Implement Position Control for Low-Latency Remote Machine Operation

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Solution Overview

Problem

Remote control systems for machines like dozers face latency issues, leading to reduced quality of work and increased resource consumption due to repeated attempts to achieve desired results.

Innovation Solution

A system that determines a target position for an implement based on operator control data, calculates the necessary command to move the implement from its current position to the target position, and provides this command to execute the movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If wireless transmission of commands is used for remote control, then operator safety and accessibility are improved, but latency increases affecting operation quality

Engineering Contradiction:

Improveremote control accessibilityVSAvoidcommand transmission latency

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The system pre-calculates target positions and prepares control commands in advance based on predicted implement trajectories, so that when latency occurs, pre-prepared commands are already available to maintain continuous control without waiting for real-time wireless transmission delays

Inventive Principle:

Principle #10Preliminary action

2Measurement precision

If multiple attempts are made to achieve desired implement positioning, then positioning accuracy is improved, but resource consumption increases

Engineering Contradiction:

Improveimplement positioning accuracyVSAvoidcomputing and network resources

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The system continuously monitors implement position, current position, and target position to create a closed-loop feedback system that determines whether positioning is achieved and prevents unnecessary repeated attempts, thereby reducing computing and network resource consumption while maintaining positioning accuracy

Inventive Principle:

Principle #23Feedback

3Speed

If real-time command transmission is used, then responsiveness is improved, but uncertainty in implement positioning increases due to latency

Engineering Contradiction:

Improvecommand responsivenessVSAvoidpositioning certainty

Core Design Contradiction:

SpeedVSReliability

Solution Approach 1:

The controller pre-determines target positions and control commands in advance based on operator input and predicted implement movement, creating a buffer against latency-induced uncertainty while maintaining real-time responsiveness to operator commands

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12203243B2Controlling an implement based on determining a target position of the implement

Publication Date: 2025.01.21 CATERPILLAR INC

AI summary

One or more devices may receive target position data indicating a target position of an implement of the machine, the target position being determined based on operator control data indicating a position of an operator control associated with the machine. The one or more devices may determine a current position of the implement. The one or more devices may determine a command that causes the implement to move from the current position to the target position, wherein the command is determined based on the target position and the current position. The one or more devices may provide the command to cause the implement to move from the current position to the target position.