MANAGING THE TRANSITIONAL BEHAVIOR BETWEEN CONTROL MODES ON A WORK MACHINE

Abstract

A machine has a multitude of different control systems. Each control system generates a request or control signal to control a controllable subsystem. A control supervisor selects which of the multitude of control systems should control the controllable subsystem and provides feedback to the multitude of control systems indicating which system has been selected and a current control signal value. A time-based transition constraint processing system generates a time-based transition constraint, which is used to control the transition from the current control signal value generated by the first control system of the multitude to the selected control signal value generated by the selected control system. The selected control system then controls the controllable subsystem based on the time-based transition constraint.

Description

AREA OF DESCRIPTION

[0001] This description concerns working machines. In particular, this description concerns managing the transition between controlling the working machine with a first control system and controlling the working machine with a second control system. BACKGROUND

[0002] There are many different types of construction machinery. These can include excavators, loaders, bulldozers, and any number of other machines.

[0003] These construction machines can have several different control modes or systems capable of controlling the machine. For example, an excavator may have digging subsystems that are manually controlled by an operator in an operator's compartment. However, excavators may also have grading control systems designed to automatically control the excavator's digging components.

[0004] The above discussion is provided for general background information only, and it is not intended to be used as an aid in determining the scope of protection of the claimed subject matter. SUMMARY

[0005] A machine has a multitude of different control systems. Each control system generates a request or control signal to control a controllable subsystem. A control supervisor selects which of the multitude of control systems should control the controllable subsystem and provides feedback to the multitude of control systems indicating which system has been selected and a current control signal value. A time-based transition constraint processing system generates a time-based transition constraint, which is used to control the transition from the current control signal value generated by the first control system of the multitude to the selected control signal value generated by the selected control system. The selected control system then controls the controllable subsystem based on the time-based transition constraint.

[0006] This summary is provided to introduce, in simplified form, a selection of concepts that are further described in detail below. This summary is not intended to identify key features or essential characteristics of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of protection of the claimed subject matter. The claimed subject matter is not limited to implementations that resolve any or all of the disadvantages mentioned in the background. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a side view of an example of a working machine. Fig. Figure 2 is a block diagram showing an example of a working machine. Fig. Figure 3 is a block diagram showing an example of a time-based transition constraint processing system. Fig. 4A and Fig. 4B (here collectively referred to as Fig. Figure 4 shows a flowchart illustrating an example of the operation of the working machine based on a time-based transition constraint. Fig. Figure 5 is a graphical representation of examples of dynamic transition behavior. Fig. Figure 6 is a block diagram showing an example of a work machine system deployed in a remote server architecture. Fig. Figures 7-9 show examples of mobile devices that can be used in the systems and architectures described in other figures. Fig. Figure 10 is a block diagram of an example of a computing environment that can be used in the systems and architectures shown in other figures. DETAILED DESCRIPTION

[0007] To aid understanding of the principles of this disclosure, reference is now made to the examples illustrated in the drawings, and specific formulations are used to describe them. Nevertheless, it is understood that this is not intended to limit the scope of protection afforded by the disclosure. Any alterations and further modifications to the described devices, systems, processes, and any further application of the principles of this disclosure are fully taken into account as would normally be apparent to a person skilled in the art in the field to which the disclosure relates. In particular, it is fully taken into account that the features, components, and / or steps described in relation to one example may be combined with the features, components, and / or steps described in relation to other examples in this disclosure.

[0008] As discussed above, there is a wide variety of different types of working machines, and some working machines have several different control modes or control systems that can be used to control the machine. For example, an excavator may have a manual control system that allows an operator to provide manual inputs through input mechanisms (such as joysticks, pedals, levers, steering wheel, buttons, etc.). Control signals are generated based on the operator inputs to control one or more controllable subsystems on the working machine. The controllable subsystems may include, among other things, actuators for digging equipment, a drive subsystem, and a steering subsystem.An excavator may also have an automated control system, such as a grader control system, which can receive inputs specifying the current grade of a surface as well as a desired grade, and automatically generate control signals to control the digging equipment based on these inputs. Similarly, an excavator may have additional automated control systems, such as a virtual boundary system, which identifies a location near the excavator that it must not cross. "Automatic" here means, for example, that the operation or function is performed without further human intervention, except perhaps to initiate or authorize the operation or function.

[0009] In some scenarios, a variety of different control systems issue competing or conflicting requests or control signals to a particular controllable subsystem. For example, an operator might manually actuate an actuator that moves the digging equipment on an excavator to lower the digging equipment, but the grader control system might issue a request to stop the digging equipment from lowering further because it has already achieved a desired grade.

[0010] Thus, in one example, a machine control supervisor receives requests or control signals from all the different control systems used to control the controllable subsystem and selects a specific control system to use. However, this can also present difficulties. For example, the current control signal generated by a first control system to control a controllable subsystem may have a value that differs significantly from a control signal generated by the newly selected control system. The transition from controlling the controllable subsystem with the first control system to controlling the controllable subsystem with the newly selected control system can lead to undesirable behavior.

[0011] For example, if the control signal for an actuator changes too quickly or abruptly by a large value, this can lead to problems for the operator as well as mechanical difficulties. However, a change that is too slow can also lead to undesirable behavior, such as the actuator overshooting the target position.

[0012] As a specific example, assume again that the operator provides a manual input to lower an excavator bucket at a relatively high speed. Further, assume that the leveling control system issues a command or control signal to stop or drastically reduce the bucket's speed because the bucket is approaching or has reached a desired level. If the transition from the manual control system to the leveling control system were abrupt, the bucket would go from a first state of moving at a relatively high speed to a second state of being stopped instantly or abruptly. This could cause jarring jolts and problems in the operator's compartment and could also lead to additional mechanical wear or other stresses on the machine.Furthermore, if the transition is too slow, the shovel may overshoot the desired leveling.

[0013] The present description thus provides a time-based position constraint processing system that controls the transition behavior during the switch from controlling a controllable subsystem with a first control system to controlling the same subsystem with a second control system. The time-based transition constraint processing system identifies the magnitude of the difference between a current control signal value (or request value) generated by the first control system and the control signal value (or request value) generated by the second, newly selected control system. Based on this magnitude, the time-based transition constraint processing system identifies a time period over which the transition from the first control signal value to the second control signal value occurs.The time-based transition limit is variable and can be adjusted in aggressiveness based on a variety of different criteria, such as the size of the difference between the two control signal values, the control systems that output the two control signals (e.g., the period for the transition can be made shorter or longer).

[0014] If, for example, the control system that outputs the first request value is a manual control system, but the second control system is a virtual boundary control system, the transition between the two request values ​​can be relatively aggressive (meaning the time-based transition constraint is relatively short) because the virtual boundary control system attempts to avoid a collision or intrusion into a bounded area. However, if the two control systems are different control systems and exceeding or falling below the constraint is permitted during the operation of the controllable subsystem, the time-based transition constraint can be less aggressive (meaning the transition from the first control signal value to the second request value can be longer).

[0015] Fig. Figure 1 is a side view of an example of a working machine 102. The working machine 102 includes an operator compartment 104, which is attached to an upper housing 106. The housing 106 is supported by an upper frame 108 and is rotatably coupled to a lower frame or undercarriage 110, which supports one or more ground engagement traction elements 112 (in which in Fig. In the example shown, the traction elements are chains, but the traction elements could be wheels or other traction elements. The housing 106 is driven by an actuator to rotate about an axis 114, as indicated by arrow 116, relative to the undercarriage 110. Fig. Figure 1 also shows that in one example the undercarriage 110 supports a shield 118 which can be raised or lowered in the direction indicated by arrow 119 relative to the undercarriage 110.

[0016] Fig. Figure 1 also shows that, in one example, a boom 122 is coupled to the frame 108, which supports the housing 106. The boom 122 rotates about a boom axis 124. The stick or arm 126 is rotatably coupled to the boom 122. An attachment 128 (illustrated as a shovel) is attached to a distal end of the stick 126. Movement of the boom 122 relative to the frame 108 can be driven by one or more actuators 130, which may be hydraulic actuators or other actuators. Movement of the arm or stick 126 relative to the boom 122 can also be driven by one or more actuators 132, and movement of the attachment 128 relative to the stick or arm 126 can be driven by one or more actuators 134. While in Fig. Figure 1 illustrates a single chain 112. It is understood that the working machine 102 can have a plurality of chains arranged parallel to each other and attached to the undercarriage 110 to provide movement of the working machine 102 over the ground or any other surface on which the working machine 102 operates.

[0017] In one example, the machine 102 can incorporate a variety of different control systems. A manual machine control system can be one operated by manual input from an operator in the operator compartment 104. An automated machine control system can be a grader control system that controls the actuators 130, 132, and 134 to control the position and movement of the bucket 128, so that the bucket 128 excavates material to a desired grade. For example, the grader control system can provide inputs designed to control the actuators to move the bucket 128 to remove material to a desired height, but not beyond. Other automated machine control systems include geofencing systems that define geographical areas from which the machine 102 is to be excluded.Such an automated control system controls the various actuators on machine 102 to prevent a section of machine 102 from crossing the demarcated area.

[0018] This discussion describes a control processing system that manages the transition between using a first control system to control machine 102 and using a second control system to control machine 102. The control processing system can establish a time-based transition constraint that defines a period of time during which the transition from control using the first control system to control using the second control system occurs.

[0019] Fig. Figure 2 is a block diagram showing an example of the working machine 102, with some sections shown in more detail. In the Fig. In the example shown, the work machine 102 is operated in a manual control mode by an operator 138, who can provide inputs through an operator interface system 140. The operator interface system 140 can include operator interface mechanisms such as levers, joysticks, a steering wheel, pedals, linkages, display devices, or any of a wide variety of other mechanisms that provide audio, visual, and / or haptic outputs to the operator 138 and receive inputs from the operator 138.

[0020] Fig. Figure 2 also shows that the work machine 102 can communicate with other systems 142 and / or other machines 144 via a network 146. The network 146 can be a local area network, a wide area network, a near field communication network, a Wi-Fi network, a Bluetooth network, a cellular network, or any of a wide variety of other networks or combinations of networks. The other systems 142 can be remote server systems, management systems, provider systems, or other systems. The other machines 144 can be other work machines, supply vehicles that provide maintenance, fuel, etc., to the work machine 102, or other machines.

[0021] In the Fig. In the example shown, the working machine 102 includes one or more processor(s) or server(s) 148, a data storage device 150, a control processing system 151, a communication system 152, (one) controllable subsystem(s) 186 and other working machine functionality 198.

[0022] The control processing system 151 includes a set of control systems 154, which may include a manual machine control system 156 and one or more automated machine control systems 158. The control processing system 151 also includes a machine control supervisor 160, a time-based transition constraint processing system 162, and any number of other elements 164. The manual machine control system 156 may include a manual input processor 166, a request generator 168, and other elements 170. The automated machine control systems 158 may each include an input processor 172, a request generator 174, and other elements 176. The machine control supervisor 160 includes a selection processor 178, a feedback system 180, and other elements 182.The control processing system 151 provides a request (or control signal) 184 from a selected control system 156-158 to one or more controllable subsystem(s) 186.

[0023] The controllable subsystems 186 can control actuators 190 (one or more of the actuators 130, 132 and 134 of Fig. 1 or other actuators), a drive subsystem 192, a steering subsystem 194, and other elements 196. Before describing the overall operation of the working machine 102 and the control processing system 151, a description of some of the elements in the working machine 102 and their operation will first be provided.

[0024] The data store 150 can store a control system priority hierarchy 200 and / or an algorithm or model for dynamic selection 202, as well as other elements 204. The control system priority hierarchy 200 defines a hierarchy of the various control systems 156-158 in the set of control systems 154, which are selected by the machine control supervisor 160 under different circumstances. The algorithm or model for dynamic selection 202 can be called or executed by the selection processor 178 in the machine control supervisor 160 to identify which machine control system 156-158 should be selected and used to control one or more of the controllable subsystems 186.

[0025] The communication system 152 supports communication between the elements of the working machine 102 and can also support communication with other systems 142, other machines 144, or other elements via the network 146. Therefore, the communication system 152 can be a Controller Area Network bus (CAN bus) and bus controller, a cellular communication system, a wide area network communication system, a local area network communication system, a Bluetooth, near field, or Wi-Fi communication system, or any of a wide variety of other communication systems or combinations of systems.

[0026] The manual control system 156 receives manual inputs via the operator interface system 140, and the manual input processor 166 processes these inputs to determine which type of control operation is requested by the operator. The request generator 168 then generates a request or control signal 206, which can be used to control one or more of the controllable subsystems 186. The request 206 can, for example, include a value specifying how a particular actuator 190 is to be controlled.

[0027] The automated machine control system 158 can receive automated inputs from sensors or other systems, and the input processor 170 processes these inputs to determine what type of request to generate for controlling a controllable subsystem 186. The request generator 174 generates this request or control signal 208, which can be applied to the desired controllable subsystem 186 to control that controllable subsystem 186.

[0028] At certain times, a variety of different control systems in the set of control systems 154 generate requests to control the same controllable subsystem (e.g., the same actuator 190). For example, the operator 138 may manually control the actuator 190 to lower the bucket 128 to a desired height. Simultaneously, a leveling control system (e.g., an automated machine control system 158) may generate another request 208 to prevent the bucket 128 from being lowered further because it has reached the desired height based on a desired leveling. In this case, requests 206 and 208 may both attempt to control the same actuator 190 but may have different values.

[0029] The machine control supervisor 160 decides which machine control system 156 or 158 should be selected to control the actuator 190. The selection processor 178 accesses the control system priority hierarchy 200 or executes the dynamic selection algorithm / model 202 to determine which of the control systems 156-158 should be selected. Once this control system is selected, the feedback system 180 generates a feedback 210, which is provided to all control systems in the set of control systems 154. The feedback includes a current request value 210, which identifies the value of the request 184 currently being used to control the actuator 190, and the selected control system identifier 214, which identifies the control system of the set of control systems 154 that was selected by the machine control supervisor 160 to control the actuator 190.The feedback 210 can also include other elements 216.

[0030] When the machine control supervisor 160 switches the control system that is to control the actuator 190, the time-based transition constraint processing system 162 generates a time-based transition constraint 218 and reports the time-based transition constraint 218 back to the selected control system, so that the selected control system transitions from the current requirement value to its own requirement value over a period defined by the time-based transition constraint 218. The selected control system then generates requests or control signals based on the time-based transition constraint 218 to transition from the current requirement value to its desired requirement value over the period defined by the time-based transition constraint 218.

[0031] Fig. Figure 3 is a block diagram that shows an example of the time-based transition constraint processing system 162 in more detail. The time-based transition constraint processing system 162 includes a difference size processor 230, an aggressiveness tuning processor 232, a time-based transition constraint generator 234, an output system 236, and other elements 238. The difference size processor 230 identifies the magnitude of the difference between the current request value (or control signal value) and the request value (or control signal value) generated by the newly selected control system.

[0032] The Aggressiveness Tuning Processor 232 identifies how aggressive the transition between the two values ​​should be. For example, the Aggressiveness Tuning Processor 232 can determine the aggressiveness based on the control systems that generate the two requests. If the newly selected control system is a geofencing system, the transition can be quite aggressive so that the machine 102 does not enter a defined area. If the newly selected control system is a leveling control system, the aggressiveness of the transition between the two values ​​can be tuned to be less aggressive because a slight overshoot or undershoot may be acceptable. These are just examples.Based on the size of the difference between the two request values ​​and based on the aggressiveness identified by the aggressiveness tuning processor 232, the time-based transition constraint generator 234 generates the time-based transition constraint 218, which identifies the period over which the transition from the current request value to the newly selected request value takes place.

[0033] Fig. 4A and Fig. 4B (here collectively referred to as Fig. 4) show a flowchart that illustrates in more detail an example of the operation of the working machine 102 and the control processing system 151. Fig. 4 will now be discussed in connection with Fig. 2 and Fig. 3 described.

[0034] First, it is assumed that the working machine 102 is configured for operation in several different control modes (or under the control of several different control systems in a set of control systems 154). The fact that the machine 102 is configured in this way is represented by block 250 in the flowchart of Fig. 4. In one example, the set of control systems 154 includes a manual machine control system 156 and an automated machine control system 158, as specified by block 252. In another example, the set of control systems 154 includes a variety of automated machine control systems 158, as specified by block 254. Various combinations of different types of control systems can also be used, as specified by block 256.

[0035] Initially, the machine control supervisor 160 selects one of the control systems in the set of control systems 154 to perform initial control of the machine operation. The selection of a control system for initial control is represented by block 258 in the flowchart of Fig. 4. The initially selected machine control system can be chosen by default or using other criteria, as specified by block 260. The selected control system can be chosen to control a single actuator 190, as specified by block 262, or to control a work tool or attachment, or a set of a variety of different actuators or other controllable subsystems, as specified by blocks 264 and 266 in the flowchart of Fig. 4 indicated.

[0036] The machine control supervisor 160 uses the feedback system 180 to generate a feedback signal 210, which relays the control information back to the control systems in the set of control systems 154. The generation of a feedback signal is represented by block 268 in the flowchart of Fig. 4. Feedback 210 identifies the selected control system 214, as specified by block 270. Feedback 210 identifies the current request value 212, as specified by block 272. The feedback may also include other elements 274.

[0037] The control processing system 151 then issues requests or control signals 184 from the selected control system to control the controllable subsystems 186. The output of a request or control signal from the selected control system is represented by block 276 in the flowchart of Fig. 4 indicated.

[0038] During the operation of the working machine 102, each of the individual control systems 156-158 in the set of control systems 154 generates a control request 206-208 to control the specific controllable subsystem or machine operation, as shown by block 278 in the flowchart of Fig. 4 indicated.

[0039] The machine control supervisor 160 then selects which of the specified control systems should control the specific machine actuator, the specific machine operation, or the specific controllable subsystem 186. The selection of the control system to control the machine operation, actuator, or controllable subsystem 186 is represented by block 280 in the flowchart of Fig. 4. To select one of the control systems 156-158, the selection processor 178 can access a priority hierarchy of the control systems 200, as shown by block 282 in the flowchart of Fig. 4. The control system priority hierarchy 200 can be a default hierarchy or a hierarchy determined by the operator 138 or by another person or system. The priority hierarchy 200 can differ based on the worker 102, based on the job the worker 102 is performing, based on the specific controllable subsystem 186 being controlled, or based on any one of a wide variety of other criteria. In another example, the selection processor 178 can access an algorithm or model for dynamic selection 202, as shown by block 284 in the flowchart of Fig. 4. The algorithm or model for dynamic selection 202 can receive sensor inputs and other inputs that specify a state of the working machine 102 and the specific control systems 156-158 provided on the working machine 102. The algorithm or model for dynamic selection 202 can receive any of a wide variety of other inputs and can be an artificial intelligence or machine learning model, a rule-based model, or any of a wide variety of other algorithms or models that can receive inputs and provide an output that specifies a selected control system. The selection processor 178 can select the control system using other components or in other ways, as specified by block 286.Once the selection processor 178 selects one of the machine control systems, the machine control supervisor 160 generates an output to provide the request from the selected machine control system to the controllable subsystem 186, as shown in block 288 in the flowchart of . Fig. 4 indicated.

[0040] The feedback system 180 generates a feedback signal 210 and provides this feedback signal 210 to the control systems 154, as shown by block 290 in the flowchart of Fig. 4. The feedback 210 includes an identifier 214 that identifies the selected control system, as shown by block 292 in the flowchart of Fig. 4 is specified. The response 210 also generates an output that identifies the current request value 212, as shown by block 294 in the flowchart of Fig. 4 is specified. The feedback 210 can also include other elements 216.

[0041] The time-based transition constraint processing system 162 identifies a time-based transition constraint for the transition from a current requirement value to the requirement value generated by the newly selected control system. The generation of the time-based transition constraint is described by block 296 in the flowchart of Fig. 4. In one example, the time-based transition constraint processing system 162 can be deployed in any of the control systems in the set of control systems 154, so that each control system can generate its own time-based transition constraint. In another example, all or part of the system 162 can be deployed in the machine control supervisor 160 or elsewhere. In another example, the aggressiveness tuning processor 234 can be deployed in any of the control systems. Other parts of the time-based transition constraint processing system 162 can be deployed in any of the control systems or elsewhere. In another example, and in the one in Fig. In the example shown, the time-based transition constraint processing system 162 is separate from the control systems 154 and from the machine control supervisor 160, and generates the time-based transition constraint 218, which is provided to the control systems 154.

[0042] As above in relation to Fig. As discussed in section 3, the difference size processor 230 identifies the magnitude of the difference between the current request value and the request value output by the newly selected control system. The fact that the time-based transition constraint is based on the magnitude of the two request values ​​is illustrated by block 298 in the flowchart of Fig. 4. The aggressiveness tuning processor 232 then tunes the aggressiveness of the transition. The aggressiveness can be based on aggressiveness criteria, such as which control system is the current control system and which is the newly selected control system, as shown by block 300 in the flowchart of Fig. 4. Identifying the time-based transition constraint 218 can also be done in other ways, as described by block 304 in the flowchart of Fig. 4 indicated.

[0043] The selected machine control system then transitions from the current control request value to the control request value generated by the selected control system based on the time-based transition constraint, as shown by block 306 in the flowchart of Fig. 4. The time-based transition limit is used to control the transition rate between the current request value and the request value generated by the newly selected control system, as specified by block 308. The transition can also be controlled in other ways, as specified by block 310.

[0044] Fig. Figure 5 is a graph illustrating an example of different values ​​of the variable time-based transition constraint. In the Fig. In the example shown, three transition scenarios are identified. The request values ​​are illustrated in terms of speed (e.g., meters per second) and are used to control an actuator in the working machine 102. For example, a request value of 0.75 meters per second instructs the actuator to move at the specified speed in a given direction. Fig. Figure 5 shows transitions represented by lines 312, 314, and 316, each with a different slope. The first line, 312, identifies a transition from a first request value of 0.5 meters per second to a second request value of 0.25 meters per second over a time-based transition limit of one second. The second line, 314, identifies a smaller transition over the same time period. Specifically, line 314 represents a transition from a request value of 0.5 meters per second to a request value of 0.25 meters per second over the same time-based transition limit of one second as line 312. Fig. Figure 5 shows that the transition represented by line 312 is more aggressive than the transition represented by line 314. The difference in aggressiveness is indicated by the difference in the slope of the two lines. A steeper slope indicates a more aggressive transition because the magnitude of the transition is greater over the time period specified by the time-based transition constraint.

[0045] Line 316 represents a transition from a required speed of 0.4 meters per second to a required speed of 0.25 meters per second over a time-based transition limit of 0.5 seconds. Therefore, the aggressiveness of the transition represented by line 316 lies between the aggressiveness of the transition represented by line 312 and the aggressiveness of the transition represented by line 314.

[0046] Again with reference to Fig. 4. Until the operation performed by machine 102 is completed (as determined at block 318), processing returns to block 278 in the flowchart of Fig. 4. It is understood that the time base for transitions can vary dynamically depending on the state of the automation system initiating the transition. For example, the time base can vary depending on the distance to a desired surface in a grading control application (where a more aggressive transition reduces the probability of an overrun, etc.). The variable nature of the time-based transition constraint improves operation by making the response to a transition adaptable to different scenarios, different control systems, and so on. This is a significant advantage over a transition control system that uses a predetermined rate of change between the request value of a current control system and the request value of a newly selected control system.Such a constant rate change leads to a common transition slope across different scenarios, which cannot be dynamically adapted to different scenarios.

[0047] Processors and servers have been mentioned in this discussion. In one example, processors and servers include computer processors with associated memory and a timing circuit arrangement, which are not shown separately. The processors or servers are functional parts of the systems or devices to which they belong and are activated by the other components or elements in these systems, thus supporting their functionality.

[0048] Furthermore, a number of user interface (UI) displays were discussed. UI displays can take a wide variety of forms and can incorporate a wide variety of user-activated input mechanisms. These user-activated input mechanisms can include, for example, text fields, checkboxes, icons, links, drop-down menus, search fields, and so on. The mechanisms can be activated in a wide variety of ways. For example, they can be activated using a point-and-click device (such as a trackball or mouse). They can also be activated using hardware buttons, switches, a joystick or keyboard, thumb switches, thumb pads, and so forth. Finally, they can be activated using a virtual keyboard or other virtual actuators.Additionally, if the screen displaying the mechanisms is a touchscreen, they can be activated using touch gestures. Furthermore, if the device displaying the mechanisms has speech recognition components, they can be activated using voice commands.

[0049] Several data stores were also discussed. It should be noted that each data store can be subdivided into multiple data stores. All can be local to the systems accessing the data stores, all can be remote, or some can be local while others are remote. All of these configurations are considered here.

[0050] Furthermore, the figures depict a number of blocks, each assigned a specific function. It should be noted that fewer blocks can be used, meaning the functionality is performed by fewer components. Conversely, more blocks can be used, distributing the functionality across more components.

[0051] It should be noted that the above discussion has described a variety of different systems, components, generators, and / or logics. It is understood that such systems, components, generators, and / or logics may consist of hardware elements (such as processors and associated memory or other processing components, some of which are described below) that perform the functions assigned to these systems, components, generators, and / or logics. Additionally, the systems, components, generators, and / or logics may consist of software that is loaded into memory and subsequently executed by a processor, server, or other computing component, as described below. The systems, components, generators, and / or logics may also consist of various combinations of hardware, software, firmware, etc., some examples of which are described below.These are just a few examples of different structures that can be used to form the systems, components, generators, and / or logics described above. Other structures can also be used.

[0052] Fig. 6 is a block diagram of the working machine 102, which is located in Fig. Figure 1 shows a remote server architecture that communicates with elements in a 500-based remote server architecture. In one example, the 500-based remote server architecture can provide computing, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system providing the services. In various examples, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For example, remote servers can deliver applications over a wide area network, and these applications can be accessed through a web browser or any other computing component. The software or components shown in the previous figure, as well as the corresponding data, can be stored on servers in a remote location.Computing resources in a remote server environment can be consolidated at a remote data center or distributed. Remote server infrastructures can deliver services across shared data centers, although they appear as a single access point to the user. Thus, the components and functions described here can be delivered by a remote server at a distant location using a remote server architecture. Alternatively, the components and functions can be delivered by a traditional server or installed directly or otherwise on client devices.

[0053] In the Fig. In the example shown in Figure 6, some elements resemble those shown in previous figures, and they are labelled similarly. Fig. Figure 6 shows in particular that parts or all of system 151, system / systems 142, and data storage 150 can be located at a remote server location 502. Therefore, machine 102 accesses these systems via remote server location 502.

[0054] Fig. Figure 6 also presents another example of a remote server architecture. Fig. Figure 6 shows that it is also considered that some elements of the previous FIG. are located at the remote server location 502, while others are not. For example, the data store 150 or other systems 142 may be located at a location separate from location 502, and they may be accessed via the remote server at location 502. Regardless of where the elements are located, access to them may be directly by machine 102, via a network (either a wide area network or a local area network), the elements may be hosted at a remote location by a service, the elements may be provided as a service, or they may be accessed via a connection service located at a remote location. The data may also be stored at substantially any location, and data access by or disclosure to interested parties may be intermittent.All of these architectural styles are considered here.

[0055] It should also be noted that the elements of the previous figure, or sections thereof, can be arranged on a wide variety of different devices. Some of these devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices such as palmtop computers, mobile phones, smartphones, multimedia players, personal digital assistants, etc.

[0056] Fig. Figure 7 is a simplified block diagram of an illustrative example of a handheld or mobile computing device that can be used as a handheld device 16 by a user or client and in which the present system (or parts thereof) can be provided. For example, a mobile device can be provided in the operator compartment of machine 102 for use in generating, processing, or displaying the control data. Fig. 8-9 are examples of handheld or mobile devices.

[0057] Fig. Figure 7 provides a general block diagram of the components of a client device 16, which can execute some of the components shown in previous figures, interact with them, or both. The device 16 provides a communication link 13 that enables the handheld device to communicate with other computing devices and, in some examples, provides a channel for automatically receiving information, such as by scanning. Examples of the communication link 13 include enabling communication via one or more communication protocols, such as wireless services used to provide cellular access to a network, and protocols that provide local wireless connections to networks.

[0058] In other examples, applications can be received on a removable Secure Digital card (SD card) connected to an interface 15. The interface 15 and the communication links 13 communicate with a processor 17 (which can also represent processors or servers from previous FIG.) along a bus 19, which is also connected to a memory 21 and input / output (I / O) components 23, as well as a clock 25 and a location system 27.

[0059] The I / O components 23 are provided in an example to enable input and output operations. The I / O components 23 for various examples of the device 16 can include input components such as buttons, touch sensors, optical sensors, microphones, touchscreens, proximity sensors, accelerometers, and orientation sensors, and output components such as a display device, a speaker, and / or a printer port. Other I / O components 23 can also be used.

[0060] The clock generator 25 includes, for illustrative purposes, a real-time clock component that outputs a time and date. It can also, for illustrative purposes, provide timing functions for the processor 17.

[0061] The positioning system 27 includes, for illustrative purposes, a component that outputs a current geographic location of the device 16. This can include, for example, a receiver of a global positioning system (GPS receiver), a dead reckoning system, a cellular triangulation system, or another positioning system. The positioning system 27 can also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions.

[0062] Memory 21 stores an operating system 29, network settings 31, applications 33, application configuration settings 35, a data store 37, communication drivers 39, and communication configuration settings 41. Memory 21 can include all types of tangible volatile and non-volatile computer-readable storage devices. Memory 21 can also include computer storage media (described below). Memory 21 stores computer-readable instructions which, when executed by the processor 17, cause the processor to perform computer-implemented steps or functions according to the instructions. The processor 17 can be activated by other components to support their functionality as well.

[0063] Fig. Figure 8 shows an example where the device 16 is a Tablet Computer 600. In Fig. Figure 8 shows the Computer 600 with the user interface display screen 602. The screen 602 can be a touchscreen or a pen-enabled interface that receives input from a pen or stylus. The Computer 600 can also use a virtual on-screen keyboard. Of course, the Computer 600 could also be connected to a keyboard or other user input device via a suitable connection mechanism, such as a wireless link or a USB port. For illustrative purposes, the Computer 600 can also receive voice input.

[0064] Fig. Figure 9 shows that the device can be a smartphone 71. The smartphone 71 has a touch-sensitive display 73 that shows icons or tiles or other user input mechanisms 75. The mechanisms 75 can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, the smartphone 71 is built on a mobile operating system and offers more advanced computing power and connectivity than a feature phone.

[0065] It should be noted that other forms of devices 16 are possible.

[0066] Fig. Figure 10 is an example of a computing environment in which elements from previous figures, or parts thereof, can be provided (for example). With reference to Fig. Figure 10 includes an exemplary system for implementing some embodiments, comprising a computing device in the form of a computer 810 programmed to operate as described above. Components of the computer 810 may, but are not limited to, include a processing unit 820 (which may include processors or servers from the preceding figure), a system memory 830, and a system bus 821 coupling various system components, including the system memory, to the processing unit 820. The system bus 821 may be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus, using any variety of bus architectures. The memory and programs described with reference to the preceding figure(s) may be further detailed in the relevant sections of Figure 10. Fig. 10 will be provided.

[0067] The Computer 810 typically includes a variety of computer-readable media. Computer-readable media can be any available media that the Computer 810 can access, and includes both volatile and non-volatile media, removable and non-removable media. By way of example, and without limitation, computer-readable media can include computer storage media and communication media. Computer storage media is distinct from and does not include a modulated data signal or carrier wave. Computer storage media includes hardware storage media, including both volatile and non-volatile, removable and non-removable media, implemented by any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data.Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or any other storage technology, CD-ROM, DVD (Digital Versatile Discs) or any other optical disc storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and that the Computer 810 can access. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transport mechanism and include any information delivery media. The term "modulated data signal" means a signal in which one or more of its characteristics are set or modified in such a way as to encode information in the signal.

[0068] System memory 830 includes computer storage media in the form of volatile and / or non-volatile memory, such as read-only memory (ROM) 831 and random-access memory (RAM) 832. A basic input / output system (BIOS) 833, containing the basic routines that support the transfer of information between elements within the computer 810, such as during startup, is usually stored in ROM 831. RAM 832 typically contains data and / or program modules that are directly accessible to and / or currently being processed by the processing unit 820. This is an example and not an exhaustive description. Fig. 10 an operating system 834, application programs 835, other program modules 836 and program data 837.

[0069] The Computer 810 may also include other removable / non-removable volatile / non-volatile computer storage media. Illustrated for illustrative purposes only. Fig. 10. A hard disk drive 841, which reads from or writes to non-removable non-volatile magnetic media, an optical disk drive 855, and a non-volatile optical disk 856. The hard disk drive 841 is usually connected to the system bus 821 through a non-removable memory interface, such as the 840 interface, and the optical disk drive 855 is usually connected to the system bus 821 through a removable memory interface, such as the 850 interface.

[0070] Alternatively or additionally, the functionality described here can be implemented, at least partially, by one or more hardware logic components. Illustrative examples of usable hardware logic components include, but are not limited to, field-programmable gate arrays (FPGAs), application-specific integrated circuits (e.g., ASICs), application-specific standard products (e.g., ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), etc.

[0071] The drives and their associated computer storage media discussed above and in Fig. The ten illustrated examples provide a storage system for computer-readable instructions, data structures, program modules, and other data for the Computer 810. Fig. Figure 10, for example, illustrates the hard disk drive 841 as storing an operating system 844, application programs 845, other program modules 846, and program data 847. It should be noted that these components can either be the same as the operating system 834, the application programs 835, the other program modules 836, and the program data 837, or they can be different from them.

[0072] A user can input commands and information into the computer 810 via input devices such as a keyboard 862, a microphone 863, and a pointing device 861, such as a mouse, trackball, or touchpad. Other input devices (not shown) may include a joystick, gamepad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit 820 via a user input interface 860 coupled to the system bus, but they may be connected via other interface and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface such as a video interface 890. In addition to the monitor, computers may also include other peripheral output devices, such as loudspeakers 897 and a printer 896, which may be connected via an output peripheral interface 895.

[0073] The Computer 810 operates in a networked environment using logical connections (such as a Controller Area Network - CAN, a Local Area Network - LAN, or a Wide Area Network - WAN) with one or more remote computers, such as a Remote Computer 880.

[0074] When used in a LAN network environment, the computer 810 is connected to the LAN 871 via a network interface or adapter 870. When used in a WAN network environment, the computer 810 typically includes a modem 872 or other means for establishing communications over the WAN 873, such as the Internet. In a networked environment, program modules may be stored in a remote storage device. Fig. For example, Figure 10 illustrates that remote application programs 885 can be located on a remote computer 880.

[0075] It should also be noted that the various examples described here can be combined in different ways. That is, parts of one example or several examples can be combined with parts of another example or several other examples. All of this is taken into consideration here.

[0076] Although the subject matter has been described in a language specific to structural features and / or procedural actions, it should be clarified that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Instead, the specific features and actions described above are disclosed as exemplary forms of implementing the claims.

Claims

[1] Computer-implemented method for controlling a working machine, comprising: Control (276) of a controllable subsystem (186) on the working machine based on a first control signal (206) which has a first value and is generated by a first control system; Selecting (280) a second control signal (208) to control the controllable subsystem (186), wherein the second control signal (208) has a second value and is generated by a second control system; Generating (296) a variable time-based transition constraint (218) based on the first value and the second value and Control (306) of a transition from controlling the controllable subsystem (186) with the first control signal (206) to controlling the controllable subsystem (186) with the second control signal (208) based on the time-based transition constraint (218). [2] Computer-implemented method according to claim 1, comprising generating the time-based transition constraint: Generating (296) a transition period and wherein controlling the transition includes a transition from controlling the controllable subsystem (186) based on the first value to controlling the controllable subsystem (186) based on the second value over the transition period. [3] Computer-implemented method according to claim 1 or 2, comprising generating the time-based transition constraint: Identifying (299) a set of aggressiveness criteria and Generating (299) the time-based transition restriction based on the aggressiveness criteria. [4] Computer-implemented method according to claim 3, wherein identifying the set of time-based aggressiveness criteria comprises: Identifying (300) the first tax system and Identifying (300) the second tax system and wherein generating (296) the time-based transition constraint (218) includes generating the time-based transition constraint (218) based on the first tax system and the second tax system. [5] Computer-implemented method according to any of the preceding claims, comprising generating the time-based transition constraint: Calculating (298) a difference between the first value and the second value and Generating (298) the time-based transition constraint (218) based on the difference between the first value and the second value. [6] Computer-implemented method according to any of the preceding claims, comprising selecting a second control signal for controlling the controllable subsystem: Receiving (278) a subsequent control signal for controlling the controllable subsystem (186) from the first control system, wherein the subsequent control signal is generated by the first control system after the first control signal; Receiving (278) the second control signal and Executing (284) a selection process to select the second control signal to control the controllable subsystem. [7] Computer-implemented method according to claim 6, wherein performing the selection process comprises: Accessing (282) a tax system priority indicator (200) that specifies a priority of the first tax system and the second tax system; and Selecting (280) the second tax system based on the tax subsystem priority indicator (200). [8] Computer-implemented method according to claim 6 or 7, wherein performing the selection process comprises: Executing (284) a system for a dynamic selection (202) to dynamically select the second control system. [9] Computer-implemented method according to any one of the preceding claims, further comprising: Generating (290) a response to the first control system and the second control system, wherein the response identifies the second control system as a selected control system and the second value (292). [10] Working machine comprising: a controllable subsystem (186); a first control system (156) designed to generate a first control signal (206) with a first value for controlling the controllable subsystem (186); a second control system (158) designed to generate a second control signal (208) with a second value for controlling the controllable subsystem (186); a machine control supervisor (160) designed to select the first control signal (206) or the second control signal (208) as a selected control signal for controlling the controllable subsystem (186); a time-based transition constraint processing system (162) designed to generate a variable time-based transition constraint (218) based on the first value and the second value; and a control processing system (151) designed to control a transition between controlling the controllable subsystem (186) with the first control signal (206) and controlling the controllable subsystem (186) with the second control signal (208) based on the time-based transition constraint (218). [11] Working machine according to claim 10, wherein the first control system comprises: a manual control system (156). [12] Working machine according to claim 10 or 11, wherein the first control system comprises: an automated control system (158). [13] Working machine according to one of claims 10 to 12, wherein the time-based transition restriction processing system (162) comprises: a time-based transition constraint generator (234) designed to generate a transition period, and wherein the control processing system (151) is designed to control the transition between controlling the controllable subsystem (186) based on the first value and controlling the controllable subsystem (186) based on the second value over the transition period. [14] Working machine according to claim 13, wherein the time-based transition restriction processing system (162) comprises: an aggressiveness tuning processor (232) designed to identify a set of aggressiveness criteria, wherein the time-based constraint generator (234) is designed to generate the time-based transition constraint (218) based on the aggressiveness criteria. [15] Working machine according to any one of claims 10 to 14, wherein the time-based transition restriction processing system (162) comprises: a difference size processor (230) designed to calculate a difference between the first value and the second value, wherein the time-based constraint generator (234) is designed to generate the time-based transition constraint (218) based on the difference between the first value and the second value.

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