MAINTENANCE OF WAY AUTONOMOUS MACHINE OPERATION

TECHNICAL FIELD

The present disclosure generally relates to a railway maintenance machines, and more particularly, to controlling operations of an autonomous maintenance of way machine such as a double broom machine for railway maintenance.

BACKGROUND

A railway track requires routine maintenance to remain in good working order. Maintenance of the railway track is commonly performed by a variety of specialized maintenance of way machines that operate while traveling along the length of the railway track. Examples of such a maintenance of way machines include broom machines, ballast regulators, sand and snow removers, shoulder cleaners, and the like. For example, maintenance of way operations performed by machines traveling along the length of the railway track may include sweeping the railway track.

U.S. Pat. No. 8,989,972 discloses a method and apparatus for controlling movement of a vehicle. Movement of an operator located at a side of the vehicle is identified with a plurality of sensors located in the vehicle and the vehicle is moved in a path that maintains the operator at the side of the vehicle while the operator is moving. While beneficial, a better system is needed.

SUMMARY OF THE DISCLOSURE

In one aspect of the present disclosure, a control system for a machine is disclosed. The control system may comprise a machine controller. The machine controller may be configured to: activate autonomous remote operation of the machine based on parameters, the parameters including a range, a set-point and an obstruction status, wherein the range is a distance from the machine to an operator, wherein the operator is disposed remotely from the machine.

In another aspect of the disclosure, a method of controlling a machine is disclosed. The method may comprise: activating, by a machine controller, autonomous remote operation of the machine based on parameters. The parameters may include a range, a set-point and an obstruction status, wherein the range is a distance from the machine to an operator. The operator may be disposed remote from the machine.

In yet another aspect of the disclosure, a control system for an autonomous broom machine (or the like) on a track is disclosed. The broom machine may include a propulsion system configured to translate the broom machine on the tracks, one or more brooms configured to sweep the track, and one or more brakes configured to retard translation on the track, The system may comprise a machine controller configured to: receive a direction of translation from a mobile operator interface via a first communication channel; receive an obstruction status for the broom machine in the direction of translation, and an obstruction distance; automatically activate, by the machine controller, autonomous remote operation of the broom machine if: (a) a range is greater than a set-point, wherein the range is a distance from the broom machine to an operator; and (b) the obstruction status indicates that there is no detected obstruction to translation of the broom machine in the direction of translation or the obstruction distance is greater than the set-point; and autonomously operate the broom machine, wherein operate the broom machine may include enablement of brooms, engagement of propulsion system and release of brakes.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view of an exemplary machine that includes a control system according to the present disclosure;

FIG. 2 is a schematic illustration of an exemplary embodiment of the control system according to the present disclosure;

FIG. 3 is a flow diagram of one exemplary method of determining the range, set-point and restart distance for the machine, according to the present disclosure;

FIG. 4 is a flow diagram of one exemplary method of controlling the machine using the control system, according to the present disclosure;

FIGS. 5A and 5B are a flow diagram of one exemplary method of controlling the machine while the machine is operating in autonomous remote mode using the control system, according to the present disclosure; and

FIG. 6 is a diagram illustrating an exemplary range, shut-off distance, restart distance and set-point.

DETAILED DESCRIPTION

Reference will now be made in detail to specific embodiments or features, examples of which are illustrated in the accompanying drawings. Generally, corresponding reference numbers will be used throughout the drawings to refer to the same or corresponding parts, unless otherwise specified.

FIG. 1 illustrates an exemplary embodiment of a machine 100 that may be controlled with the control system 101 of the present disclosure. Machine 100 may be a mobile machine that performs some type of operation associated with railway maintenance. For example, machine 100 may be a maintenance of way machine 102 such as a broom machine or a double broom machine. Machine 100 may be configured to engage a railway track 104.

Machine 100 may include an operator cab 106. Operator cab 106 may be supported by a frame 108 that provides a mounting for a power source 110 (e.g., an engine). Frame 108 may include a plurality of wheels 112 coupled to a plurality of axles 114. Two wheels 112 may be rigidly connected at the opposing ends of each axle 114 such that wheels 112 and axles 114 rotate together. Wheels 112 may engage the railway track 104 and be driven to rotate by power source 110.

One or more control devices (not shown) may be disposed on in the operator cab 106 (or other appropriate place on the machine 100) that an operator may use to manually maneuver and control the machine 100. The control devices may include one or more joysticks, pedals, levers, buttons, steering wheels, or any other suitable control device or interface (or any of various combinations thereof) configured to be actuated or otherwise engaged to effectuate control of the machine 100. A display interface 116 may also be disposed in the operator cab 106. The display interface 116 may include a display I/O member 118 configured to display visual data pertaining to the components and/or the current operation of the machine 100 to an operator disposed within the operator cab 106.

The machine 100 further includes one or more implements 120, such as a broom 122 or the like. A broom 122 may be disposed on a front end of the frame 108, and may also be disposed on a back end of the frame 108. The broom 122 may be utilized for snow and sand plowing, clearing the tracks of debris, etc. A hydraulic actuator (not shown) may enable the broom 122 to be moved in a variety of different positions relative to the machine 100 and railway track 104.

The machine 100 includes a drive system 124 configured to transfer energy from the power source 110 to a propulsion system 126 that is operatively coupled to the machine via axles 114, drive shafts, transmission, wheels 112 and other components. The power source 110 is configured to supply power to the machine 100 and provide operating power to the drive system 124. The power source 110 may be in operable communication with a machine controller 128 and with control devices in the operator cab 106 and may further be configured to receive control signals from the machine controller 128 and the control devices.

The drive system 124 may be operably coupled to the power source 110 to selectively propel the machine 100 via control signals from the machine controller 128 and from the operator controls. The drive system 124 may be operably connected to the propulsion system 126, as is known in the art. A brake system 130 may be operably coupled to the wheels 112, axles 114 and/or drive shafts and configured for retarding or stopping translation of the machine 100 via one or more brakes 132.

An exemplary embodiment of the control system 101 is shown in FIG. 2. The control system 101 may comprise a mobile operator interface 134, a mobile communication member 136, a machine communication member 138, a display interface 116, a radar 140 and a machine controller 128. The control system 101 may further comprise one or more cameras 142.

The mobile operator interface 134 is in communication with the display interface 116 (including the display controller 144) via a communication channel (e.g., a wireless communication channel) 146. The mobile operator interface 134 is in communication with the machine controller 128 via another communication channel 146, 146a (e.g., a wireless communication channel). The mobile operator interface 134 is configured to receive user input. The user input may include, but is not limited to, the shut-off distance 148 (see FIG. 6), the restart distance 156, the direction of translation for the machine, an operational mode and/or remote sub-mode.

As illustrated in FIG. 6, the shut-off distance 148 is a distance value measured in a first direction from a machine location 150 outward to an endpoint 152. The shut-off distance 148 is the minimum distance allowed between the operator 154 and the machine 100. For example, the shut-off distance may be 500 ft (about 152 meters). The restart distance 156 is a distance value measured from the endpoint 152 of the shut-off distance 148 outward (in the first direction) to a restart boundary point 158. The restart distance 156 is a minimum distance allowed between the operator 154 and the endpoint 152 of the shut-off distance 148.

Turning back to FIG. 2, the mobile operator interface 134 may be configured to provide (e.g., make available or transmit) the shut-off distance 148 and restart distance 156 to the display controller 144 via a communication channel 146. Alternatively, the display interface 116 may be configured to provide the shut-off distance 148 and restart distance 156 to the display controller 144. In other embodiments, mobile operator interface 134 may be configured to provide (e.g., make available or transmit) the shut-off distance 148 and restart distance 156 to the machine controller 128 via another communication channel 146, 146a. In some embodiments, the range 160 (see FIG. 6), and the set-point 162, shut-off distance 148 and the restart distance 156 may be calculated or determined by the mobile operator interface 134 (in the same or similar manner as how the range 160 and set-point 162 are described herein as determined the display processor 164 (FIG. 2) of the display controller 144) and provided to the machine controller 128.

In some embodiments, the direction of translation may be forward or reverse (for example, when the machine 100, such as a broom machine, translates on railway tracks 104). In other embodiments, other directions may be utilized, depending on the machine 100 and the application. The mobile operator interface 134 may be configured to provide (e.g., make available or transmit) the direction of translation to the machine controller 128 via the communication channel 146, 146a.

The operational modes for the machine 100 may include local mode or remote control mode. Local mode is utilized when an operator disposed on the machine 100 maneuvers and controls the machine 100 using controls such as joysticks, pedals, levers, buttons, steering wheels or the like. The mobile operator interface 134 may be configured to provide (e.g., make available or transmit) the operational mode to the machine controller 128 via the communication channel 146, 146a. Once the machine 100 is placed in remote control mode by the machine controller 128, the mobile operator interface 134 may receive user input that selects a sub-mode of the remote control mode (a “remote sub-mode”). The remote sub-mode may include but is not limited to an autonomous remote mode. The mobile operator interface 134 may be configured to provide (e.g., make available or transmit) the sub-mode to the machine controller 128 via the communication channel 146, 146a. When the machine 100 is placed in autonomous remote mode by the machine controller 128, the machine controller 128 may control and operate the machine 100 automatically without assistance from an operator 154.

The mobile operator interface 134 may also be configured to display user input received by mobile operator interface 134, and any user input or other information received from the display interface 116 or machine controller 128 or to display other information associated with the machine 100.

The mobile communication member 136 may be worn or held by an operator 154 (FIG. 6), for example an operator 154 that may typically be disposed remote from the machine 100. The mobile communication member 136 is configured to determine the current operator location 166. In one embodiment the mobile communication member 136 may include a Global Positioning System (GPS) member 168a and a radio transmitter 170a. The GPS member 168a is configured to determine GPS coordinates (which may be expressed as latitude and longitude) of the current operator location 166. In other words, the current operator location 166 may be the GPS coordinates of the location of the mobile communication member 136 carried or worn by the operator 154. The radio transmitter 170a is configured to provide (make available) or transmit the current operator location 166 to the display controller 144 via communication channel 146, 146b. Alternatively, the radio transmitter 170a may be configured to provide (make available) or transmit to the machine controller 128 (via a communication channel 146).

The machine communication member 138 is disposed on the machine 100 and is configured to determine the current machine location 150. In one embodiment the machine communication member 138 may include a GPS member 168b and a radio transmitter 170b. The GPS member 168b is configured to determine GPS coordinates (which may be expressed as latitude and longitude) of the current machine location 150. The radio transmitter 170b is configured to provide (make available) or transmit the current machine location 150 to the display controller 144 via communication channel 146, 146c. Alternatively, the radio transmitter 170b may be configured to provide (make available) or transmit the current machine location 150 to the machine controller 128 (via a communication channel 146).

The display interface 116 is disposed on the machine 100 and includes a display input/output (I/O) member 118 and a display controller 144.

The display I/O member 118 is configured to receive user input. The user input may include, but is not limited to, the shut-off distance 148, the restart distance 156, the direction of translation for the machine, an operational mode and/or remote sub-mode. The display I/O member 118 is configured to display user input. The display I/O member 118 may also display information received from the mobile operator interface 134 and/or machine controller 128. The display I/O member 118 may also display other information associated with the machine 100 or components of the machine 100. The display controller 144 is in operable communication with the display I/O member 118, the machine controller 128, the mobile operator interface 134, the mobile communication member 136 and the machine communication member 138.

The display controller 144 (FIG. 2) is configured to receive the machine location 150 (FIG. 6) from the machine communication member 138, and operator location 166 from the mobile communication member 136. The machine location 150 may include the GPS coordinates (e.g., latitude and longitude) of the (current) location of the machine 100. The operator location 166 may include the GPS coordinates (e.g., latitude and longitude) of the (current) location of the operator 154.

The display controller 144 (FIG. 2) may also be configured to receive the shut-off distance 148 (FIG. 6) and the restart distance 156. In one embodiment, the shut-off distance 148 and the restart distance 156 may be received from the mobile operator interface 134. In another embodiment, the shut-off distance 148 and restart distance 156 may be received by the display controller 144 (FIG. 2) from the display I/O member 118 disposed on the machine 100 (e.g., if the “remote” operator in temporarily disposed in the operator cab 106 (FIG. 1)). If no shut-off distance 148 (FIG. 6) and restart distance 156 is received, the last active value for the shut-off distance 148 and last active value for the restart distance 156 may continue to be utilized or maybe retrieved from the display memory component 172 (FIG. 2).

The display controller 144 may be configured to determine the range 160 (FIG. 6). The range 160 is the distance between the operator location 166 and the machine location 150. The range 160 may be determined based on the operator location 166 GPS coordinates (e.g., latitude and longitude) and machine location 150 GPS coordinates (e.g., latitude and longitude). The range 160 may be calculated by the display controller 144 (FIG. 2) using the Haversine formula, as is known in the art.

The display controller 144 may be further configured to determine the set-point 162 (FIG. 6). The set-point 162 is the sum of the shut-off distance 148 and the restart distance 156. The display controller 144 (FIG. 2) may also be configured to retrieve from the display memory component 172 formulas and other data necessary for the calculations discussed herein.

The display controller 144 is further configured to provide to the machine controller 128, via a communication channel 146, the range 160 (FIG. 6), the set-point 162 and the restart distance 156.

The display controller 144 (FIG. 2) may include a display processor 164 and a display memory component 172. The display controller 144 is in operable communication with the machine controller 128, the mobile communication member 136, the machine communication member 138 and the mobile operator interface 134.

The display processor 164 may be a microcontroller, a digital signal processor (DSP), an electronic control module (ECM), an electronic control unit (ECU), a field-programmable gate array (FPGA), a microprocessor or any other suitable processor as known in the art. The display processor 164 may execute instructions and generate control signals for determining the range 160 and the set-point 162. Such instructions may be read into or incorporated into a computer readable medium, such as the display memory component 172 or provided external to the display processor 164. In alternative embodiments, hard wired circuitry may be used in place of, or in combination with, software instructions to implement a control method.

The term “computer readable medium” as used herein in this disclosure refers to any non-transitory medium or combination of media that participates in providing instructions to a processor for execution. Such a medium may comprise all computer readable media except for a transitory, propagating signal. Common forms of computer-readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, or any other magnetic medium, a CD-ROM, any other optical medium, or any other computer readable medium.

The radar 140 may be mounted on the machine 100 and is configured to detect an obstruction in the direction of translation of the machine 100 and to provide/transmit radar information to the display controller 144 or alternatively to the machine controller 128. The radar information may include obstruction status and a distance to the obstruction (the “obstruction distance”). The obstruction status indicates whether an obstruction is detected by the radar 140 in the translation direction.

In some embodiments, the control system 101 may also include one or more cameras 142 (FIG. 2) disposed on the machine 100 that are configured to detect an obstruction proximal to the machine 100. In such embodiments, the one or more cameras 142 may provide obstruction data indicative of the obstruction status (whether an obstruction has been detected or not) to the machine controller 128.

The machine controller 128 is configured to control the operation of the machine 100. The machine controller 128 may include a machine processor 174 and a machine memory component 176. The machine controller 128 is in operable communication with the display interface 116, the display controller 144, the mobile operator interface 134 and the radar 140. The machine controller 128 is in operable communication with operational systems and components of the machine 100, including but not limited to the power source 110 (e.g., the engine), propulsion system 126, drive system 124, brake system 130 and associated brakes 132, alarms and implements (e.g., brooms 122). The machine controller 128 may also be in operable communication with the mobile communication member 136 and the machine communication member 138. The machine controller 128 may also be in communication with the camera 142.

The machine controller 128 may be configured to receive an operational mode and a request to enable such operational mode for the machine 100, and subsequent updates to the aforementioned. Each machine 100 has a plurality of operational modes. The operational modes may include: local mode and remote control mode. In an embodiment, the operational mode may be received from the mobile operator interface 134. In another embodiment, the operational mode may be received from the display interface 116 (e.g., from the display I/O member 118 or display controller 144). The machine controller 128 may be further configured to receive a direction of translation, a remote sub-mode and a request to activate such sub-mode for the machine 100, and subsequent updates to the aforementioned. In an embodiment, the direction of translation may be forward or reverse. The sub-mode may include an autonomous remote mode. The direction of translation, sub-mode and request to place the machine 100 in the remote sub-mode may be received by the machine controller 128 from the mobile operator interface 134, or, in another embodiment, from the display interface 116. The machine controller 128 may be further configured to receive the range 160, the set-point 162, the shut-off distance 148 and the restart distance 156. In an embodiment, the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received from the display processor 164 of the display interface 116. In other embodiments, the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received from the mobile operator interface 134.

The machine controller 128 may be further configured to receive radar information from the radar 140. The radar information may include obstruction status and an obstruction distance. The obstruction status indicates whether an obstruction is detected by the radar 140 in the translation direction.

The machine controller 128 may be further configured to receive a link status for the communication channel 146c between the machine communication member 138 and the display controller 144, another link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, and yet another link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128. In some embodiments the machine controller 128 may be further configured to receive a link status for the communication channel 146 between the display controller 144 and the machine controller 128. Link status indicates if a communication error is detected for the respective associated communication channel 146. If a link status indicates that a communication error is detected for a given communication channel 146, such communication channel 146 is considered to be in an “error” state (until a communication error is no longer detected). If a link status indicates that a communication error is not detected for a given communication channel 146, such communication channel 146 is considered to be in a “clear” state.

The machine controller 128 may be further configured to receive (operational) fault information from the machine 100, and subsequent updates to the aforementioned. The fault information indicates if an operational fault is currently detected for an operational system of the machine 100. Such an operational fault may include but is not limited to information indicating “hydraulic system low fluid” or overheating of a component or system on machine 100, “pneumatic system low pressure”, or fault or error conditions transmitted from the power source 110.

While the machine 100 is operating (e.g., in autonomous remote mode), the machine controller 128 may receive updates or current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 from the display processor 164 of the display interface 116 (or alternatively from the mobile operator interface 134). The machine controller 128 may receive updates or current radar information from the radar 140, and may receive updated or current link status for the communication channel 146c between the machine communication member 138 and the display controller 144, the link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, and the link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128. In some embodiments, the machine controller 128 may also receive a link status for the communication channel 146 between the display controller 144 and the machine controller 128 The machine controller 128 may also receive updates or current fault information from the machine 100.

The machine processor 174 may be a microcontroller, a digital signal processor (DSP), an electronic control module (ECM), an electronic control unit (ECU), a field-programmable gate array (FPGA), a microprocessor or any other suitable processor as known in the art. The machine processor 174 may execute instructions and generate control signals for determining whether the range 160 is greater than the set-point 162, for determining whether the range 160 is less than the shut-off distance 148, for determining whether the obstruction data indicates that an obstruction is detected in the direction of translation, for determining whether the obstruction distance associated with the detected obstruction is greater than the set-point 162 or determining whether the obstruction distance is less than the shut-off distance.

The machine processor 174 may execute instructions and generate control signals for determining whether one or more of the following is in an error state: (a) the link status for the communication channel 146c between the machine communication member 138 and the display controller 144, or (b) a link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, or (c) a link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128.

The machine processor 174 may execute instructions and generate control signals for determining if an operational fault is currently detected for the machine 100.

The machine processor 174 may execute instructions and generate control signals for enabling the remote control mode (operational mode) of the machine 100 based on user input by the operator on the mobile operator interface 134 (or on the display I/O member 118 of the display interface 116).

The machine processor 174 may execute instructions and generate control signals for automatically activating the autonomous remote mode of remote operation of the machine 100 and autonomously operating the machine 100; this initial activation of the machine 100 (from an off state) may be based on one or more parameters. Such parameters may include, but are not limited to, the range 160, the set-point 162, the shut-off distance 148, the restart distance 156, radar information, one or more link status(es), fault information for the machine 100, and the like. When these parameters are utilized to evaluate initial activation they may also be referred to as initialization parameters. The autonomous operating of the machine 100 by the machine controller 128 may include, but is not limited to, activating alarms, setting or changing power source 110 (engine) speed (e.g., revolutions per minute (rpm)), setting or changing (machine) translational speed, actuating machine 100 translation in the translation direction, enabling implement(s) 120 (e.g., brooms 122), engaging the propulsion system 126, actuating the drive system 124, releasing the brakes 132 of the brake system 130, and the like.

While the machine 100 is in remote or remote autonomous operation, the machine processor 174 may execute instructions and generate control signals for automatically stopping operation of the machine 100 based on parameters; such parameters may include, but are not limited to, the range 160, the set-point 162, the shut-off distance 148, the restart distance 156, radar information, one or more link status(es), fault information for the machine 100, and the like. When these parameters are utilized to evaluate stopping operation of the machine 100 they may also be referred to as stop-triggering parameters. Stopping operation of the machine 100 may include, but is not limited to, one or more of the following: stopping translational movement, changing power source 110 (e.g., engine) speed (e.g., revolutions per minute (rpm)) of the machine 100 to a low idle, activating an alarm, disabling one or more implements 120 (e.g., brooms 122), disengaging the propulsion system 126, deactivating the drive system 124, and applying one or more brakes 132.

When operation of the machine 100 has been stopped but the machine 100 is still in autonomous remote mode, operation of the machine 100 may be restarted based on one or more received parameters. The machine processor 174 may execute instructions and generate control signals for automatically restarting, by the machine processor 174, autonomous operation of the machine 100 based on parameters; the parameters evaluated for restarting may be referred to as restart parameters and may include but are not limited to, the range 160, the set-point 162, the shut-off distance 148, the restart distance 156, radar information, one or more link status(es), fault information, and the like. Similar to above, restarted autonomous operation of the machine 100 by the machine controller 128 may include, but is not limited to, activating alarms, setting or changing power source 110 (engine) speed (rpm), setting or changing (machine 100) translational speed, actuating machine 100 translation in the translation direction, enabling implement(s) 120 (e.g., brooms 122), engaging the propulsion system 126, actuating the drive system 124, releasing the brakes 132 of the brake system 130, and the like.

Such instructions discussed above may be read into or incorporated into a computer readable medium, such as the machine memory component 176 or provided external to the machine processor 174. In alternative embodiments, hard wired circuitry may be used in place of, or in combination with, software instructions to implement a control method. The machine controller 128 may also be configured to retrieve from the machine memory component 176 formulas and other data necessary for the determinations and calculations discussed herein.

The controllers 144, 128 are not each limited to one processor and memory component. The controllers 144, 128 may include several processors and memory components. In an embodiment, the processors may be parallel processors that have access to a shared memory component(s). In another embodiment, the processors may be part of a distributed computing system in which a processor (and its associated memory component) may be located remotely from one or more other processor(s) (and associated memory components) or FPGA(s) that are part of the distributed computing system.

Also disclosed is a method of activating, by a machine controller 128, autonomous remote operation of the machine 100 based on parameters, the parameters including a range 160, a set-point 162 and an obstruction status. The range 160 may be a distance from the machine 100 to an operator 154, wherein the operator 154 is disposed remote from the machine 100.

INDUSTRIAL APPLICABILITY

In FIG. 3 an exemplary flowchart is illustrated showing sample blocks which may be followed in a method 300 of determining the range 160, set-point 162 and restart distance 156 for the machine 100.

In block 310, the method 300 may include receiving by the display controller 144, machine location 150 from the machine communication member 138, and operator location 166 from the mobile communication member 136. The machine location 150 may include the GPS coordinates (e.g., latitude and longitude) of the (current) location of the machine 100. The operator location information may include the GPS coordinates (e.g., latitude and longitude) of the (current) location of the operator 154.

In block 320, the method 300 may include receiving, by the display controller 144, the shut-off distance 148 and the restart distance 156. In one embodiment, the shut-off distance 148 and the restart distance 156 may be received from the mobile operator interface 134. In another embodiment, the shut-off distance 148 and restart distance 156 may be received by the display controller 144 from the display I/O member 118. If no shut-off distance 148 and restart distance 156 is received, the last active value for the shut-off distance 148 and last active value for the restart distance 156 may continue to be utilized.

In block 330, the method 300 includes determining the range 160 by the display controller 144.

In block 340, the method 300 includes determining the set-point 162 by the display controller 144. The set-point 162 is the sum of the shut-off distance 148 and the restart distance 156.

In block 350, the method 300 includes providing, by the display controller 144, to the machine controller 128, the range 160, the set-point 162 and the restart distance 156.

In FIG. 4 an exemplary flowchart is illustrated showing sample blocks which may be followed in a method 400 of controlling the machine 100 using the control system 101.

In block 405, the method 400 may include receiving, by the machine controller 128, an operational mode and a request to enable such operational mode for the machine 100. As discussed earlier, each machine 100 has a plurality of operational modes. The operational modes may include: local mode and remote control mode.

In block 410, the method 400 may include enabling, by the machine controller 128, the remote control mode (operational mode) of the machine 100 based on user input by the operator 154 on the mobile operator interface 134 (or on the display I/O member 118).

In block 415, the method 400 may include receiving, by the machine controller 128, a direction of translation, a remote sub-mode and a request to activate such sub-mode for the machine 100. As discussed earlier in one embodiment, the direction of translation may be forward or reverse, and the sub-mode may include an autonomous remote mode.

In block 420, the method 400 may include receiving, by the machine controller 128, the range 160, the set-point 162, shut-off distance 148 and the restart distance 156. In an embodiment, the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received from the display controller 144. In other alternative embodiments, the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received by the machine controller 128 from the mobile operator interface 134, which may determine the range 160 in the same or similar manner as how the range 160 is determined in block 330 by the display controller 144, and which may determine the set-point 162 in the same or similar manner as how the set-point 162 is determined in block 340 by the display controller 144.

In block 425, the method 400 may include determining, by the machine controller 128, whether the range 160 is greater than the set-point 162.

In block 430, the method 400 may include receiving, by the machine controller 128, radar information from the radar 140. The radar information may include obstruction status and an obstruction distance.

In block 435, the method 400 may include determining, by the machine controller 128, whether the obstruction data indicates that an obstruction is detected in the direction of translation. If yes, the process proceeds to block 440. If no, the process proceeds to block 445.

In block 440, the method 400 may include determining, by the machine controller 128, whether the obstruction distance associated with the detected obstruction is greater than the set-point 162. If the obstruction distance is greater than the set-point 162, the method 400 proceeds to block 445, otherwise the method 400 may return to block 420.

In block 445, the method 400 may include receiving, by the machine controller 128, a link status for the communication channel 146c between the machine communication member 138 and the display controller 144, another link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, and yet another link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128.

In block 450, the method 400 may include determining, by the machine controller 128, whether one or more of the following is in an error state: (a) the link status for the communication channel 146c between the machine communication member 138 and the display controller 144, or (b) a link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, or (c) a link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128. If any one or more of (a-c) is/are in an error state, the method 400 may return to block 420.

In block 455, the method 400 may include receiving, by the machine controller 128, fault information from the machine 100. The fault information indicates if an operational fault is currently detected for the machine 100.

In block 460, the method 400 may include determining, by the machine controller 128, if (the fault information indicates that) an operational fault is currently detected for the machine 100. If so the method 400 may return to block 420.

In block 465, the method 400 may include automatically activating, by the machine controller 128, autonomous remote mode of remote operation of the machine 100 based on the results of the determining of the one or more parameters, which may include but are not limited to the range 160, the set-point 162, the shut-off distance 148, the restart distance 156, radar information, one or more link status(es), fault information, and the like.

In block 470, the method 400 may include operating by the machine controller 128, the machine 100 autonomously. The autonomous operating may include, but is not limited to, activating alarms, setting or changing power source 110 (engine) speed (rpm), setting or changing (machine) translational speed, actuating machine 100 translation in the translation direction, enabling implement(s) 120 (e.g., brooms 122), engaging the propulsion system 126, actuating the drive system 124, releasing the brakes 132 of the brake system 130, and the like.

In FIG. 5 is illustrated showing sample blocks which may be followed in a method 500 of controlling the machine 100 while the machine is operating in autonomous remote mode using the control system 101.

In block 505, the method 500 may include receiving, by the machine controller 128, current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156. In an embodiment, the current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received from the display controller 144 of the display interface 116. In other embodiments, the current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received by the machine controller 128 from the mobile operator interface 134, which may determine the range 160 in the same or similar manner as how the range 160 is determined in block 330 by the display controller 144, and which may determine the set-point 162 in the same or similar manner as how the set-point 162 is determined in block 340 by the display controller 144.

In block 510, the method 500 may include receiving, by the machine controller 128, (current) radar information from the radar 140. The radar information may include obstruction status and the associated obstruction distance.

In block 515, the method 500 may include receiving by the machine controller 128, the (current) link status for the communication channel 146c between the machine communication member 138 and the display controller 144, the (current) link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, and the (current) link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128.

In block 520 the method 500 may include receiving, by the machine controller 128, (current) fault information from the machine 100.

In block 525, the method 500 may include determining, by the machine controller 128, whether the range 160 is less than the shut-off distance 148. If yes, the method 500 may proceed to block 550.

In block 530, the method 500 may include determining, by the machine controller 128, whether the obstruction data indicates that an obstruction is detected in the direction of translation. If yes, the method 500 may proceed to block 535. If no, the method 500 may proceed to block 540.

In block 535, the method 500 may include determining by the machine controller 128, whether the obstruction distance associated with the detected obstruction is less than the shut-off distance 148. If the obstruction distance is less than the shut-off distance 148, the method 500 may proceed to block 550, otherwise the method 500 may proceed to block 540.

In block 540, the method 500 may include determining by the machine controller 128, whether one or more of the following is in an error state: (a) the link status for the communication channel 146c between the machine communication member 138 and the display controller 128, or (b) a link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, or (c) a link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128. If any one or more of (a-c) is/are in an error state, the method 500 may proceed to block 550.

In block 545, the method 500 may include determining, by the machine controller 128, if an operational fault is currently detected for the machine 100. If yes, the method 500 may proceed to block 550. If no, the method 500 may return to block 505.

Block 550, the method 500 may include automatically stopping, by the machine controller 128, operation of the machine 100. Stopping operation of the machine 100 may include, but is not limited to, one or more of the following: stopping translational movement, changing engine or power source 110 speed (rpm) to a low idle, activating an alarm, disabling one or more implements 120 (e.g., brooms 122), disengaging the propulsion system 126, deactivating the drive system 124, applying one or more brakes 132 to stop the wheels 112. When operation is stopped, the machine 100 may still remain in the remote autonomous mode and operation of the machine 100 may be restarted based on one or more received parameters as further discussed in blocks 555-595 below.

In block 555, the method 500 may include receiving, by the machine controller 128, current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156. In an embodiment, the current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received from the display controller 144. Alternatively, the current values for the range 160, the set-point 162, shut-off distance 148 and the restart distance 156 may be received by the machine controller 128 from the mobile operator interface 134.

In block 560, the method 500 may include receiving, by the machine controller 128, (current) radar information from the radar 140. The radar information may include obstruction status and the associated obstruction distance. The obstruction status indicates whether an obstruction is detected by the radar 140 in the translation direction or not.

In block 565, the method 500 may include receiving by the machine controller 128, the (current) link status for the communication channel 146c between the machine communication member 138 and the display controller 144, the (current) link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, and the (current) link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128.

In block 570 the method 500 may include receiving, by the machine controller 128, (current) fault information from the machine 100.

In block 575, the method 500 may include determining, by the machine controller 128, whether the range 160 is greater than the set-point 162. If no, the method 500 may proceed to block 555. If yes, the method 500 may proceed to block 580.

In block 580, the method 500 may include determining by the machine controller 128 whether the obstruction status indicates that an obstruction is detected in the direction of translation. If yes, the method 500 proceeds to block 582. If no, the method 500 proceeds to block 585.

In block 585, the method 500 may include determining by the machine controller 128, whether one or more of the following is in an error state: (a) the link status for the communication channel 146c between the machine communication member 138 and the display controller 144, or (b) a link status for the communication channel 146b between the mobile communication member 136 and the display controller 144, or (c) a link status for the communication channel 146a between the mobile operator interface 134 and the machine controller 128. If any one or more of (a-c) is/are in an error state, the method 500 may return to block 555.

In block 590, the method 500 may include determining, by the machine controller 128, if (the fault information indicates that) an operational fault is currently detected for the machine 100. If yes the method 500 may return to block 555. If no, the method 500 may proceed to block 595.

In block 595, the method 500 may include automatically restarting, by the machine controller 128, autonomous operation of the machine 100 based on the parameters; the parameters, may include but are not limited to the range 160, the set-point 162, the shut-off distance 148, the restart distance 156, radar information, one or more link status(es), fault information, and the like. The operating may include, but is not limited to, activating alarms, setting or changing power source 110 (engine) speed (rpm), setting or changing (machine) translational speed, actuating machine 100 translation in the translation direction, enabling implement(s) 120 (e.g., brooms 122), engaging the propulsion system 126, actuating the drive system 124, releasing the brakes 132 of the brake system 130, translating the machine 100 in the translational direction last input by the operator 154.

In general, the foregoing disclosure finds utility in various applications relating to control of autonomous machines. More specifically, the disclosed control system 101 and method may be used to autonomously, based on parameters, operate machines, autonomously stop operation of such machines and to autonomously restart operation.

From the foregoing, it will be appreciated that while only certain embodiments have been set forth for the purposes of illustration, alternatives and modifications will be apparent from the above description to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of this disclosure and the appended claims.

MAINTENANCE OF WAY AUTONOMOUS MACHINE OPERATION

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