Layered Vehicle Control Using Virtual Signals for Autonomous Earthmovers
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Solution Overview
Problem
Existing earth-moving construction and mining vehicles face limitations in autonomous operations due to limited sensed data, inability to handle on-site obstacles, and the need for bulky and expensive hardware systems, hindering fully autonomous operations and coordination between multiple vehicles.
Innovation Solution
A configurable system with a machine interface, emulator, and adaptive control system that mimics physical control signals using virtual signals, enabling fully autonomous operations and coordination, even in the presence of obstacles, while preserving the original operating ability of the vehicles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If limited autonomous operations are implemented using existing techniques, then some automation capability is achieved, but the system requires bulky and expensive hardware
Solution Approach 1:
The patent creates virtual copies of physical control components (joysticks, pedals, switches) that exist purely in software. These virtual controls replicate the functionality and signal patterns of physical controls without requiring physical hardware, thereby reducing device complexity while maintaining automation capability.
Solution Approach 2:
The patent replaces the mechanical control system with a software-based control system. Instead of relying on physical joysticks, pedals, and switches connected to hardware controllers, the system uses virtual controls that generate control signals through software, substituting mechanical components with computational equivalents.
2Ease of operation
If physical control components are used for autonomous operations, then direct control capability is maintained, but the system cannot perform fully autonomous operations without human interaction
Solution Approach 1:
The patent introduces virtual control components as an intermediary layer between the operator and the vehicle's physical controls. This intermediary software layer can generate control signals autonomously based on sensor data and control logic, while still being able to receive and process signals from physical controls when needed, enabling both autonomous and manual operation modes.
Solution Approach 2:
The virtual control system is designed to perform multiple functions: it can operate autonomously based on sensor input, it can respond to physical control inputs from operators, and it can coordinate multiple vehicles. This multi-functionality allows the system to adapt to different operational requirements without requiring separate control systems.
3Extent of automation
If existing autonomous techniques are used, then basic automation is achieved, but coordination between multiple vehicles is not possible
Solution Approach 1:
The virtual control system is designed with universal communication capabilities that enable it to function independently for basic automation while also facilitating coordination between multiple vehicles. The system can exchange control signals and operational data with other vehicles equipped with similar virtual control systems, enabling cooperative operations.
4Reliability
If physical control systems are used, then direct hardware control is available, but the system lacks adaptability to different control configurations
Solution Approach 1:
The virtual control system is dynamically configurable through software, allowing control configurations to be changed without physical modifications. The system can adapt to different control schemes, vehicle types, and operational requirements by loading different virtual control definitions and signal mappings, while maintaining reliable control signal generation through standardized interfaces.
Data Source
AI summary
Systems and techniques are described for a configurable system for layered control of earth-moving construction and/or mining vehicles. For example, the systems and techniques may inject signals into a variety of physical button and lever conditions to allow for a machine emulator to virtually mimic the physical button and lever conditions.