Mobile machine-to-machine teleoperation system

Abstract

A system for mobile machine-to-machine teleoperation, the system comprising a tele-operable mobile machine including a self-propelled mobile frame, a work tool connected to the mobile frame, an actuation system, a transceiver supported by the mobile frame; and a controller in communication with the transceiver and the actuation system, a command mobile machine including a self-propelled command mobile frame, a command work tool connected to the command mobile frame, a command actuation system, a command transceiver supported by the command mobile frame, a command user interface supported by the command mobile frame, a command controller in communication with the command transceiver and the command user interface, the command controller including a command manual mode operable to control the command actuation system via the command user interface, and a command mode operable to control the actuation system of the tele-operable mobile machine via the command user interface of the command mobile machine.

Description

MOBILE MACHINE-TO-MACHINE TELEOPERATION SYSTEMCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit under Articles 4 and 8 of the Stockholm Act of the Paris Convention for the Protection of Industrial Property of U.S. Patent Application No. 63 / 514,612, filed on July 20, 2023, which application is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present disclosure relates generally to the field of mobile machines, and more particularly to a teleoperation system for a mobile machine.BACKGROUND ART

[0003] Mobile machines, movable machinery, heavy equipment, heavy machinery, or earthmover equipment refers to heavy-duty vehicles specially designed to execute construction tasks, most frequently involving earthwork operations or other large construction tasks. Some examples of movable machinery are excavators, compact track loaders (CTLs) or skid steer loaders, bulldozers, agricultural tractors, cranes, backhoes, and loaders. Movable machinery usually comprises five equipment systems: implement, traction, structure, power train, and control. Movable machinery functions through the mechanical advantage of a simple machine, where the ratio between input force applied and force exerted is multiplied, making tasks which could take hundreds of people and weeks of labor without heavy equipment far less intensive in nature. Some movable machinery uses hydraulic drives as a primary source of motion and actuation.BRIEF SUMMARY

[0004] With parenthetical reference to corresponding parts, portions or surfaces of the disclosed embodiment, merely for the purposes of illustration and not by way of limitation, the present disclosure provides a system for mobile machine-to-machine teleoperation, the system comprising a tele-operable mobile machine (30, 32) including a self-propelled mobile frame (42B, 42C), a work tool (58B, 58C, 66, 68) connected to the mobile frame (42B, 42C), an actuation system (50, 52, 54, 56, 60) between the mobile frame (42B, 42C) and the work tool (58B, 58C, 66, 68) configured to actuate the work tool (58B, 58C, 66, 68) relative to the mobile frame (42B, 42C), a transceiver (132) supported by the mobile frame (42B, 42C), and a controller (122) in communication with the transceiver (132) and the actuation system (50, 52, 54, 56, 60) andoperable to receive and transmit signals, a command mobile machine (20) including a self- propelled command mobile frame (42A), a command work tool (58 A, 66, 68) connected to the command mobile frame (42A), a command actuation system (50, 52, 54, 56, 60) between the command mobile frame (42A) and the command work tool (58 A, 66, 68) configured to actuate the command work tool (58 A, 66, 68) relative to the command mobile frame (42A), a command transceiver (130) supported by the command mobile frame (42A), a command user interface (160) supported by the command mobile frame (42A) operable to receive user commands from a user supported by the command mobile frame (42A), a command controller (120) in communication with the command transceiver (130) and the command user interface (160) and operable to receive and transmit command signals, the command controller (120) including a command manual mode (204) operable to control the command actuation system (50, 52, 54, 56, 60) via the command user interface (160), and a command mode (206) operable to control the actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30, 32) via the command user interface (160) of the command mobile machine (20).

[0005] In an exemplary embodiment, the tele-operable mobile machine (30) may have a user interface (162) operable to receive user commands from a user supported by the mobile frame (42B) of the tele-operable mobile machine (30), the controller (122) of the tele-operable mobile machine (30) may have a manual mode (204) operable to control the actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30) via the user interface (162) of the tele-operable mobile machine (30), and the controller (122) of the tele-operable mobile machine (30) may have a teleoperation mode (220) operable to control the actuation system (50, 52, 54, 56, 60) of the tele- operable machine (30) via the command user interface (160) of the command mobile machine (20). In an exemplary embodiment, the tele-operable mobile machine (30) may have a command mode (206) operable to control a remote actuation system (50, 52, 54, 56, 60) of a remote mobile machine (20, 32) via the user interface (162) of the tele-operable mobile machine (30). In an exemplary embodiment, the remote mobile machine (20) may comprise the command mobile machine (20), the remote actuation system (50, 52, 54, 56, 60) may comprise the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20), and the command controller (160) of the command mobile machine (20) may have a command teleoperation mode (220) operable to control the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20) via the user interface (162) of the tele-operable mobile machine (30).

[0006] In an exemplary embodiment, the command controller (120) may have a dual command mode (204 / 206) operable to simultaneously control the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20) and the actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30, 32) via the command user interface (160) of the command mobile machine (20). In an exemplary embodiment, the command user interface (160) may comprise a mode selector (90, 140) operable to switch between the command manual mode (204) and the command mode (206).

[0007] In an exemplary embodiment, the tele-operable mobile machine (30, 32) may comprise a sensor system (62, 64) operable to sense data regarding an operating environment of the tele-operable mobile machine (30, 32), and the controller (122) of the tele-operable mobile machine (30, 32) may be in communication with the sensor system (62, 64). In an exemplary embodiment, the sensor system (62, 64) may comprise a camera (62) operable to show the operating environment of the tele-operable mobile machine (30, 32), and the command user interface (160) of the command mobile machine (20) may comprise a display (92) operable to show a field of view of the camera (62). In an exemplary embodiment, the sensor system (62, 64) of the tele-operable mobile machine (30, 32) may be operable to sense data regarding the actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30,32).

[0008] In an exemplary embodiment, the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20) may comprise a command number of total operable degrees of freedom (A1-A9), and the actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30, 32) may comprise a tele-operable number of total operable degrees of freedom (Al- A9). In an exemplary embodiment, the command number of total operable degrees of freedom (A1-A9) of the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20) may be greater than or equal to the tele-operable number of total operable degrees of freedom (A1-A9) of actuation system (50, 52, 54, 56, 60) of the tele-operable mobile machine (30, 32). In an exemplary embodiment, the command number of total operable degrees of freedom of the command actuation system (20) may be greater than or equal to five. In an exemplary embodiment, the command number of total operable degrees of freedom of the command actuation system (20) may be greater than or equal to seven. In an exemplary embodiment, the operable degrees of freedom of the command actuation system (50, 52, 54, 56, 60) of the command mobile machine (20) may comprise a boom control axis (A5), an arm control axis (A2), a bucket control axis (A3,A3 A), a slew control axis (A4), a first drive control axis (Al), and a second drive control axis (Al). In an exemplary embodiment, the command user interface (160) of the command mobile machine (20) may comprise a first control stick (70), a second control stick (72), a first foot pedal (76), and a second foot pedal (78).

[0009] In an exemplary embodiment, the command work tool (58) of the command mobile machine (20) may comprise a command bucket (58A), a command bucket thumb (66), a command blade (68), and an auxiliary tool, the operable degrees of freedom of the command actuation system of the command mobile machine may comprise a thumb control axis (A7), a blade control axis (A6), a boom offset control axis (A8), and an auxiliary control axis (A9), and the command user interface (160) of the command mobile machine (20) may comprise a third control stick, a control stick rocker switch, and a third foot pedal.

[0010] In an exemplary embodiment, the system may comprise a second tele-operable mobile machine (32) having a second self-propelled mobile frame (42C), a second work tool (58C) connected to the second mobile frame (42C), a second actuation system (50, 52, 54, 56, 60) between the second mobile frame (42C) and the second work tool (58C) configured to actuate the second work tool (58C) relative to the second mobile frame (42C), and a second transceiver (132) supported by the second mobile frame (42C), and wherein the command controller (120) has a second command mode operable to control the second actuation system (50, 52, 54, 56, 60) of the second tele-operable mobile machine (32) via the command user interface (160) of the command mobile machine (20).

[0011] In an exemplary embodiment, the system may comprise a command operator cabin (40) supported by the command mobile frame (42) and housing the command user interface (160) of the command mobile machine (20). In an exemplary embodiment, the work tool (58) of the teleoperated mobile machine (30) may comprise a bucket (58B) and the command work tool (58) of the command mobile machine (20) may comprise a command bucket (58A). In an exemplary embodiment, the command mobile machine (20) may comprise an excavator and the tele-operated mobile machine (30) may comprise an excavator. In an exemplary embodiment, each of the command mobile machine (20) and the tele-operated mobile machine (30, 32) may be selected from a group consisting of an excavator (30), a skid steer loader (32), a tractor, and an earthmover.

[0012] In an exemplary embodiment, the tele-operable mobile machine (30) may comprise an electric storage supported by the mobile frame (42B) and the actuation system (50, 52, 54, 56,60) may comprise an electric motor connected to the electric storage and configured to be supplied with a current to operatively actuate the work tool (58B) relative to the mobile frame (42B).

[0013] The following will describe embodiments of the present disclosure, but it should be appreciated that the present disclosure is not limited to the described embodiments and various modifications of the disclosure are possible without departing from the basic principles. The scope of the present disclosure is therefore to be determined solely by the appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Various embodiments are disclosed, by way of example only, with reference to the accompanying schematic drawings below in which corresponding reference symbols indicate corresponding parts. The accompanying drawings are incorporated herein as part of the specification. The drawings described herein illustrate embodiments of the presently disclosed subject matter and are illustrative of selected principles and teachings of the present disclosure. However, the drawings do not illustrate all possible implementations of the presently disclosed subj ect matter and are not intended to limit the scope of the present disclosure in any way.

[0015] FIG. l is a side elevational view of a mobile machine teleoperation system.

[0016] FIG. 2 is a perspective view of the mobile machine shown in FIG. 1.

[0017] FIG. 2A is a schematic view of the mobile machine shown in FIG. 1.

[0018] FIG. 3 is a partial perspective view of the inside of the cab of the mobile machine shown in FIG. 2.

[0019] FIG. 4 is a detail view of the inside of the cab taken generally at DETAIL 4 in FIG. 3.

[0020] FIG. 5 is a functional block diagram showing a mobile machine teleoperation system environment, in accordance with exemplary embodiments of the present disclosure.

[0021] FIG. 6 is a functional block diagram showing the interaction between components of the mobile machine teleoperation system shown in FIG. 1, in accordance with exemplary embodiments of the present disclosure.

[0022] FIG. 7 is a partial block diagram of a command mobile machine.

[0023] FIG. 8 is a partial schematic view of the command mobile machine shown in FIG.7.

[0024] FIG. 9 is a block diagram of internal and external components of a computing device, in accordance with an exemplary embodiment of the present disclosure.DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] At the outset, it should be clearly understood that like reference numerals are intended to identify the same structural elements, portions, or surfaces consistently throughout the several drawing figures, as such elements, portions or surfaces may be further described or explained by the entire written specification, of which this detailed description is an integral part. Unless otherwise indicated, the drawings are intended to be read (e g., cross-hatching, arrangement of parts, proportion, degree, etc.) together with the specification, and are to be considered a portion of the entire written description of this invention. As used in the following description, the terms “horizontal,” “vertical,” “left,” “right,” “up” and “down,” as well as adjectival and adverbial derivatives thereof (e.g., “horizontally,” “rightwardly,” “upwardly,” etc.), simply refer to the orientation of the illustrated structure as the particular drawing figure faces the reader. Similarly, the terms “inwardly” and “outwardly” generally refer to the orientation of a surface relative to its axis of elongation, or axis of rotation, as appropriate.

[0026] Furthermore, it is understood that this disclosure is not limited to the particular methodology, materials and modifications described and as such may, of course, vary. It is also understood that the terminology used herein is for the purpose of describing particular aspects only and is not intended to limit the scope of the claims.

[0027] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this disclosure pertains. It should be understood that any methods, devices, or materials similar or equivalent to those described herein can be used in the practice or testing of the example embodiments.

[0028] It should be appreciated that the term “substantially” is synonymous with terms such as “nearly,” “very nearly,” “about,” “approximately,” “around,” “bordering on,” “close to,” “essentially,” “in the neighborhood of,” “in the vicinity of,” etc., and such terms may be used interchangeably as appearing in the specification and claims. It should be appreciated that the term “proximate” is synonymous with terms such as “nearby,” “close,” “adjacent,” “neighboring,” “immediate,” “adjoining,” etc., and such terms may be used interchangeably as appearing in the specification and claims. The term “approximately” is intended to mean values within ten percent of the specified value.

[0029] It should be understood that use of “or” in the present application is with respect to a “non-exclusive” arrangement, unless stated otherwise. For example, when saying that “item x is A or B,” it is understood that this can mean one of the following: (1) item x is only one or the other of A and B; (2) item x is both A and B. Alternately stated, the word “or” is not used to define an “exclusive or” arrangement. For example, an “exclusive or” arrangement for the statement “item x is A or B” would require that x can be only one of A and B. Furthermore, as used herein, “and / or” is intended to mean a grammatical conjunction used to indicate that one or more of the elements or conditions recited may be included or occur. For example, a device comprising a first element, a second element and / or a third element, is intended to be construed as any one of the following structural arrangements: a device comprising a first element; a device comprising a second element; a device comprising a third element; a device comprising a first element and a second element; a device comprising a first element and a third element; a device comprising a first element, a second element and a third element; or, a device comprising a second element and a third element.

[0030] Moreover, as used herein, the phrases “comprises at least one of’ and “comprising at least one of’ in combination with a system or element is intended to mean that the system or element includes one or more of the elements listed after the phrase. For example, a device comprising at least one of: a first element; a second element; and, a third element, is intended to be construed as any one of the following structural arrangements: a device comprising a first element; a device comprising a second element; a device comprising a third element; a device comprising a first element and a second element; a device comprising a first element and a third element; a device comprising a first element, a second element and a third element; or, a device comprising a second element and a third element. A similar interpretation is intended when the phrase “used in at least one of’ is used herein.

[0031] It is to be understood that the specific assemblies and systems illustrated in the attached drawings and described in the following specification are simply exemplary embodiments. Hence, specific dimensions, directions, or other physical characteristics relating to the embodiments disclosed are not to be considered as limiting, unless expressly stated otherwise. Also, although they may not be, like elements in various embodiments described herein may be commonly referred to with like reference numerals within this section of the application.

[0032] Where they are used herein, the terms “first,” “second,” and so forth, do not necessarily denote any ordinal, sequential or priority relation, but are simply used to distinguish one element or set of elements more clearly from another element or set of elements, unless specified otherwise.

[0033] Referring now to the drawings, FIG. l is a side elevational view of mobile machine teleoperation system 10. Mobile machine teleoperation system 10 comprises mobile machine 20 and mobile machine 30. In an exemplary embodiment, mobile machine 20 is a command mobile machine and mobile machine 30 is a tele-operable mobile machine. In an exemplary embodiment, mobile machine teleoperation system 10 further comprises second tele-operable mobile machine 32.

[0034] Command mobile machine 20 is operatively arranged to communicate with tele- operable mobile machine 30, 32 via wireless communication. For example, command mobile machine 20 may communicate with tele-operable mobile machine 30, 32 through wireless communication system or network 110. Wireless communication system 110 is infrastructure by which commands can be transmitted from command mobile machine 20 to tele-operated mobile machine 30, 32 and vice versa. Wireless communication system 110 may comprise wireless fidelity (WI-FI®) wireless communication technology, long-term evolution (LTE®) wireless communication technology, radio frequency (RF) communication technology, BLUETOOTH® communication technology, a 3G, 4G or 5G network, infrared communications, near field communications, ultraband communications, satellite communications, proprietary license band radios, and the like. However, other modes of wireless communication may be employed. It should be appreciated that mobile machines 20, 30, and 32 may communicate whether they are in sight with or out of sight from each other.

[0035] Command mobile machine 20 can be operated manually (i.e., in manual mode) by a user who is in / on the machine using user interface or operator controls or input devices 160 (e.g., joysticks, foot pedals, levers, buttons, dials, screens, switches, etc.). User interface 160 of command mobile machine 20 can also be used to command tele-operable mobile machine 30, 32 (i.e., in command mode). The user can switch between a plurality of operating or control modes (e.g., manual mode, command mode, teleoperation mode, and mimic mode). In an exemplary embodiment, the user can switch between control modes using buttons, switches, dials, and / or a digital input on a graphic user interface (GUI).

[0036] Tele-operable machine 30, 32 is a mobile machine that can be controlled from a remote mobile machine without a user physically present therein or thereon. In an exemplary embodiment, tele-operable machine 30, 32 comprises electronics and / or software operatively arranged to allow electric signals to command the mobile machine, including but not limited to, motion axes and machine functions such as starting and stopping the mobile machine, moving the work tool of the machine, driving the machine, turning the cab of the machine with respect to its tracks or wheels (i.e., slew), etc. Tele-operable machine 30, 32 may comprise a plurality of modes such as manual mode wherein a user controls tele-operable mobile machine 30, 32 from tele- operable mobile machine 30, 32, teleoperation mode wherein tele-operable mobile machine 30, 32 is controlled by a user from command mobile machine 20, and command mode wherein a user controls mobile machine 20 from mobile machine 30, 32.

[0037] In an exemplary embodiment, manual mode refers to a user’s manual control of only the mobile machine that the user is in or on. In an exemplary embodiment, teleoperation mode refers to the user’s control of only a remote machine from the mobile machine that the user is in or on. In an exemplary embodiment, teleoperation mode refers to a mobile machine that is being operated by a user located in / on a different remote machine. In an exemplary embodiment, mimic mode or dual command mode refers to the user’s control of both the command mobile machine and the tele-operable mobile machine from the command mobile machine simultaneously (i.e., both mobile machines perform substantially the same actions at substantially the same time).

[0038] FIG. 2 is a perspective view of mobile machine 20, 30. FIG. 2A is a schematic view of an exemplary embodiment of mobile machine 20, 30. In an exemplary embodiment, mobile machine 20, 30 comprises frame or counterweight 42, engine or power unit 44, a traction system, for example tracks or wheels 46 and 48, and at least one work tool, for example bucket 58. In an exemplary embodiment, mobile machine 20, 30 further comprises cab or cabin 40. In an exemplary embodiment, mobile machine 20, 30 further comprises an actuation system, for example boom 50 and / or arm 54. In an exemplary embodiment, mobile machine 20, 30 is an excavator; however it should be appreciated that mobile machine 20, 30 may comprise any mobile machine, for example, CTLs, bulldozers, agricultural tractors, cranes, backhoes, loaders, etc. Thus, while in this embodiment mobile machines 20 and 30 are excavators, other types of mobile machines or vehicles with attached machinery or equipment that are self-propelled or mobile and that provide functionality beyond transport may be alternatives, including without limitation forklifts, skidsteers, tractors, earthmovers, farm machinery, dump trucks, garbage trucks, mobile cranes, backhoe loaders, wheeled loaders, scrapers, graders, compactors, and other mobile construction equipment.

[0039] Mobile machine 20, 30 comprises a plurality of control axes, for example axes Al- A9. Control axes are axes about which the mobile machine is movable. Track 46 is displaceable in circumferential direction CD1 about axis Al to drive mobile machine 20, 30, for example, in axial direction AD. Track 48 is displaceable in circumferential direction CD1 about axis Al to drive mobile machine 20, 30, for example, in axial direction AD. Arm 54 is displaceable in circumferential direction CD1 with respect to boom 50, for example via arm actuator 56, about axis A2. Bucket 58 is displaceable in circumferential direction CD1 with respect to arm 54, for example via bucket actuator 60, about axis A3. Boom 50 is displaceable in circumferential direction CD1 with respect to frame 42, for example via boom actuator 52, about axis A5. Frame 42, and thus boom 50, arm 54, and bucket 58, is displaceable in circumferential direction CD2 with respect to tracks 46 and 48 about axis A4. Thus, in the exemplary embodiment shown in FIG. 2, mobile machine 20, 30 comprises six control axes or degrees of freedom. In an exemplary embodiment, mobile machine 32 is a CTL or skid steer loader including four control axes. In the exemplary embodiment shown in FIG. 2A, mobile machine 20, 30 further comprises thumb 66 hingedly connected to arm 50 or bucket 58 and displaceable about axis A7. In an exemplary embodiment, mobile machine 20, 30 further comprises blade 68 displaceably connected to frame 42 about axis A6. Boom 50 may be displaceable with respect to frame 42 about axis A8. In an exemplary embodiment, mobile machine 20, 30 further comprises a power take off or auxiliary drive shaft displaceable about axis A9. Such additional features would add more control axes to mobile machine 20, 30, for example seven, eight, nine or ten control axes or degrees of freedom.

[0040] In an exemplary embodiment, command mobile machine 20 comprises a first number of control axes, tele-operable mobile machine 30, 32 comprises a second number of control axes, wherein the first number of control axes is greater than the second number of control axes. In an exemplary embodiment, command mobile machine 20 comprises a first number of control axes, tele-operable mobile machine 30, 32 comprises a second number of control axes, wherein the first number of control axes is equal to the second number of control axes. In an exemplary embodiment, command mobile machine 20 comprises a first number of control axes, tele-operable mobile machine 30, 32 comprises a second number of control axes, wherein the firstnumber of control axes is less than the second number of control axes. It should be appreciated that the actuation system of mobile machine 20, 30, 32 comprises a plurality of actuators to control the plurality of control axes, and the actuators can be hydraulic actuators, electric actuators, or electro-hydraulic actuators.

[0041] In an exemplary embodiment, mobile machine 20, 30 further comprises at least one sensor or camera, for example, camera 62 and sensor 64. Camera 62 is arranged on mobile machine 20, 30, for example on frame 42 or cab 40, and sends photographs and / or videos to a remote location. For example, camera 62 may be arranged on tele-operable mobile machine 30, 32 to send a live video feed to command mobile machine 20 such that the user can view the work being done by tele-operable mobile machine 30, 32, when command mobile machine 20 is in command mode and tele-operable mobile machine 30, 32 is in teleoperation mode. Similarly, sensor 64 may be arranged on the work tool of tele-operable mobile machine 30, 32 (e.g., bucket 58, blade 68, a jackhammer, etc ). Sensor 64 sends data to command mobile machine 20 such that the user may better control tele-operable mobile machine 30, 32 in the teleoperation mode. In an exemplary embodiment, sensor 64 may be a proximity sensor. In an exemplary embodiment, sensor 64 may comprise light detection and ranging (LIDAR), radio detection and ranging (RADAR), depth camera, and / or ultrasonic sensors.

[0042] FIG. 3 is a partial perspective view of the inside of cab 40 of mobile machine 20, 30. FIG. 4 is a detail view of the inside of cab 40 taken generally at DETAIL 4 in FIG. 3. Mobile machine 20, 30 comprises one or more user interface devices for controlling mobile machine 20, 30, for example joystick 70, joystick 72, lever or joystick 74, joystick 75, pedal 76, pedal 78, lever 80, lever 82, and dial 84. In an exemplary embodimentjoystick 70 may comprise wheel or rocker switch 86 and one or more buttons 88. User interface devices are used to operate the various operable degrees of freedom and actuation system of mobile machines 20, 30. For example, pedal 76 may control track 46 and pedal 78 may control track 48. Joystick 70 may control boom 50 and bucket 58. Joystick 72 may control arm 54 about axis A2 and control cabin slew about axis A4 (i.e., rotation of frame 42 with respect to tracks 46 and 48). Joystick 75 may control blade 68. Dial 84 may control engine revolutions per minute (RPM). Button 88 may be used to switch the machine between high speed and low speed mode. Wheel 86 may be used to control bucket thumb 66.

[0043] Mobile machine 20, 30 further comprises input device or mode selector 90. Mode selector 90 is operatively arranged to allow the user to switch between modes (e.g., manual 204, command 206, teleoperation 220, and mimic 204 / 206). In an exemplary embodiment, mode selector 90 comprises a switch. In an exemplary embodiment, mode selector 90 comprises a GUI or touch screen device. In an exemplary embodiment, mobile machine 20, 30 further comprises screen or GUI 92. As previously described, in an exemplary embodiment, screen 92 receives data from camera 62 and / or sensor 64 such that the user can better control tele-operable mobile machine 30, 32 from command mobile machine 20 in command mode. For example, screen 92 may display a live video broadcast from camera 62.

[0044] In an exemplary embodiment, in an ISO mode of mobile machine 20, 30, a left joystick controls arm 54 and cab 40 slew, a right joystick controls boom 50 and bucket 58, a left pedal controls left track 48, a right pedal controls right track 46, a third joystick controls blade 68, a thumbwheel on the right joystick controls thumb 66, a button on the right joystick is used to switch between high speed mode and low speed mode of mobile machine 20, 30, and / or a dial in cab 40 controls the engine revolutions per minute (RPM).

[0045] FIG. 5 is a functional block diagram showing mobile machine teleoperation system environment 100, in accordance with exemplary embodiments of the present disclosure. In the exemplary embodiment shown, environment 100 comprises command mobile machine 20 and tele-operated mobile machine 30, 32 that communicate with each other wirelessly, for example via wireless communication system 110.

[0046] Command mobile machine 20 comprises controller 120, transceiver 130, mode selector 140, digital interface 150, and user interface 160. Mode selector 140 is operatively arranged to allow a user to switch between modes (e.g., manual 204, command 206, teleoperation 220, and mimic 204 / 206). In an exemplary embodiment, mode selector 140 comprises a switch, for example similar to switch 90 shown in FIG. 4, or a GUI. Transceiver 130 is an electronic device operatively arranged to receive and transmit data. In an exemplary embodiment, transceiver 130 comprises an antenna. Transceiver 130 receives data, for example from camera 62 or sensors 64 on tele-operated mobile machine 30, 32 and communicates it to controller 120. Transceiver 130 can also send or transmit data from controller 120 to tele-operable mobile machine 30, 32, for example signals from user interface 160 to operate controllable motion axes 162 of tele-operable mobile machine 30, 32, as will be described in greater detail below.

[0047] Controller 120 may be a hardware device that receives input from mode selector 140, digital interface 150, user interface 160 or other input devices 164 (i.e., joysticks, buttons, levers, dials, pedals, cameras, etc.) and determines whether to operate command mobile machine 20 (i.e., in manual mode) or tele-operable mobile machine 30, 32 (i.e., in command mode), for example via mobile machine teleoperation program 124. Controller 120 transmits signals and / or data via transceiver 130 to tele-operable mobile machine 30, 32 to control its controllable motion axes 162. In an exemplary embodiment, controller 120 may include a microcontroller. In an exemplary embodiment, controller 120 may include a computer. In some embodiments, controller 120 may include internal and external hardware components, as depicted and described in further detail with respect to computing device 300 in FIG. 9. In some embodiments, teleoperation program 124 is implemented on a web server, which may be a management server, a web server, or any other electronic device or computing system capable of receiving and sending data. The web server can represent a computing system utilizing clustered computers and components to act as a single pool of seamless resources when accessed through a network. The web server may include internal and external hardware components, as depicted and described in further detail with respect to FIG. 9. In an exemplary embodiment, controller 120 comprises a Raspberry Pi computing system.

[0048] Digital interface 150 is operatively arranged to receive input from user interface 160 and communicate such input to controller 120. User interface 160 are the input devices used to control command mobile machine 20, for example those shown in FIG. 3. Such user interface devices may include one or more joysticks, pedals, levers, buttons, switches, dials, buttons, GUIs, etc. In an exemplary embodiment, command mobile machine 20 may further comprise additional controls or inputs 164. Additional controls or inputs 164 may be installed on command mobile machine 20 in situations where tele-operated mobile machine 30, 32 comprises more controllable motion axes than command mobile machine 20. For example, in the case where command mobile machine 20 comprises a CTL having only four control axes and tele-operable mobile machine 30 comprises an excavator having six control axes, command mobile machine 20 can be modified to include two more user interface inputs 164 such that in command mode the user can control all six control axes of tele-operable mobile machine 30 from command mobile machine 20.

[0049] Tele-operated mobile machine 30, 32 comprises controller 122, transceiver 132, mode selector 142, digital interface 152, and user interface or controllable motion axes, functions,and features 162. Mode selector 142 is operatively arranged to allow a user to switch between modes (e.g., manual 204, command 206, teleoperation 220, and mimic 204 / 206). In an exemplary embodiment, mode selector 142 comprises a switch substantially similar to switch 140 described above. Transceiver 132 is substantially similar to transceiver 130, described above, and is arranged to receive and transmit data. Transceiver 132 receives data, for example from command mobile machine 20 and communicates it to controller 122. Transceiver 132 can also send or transmit data from controller 122 to command mobile machine 20, for example signals or data from camera 62 or sensors 64.

[0050] Controller 122 may be a hardware device that receives input from mode selector 142, digital interface 152, user interface or controllable motion axes, functions, and features 162, transceiver 132, or other input devices and determines whether to operate tele-operable mobile machine 30, 32 (i.e., in manual mode) or command mobile machine 20 (i.e., in command mode), or be operated by command mobile machine 20 (i.e., in teleoperation mode or mimic mode), for example via mobile machine teleoperation program 124. Controller 122 transmits signals and / or data via transceiver 132 to command mobile machine 20 to provide feedback via camera 62 or sensors 64, or control the controllable motion axes of command mobile machine 20. In an exemplary embodiment, controller 122 comprises a microcontroller. In exemplary embodiments, controller 122 may include internal and external hardware components, as depicted and described in further detail with respect to computing device 300 in FIG. 9. In an exemplary embodiment, controller 122 comprises a Raspberry Pi computing system.

[0051] Digital interface 152 is operatively arranged to convert commands from controller 122 to suitable control signals to be interpreted by the existing OEM machine controller 170 on tele-operable mobile machine 30, 32. The signals coming out of digital interface 152 are able to control the controllable degrees of freedom of tele-operable machine 30, 32. In other words, the signals received from transceiver 130 of command mobile machine 20 are converted to signals having the same type and characteristics of the signals produced by the user input devices of tele- operable machine 30, 32. In an exemplary embodiment, digital interface 152 is operatively arranged to receive input and / or feedback from user interface or controllable motion axes, functions, and features 162 and communicate them to controller 122.

[0052] FIG. 6 shows functional block diagram 200 showing the interaction between components of mobile machine teleoperation system 10, in accordance with exemplaryembodiments of the present disclosure. The broken lines represent signal flows that are enabled or disabled depending on the current mode of the mobile machine.

[0053] In the manual mode of command mobile machine 20, the user controls command mobile machine 20 manually. As such, the signal flow of manual mode travels directly from user interface 160 to existing machine controller 170 via arrow 204. Existing machine controller 170 is the controller in command mobile machine 20 (or in tele-operated mobile machine 30, 32) that receives signals, for example original equipment manufacturer (OEM) control signals, from user interface 160 (e g., joysticks, pedals, switches, knobs, buttons, levers, etc.) and activates the controllable motion axes functions, and features of command mobile machine 20 (or tele-operated mobile machine 30, 32).

[0054] In the command mode of command mobile machine 20, the user controls tele- operable mobile machine 30, 32 using user interface 160 of command mobile machine 20. The signal flow of command mode travels from user interface 160 to receiver port 208 of digital interface 150 via arrow or command signal 206, then to controller 120 via arrow or command signal 210, and then to transceiver 130 via arrow or command signal 212. Digital interface 150 and / or controller 120 receive OEM control signals from user interface 160 and sends them to teleoperated mobile machine 30, 32 via transceiver 130. Transceiver 130 sends signals to transceiver 132 to control tele-operated mobile machine 30, 32. It should be appreciated that in an exemplary embodiment, in command mode, command mobile machine 20 is capable of controlling a plurality of tele-operable mobile machines at the same time. Thus, command mobile machine 20 may be used in command mode to operate two, three, or more tele-operable mobile machines simultaneously.

[0055] In the teleoperation mode of tele-operable mobile machine 30, 32, tele-operable mobile machine 30, 32 is operated remotely by a user in command mobile machine 20 using user interface 160 of command mobile machine 20. In such instance, command mobile machine 20 is in command mode and tele-operable mobile machine 30, 32 is in teleoperation mode. In teleoperation mode, tele-operable mobile machine 30, 32 can be tele-operated by command mobile machine 20. The signal flow of teleoperation mode travels from transceiver 132 (i.e., signals received by transceiver 132 from command mobile machine 120) to controller 122 via arrow or command signal 214, then to digital interface 152 via arrow or command signal 216, and digital interface 152 converts the signal to a suitable OEM control signal to be used by tele-operatedmobile machine 30, 32 and sends it via transmitter port 218 to existing machine controller 170 of tele-operable machine 30, 32 via arrow or command signal 220.

[0056] In the mimic mode, or a combined command and manual mode of command mobile machine 20, the user simultaneously controls command mobile machine 20 as well as tele-operable mobile machine 30, 32 such that tele-operable mobile machine 30, 32 mimics the actions of command mobile machine 20. The signal flow of mimic mode travels directly from user interface 160 to existing machine controller 170 via arrow or command signal 204, and at the same time, the signal flow of command mode travels from user interface 160 to receiver port 208 of digital interface 150 via arrow or command signal 206, then to controller 120 via arrow or command signal 210, and then to transceiver 130 via arrow or command signal 212. Transceiver 130 then sends signals to transceiver 132 to control tele-operated mobile machine 30, 32.

[0057] It should be appreciated that in exemplary embodiments, each of mobile machines 20 and 30, 32 are capable of executing the various modes. Thus, tele-operated mobile machine 30, 32 can be switched into manual mode, wherein a user controls mobile machine 30, 32 manually from therein or thereon, command mode, wherein a user controls mobile machine 20 from mobile machine 30, 32 using the user interface therein (note that when mobile machine 30, 32 is in command mode, mobile machine 20 is in teleoperation mode), and mimic mode wherein a user in or on mobile machine 30, 32 can control mobile machine 30, 32 manually and mobile machine 20, simultaneously.

[0058] FIG. 7 is a block diagram of command mobile machine 20. FIG. 8 is a schematic view of command mobile machine 20. FIGS. 7-8 show how the basic joystick and foot pedal control inputs are rerouted to switches that determine which signals are connected to the OEM existing machine controller 170.

[0059] As shown, joysticks 70 and 72 and foot pedals 76, 78 are connected to switches, for example a joysticks switch and a tracks switch, respectively. Joysticks 70 and 72 are connected to both digital interface 150 and existing machine controller 170. Foot pedals 76 and 78 are connected to both digital interface 150 and existing machine controller 170. Command switch is connected to digital interface 150. It should be appreciated that the joysticks switch, tracks switch, and command switch may all be controlled by mode selector 90, which as previously described, is used to change the mode of the respective mobile machine. For example, when mode selector 90 is set to manual mode, signals are sent directly from joystick 70, 72 and foot pedal 76, 78 to existingmachine controller 170 of command mobile machine. When mode selector 90 is set to command mode, signals are sent directly from joystick 70, 72 and foot pedal 76, 78 to digital controller 120 and transceiver 130, where they are then transmitted to tele-operable mobile machine 30, 32, and they are not sent to existing machine controller 170 of command mobile machine 20. When mode selector 90 is in mimic mode, signals are sent from joystick 70, 72 and foot pedal 76, 78 to both existing machine controller 170 of command mobile machine 20 and to controller 120 for transmission to tele-operable mobile machine 30, 32.

[0060] Referring to FIG. 8, in the manual mode of command mobile machine 20, A terminals connect with corresponding B terminals. In the command mode of command mobile machine 20, command switch is closed allowing digital interface 150 to transmit commands to controller 120 and transceiver 130. In the teleoperation mode of command mobile machine 20, C terminals connect with corresponding B terminals. In the mimic mode of command mobile machine 20, A terminals connect with corresponding B terminals and command switch is closed allowing digital interface 150 to transmit commands to controller 120 and transceiver 130.

[0061] It should be appreciated that tele-operated mobile machine 30, 32 can be arranged in the same or a substantially similar fashion. It should be further appreciated that FIGS. 7-8 show just one embodiment of a modified control harness for a mobile machine, and that the present disclosure should not be limited to what is shown therein. FIGS. 7-8 show only a basic example of control axes for an excavator, and thus do not show all possible control axes or control functions.

[0062] FIG. 9 is a block diagram of internal and external components of computing device 300, in accordance with an embodiment of the present disclosure. It should be appreciated that FIG. 9 provides only an illustration of one implementation and does not imply any limitations with regard to the environments in which different embodiments may be implemented. In general, the components illustrated in FIG. 9 are representative of any electronic device capable of executing machine-readable program instructions. Examples of computer systems, environments, and / or configurations that may be represented by the components illustrated in FIG. 9 include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, laptop computer systems, tablet computer systems, cellular telephones (i.e., smart phones), multiprocessor systems, microprocessor-based systems, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments that include any of the above systems or devices.

[0063] Computing device 300 includes communications fabric 302, which provides for communications between one or more processing units 304, memory 306, persistent storage 308, communications unit 310, and one or more input / output (I / O) interfaces 312. Communications fabric 302 can be implemented with any architecture designed for passing data and / or control information between processors (such as microprocessors, communications and network processors, etc.), system memory, peripheral devices, and any other hardware components within a system. For example, communications fabric 302 can be implemented with one or more buses.

[0064] Memory 306 and persistent storage 308 are computer readable storage media. In this embodiment, memory 306 includes random access memory (RAM) 316 and cache memory 318. In general, memory 306 can include any suitable volatile or non-volatile computer readable storage media. Software is stored in persistent storage 308 for execution and / or access by one or more of the respective processors 304 via one or more memories of memory 306.

[0065] Persistent storage 308 may include, for example, a plurality of magnetic hard disk drives. Alternatively, or in addition to magnetic hard disk drives, persistent storage 308 can include one or more solid state hard drives, semiconductor storage devices, read-only memories (ROM), erasable programmable read-only memories (EPROM), flash memories, or any other computer readable storage media that is capable of storing program instructions or digital information.

[0066] The media used by persistent storage 308 can also be removable. For example, a removable hard drive can be used for persistent storage 308. Other examples include optical and magnetic disks, thumb drives, and smart cards that are inserted into a drive for transfer onto another computer readable storage medium that is also part of persistent storage 308.

[0067] Communications unit 310 provides for communications with other computer systems or devices via a network. In this exemplary embodiment, communications unit 310 includes network adapters or interfaces such as a TCP / IP adapter cards, wireless Wi-Fi interface cards, or 3G, 4G, or 5G wireless interface cards or other wired or wireless communications links. The network can comprise, for example, copper wires, optical fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. Software and data used to practice embodiments of the present disclosure can be downloaded to computing device 300 through communications unit 310 (i.e., via the Internet, a local area network, or other wide area network). From communications unit 310, the software and data can be loaded onto persistent storage 308.

[0068] One or more I / O interfaces 312 allow for input and output of data with other devices that may be connected to computing device 300. For example, I / O interface 312 can provide a connection to one or more external devices 320 such as a keyboard, computer mouse, touch screen, virtual keyboard, touch pad, pointing device, or other human interface devices. External devices 320 can also include portable computer readable storage media such as, for example, thumb drives, portable optical or magnetic disks, and memory cards. VO interface 312 also connects to display 322.

[0069] Display 322 provides a mechanism to display data to a user and can be, for example, a computer monitor. Display 322 can also be an incorporated display and may function as a touch screen, such as a built-in display of a tablet computer.

[0070] The present disclosure may be a system, a method, and / or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0071] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0072] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to anexternal computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0073] Computer readable program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user’s computer, partly on the user’s computer, as a stand-alone software package, partly on the user’s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user’ s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0074] Aspects of the present disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer readable program instructions.

[0075] These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified in the flowchart and / or block diagram block or blocks.

[0076] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0077] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0078] This disclosure has been described in detail with particular reference to an embodiment, but it will be understood that variations and modifications can be effected within thespirit and scope of the disclosure. The presently disclosed embodiments are therefore considered in all respects to be illustrative and not restrictive. The scope of the disclosure is indicated by the appended claims, and all changes that come within the meaning and range of equivalents thereof are intended to be embraced therein.

Claims

CLAIMSWhat is claimed is:

1. A system for machine-to-machine teleoperation, the system comprising:(a) a tele-operable mobile machine including: a self-propelled mobile frame; a work tool connected to the mobile frame; an actuation system between the mobile frame and the work tool configured to actuate the work tool relative to the mobile frame; a transceiver supported by the mobile frame; and a controller in communication with the transceiver and the actuation system and operable to receive and transmit signals;(b) a command mobile machine including: a self-propelled command mobile frame; a command work tool connected to the command mobile frame; a command actuation system between the command mobile frame and the command work tool configured to actuate the command work tool relative to the command mobile frame; a command transceiver supported by the command mobile frame; a command user interface supported by the command mobile frame operable to receive user commands from a user supported by the command mobile frame; a command controller in communication with the command transceiver and the command user interface and operable to receive and transmit command signals; the command controller including: a command manual mode operable to control the command actuation system via the command user interface; and a command mode operable to control the actuation system of the tele- operable mobile machine via the command user interface of the command mobile machine.

2. The system set forth in claim 1 , wherein: the tele-operable mobile machine has a user interface operable to receive user commands from a user supported by the mobile frame of the tele-operable mobile machine; the controller of the tele-operable mobile machine has a manual mode operable to control the actuation system of the tele-operable mobile machine via the user interface of the tele-operable mobile machine; and the controller of the tele-operable mobile machine has a teleoperation mode operable to control the actuation system of the tele-operable machine via the command user interface of the command mobile machine.

3. The system set forth in claim 2, wherein the tele-operable mobile machine has a command mode operable to control a remote actuation system of a remote mobile machine via the user interface of the tele-operable mobile machine.

4. The system set forth in claim 3, wherein the remote mobile machine comprises the command mobile machine, the remote actuation system comprises the command actuation system of the command mobile machine, and the command controller of the command mobile machine has a teleoperation mode operable to control the command actuation system of the command mobile machine via the user interface of the tele-operable mobile machine.

5. The system set forth in claim 1 , wherein the command controller has a dual command mode operable to simultaneously control the command actuation system of the command mobile machine and the actuation system of the tele-operable mobile machine via the command user interface of the command mobile machine.

6. The system set forth in claim 1, wherein the command user interface comprises a mode selector operable to switch between the command manual mode and the command mode.

7. The system set forth in claim 1, wherein: the tele-operable mobile machine comprises a sensor system operable to sense data regarding an operating environment of the tele-operable mobile machine; andthe controller of the tele-operable mobile machine is in communication with the sensor system.

8. The system set forth in claim 7, wherein: the sensor system comprises a camera operable to show the operating environment of the tele-operable mobile machine; and the command user interface of the command mobile machine comprises a display operable to show a field of view of the camera.

9. The system set forth in claim 7, wherein the sensor system of the tele-operable mobile machine is operable to sense data regarding the actuation system of the tele-operable mobile machine.

10. The system set forth in claim 1, wherein: the command actuation system of the command mobile machine comprises a command number of total operable degrees of freedom; and the actuation system of the tele-operable mobile machine comprises a tele-operable number of total operable degrees of freedom.

11. The system set forth in claim 10, wherein the command number of total operable degrees of freedom of the command actuation system of the command mobile machine is greater than or equal to the tele-operable number of total operable degrees of freedom of the actuation system of the tele-operable mobile machine.

12. The system set forth in claim 11, wherein the command number of total operable degrees of freedom of the command actuation system is greater than or equal to five.

13. The system set forth in claim 12, wherein the command number of total operable degrees of freedom of the command actuation system is greater than or equal to seven.

14. The system set forth in claim 10, wherein the operable degrees of freedom of the command actuation system of the command mobile machine comprises a boom control axis, an arm control axis, a bucket control axis, a slew control axis, a first drive control axis, and a second drive control axis.

15. The system set forth in claim 14, wherein the command user interface of the command mobile machine comprises a first control stick, a second control stick, a first foot pedal, and a second foot pedal.

16. The system set forth in claim 15, wherein: the command work tool of the command mobile machine comprises a command bucket, a command bucket thumb, a command blade, and an auxiliary tool; the operable degrees of freedom of the command actuation system of the command mobile machine comprises a thumb control axis, a blade control axis, a boom offset control axis, and an auxiliary control axis; and the command user interface of the command mobile machine comprises a third control stick, a control stick rocker switch, and a third foot pedal.

17. The system set forth in claim 1, comprising:(c) a second tele-operable mobile machine having: a second self-propelled mobile frame; a second work tool connected to the second mobile frame; a second actuation system between the second mobile frame and the second work tool configured to actuate the second work tool relative to the second mobile frame; and a second transceiver supported by the second mobile frame; and wherein the command controller of the command mobile machine has a second command mode operable to control the second actuation system of the second tele-operable mobile machine via the command user interface of the command mobile machine.

18. The system set forth in claim 1, comprising a command operator cabin supported by the command mobile frame and housing the command user interface of the command mobile machine.

19. The system set forth in claim 1, wherein the work tool of the tele-operated mobile machine comprises a bucket and the command work tool of the command mobile machine comprises a command bucket.

20. The system set forth in claim 19, wherein the command mobile machine comprises an excavator and the tele-operated mobile machine comprises an excavator.

21. The system set forth in claim 19, wherein each of the command mobile machine and the tele-operated mobile machine is selected from a group consisting of an excavator, a skid steer loader, a tractor, and an earthmover.

22. The system set forth in claim 1, wherein the tele-operable machine comprises an electric storage supported by the mobile frame and wherein the actuation system comprises an electric motor connected to the electric storage and configured to be supplied with a current to operatively actuate the work tool relative to the mobile frame.

Images