Configurable system for layered system control of earth-moving construction and/or mining vehicles
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.
1 . A configurable system for layered control of an earth-moving vehicle, comprising:
a physical control of the earth-moving vehicle that when activated causes physical control data to be sent to a component of the earth-moving vehicle to cause an actuation of the component of the earth-moving vehicle;
a machine interface that receives the physical control data from the physical control and interrupts the actuation of the component of the earth-moving vehicle;
a machine emulator that receives the physical control data and generates a virtual signal mimicking the physical control data; and
an adaptive control system that receives the virtual signal mimicking the physical control signal and enables the virtual signal to cause the actuation of the component of the earth-moving vehicle in place of the physical control data.
2 . The configurable system of claim 1 wherein the machine interface interrupts the actuation of the component of the earth-moving vehicle by causing the physical control data to not be sent to the component of the earth-moving vehicle.
3 . The configurable system of claim 1 wherein the physical control is a button on the earth-moving vehicle that is activated by a user physically pressing the button.
4 . The configurable system of claim 1 wherein the physical control is a switch on the earth-moving vehicle that is activated by a user physically moving the switch.
5 . The configurable system of claim 1 wherein the component of the earth-moving vehicle is one or more of a safety lever, or an end stop, or an implement switch, or a parking brake.
6 . The configurable system of claim 5 wherein causing the actuation of the component of the earth-moving vehicle includes causing the one or more of the safety lever or the end stop or the implement switch or the parking brake to be engaged.
7 . The configurable system of claim 5 wherein the machine emulator includes a plurality of jumpers, and wherein generating of the virtual signal includes activating the plurality of jumpers to switch a grounded COM to a powered pin when activated.
8 . The configurable system of claim 7 wherein the generating of the virtual signal further includes causing the plurality of jumpers to swap inputs.
9 . A configurable system for layered control of an earth-moving vehicle, comprising:
a machine interface that is configured to receive and transmit control signals of one or more of a button or a switch of the earth-moving vehicle;
a machine emulator that is configured to generate a virtual signal mimicking the control signals of the one or more of the button or the switch of the earth-moving vehicle; and
an adaptive control system that is configured to generate a set of movement instructions of the earth-moving vehicle, the adaptive control system receiving the virtual signal mimicking the control signal and enabling the virtual signal to effect an actuation of the earth-moving vehicle, the actuation mimicking the control signal of the one or more of the button or the switch of the earth-moving vehicle based on the virtual signal and the set of movement instructions.
10 . The configurable system of claim 9 wherein the control signals of the one or more of the button or the switch represent control signals from one or more of a safety lever, or an end stop, or an implement switch, or a parking brake.
11 . The configurable system of claim 9 wherein the machine emulator includes a jumper that emulates the one or more of the button or the switch performing, when activated, switching of a grounded COM to a powered pin.
12 . The configurable system of claim 11 wherein the jumper is implemented as software configured via an amplified bit mask.
13 . The configurable system of claim 12 wherein the amplified bit mask includes a plurality of relays, wherein each relay of the plurality of relays selects a different one of multiple routing paths.
14 . The configurable system of claim 13 wherein each of the plurality of relays provides a signal back to a connector that is read by a diagnostic system.
15 . The configurable system of claim 9 wherein the machine emulator includes a plurality of configurable jumpers that enable inputs of two or more of the jumpers from the plurality of jumpers to be swapped.
16 . The configurable system of claim 9 wherein the adaptive control system generates the set of movement instructions of the earth-moving vehicle by determining a current location of the earth-moving vehicle, and determining a next action of the earth-moving vehicle based on the current location of the earth-moving vehicle and the virtual signal.
17 . A method of using a configurable system for layered control of an earth-moving vehicle, comprising:
receiving an indication of a control signal resulting from activation of one or more of a physical button or a physical switch on the earth-moving vehicle, the control signal representing a command to engage a component of the earth-moving vehicle;
generating a virtual signal based on the control signal, the virtual signal mimicking the control signal; and
sending the virtual signal to the component of the earth-moving vehicle to engage the component of the earth-moving vehicle.
18 . The method of claim 17 wherein the virtual signal emulates the control signal using a plurality of jumpers.
19 . The method of claim 18 wherein the component of the earth-moving vehicle is one or more of a safety lever, or an end stop, or an implement switch, or a parking brake.
20 . The method of claim 17 wherein the indication of the control signal is an instruction to virtually generate the control signal to mimic the activation of the one or more of the physical button or the physical switch.
21 . The method of claim 17 wherein the receiving of the indication of the control signal includes receiving a physical control signal from a physical interaction with the one or more of the physical button or the physical switch, wherein the method further comprises causing the physical control signal to be interrupted before engaging the component of the earth-moving vehicle, and wherein the virtual signal is sent to the component of the earth-moving vehicle in place of the physical control signal.
22 . The method of claim 17 wherein the receiving of the indication of the control signal includes receiving a physical control signal from a physical interaction with the one or more of the physical button or the physical switch, wherein the method further comprises performing the sending of the virtual signal to the component of the earth-moving vehicle by replacing the virtual sign with the physical control signal during the sending.