[0012] Figure 4 A flow chart depicting an example method for assigning a worksite task to a particular mobile machine and identifying one or more other worksite tasks to be completed according to examples of the present disclosure is shown.

[0013] Figure 5 A flow chart depicting an example method for receiving a task command, completing the task, and indicating that the task is completed according to examples of the present disclosure is shown.

[0014] Figure 6 Exemplary factors considered in determining the impact on battery SoH according to examples of the present disclosure are shown.

[0015] Figure 7 is a block diagram of an example full-site controller implementing worksite tasks for a mobile machine according to examples of the present disclosure.

[0016] Figure 8 is a block diagram of an example electronic device for balancing batteries SoH across a fleet of mobile machines at a work site according to examples of the present disclosure.

[0017] The following detailed description of the drawings provides reference to the accompanying drawings. In the drawings, the leftmost digit(s) of a reference number identifies the figure in which the reference number first appears. The use of the same reference number in different figures indicates similar or identical items. The systems depicted in the drawings are not drawn to scale, and components within the drawings may not be drawn to scale with respect to each other. DETAILED DESCRIPTION

[0018] This disclosure describes techniques related to balancing batteries (SoH) across a fleet of mobile machines at a work site. The mobile machines may be, for example, autonomous or semi-autonomous self-propelled vehicles or non-autonomous attended vehicles configured to perform one or more operations associated with a given industry, such as paving, excavation, mining, construction, agriculture, transportation, oil and gas, manufacturing, or any other suitable industry.

[0019] Figure 1An example system 100 is shown disposed at an example work site 102. According to an example of the present disclosure, system 100 includes one or more mobile machines 104(1), 104(2), 104(3), ... 104(N) (hereinafter individually referred to as "mobile machines 104" or collectively as "mobile machines 104") configured to perform work site tasks. Mobile machines 104, although depicted here as including at least haul trucks 104(1), excavators 104(2), backhoes 104(3), etc., may be any suitable type of machine or tool that can be used in any kind of industry (e.g., construction, mining, agriculture, transportation, security services, oil and gas, etc.). For example, mobile machine 104 can be any suitable machine, such as any type of loader, bulldozer, dump truck, skid steer loader, excavator, compactor, backhoe, combine harvester, crane, drilling equipment, storage tank, trencher, tractor, grader, articulated truck, asphalt paver, backhoe loader, cold planer, drill, garden machinery, hydraulic mining shovel, material handling machine, motor grader, off-highway truck, pipe laying machine, road reclaimer, crawler loader, underground machine, multi-purpose vehicle, wheel loader, tanker (for example, for carrying water or fuel), their combination, etc. Mobile machine 104 is configured to receive the instruction corresponding to the desired movement or mobilization of completing the work site task, and moves according to the desired movement. In some cases, mobile machine 104 is autonomous and automatically moves according to the desired movement. In other cases, mobile machine 104 is dispatched according to the desired movement, such as when mobile machine 104 is non-autonomous. In the case where the mobile machines 104 are autonomous or semi-autonomous, the mobile machines 104 are also configured to determine paths to automatically travel to various locations at the work site 102. In addition, the mobile machines 104 are configured to perform commercial or industrial tasks, such as mining, construction, energy exploration and / or power generation, manufacturing, transportation, agriculture, or any tasks associated with other types of industries, individually or in collaboration with each other. Although six types of mobile machines 104 are depicted herein, it should be understood that any suitable number of mobile machines 104 may be present at the work site 102 according to examples of the present disclosure.

[0020] Work site 102 includes various locations in which or to which mobile machines 104 may be maneuvered, graded, maintained, stored, parked, provided, and / or used to perform work. Work site 102 may include, for example, a work area 106 where mobile machines 104 engage in work activities, such as excavating dirt, distributing asphalt, redistributing gravel, harvesting wheat, and the like. Although work area 106 is depicted as an open pit mine, it should be understood that work area 106 may be any suitable location in any suitable application, such as construction, mining, agriculture, transportation, and the like. For example, work area 106 may be in the form of a paving site, an industrial site, a factory floor, a construction site, a road construction site, a quarry, a building, a city, combinations thereof, and the like.

[0021] The mobile machine 104 may include a controller 114 thereon that controls the worksite task functions of the mobile machine 104. The mobile machine 104 may receive (one or more) wireless signals 116 via an antenna 118 operatively connected to the controller 114. The wireless signals 116, as received by the mobile machine 104, may carry instructions and / or one or more commands for the mobile machine 104 to complete the worksite task within the worksite 102. For example, the wireless signals 116 may include an indication of a specific location at the worksite 102 to which the mobile machine 104 is to be relocated. The controller 114 and / or other associated electronic hardware of the mobile machine 104 may process the wireless signals 116 to determine the location within the worksite 102 to which the mobile machine 104 is to be relocated. The controller 114 may use any of the various sensors 120 of the mobile machine 104 to control the propulsion system 122 of the mobile machine 104 to relocate the mobile machine 104 to a desired location at the worksite 102, such as the location indicated by the wireless signals 116. Although the controller 114 , antenna 118 , sensors 120 , and propulsion system 122 are depicted on the excavator 104 ( 4 ), it should be understood that each mobile machine 104 may have its own controller 114 , antenna 118 , sensors 120 , and propulsion system 122 .

[0022] The sensors 120 may include any suitable number and / or types of sensors 120 that generate sensor signals that are received and processed by the controller 114 or other electronic hardware of the mobile machine 104 to indicate features surrounding the mobile machine 104 (e.g., ground conditions, building structures, locations, etc.) and / or the current location of the mobile machine 104. The sensors 120 may include, for example, any one or more of the following: a light detection and ranging (LIDAR) sensor, a radio detection and ranging (RADAR) sensor, a sound detection and ranging (SONAR) sensor, a global navigation satellite sensor (GNSS) position sensor (e.g., a global positioning satellite (GPS) sensor, etc.), a magnetic sensor (e.g., a compass, etc.), an inertial sensor (e.g., an accelerometer, a magnetometer, a gyroscope, etc.), a camera (e.g., RGB, IR, intensity, depth, time of flight, etc.), a microphone, a wheel encoder, an environmental sensor (e.g., a temperature sensor, a humidity sensor, a light sensor, a pressure sensor, etc.), combinations thereof, etc. The sensors 120 may include multiple instances of each of these or other types of sensors 120. The controller 114 is configured to receive sensor signals from the sensors 120 and process these sensor signals to identify ambient conditions, current locations, and / or characteristics proximate to the mobile machine 104. Different mobile machines 104 may have the same sensors 120 or different sensors 120.

[0023] The propulsion system 122, although depicted as a chain drive or continuous track of the excavator 104(4), can be any suitable drive system of the mobile machine 104. As discussed herein, the propulsion system 122 can include an engine, such as an internal combustion, hybrid, or other engine (not shown), an electric motor (not shown), a steering system (not shown), and / or a transmission (not shown) of the mobile machine 104. The controller 114 is configured to control various aspects of the propulsion system 122 of the mobile machine 104, such as rate or speed, direction, gears, etc. In general, the controller 114 can be configured to control the movement of the mobile machine 104 by, for example, controlling the various components of the propulsion system 122 of the mobile machine 104 (e.g., transmission, steering, etc.) in a manner similar to how a human operator of the mobile machine 104 can control the propulsion system 122. For example, the controller 114 can operate the various components of the propulsion system 122 in a fly-by-wire mechanism.

[0024] The controller 114 is configured to move the mobile machine 104 to a desired location, such as the work area 106, using sensor signals from the sensors 120 and based at least in part on a desired location corresponding to a worksite task for the mobile machine 104. The controller 114 uses the sensors 120 to identify its current location (e.g., using GPS data) and / or to identify hazards in its vicinity (e.g., using camera / imager and / or LIDAR data). For example, sensor signals from the sensors 120 in the form of LIDAR may indicate that the autonomously moving mobile machine 104 is approaching a hazard in the form of another mobile machine 104. In this case, the controller 114 may control the mobile machine 104 by controlling its propulsion system 122 so that the path of the mobile machine 104 avoids a collision with the other mobile machine 104 as the mobile machine moves to its target location.

[0025] The system 100 may include an electronic device 160 configured to generate a wireless signal 116 that enables task commands to be transmitted to the controller 114 of the mobile machine 104 via an antenna 118. The electronic device 160 may have a software application running thereon to instruct the mobile machine 104. For example, with the software application running thereon, the electronic device 160 may generate task commands and transmit the task commands via the wireless signal 116. In some cases, the electronic device 160 may be controlled by an operator 124 (e.g., a worksite 102 manager, a construction worker, a miner, a farmer, a paving worker, etc.). Thus, with the software application running thereon, the electronic device 160 may receive input from the operator 124, for example, via one or more human-machine interfaces (HMIs), to continue generating task commands. The human operator 124 may provide any number of parameters corresponding to desired operating characteristics of the mobile machine 104 to complete the worksite task, such as a destination location, a predetermined interval for transmitting battery SoH data, etc. These parameters may be encoded by the electronic device 160 into a task command that is transmitted to one or more mobile machines 104 via the wireless signal 116. In some cases, the electronic device 160 may be communicatively connected to a full-site controller 148, such as a full-site controller housed in a control center 150 located at the work site 102. As described below, the full-site controller 148 is configured to perform functions similar to those performed by the electronic device 160. Figure 7 The full-site controller 148 is described in more detail.

[0026] With the software application running thereon, the electronic device 160 is also configured to communicate with the controller 114 of the mobile machine 104 to receive a worksite task completion notification. Thus, after completing an assigned worksite task, the mobile machine 104 sends a notification indicating the completion of the assigned worksite task to the electronic device 160 that commanded the worksite task of the mobile machine 104, for example, via the wireless signal 116. Upon receiving the indication of completion of the worksite task, the electronic device 160 is further configured to display the task completion notification on a display of the electronic device 160. This task completion notification is configured to be viewed by the operator 124, for example.

[0027] As depicted herein, the electronic device 160 is separate from the mobile machine 104. In other words, in various aspects of the present disclosure, the electronic device 160 is not physically connected to the mobile machine 104, or is not physically included in or attached to the electrical wiring of the mobile machine 104. Instead, the electronic device 160 communicates wirelessly with the mobile machine 104. In some cases, communication between the electronic device 160 and the mobile machine 104 can be via protocol-based communication (e.g., direct Wi-Fi, Wi-Fi, the Internet, Bluetooth, etc.), and in other cases, communication can be non-protocol-based communication (e.g., remote control). In examples of the present disclosure, the system 100 with communication between one or more electronic devices 160 and one or more mobile machines 104 can create a worksite-level network, such as a local area network (LAN) or a wide area network (WAN). In alternative examples, the electronic device 160 can be included in the mobile machine 104 and / or otherwise hardwired to the mobile machine.

[0028] Although the electronic device 160 is depicted herein as a smartphone, it should be understood that the electronic device 160 can be any suitable electronic device. For example, the electronic device 160 can be a computer, a mobile device, a server, a tablet computer, a laptop computer, a handheld computer, a workstation, a desktop computer, a notebook computer, any type of user equipment (UE), a network device, an e-reader, a wearable computer, a network node, a microcontroller, a smartphone, or another computing device. The software application that operates on the electronic device 160 to enable it to control the worksite task functions of the mobile machine 104 can be downloaded to the electronic device 160 from any suitable source, such as a commercial application download website, a USB, etc.

[0029] Electronic device 160 includes a full site model 162 and a SoH manager 164 (both of which are also Figure 8104 ). The full-site model 162 is configured to track various worksite tasks to be completed at the worksite 102, as well as the mobile machines 104 that can be used to complete such worksite tasks. The full-site model 162 ranks, indexes, or otherwise compares the worksite tasks to be completed based on the energy requirements of the tasks and the severity of the battery SoH of the mobile machines 104 (i.e., the expected battery SoH impact) of the given worksite tasks. The SoH manager 164 proactively determines a mobile machine 104 or multiple mobile machines 104 that have a battery SoH suitable for the available tasks. Thus, in communication with the SoH manager 164, the full-site model 162 matches the mobile machines 104 to specific worksite tasks.

[0030] The electronic device 160 also includes a task command manager 166 (also in Figure 8 102 ). The task command manager 166 is configured to generate and disseminate task commands that facilitate balancing the battery SoH while completing work site tasks at the work site 102. Thus, in some cases, the electronic device 160 (i.e., the task command manager 166) is configured to generate task commands that cause a single mobile machine 104 to perform one or more work site tasks. In other cases, the task command manager 166 is configured to generate task commands for multiple mobile machines 104 (such as all or a subset of all mobile machines 104 at the work site 102). In some examples, the task command manager 166 generates task commands for a single mobile machine 104 in response to an interaction with an operator 124 or another electronic device 160. In other cases, the task command manager 166 generates task commands for two or more mobile machines 104 in response to an interaction with an operator 124 or another electronic device 160. In either case, the task command may instruct the target mobile machine(s) 104 to perform work site task(s) that include at least repositioning the mobile machine(s) 104 from their current location(s) at the work site 102 to new location(s) at the work site 102.

[0031] In some cases, the task command generated by the task command manager 166 provides a work site task location to which the recipient mobile machine 104 is to be moved. This work site task location may be specified in any suitable manner, such as latitude and longitude coordinates, a work site 102 specific coordinate system, or feature identification (i.e., the task command may include instructions describing the location where the mobile machine 104 is to be relocated in order to perform the work site task). In the event that the work site task and / or location is referenced by a feature at the work site (e.g., the excavation pit 106), the task command manager 166 and / or the controller 114 may access a lookup table or other suitable mechanism that maps the feature location to a suitable coordinate system (e.g., latitude and longitude coordinates).

[0032] As discussed above, Figure 1 A system is shown including a mobile machine 104 configured to receive task commands and complete worksite tasks. Figure 1 Various mobile machines 104 are shown, including mobile machines 104 that are similar or identical to each other. Figure 1 The system includes a full-site model 162 that tracks and utilizes the battery SoH of the mobile machine 104. The full-site model 162 also indexes the severity of the battery SoH for a specific work site task. Figure 1 The system shown in allows the operator 124, for example, using the electronic device 160, to utilize the full site model 162 and assign the mobile machine 104 to the appropriate work site task. In some alternative cases, the full site controller 148 is used to utilize the full site model 162.

[0033] Figure 2 An example depiction according to the present disclosure is shown for Figure 1 Flowchart of an example method 200 for sending a task command to a mobile machine 104 to perform a worksite task. The operations of the method 200 may be performed by the full-site controller 148 in cooperation with one or more entities of the system 100.

[0034] At operation 202, the full-site controller 148 identifies one or more mobile machines 104 associated with the work site 102. In one non-limiting example, the full-site controller 148 receives sensor data (e.g., GPS coordinates of the mobile machines 104) and determines that one or more mobile machines 104 are located within a threshold distance of the work site 102 based on known GPS coordinates of the perimeter of the work site 102. In this example, the full-site controller 148 is further configured to request such sensor data, for example, by sending a request to the mobile machines 104 located within the threshold distance of the work site 102 to provide their respective GPS coordinates. In another non-limiting example, the full-site controller 148 accesses a lookup table, a database, or other suitable mechanism that associates individual mobile machines 104 with the work site 102 (e.g., by associating a VIN number, chassis number, or other unique identifier with the work site 102). In this example, the full-site controller 148 communicates with the mobile machines 104, which have unique identifiers associated with the work site 102, via wireless signals 116. In this manner, the full-site controller 148 confirms that those mobile machines 104 having the unique identifier associated with the worksite 102 are available to perform worksite tasks.

[0035] At operation 204, the full-site controller 148 determines the battery SoH for individual ones of the mobile machines 104. The full-site controller 148 determines the battery SoH by considering at least the number of charge / discharge cycles the battery has undergone, the battery charge / discharge C-rate, the battery chemistry, the temperature of the battery during its previous usage cycle, the internal impedance, and the total energy charged / discharged by the battery (and any combination thereof).

[0036] At operation 206, the full-site controller 148 identifies one or more worksite tasks to be performed at the worksite 102. In one non-limiting example, the full-site controller 148 may access a database table of pending worksite tasks and retrieve data from the database table. For example, the operator 124 may maintain a database of worksite tasks to be completed at the worksite 102. The pending worksite tasks are listed according to any suitable scheme, including completion date priority, task creation date, expected battery consumption, etc. In at least some cases, the database of pending worksite tasks is stored in association with the full-site model 162.

[0037] At operation 208 , the full-site controller 148 determines the impact of individual tasks from the one or more tasks on the battery SoH. The full-site model 162 considers the severity of various machine applications at the worksite 102 . In some examples, the impact on the battery SoH is considered an absolute quantity, i.e., the impact on the battery SoH of a given task is expressed as an estimated energy consumption. However, the full-site model 162 actively tracks the work history and current battery SoH of each mobile machine 104 . Therefore, in some examples, the impact on the battery SoH is considered a relative quantity. In other words, the impact of a given worksite task on the battery SoH is compared to the impact of each other worksite task on the battery SoH in order to determine an appropriate allocation so that the mobile machines 104 are periodically rotated through the various worksite tasks. That is, in at least some cases, worksite tasks are prioritized based on one or more considerations, such as the impact on the battery SoH (i.e., severity). In still other examples, the impact of individual worksite tasks on the battery SoH is expressed as a battery SoH threshold. The battery SoH threshold is expressed as a normalized percentage of remaining battery life, an equivalent amount of power remaining to be consumed (e.g., 1 kW, 2 kW, 5 kW, 10 kW, etc.), an equivalent amount of fuel remaining to be consumed (e.g., 1 gallon, 5 gallons, 10 gallons, etc.), or any other suitable amount of energy information. In such an example, a mobile machine 104 with a battery SoH below the battery SoH threshold is not suitable for a particular mission. In yet other examples, the impact on the battery SoH is expressed as a percentage of the new battery's range. For example, a battery nearing the end of its useful life may only be able to deliver 80% of the energy of a new battery during a charge / discharge cycle.

[0038] At operation 210, the full-site controller 148 assigns work site tasks to be performed at the work site 102 to individual mobile machines in the one or more mobile machines 104. Assigning tasks to individual mobile machines in the one or more mobile machines 104 includes balancing battery SoHs across the fleet of mobile machines 104 via the full-site model 162. Thus, assignment of tasks to individual mobile machines in the one or more mobile machines 104 is based at least in part on the respective battery SoHs of the particular mobile machine 104, the battery SoHs of the other mobile machines in the one or more mobile machines 104, and / or the overall impact of the assigned tasks on the battery SoH of the fleet. In some examples, balancing the battery SoHs includes assigning tasks to the mobile machines 104 based on their capabilities. For example, some tasks may require mobile machines 104 with fresh batteries to complete them.

[0039] Typically, the full-site controller 148 ranks or otherwise compares each possible permutation of assignments that match mobile machines 104 to worksite tasks. In some cases, this includes the full-site controller 148 determining a first target battery SoH for the first battery when completing a first potential worksite task. Similarly, the full-site controller 148 determines a second target battery SoH for the first battery when completing a second potential worksite task. To illustrate the permutations present in this example scenario, assume that the second mobile machine 104 is comparable and can also be used to complete two potential worksite tasks. The full-site controller 148 determines a third target battery SoH for the second battery when completing the second potential worksite task. The full-site controller 148 makes the same determination regarding a fourth target battery SoH for the second battery when completing the first potential worksite task. The full-site controller 148 determines which mobile machine 104 is assigned to which worksite task by comparing the energy consumed by the first and second batteries when completing each worksite task. Consequently, the full-site controller 148 determines a first difference between the first target battery SoH and the third target battery SoH, and a second difference between the second target battery SoH and the fourth target battery SoH.

[0040] The full site model 162 matches the mobile machines 104 to the applications based on the balance of battery SoH. Figure 6 The full-site model 162 considers at least cycle depth of discharge (DoD), lifetime battery energy throughput, battery state of charge (SoC), battery temperature, and other battery characteristics (e.g., planned battery replacement schedule) to determine potential impacts on battery SoH. In some examples, battery SoC is calculated using one or more of coulomb counting, discharge testing (e.g., comparing voltage to equivalent SoC using a discharge curve), and a Kalman filter. Thus, the battery SoC is calculated using a robust method that filters out measurement noise and other error propagation factors such as temperature effects, calibration errors, current fluctuations, etc. In some cases, the DoD is calculated and its complement is taken to define the battery SoC. In other cases, the reverse process is used. For each application to be matched to one or more individual mobile machines 104, the full-site model 162 considers the energy requirements of a complete cycle and the impact of the health state on that cycle.

[0041] Return now Figure 2, the worksite tasks are normalized so that comparable mobile machines 104 are interchangeable with respect to the assignment of tasks. Thus, in some cases, a specific mobile machine 104 to be assigned a worksite task can be designated at operation 210, or alternatively, the full-site controller 148 selects a specific mobile machine 104 from a subset of comparable mobile machines 104 in the inventory of the worksite 102. For example, if the worksite task is to be completed by a haul truck, and there are four different but comparable haul trucks at the worksite 102, the full-site controller 148 selects one of the haul trucks based on any suitable factors, such as the haul truck that was most recently recharged, the haul truck that is closest to the location of the worksite task to be completed, etc. (equal battery SoH between the available haul trucks). In the event that a mobile machine 104 is selected from the subset of comparable mobile machines 104, the full-site controller 148 queries each mobile machine 104 in the subset of comparable mobile machines 104 for suitable data to select one mobile machine 104 over the other comparable mobile machines 104. In at least some cases, the full-site controller 148 can access and consult a table of appropriate decision factors (e.g., time since last recharge, distance from the desired worksite location, etc.) The full-site controller 148 queries each mobile machine 104 in the subset of mobile machines 104 for data corresponding to the decision factor until an appropriate mobile machine 104 is selected.

[0042] At operation 212, the full-site controller 148 generates task commands to be transmitted to individual mobile machines of the one or more mobile machines 104. The generated task commands correspond to the work site tasks to be performed by each mobile machine 104. Each task command includes one or more parameters associated with the work site task to be completed by each mobile machine 104. Each task command includes one or more data packets having a header portion that indicates at least the destination to which the mobile machines 104 are being directed by the data packets. The payload portion of the data packets includes an indication of various parameters associated with the work site tasks. The parameters include at least an indication of a target battery SoH and a target battery recharge time for the mobile machine 104 upon completion of the work site task. In other words, the payload portion of the data packet including the task command transmits to the mobile machine 104 at least: (1) the target battery SoH and (2) the target battery recharge. Thus, each task command acts as a formatted data unit that transmits relevant information about the work site task to the mobile machine 104.

[0043] At operation 214, the full-site controller 148 sends a corresponding worksite task to an individual mobile machine in one or more mobile machines 104. The task command is encoded and / or modulated onto a wireless signal 116 that is received by the antenna 118 of the mobile machine 104. The controller 114 receives the wireless signal 116 and decodes and / or demodulates the wireless signal 116 to identify the task command. In some cases, an electronic device 160 in communication with the full-site controller 148 requests the task command, for example, based on input from an operator 124. The full-site controller 148 transmits the task command via the wireless signal 116. In these cases, the controller 114 of the mobile machine 104 then receives the task command from the full-site controller 148 and decodes and / or demodulates the wireless signal 116 to identify the task command.

[0044] As discussed above, Figure 2 An example method 200 is depicted for sending task commands to mobile machines 104 to perform worksite tasks. The method 200 includes identifying one or more mobile machines 104 associated with a worksite 102 and determining their respective battery SoHs. The method 200 also includes identifying one or more worksite tasks to be performed at the worksite 102 and determining an expected impact on the battery SoH of each worksite task. The task commands sent to the mobile machines 104 indicate the worksite task assignments that take into account the aforementioned impact on the battery SoH.

[0045] It should be noted that some operations of method 200 may be performed in a different order than that shown, with additional elements and / or without some elements. Some operations of method 200 may also be performed substantially simultaneously, and therefore, may end in a different order than that shown above. It should also be noted that in some cases, other components of system 100 may be involved in one or more operations as described herein.

[0046] Figure 3 A flowchart depicting an example method 300 for assigning one or more mobile machines 104 at a work site 102 to corresponding tasks for a period of time is shown according to an example of the present disclosure. In some embodiments, the operations of the method 300 are performed in cooperation with one or more entities of the system 100, such as Figure 1 One or more mobile machines 104 are assigned to perform corresponding tasks for a period of time.

[0047] At operation 302, the full-site controller 148 assigns one or more mobile machines 104 at the work site 102 to corresponding work site tasks for a period of time. For example, the full-site controller 148 employs the full-site model 162 to assign one or more mobile machines 104 to corresponding work site tasks, the full-site model being based on, for example, Figure 2Operation 210 balances the battery SoH across the fleet of vehicles. The time period for which the individual mobile machines 104 are assigned to a mission duration is a variable that characterizes how the battery SoH should be balanced or otherwise stabilized across each mobile machine 104 .

[0048] At operation 304, the full-site controller 148 generates task commands corresponding to individual mobile machines in the one or more mobile machines 104. The generated task commands indicate the respective worksite tasks assigned to each mobile machine 104. The task commands include one or more parameters associated with the worksite tasks to be completed by the mobile machines 104. Similar to the discussion above with respect to operation 212, the task commands include one or more data packets having a header portion that indicates at least the destination to which the mobile machines 104 are being directed and a payload portion that indicates various parameters associated with the worksite tasks.

[0049] At operation 306, the full-site controller 148 sends a corresponding task command to an individual mobile machine in the one or more mobile machines 104. The task command is encoded and / or modulated onto a wireless signal 116 that is received by the antenna 118 of the mobile machine 104. The controller 114 receives the wireless signal 116 and decodes and / or demodulates the wireless signal 116 to identify the task command. In some cases, an electronic device 160 in communication with the full-site controller 148 requests a task command, for example, based on input from an operator 124. The full-site controller 148 transmits the task command via the wireless signal 116. In these cases, the controller 114 of the mobile machine 104 then receives the task command from the full-site controller 148 and decodes and / or demodulates the wireless signal 116 to identify the task command.

[0050] At operation 308, the full-site controller 148 receives battery SoH data from each individual mobile machine 104. The full-site controller 148 tracks the mode and / or operating status of all or some of the mobile machines 104 at the worksite 102. Therefore, in some cases, the full-site controller 148 receives battery SoH data only from those mobile machines 104 that are currently participating in or have recently completed a worksite task. In these cases, the controller 114 of the mobile machine 104 automatically sends the battery SoH data to the full-site controller 148, for example, at predetermined intervals or upon a triggering SoH event (e.g., upon determining that a time period for completing the worksite task has not elapsed, as discussed below with respect to operation 310). In some cases, the mobile machine 104 may be offline and may not have received and / or executed a task command. Therefore, the full-site controller 148 instead queries the battery SoH from any mobile machine 104 from which it has not received battery SoH data within a threshold time period by communicating with the controller 114 of the mobile machine 104. For example, SoH data indicating the ability to complete available worksite tasks received from an offline mobile machine 104 can be interpreted as indicating a need to recalculate the time period for performing the worksite tasks. Accordingly, this battery SoH data is used to modify and / or update the full site model 162, as discussed further below with respect to operation 310.

[0051] At operation 310, the full-site controller 148 determines whether the time period for which the mobile machine 104 is assigned to perform the worksite task has elapsed. This determination is initiated, at least in part, by receiving the battery SoH data in operation 308. If the received SoH data is below the target SoH, the time period is adjusted to compensate for this unexpected stress on the SoH. Alternatively or additionally, the mobile machine 104 is flagged as having a potential battery issue, and / or the worksite 102 is flagged to be examined for a greater severity on the battery SoH than expected. If the full-site controller 148 determines that the time period for performing the worksite task has not elapsed (operation 310 —No), the method 300 may iteratively return to operation 308, where the mobile machine 104 automatically sends the battery SoH data to the full-site controller 148. However, if the full-site controller 148 determines that the time period for completing the worksite task has elapsed, the method 300 proceeds to operation 312.

[0052] At operation 312, the full-site controller 148 determines a new mission for one or more mobile machines 104. The new mission is determined according to operation 206 discussed above and is based at least in part on the battery SoH data received at operation 308.

[0053] As discussed above, Figure 3An example method 300 is depicted for assigning one or more mobile machines 104 at a worksite 102 to corresponding worksite tasks for a period of time. Determining the duration of the time period for which the one or more mobile machines 104 are assigned to the tasks is performed based on the calculation of operation 302. The method 300 also includes generating a task command indicating the corresponding worksite task and the time period, and sending the generated task command to the one or more mobile machines 104. The method 300 also includes receiving battery SoH data from the mobile machines 104 and determining whether a specified time period for completing the worksite tasks has elapsed. In the event that the specified time period has not elapsed, the method 300 includes iteratively receiving battery SoH data from the mobile machines 104. In the event that the specified time period has elapsed, the method 300 includes determining a new worksite task based at least in part on the battery SoH data received from the mobile machines 104 at operation 308.

[0054] It should be noted that some operations of method 300 may be performed out of the order shown, with additional elements and / or without some elements. Some operations of method 300 may also be performed substantially simultaneously and, therefore, may end in a different order than the order of operations shown above. It should also be noted that in some cases, other components of system 100 may be involved in one or more operations as described herein.

[0055] Figure 4 A flowchart is shown that depicts a method for assigning work site tasks to a Figure 1 The example method 400 is a method for identifying a particular mobile machine 104 and one or more other worksite tasks to be completed and their corresponding impact on the battery SoH. The operations of the method 400 are performed by the full-site controller 148 in cooperation with one or more entities of the system 100.

[0056] At operation 402, the full-site controller 148 assigns a work site task to a particular mobile machine 104. As discussed herein, in some cases, the particular mobile machine 104 is one of several comparable mobile machines 104. Thus, in some cases, at operation 402, the full-site controller 148 selects the particular machine 104 from a subset of the inventory corresponding to the work site 102.

[0057] At operation 404, the full-site controller 148 generates a task command that indicates a task assigned to a particular mobile machine 104. The task command includes one or more parameters associated with the worksite task to be completed by the mobile machine 104. The task command includes one or more data packets having a header portion that indicates at least the destination to which the mobile machine 104 is being directed by the data packets and a threshold battery SoH required to complete the assigned worksite task. The payload portion of the data packet includes an indication of various parameters associated with the worksite task. The parameters include at least an indication of a target battery SoH and a target battery recharge time for the mobile machine 104 when completing the worksite task. In other words, the payload portion of the data packet including the task command communicates to the mobile machines 104 at least: (1) what their battery SoH should be, and (2) when they should recharge their batteries when completing the worksite task.

[0058] At operation 406, the full-site controller 148 sends the generated task command to the specific mobile machine 104. The task command is encoded and / or modulated onto a wireless signal 116 that is received by the antenna 118 of the mobile machine 104. The controller 114 receives the wireless signal 116 and decodes and / or demodulates the wireless signal 116 to identify the task command. In some cases, an electronic device 160 in communication with the full-site controller 148 requests the task command, for example, based on input from an operator 124. The full-site controller 148 transmits the task command via the wireless signal 116. In these cases, the controller 114 of the mobile machine 104 then receives the task command from the full-site controller 148 and decodes and / or demodulates the wireless signal 116 to identify the task command.

[0059] At operation 408, the full-site controller 148 receives battery SoH data from the particular mobile machine 104 assigned the worksite task and each of the one or more other mobile machines 104. Because the particular mobile machine 104 recently received a task command, the controller 114 of the particular mobile machine 104 automatically sends the battery SoH data to the full-site controller 148, for example, at predetermined intervals or upon triggering a SoH event (e.g., upon determining that the particular mobile machine 104 has not yet completed its currently assigned worksite task, as discussed below with respect to operation 410). In some cases, one or more of the other mobile machines 104 may be offline and may not have received and / or executed a task command. Therefore, the full-site controller 148, by communicating with the controllers 114 of the mobile machines 104, queries the one or more mobile machines 104 from which the battery SoH data was not received within a threshold time period for battery SoH data. Alternatively, the full-site controller 148 queries one or more mobile machines 104 located within a threshold vicinity of the particular mobile machine 104.

[0060] At operation 410, the full-site controller 148 determines whether the particular mobile machine 104 has completed its currently assigned worksite task. In some cases, this determination includes a comparison of the current battery SoH of the mobile machine 104 and its target battery SoH (discussed above with respect to operation 404). When the current battery SoH of the given mobile machine 104 coincides with the target battery SoH for completing the worksite task (and other parameters are met, such as the elapse of a threshold time period), the particular mobile machine 104 is determined to have completed its currently assigned worksite task. Thus, this determination is initiated, at least in part, by receiving the battery SoHs of the particular mobile machine 104 and one or more other mobile machines 104 in operation 408. If the full-site controller 148 determines that the particular mobile machine 104 has not yet completed its currently assigned worksite task (operation 410 —No), the method 400 may iteratively return to operation 408, where the particular mobile machine 104 automatically sends the battery SoH data to the full-site controller 148, and the full-site controller 148 queries one or more other mobile machines 104 for battery SoH data. However, if the full-site controller 148 determines that the particular mobile machine 104 has completed its currently assigned worksite task, the method 400 proceeds to operation 412.

[0061] At operation 412, the full-site controller 148 identifies one or more other worksite tasks to be completed and the corresponding impact of these one or more other worksite tasks on the battery SoH. In some cases, the full-site controller 148 determines the battery SoH based on the Figure 2 Operation 206 identifies one or more other worksite tasks to be completed. As discussed herein, a given worksite task, in some cases, is represented by a threshold battery SoH required to complete the worksite task. Thus, in some cases, the impact of the worksite task on the battery SoH is represented in binary form as any indication of whether a particular mobile machine 104 is suitable or unsuitable for performing the next of the one or more other worksite tasks after completing the currently assigned worksite task. In other cases, the impact of the one or more other worksite tasks is collectively viewed as, for example, an optimized order of performance.

[0062] At operation 414, the full-site controller 148 determines the next task for the particular mobile machine 104. The determination of the next task for the particular mobile machine 104 is based at least in part on the battery SoH of the particular mobile machine 104. As discussed above with respect to operations 408 and 412, the particular mobile machine 104 may not be suitable for performing one or more other worksite tasks because it does not meet the threshold battery SoH. However, each of the one or more other mobile machines 104 may be suitable for each of the one or more other worksite tasks. Therefore, at operation 414, the full-site controller 148 also considers the battery SoH data from the one or more other mobile machines 104. In addition, the full-site controller 148 (i.e., the task manager 708 and / or the battery manager 710) is configured to assign the next worksite task to the particular mobile machine 104 in an optimized order.

[0063] As discussed above, Figure 4 An example method 400 is shown for assigning a work site task to a particular mobile machine 104 and identifying one or more other work site tasks to be completed. Operations of the method 400 include assigning a work site task to the mobile machine 104, generating a task command indicative of the assigned task, and sending the task command to the mobile machine 104. Operations of the method 400 also include receiving battery SoH data from the mobile machine 104 to which the work site task was assigned and one or more other mobile machines 104. The method 400 also includes the operation of determining whether the mobile machine 104 to which the work site task was assigned has completed the currently assigned work site task. The method 400 also includes determining, for example, based on Figure 2 Operation 206 of method 400 identifies one or more other tasks to be completed at the work site 102 and determines the next work site task for the particular mobile machine 104 based on the received battery SoH data and the expected SoH impact of each task. Thus, and based on the operations described with respect to method 400, the full-site controller is able to determine the order in which the mobile machines 104 should perform the available work site tasks.

[0064] Figure 5 A flow chart depicting an example method 500 for receiving a task command, completing the task, and indicating that the task is completed is shown.

[0065] At operation 502, the controller 114 of the mobile machine 104 receives a task command from the full-site controller 148 indicating a worksite task to be completed. As discussed herein, in some cases, the particular mobile machine 104 is one of several comparable mobile machines 104. Thus, in some cases, at operation 402, the full-site controller 148 selects the particular mobile machine 104 from a subset of the inventory corresponding to the worksite 102. As discussed herein, the task command includes one or more parameters associated with the worksite task to be completed by the mobile machine 104.

[0066] At operation 504 , the controller 114 of the mobile machine 104 causes the mobile machine 104 to begin work on the assigned worksite task. This may include relocating to a location associated with the worksite task at the worksite 102 , determining a two-dimensional or three-dimensional area associated with the location of the worksite task, performing one or more predefined or predetermined operations, etc. In some cases, this initiation is initiated by receiving an initiation command from the full-site controller 148 .

[0067] At operation 506, the controller 114 of the mobile machine 104 determines the battery SoH data of the mobile machine 104. As described herein, Figure 2 Operation 208 implements a determination of the battery SoH. In some cases, the battery SoH data is first SoH data that directly corresponds to one or more battery SoH metrics (e.g., cycle DoD, battery SoC, etc.). In other cases, the battery SoH data is second SoH data derived from the one or more battery SoH metrics.

[0068] At operation 508, the controller 114 of the mobile machine 104 sends the battery SoH data to the global site controller 148. As discussed above with respect to operation 506, the controller 114 sends the first SoH data, the second SoH data, or some combination thereof. In some cases, it is advantageous to send processed battery SoH data (i.e., the second SoH data) to optimize bandwidth considerations.

[0069] At operation 510, the controller 114 of the mobile machine 104 determines whether the assigned worksite task has been completed. This determination is initiated, at least in part, by sending the battery SoH data for the particular mobile machine 104 in operation 508. In some example cases, the controller 114 is configured (e.g., in association with sending the battery SoH data to the global-site controller 148) to parse the battery SoH data to determine whether the current SoH data coincides with the target SoH data, as discussed above. In at least some cases, the controller 114 is also configured to parse sensor data from one or more sensors 120 to obtain an indication that the mobile machine 104 has completed its currently assigned worksite task. For example, the controller 114 of the mobile machine 104 is configured to parse infrared data to determine the size of a two-dimensional or three-dimensional area associated with the location of the worksite task. The controller 114 of the mobile machine 104 is also configured to parse GPS and / or propulsion data from the propulsion system 122 to determine whether and how many times the mobile machine 104 has passed through the two-dimensional or three-dimensional area associated with the worksite task.

[0070] If the controller 114 determines that the particular mobile machine 104 has not completed its currently assigned jobsite task (operation 510—No), the method 500 may iteratively return to operation 508, where the particular mobile machine 104 automatically transmits the battery SoH data to the full-site controller 148. However, if the controller 114 determines that the particular mobile machine 104 has completed its currently assigned jobsite task (operation 510—Yes), the method 500 proceeds to operation 512.

[0071] At operation 512, the controller 114 of the mobile machine 104 sends an indication to the full-site controller 148 that the current worksite task has been completed. In some cases, operation 512 is performed immediately and automatically when the controller 114 determines that the mobile machine 104 has completed its current worksite task. In other cases, the controller 114 receives a completion status request (e.g., from the full-site controller 148). In these cases, the controller 114 may provide an appropriate completion status other than "complete," such as "in progress."

[0072] As discussed, Figure 5An example method 500 for receiving a task command, completing a worksite task, and indicating that the worksite task has been completed is described. The method 500 includes receiving a task command from a full-site controller 148 by a controller 114 of a mobile machine 104. The method 500 also includes the mobile machine 104 commencing work on the worksite task. The method 500 also includes the controller 114 of the mobile machine 104 determining the battery SoH of the mobile machine 104. The method 500 also includes sending the battery SoH data to the full-site controller 148 and determining whether the assigned worksite task has been completed. In some cases, the method 500 includes parsing the battery SoH data in conjunction with sending the battery SoH data to the full-site controller 148 to determine whether the worksite task has been completed. The method 500 also includes sending an indication to the full-site controller 148 that the worksite task has been completed. Thus, and based on the operations described with respect to the method 500, the controller 114 can ensure that the mobile machine 14 completes the worksite task after receiving the task command and report the SoH data to help balance the battery SoH during the completion of various subsequent worksite tasks.

[0073] Figure 6 Figure 2 shows exemplary quantities considered when determining the impact on battery SoH. In some cases, one or more of cycle DoD, lifetime battery energy throughput, battery SoC, battery chemistry, battery charge / discharge C-rate, and battery temperature are equally weighted when calculating battery SoH. In other cases, some of these quantities are weighted more significantly than others based on relevant factors such as battery type.

[0074] Figure 7 is an example implementation according to the present disclosure Figure 1 104 . FIGURE 10B illustrates a block diagram of an example full-site controller 148 for worksite tasks of a mobile machine 104 depicted in FIGURE 104. In some cases, there are multiple full-site controllers 148 performing operations as discussed herein. In these cases, the other full-site controllers 148 cooperate with and are similar to the full-site controller 148 and enable the mobile machine 104 to function as described herein. The full-site controller 148 includes one or more processors 152, one or more communication interfaces 702, and a computer-readable medium 154.

[0075] In some embodiments, the processor(s) 152 may include a central processing unit (CPU), a graphics processing unit (GPU), both a CPU and a GPU, a microprocessor, a digital signal processor, or other processing units or components known in the art. Alternatively or in addition, the functions described herein may be performed, at least in part, by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that may be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like. In addition, each processor 700 may have its own local memory, which may also store program modules, program data, and / or one or more operating systems. The processor(s) 152 may include one or more cores.

[0076] The communication interface(s) 702 may enable the full-site controller 148 to communicate via one or more networks (e.g., via wireless signals 116). The communication interface(s) 702 may include a combination of hardware, software, and / or firmware, and may include software drivers for implementing any type of protocol-based communications and any type of wired and / or wireless ports / antennas. For example, the communication interface(s) 702 may include WiFi, a cellular radio, a wireless (e.g., IEEE 802.1x-based) interface, In some cases, if a remote control is used to control the mobile machine 104, the communication interface(s) 702 may enable communication with the mobile machine 104 using remote control signals. The full-site controller 148 is configured to receive data from the mobile machine 104 to determine status characteristics, such as the operating mode and current location of the mobile machine 104.

[0077] Computer-readable media 154 may include volatile and / or non-volatile memory, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Such memory includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical storage devices, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, RAID storage systems, or any other medium that can be used to store the desired information and is accessible by a computing device. Computer-readable media 154 may be implemented as computer-readable storage media (CRSM), which can be any available physical medium that can be accessed by processor(s) 152 to execute the instructions stored on computer-readable media 154. In a basic embodiment, CRSM may include random access memory (RAM) and flash memory. In other embodiments, CRSM may include, but is not limited to, read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), or any other tangible medium that can be used to store the desired information and is accessible by processor(s) 152. The computer readable medium 154 may have an operating system (OS) and / or various suitable application programs stored thereon. When executed by the processor(s) 152 , the OS may enable management of the hardware and / or software resources of the controller 114 .

[0078] Several components, such as instructions, data storage, and the like, may be stored within the computer-readable medium 154 and configured to execute on the processor(s) 152. The computer-readable medium 154 may have stored thereon a battery manager 156, a task manager 158, a command manager 159, and an embodiment of the full-site model 162 described herein. It should be understood that each component 156, 158, and 159 may have instructions stored thereon that, when executed by the processor(s) 152, may implement various functions related to completing worksite tasks by the mobile machine 104 as described herein.

[0079] When executed by the processor(s) 152, the instructions stored in the battery manager 156 configure the full-site controller 148 to at least receive battery SoH data, monitor and / or parse the received battery SoH data, generate second SoH data based on the received battery SoH data, and initiate balancing of one or more batteries of the machine 104. Furthermore, the battery manager 156 is configured to perform similar functions as the SoH manager 164 described herein.

[0080] When executed by the processor(s) 152 , the instructions stored in the task manager 158 configure the full-site controller 148 to identify tasks associated with the worksite 102 .

[0081] The instructions stored in the command manager 159 configure the full-site controller 148 to generate task commands when executed by the processor(s) 700. Thus, the command manager 706 is configured to perform various functions related to formatting data packets having header and payload information that facilitates instructing the mobile machine 104 to complete a worksite task.

[0082] Figure 8 is a block diagram of an example electronic device 160 for balancing batteries SoH across a fleet of mobile machines 104 at a work site 102 according to an example of the present disclosure. As discussed herein, the hardware and software may be an implementation of a full-site model 162 of the electronic device 160. In some cases, there may be multiple electronic devices 160 at the work site 102, as discussed herein. In these cases, the other electronic devices 160 may be similar to the electronic device 160 as described herein. The electronic device 160 includes one or more processors 108, one or more communication interfaces 802, and a computer-readable medium 110. The description of the one or more processors 108, the one or more communication interfaces 802, and the computer-readable medium 110 may be substantially similar to the description of the one or more processors 152, the one or more communication interfaces 702, and the computer-readable medium 154, as described herein in conjunction with Figure 1 and Figure 7 and for the sake of brevity will not be repeated here.

[0083] Several components, such as instructions, data storage, and the like, may be stored within the computer-readable medium 110 and configured to execute on the processor(s) 108. The computer-readable medium 110 may have stored thereon a full-site model 162, a SoH manager 164, and a task command manager 166. It should be appreciated that each component 162, 164, and 166 may have instructions stored thereon that, when executed by the processor(s) 108, may implement various functions related to completing worksite tasks and balancing the battery SoH by the mobile machine 104 as described herein.

[0084] When executed by the processor(s) 108, the instructions stored in the full-site model 162 configure the electronic device 160 to identify the mobile machines 104 at the work site 102. The electronic device 160 determines various battery parameters for the mobile machines 104, including, but not limited to, battery SoH, battery SoC, battery life, and a planned replacement of a target battery. Based on these various battery parameters, the electronic device 160 associates one or more work site tasks with a particular mobile machine 104. The electronic device 160 is also configured to identify the current location of each mobile machine 104 at the work site 102 and display the current location to the operator 124, for example, in the form of a map, to facilitate dispatching the mobile machines 104 to the locations of their corresponding work site tasks.

[0085] When executed by the processor(s) 108, the instructions stored in the SoH manager 164 configure the electronic device 160 to query the mobile machine 104 for battery SoH data. The SoH manager 164 is also configured to process, cleanse, and parse the raw or first battery SoH data into a format suitable for use according to the present disclosure.

[0086] When executed by the processor(s) 108, the instructions stored in the task command manager 166 configure the electronic device 160 to generate a task command that provides one or more parameters for instructing the worksite task of the mobile machine 104. In some cases, the electronic device 160, via the task command, instructs the mobile machine 104 to autonomously travel to a final destination. In other cases, the electronic device 160 instructs the mobile machine 104 to follow another machine and / or drive a vehicle to the final destination. In still other cases, such as when the mobile machine 104 is non-autonomous, the task command is transmitted to the machine operator via a radio or display in the cab of the mobile machine 104 to perform the assigned work. When executed by the processor(s) 108, the instructions stored in the task command manager 166 also configure the electronic device 160 to receive an indication of the completion of the worksite task, for example, from the controller 114 of the mobile machine 104. The electronic device 160 is configured to provide an indication of the completion of the assigned worksite task, for example, on a display of the electronic device 160 to be viewed by the operator 124.

[0087] Industrial Applicability

[0088] Job sites often feature multiple machines of the same type operating in various applications to meet productivity requirements. The rigors of the various machine applications at a given job site can result in lower-than-expected productivity and reliability. For example, similar machines operating in different applications across a site may experience different battery life compared to different machines, leading to the potential for downtime and increased operating costs for the fleet of similar machines.

[0089] As disclosed herein, the full-site model proactively tracks each machine's operating history and current battery SoH to determine task assignments, allowing machines to periodically rotate through various applications. Furthermore, the model ensures sufficient battery SoH to complete assigned tasks. Balancing battery SoH across the fleet results in more consistent operation and productivity. In other words, mobile machines 104 performing construction, mining, farming, and other activities can be assigned appropriate tasks at the work site 102, promoting battery health and longevity with greater accuracy than traditional methods, and facilitating more predictable maintenance and battery replacement intervals.

[0090] In a non-limiting application of the techniques described herein, consider a large-scale mining operation with various mineral extraction points and dozens of mobile machines 104 at a worksite 102. In such an operation, an example productivity metric may include the rate at which minerals are extracted for each extraction point. While it may be desirable to increase the extraction rate, the opportunity cost of increasing the extraction rate should be balanced against the cost of draining the batteries of the mobile machines 104. The techniques described herein can optimize these types of worksite tasks. This can allow the mobile machines 104 at the worksite 102 to be used more efficiently and with less human-induced error. This can also reduce the labor costs associated with the considerable energy required to recharge / refuel the mobile machines 104 at the worksite 102. For example, temporarily assigning mobile machines 104 to worksite tasks results in inefficient recharging / refueling schedules. During this time, the mobile machines 104 may be idle, further wasting energy / fuel and waiting for maintenance hours. Using the techniques disclosed herein, the idle time of these mobile machines 104 can be reduced and / or eliminated. Additionally, the mobile machines 104 can be serviced, recharged, refueled, maintained, etc., on a more precise schedule than a human operator could achieve. Thus, the techniques described herein not only reduce manual oversight and associated costs at the work site 102, but can also reduce idle time, reduce fuel consumption, and increase the efficiency and engagement of the mobile machines 104 at the work site 102.

[0091] While aspects of the present disclosure have been particularly shown and described with reference to the above embodiments, it will be understood by those skilled in the art that various additional embodiments may be conceived by modifying the disclosed machines, systems, and methods without departing from the spirit and scope of the disclosure. Such embodiments are to be understood as falling within the scope of the present disclosure as determined by the claims and any equivalents thereof.

[0092] Recitation of ranges of values herein is merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein.

Claims

1. A full site controller (148) for battery status based machine management, comprising: one or more processors (152); as well as One or more non-transitory computer-readable media (154) storing computer-executable instructions that, when executed, cause the one or more processors (152) to perform operations including: identifying one or more machines (104) associated with the work site (102); determining a first battery state of health of a first battery associated with a first machine (104(1)); determining a second battery state of health of a second battery associated with a second machine (104(2)); identifying one or more work site tasks to be performed at the work site (102); for each of the one or more work site tasks, determining a first predicted impact on a first battery state of health and a second predicted impact on a second battery state of health; assigning the first work site task to the first machine (104(1)) based at least in part on the first battery state of health, the second battery state of health, a first predicted impact corresponding to a first work site task of the one or more work site tasks, and a second predicted impact corresponding to a second work site task of the one or more work site tasks, wherein assigning the first work site task to the first machine (104(1)) indicates a low predicted impact on the first battery state of health; assigning the second work site task to the second machine (104(2)) based at least in part on the first battery state of health, the second battery state of health, a first predicted impact corresponding to the first work site task, and a second predicted impact corresponding to the second work site task, wherein assigning the second work site task to the second machine indicates a lower predicted impact on the second battery state of health; generating a first task command indicating a first work site task corresponding to the first machine (104(1)); generating a second task command indicating a second work site task corresponding to the second machine (104(2)); sending a first task command indicative of the first work site task to the first machine (104(1)); as well as A second task command indicative of the second work site task is sent to the second machine (104(2)).

2. The full-site controller (148) of claim 1, further comprising: A communication interface (702), wherein the communication interface (702) enables wireless reception of first battery health status data from the first machine (104(1)) and transmission of the first task command to the first machine (104(1)).

3. The full-site controller (148) of claim 2, further comprising: A battery manager (156) is provided, wherein the battery manager (156) enables at least parsing of battery state of health data and generating second battery state of health data.

4. The full-site controller (148) of claim 2, further comprising: A command manager (159) is provided, wherein the command manager (159) enables generation of a task command indicating at least a work site task destination, a target battery state of health, and a target battery replacement time.

5. The full-site controller (148) of claim 1, wherein determining that the second worksite task is to be assigned to the second machine (104(2)) further comprises: determining a first target battery state of health for the first battery upon completion of the first worksite task; determining a second target battery state of health for the first battery upon completion of the second worksite task; determining a third target battery state of health for the second battery upon completion of the second worksite task; determining a fourth target battery state of health for the second battery upon completion of the first worksite task; as well as It is determined that a first difference between the first target battery state of health and the third target battery state of health is less than a second difference between the second target battery state of health and the fourth target battery state of health.

6. The full-site controller (148) of claim 1, wherein the operations further comprise: determining that the first machine (104(1)) has completed the first work site task; Identify one or more additional worksite tasks to be completed; for each of the one or more work site tasks, determining a predicted impact on the first battery state of health; as well as Determining that the first machine (104(1)) is to be assigned a third work site task from the one or more other work site tasks based at least in part on the predicted impact on the first battery state of health, wherein assigning the third work site task to the first machine (104(1)) indicates that the predicted impact of the third work site task on the first battery state of health is lower than corresponding predicted impacts of other work site tasks from the one or more other work site tasks.

7. The full-site controller (148) of claim 1, wherein the operations further comprise: determining that a first time period for completing the first worksite task and the second worksite task has elapsed; determining a third battery state of health associated with the first battery; determining a fourth battery state of health associated with the second battery; determining that the first machine is to be assigned a third worksite task of the one or more worksite tasks based at least in part on the third battery state of health and the fourth battery state of health; as well as Determining that the second machine (104(2)) is to be assigned a fourth work site task of the one or more work site tasks based at least in part on the third battery state of health and the fourth battery state of health, wherein the first machine (104(1)) performs the third work site task during a second time period and the second machine (104(2)) performs the fourth work site task during the second time period to optimize a fifth target state of health of the first battery and a sixth target state of health of the second battery.

8. A method for machine management based on battery status, comprising: identifying one or more machines (104) associated with the work site (102); determining a first battery state of health of a first battery associated with a first machine (104(1)); determining a second battery state of health of a second battery associated with a second machine (104(1)); identifying one or more work site tasks to be performed at the work site (102); for each of the one or more work site tasks, determining a first predicted impact on the first battery state of health and a second predicted impact on the second battery state of health; assigning the first work site task to the first machine (104(1)) based at least in part on the first battery state of health, the second battery state of health, a first predicted impact corresponding to a first work site task of the one or more work site tasks, and a second predicted impact corresponding to a second work site task of the one or more work site tasks, wherein assigning the first work site task to the first machine (104(1)) indicates a low predicted impact on the first battery state of health; assigning the second work site task to the second machine (104(2)) based at least in part on the first battery state of health, the second battery state of health, a first predicted impact corresponding to the first work site task, and a second predicted impact corresponding to the second work site task, wherein assigning the second work site task to the second machine (104(2)) indicates a lower predicted impact on the second battery state of health; generating a first task command indicating a first work site task corresponding to the first machine (104(1)); generating a second task command indicating a second work site task corresponding to the second machine (104(2)); sending a first task command indicative of the first work site task to the first machine (104(1)); as well as A second task command indicative of the second work site task is sent to the second machine (104(2)).

9. The method according to claim 8, further comprising: determining that the first machine (104(1)) has completed the first work site task; Identify one or more additional worksite tasks to be completed; for each of the one or more work site tasks, determining a predicted impact on the first battery state of health; as well as Determining that the first machine (104(1)) is to be assigned a third work site task from the one or more other work site tasks based at least in part on the predicted impact on the first battery state of health, wherein assigning the third work site task to the first machine (104(1)) indicates that the predicted impact of the third work site task on the first battery state of health is lower than corresponding predicted impacts of other work site tasks from the one or more other work site tasks.

10. The method according to claim 8, further comprising: receiving, from one or more other machines (104) and via a communication interface (702), first battery state of health data associated with one or more batteries of the one or more other machines (104); and Second battery state of health data is generated based on the first battery state of health data.

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