Machine traction indication for remote control

1 . A system for identifying traction reduction of a mobile machine at a worksite, wherein the mobile machine includes a traction device for engaging a ground surface, a drive system for commanding a target speed of the mobile machine, and a positioning system for detecting an actual speed of the mobile machine, the system comprising:

a remote control site for transmitting commands to the mobile machine; and

a controller for detecting slippage of the traction device due to a traction-reducing condition of the ground surface, the controller configured to:

determine a reduction of traction of the traction device based on a difference between the target speed and the actual speed,

compare the reduction of traction with a plurality of predefined ranges, wherein each of the plurality of predefined ranges is associated with a respective risk level, and

determine an initial indication of slippage based on the reduction of traction being within one of the plurality of predefined ranges.

2 . The system of claim 1 , wherein the remote control site comprises a remote control station for transmitting the commands to the mobile machine.

3 . The system of claim 1 , wherein the remote control site is configured to provide autonomous control of the mobile machine.

4 . The system of claim 1 , wherein the positioning system comprises at least one of a global positioning system, an inertial navigation system, or a hydraulic pressure sensor.

5 . The system of claim 1 , wherein the drive system comprises at least one of an odometer, a wheel speed sensor, or a tachometer.

6 . The system of claim 2 , wherein the controller is further configured to display an alert indicating excess traction reduction on a user interface of the remote control station.

7 . The system of claim 6 , wherein the alert comprises at least one of a traction gauge and a message with contents that depend on the actual speed of the mobile machine.

8 . The system of claim 6 , further comprising a perception system for providing video of the worksite to the user interface.

9 . The system of claim 1 , wherein one of the plurality of predefined ranges is bounded by a predetermined allowable loss of traction between about 20% and about 25%.

10 . The system of claim 1 , wherein the mobile machine comprises one of a tractor, a grader, a hauling truck, an excavator, a loader, or a soil compactor.

11 . A method for identifying traction reduction in a remotely operated or autonomous mobile machine, the method comprising:

receiving target travel trajectory information of the mobile machine;

receiving actual travel trajectory information of the mobile machine;

detecting a reduction of traction of the mobile machine based on a difference between the target travel trajectory information and the actual travel trajectory information;

comparing the reduction of traction with a plurality of predefined ranges, wherein each of the plurality of predefined ranges is associated with a respective risk level,

determining an initial indication of slippage based on the reduction of traction being within a first predetermined range of the plurality of predetermined ranges;

preemptively identifying excess traction reduction of the mobile machine, based on the initial indication of slippage, prior to the reduction of traction being within a second predetermined range of the plurality of predetermined ranges; and

displaying an alert indicating the excess traction reduction.

12 . The method of claim 11 , wherein the actual travel trajectory information is received as the mobile machine is traversing a traction-reducing condition of ground surface.

13 . The method of claim 11 , wherein the actual travel trajectory information is received from at least one of a global positioning system; an inertial measurement unit; or a hydraulic pressure sensor of the mobile machine.

14 . The method of claim 11 , further comprising:

storing, in a memory of a controller, location data comprising geographical coordinates that specify where the initial indication of slipping was detected.

15 . The method of claim 14 , further comprising displaying a digital representation of a traction-reducing condition on a display of a remote operator station based on the stored location data.

16 . The method of claim 11 , wherein one of the plurality of predefined ranges is bounded by a predetermined allowable loss of traction between about 20% and about 25%.

17 . The method of claim 11 , wherein the excess traction reduction comprises traction reduction greater than about 25%.

18 . A system for identifying reduction in traction of a machine at a worksite, the system comprising:

a remotely operated mobile machine;

a remote operator station comprising a user interface; and

a controller for detecting slippage of the mobile machine due to a traction-reducing condition of the ground surface, the controller configured to:

receive target travel trajectory information of the mobile machine;

receive actual travel trajectory information of the mobile machine;

detect a reduction of traction of the mobile machine based on a difference between the target travel trajectory information and the actual travel trajectory information;

 compare the reduction of traction with a plurality of predefined ranges, wherein each of the plurality of predefined ranges is associated with a respective risk level,

 determine an initial indication of slippage based on the reduction of traction being within a first predetermined range of the plurality of predetermined ranges;

preemptively identify excess traction reduction of the mobile machine, based on the initial indication of slippage, prior to the reduction of traction being within a second predetermined range of the plurality of predetermined ranges; and

display an alert indicating the excess traction reduction on the user interface.

19 . The system of claim 18 , wherein the user interface comprises a traction gauge.

20 . The system of claim 18 , wherein the user interface comprises video of the worksite.