Patent Publication Number: US-2022234419-A1

Title: System and Method of Climate Control in Unmanned Machine

Description:
TECHNICAL FIELD 
     This patent disclosure relates generally to the cab of an autonomously-operated machine, and, more particularly, to a method and system for climate control in the cab of a machine when operated autonomously. 
     BACKGROUND 
     Machines such as dozers, motor graders, wheel loaders, etc., are used to perform a variety of tasks, such as road clearing, digging, loosening, carrying, etc. The machines may operate in an autonomous, semi-autonomous, or manual manner to perform these tasks in response to commands generated as part of a work plan for the machines. Autonomously operated and semi-autonomously operated machines may offer certain advantages over manually operated machines. For example, autonomous systems may permit operation in environments that are unsuitable or undesirable for a human operator inasmuch as machines may be controlled from a remote location. Autonomous or semi-autonomous systems may also compensate for inexperienced human operators as well as inefficiencies associated with repetitive tasks. 
     Remote control and automation allow such equipment to complete work without an operator in the cab of the machine. Often times in these unmanned operation scenarios, the remote operator does not consider the cab climate control settings. Cab cleanliness and components may suffer as a result of this. It is important to keep cabs pressurized to reduce dust ingress by keeping the HVAC blower on at all times. It is also beneficial to keep the cab temperature in a safe range for the life of the internal components. 
     U.S. Pat. No. 10,603,983 B2 to Brooks et al. discloses a system wherein pressure sensors are provided inside and outside of the cab of an agriculture tractor, and a cab sensor is provided to sense an open or closed state of the operator cab. A controller is configured to activate/deactivate an airflow system in the cab based upon the pressure sensors and cab sensor. The controller can activate the airflow system to provide a positive pressure differential in the operator cab to provide desirable conditions for the operator when the cab is in a closed state. Conversely, the controller can deactivate the airflow system when the cab is in an open state in order to maximize the life of the system. 
     The foregoing background discussion is intended solely to aid the reader. It is not intended to limit the innovations described herein, nor to limit or expand the prior art discussed. Thus, the foregoing discussion should not be taken to indicate that any particular element of a prior system is unsuitable for use with the innovations described herein, nor is it intended to indicate that any element is essential in implementing the innovations described herein. The implementations and application of the innovations described herein are defined by the appended claims. 
     SUMMARY 
     The disclosure is directed to a method for controlling climate of a cab of a machine when operated unmanned. The method includes turning on a blower servicing the cab to a minimum setting, detecting a temperature within the cab via a temperature sensor, and comparing a detected temperature to at least one of a maximum temperature threshold and a minimum temperature threshold. The method further includes at least one of turning on cab cooling device and adjusting the blower to maintain the temperature within the cab below said maximum temperature threshold if the detected temperature is greater than said maximum temperature threshold, and turning on a cab heating device and adjusting the blower to maintain the temperature within the cab above said minimum temperature threshold if the detected temperature is less than said minimum temperature threshold. 
     The disclosure also is directed to a system for controlling climate of a cab of a machine when operated unmanned. The system includes at least one temperature sensor disposed and adapted to generate a signal indicative of a temperature within the cab, and a controller. The controller is configured to receive the signal indicative of the temperature within the cab, and determine if the machine is being operated unmanned. If the machine is being operated unmanned, then the controller is further configured to turn on a blower servicing the cab to a minimum setting, and at least one of compare the signal indicative of the temperature within the cab to a maximum temperature threshold or a minimum temperature threshold. If the signal indicative of the temperature within the cab is greater than the maximum temperature threshold, the controller is configured to generate machine control commands to turn on cab cooling device, and generate machine control commands to adjust the blower as needed to maintain a temperature within the cab below the maximum temperature threshold. If the signal indicative of the temperature within the cab is less than the minimum temperature threshold, the controller is configured to generate machine control commands to turn on cab heating device, and generate machine control commands to adjust the blower as needed to maintain a temperature within the cab above the minimum temperature threshold. 
     The disclosure also relates to a machine including a cab, a blower disposed and adapted to provide air to the cab, at least one temperature sensor disposed and adapted to generate a temperature signal indicative of a temperature within the cab, a controller, and at least one of a cab heating device disposed and adapted to heat air provided to the cab by the blower and a cab cooling device disposed and adapted to cool air provided to the cab by the blower. The controller is configured to receive the signal indicative of the temperature within the cab, determine if the machine is being operated unmanned, and if the machine is being operated unmanned, then turn on the blower servicing the cab to a minimum setting, and compare the signal indicative of the temperature within the cab to at least one of a maximum temperature threshold and a minimum temperature threshold. If the signal indicative of the temperature within the cab is greater than the maximum temperature threshold, then the controller is configured to generate machine control commands to turn on cab cooling device, and generate machine control commands to adjust the blower as needed to maintain a temperature within the cab below the maximum temperature threshold. If the signal indicative of the temperature within the cab is less than the minimum temperature threshold, then the controller is configured to generate machine control commands to turn on cab heating device, and generate machine control commands to adjust the blower as needed to maintain a temperature within the cab above the minimum temperature threshold. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWING(S) 
         FIG. 1  is a side elevational view of an exemplary machine incorporating a control arrangement according to aspects of this disclosure. 
         FIG. 2  is a schematic diagram of a system incorporating aspects of the control arrangement of this disclosure. 
         FIG. 3  is a flow chart of an exemplary control arrangement according to aspects of this disclosure. 
         FIG. 4  is a flow chart of an alternative embodiment of an exemplary control arrangement according to aspects of this disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Turning now to the drawings, an embodiment of an exemplary machine  100  in the form of a motor grader  101  is illustrated in  FIG. 1 . The machine  100  is may be remotely controlled for autonomous or semiautonomous operation, partially or entirely controlled by a control system that does not require operation by an on-board human operator. 
     It will be appreciated that, although a motor grader  101  is illustrated in  FIG. 1 , the term “machine” may refer to any machine that may be configured to operate in an autonomous manner to perform some type of operation. For example, a machine  100  may alternatively be a bulldozer, hauling vehicle, front-end loader, harvesting equipment, snow blower, or the like. 
     The motor grader  101  includes a main frame  102  supporting a ground-engaging work implement  103 . Although an exemplary blade  124  is illustrated as the attached implement, the motor grader  101  may include an additional implement such as, for example, plows, scarifiers, and rippers. The main frame  102  has a rear frame portion  104  and a front frame portion  106 . The rear and front frame portions  104 ,  106  may optionally be articulated at an articulated joint  108 , which includes a hinge  109 . The main frame  102  is supported on a plurality of ground engaging members  110 . In the illustrated embodiment, the ground engaging members  110  include a pair of front wheels  112 , which are spaced from a plurality of rear wheels  114 ,  116 , which are disposed pairs along opposite sides of the rear frame portion  104 . It will be appreciated, however, that the ground engaging members  110  may include alternate arrangements, such as, for example, the rear wheels  114 ,  116  may alternately be track assemblies, as are known in the art. 
     An operator cab  128  may be supported along the front frame section  120 . The cab  128  includes a climate controls  138 , including temperature and blower controls  140 ,  142  for operator control of a cab heating device  141 , cab cooling device  142 , and blower  145  servicing the cab  128 . The cab cooling device  142  may be any appropriate arrangement, such as an air conditioning system, an outdoor air mixing arrangement, a combination of the same, or another appropriate arrangement known in the art. Similarly, the cab heating device  141  may be a heater, an electric heating element, a coolant diverter arrangement, such as those including a diverter valve, or another appropriate arrangement known in the art. The cab  128  may also include, for example, a seat  130 , a console  136 , and a variety of operator controls, such as a steering mechanism  132 , a speed-throttle or control lever  134 . An operator occupying the cab  128  can control the various functions and motion of the motor grader  101 , for example, by using the steering mechanism  132  to set a direction of travel for the motor grader  101  or by using the control lever  134  to set the travel speed of the machine. As can be appreciated, the representations of the various control mechanisms presented herein are generic and are meant to encompass all possible mechanisms or devices used to convey an operator&#39;s commands to a machine, including, for example, so-called joystick operation. 
     The machine  100  includes a prime mover  146 , which may be of any appropriate design. For example, the prime mover  146  may include an engine  148  adapted to propel the machine  100  through operation of the ground engaging members  110 . The prime mover  146  may further be coupled to a hydraulic system  150 . The hydraulic system  150  may include one or more pumps (not visible) to drive or power machine operation such as, for example, steering of ground engaging members  110 , such as wheels  114 ,  116 , and operation of a linkage assembly  126  to control the position of the blade  124  relative to the frame  102 . In at least one embodiment, the prime mover  146  includes one or more batteries  152 , the machine  100  being hybrid or electronically operated. 
     A control module or electronic controller  160  is connected to the machine  100  and arranged to receive information from various sensors on the machine  100 , process that information, and issue commands to various components within the system during operation. While the electronic controller  160  may be located remotely, in at least one embodiment, the electronic controller  160  may be disposed on the machine  100 . 
     The electronic controller  160  may be of any conventional design having hardware and software configured to perform the calculations and send and receive appropriate signals to perform the disclosed logic. The controller  160  may include one or more controller units, and may be configured solely to perform the disclosed strategy, or to perform the disclosed strategy and other independent processes of the machine  100 . The electronic controller  160  be of any suitable construction, and may include a processor (not shown) and a memory component (not shown). The processor may be microprocessors or other processors as known in the art. In some embodiments, the processor may be made up of multiple processors. In one example, the controller  160  comprises a digital processor system including a microprocessor circuit having data inputs and control outputs, operating in accordance with computer-readable instructions stored on a computer-readable medium. Typically, the processor will have associated therewith long-term (non-volatile) memory for storing the program instructions, as well as short-term (volatile) memory for storing operands and results during (or resulting from) processing. 
     The processor may execute instructions for operation of various systems of the machine  100 . In alternative embodiments, hard-wired circuitry may be used in place of or in combination with software instructions to implement desired operation. Such instructions may be read into or incorporated into a computer readable medium, such as the memory component or provided external to processor. The memory component may include any form of computer-readable media as described above. The memory component may include multiple memory components. Thus, embodiments are not limited to any specific combination of hardware circuitry and software. 
     The term “computer-readable medium” as used herein refers to any medium or combination of media that participates in providing instructions to processor for execution. Such a medium may take many forms, including but not limited to, non-volatile media, volatile media, and transmission media. Non-volatile media includes, for example, optical or magnetic disks. Volatile media includes dynamic memory. Transmission media includes coaxial cables, copper wire and fiber optics. 
     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, punchcards, papertape, any other physical medium with patterns of holes, a RAM, a PROM, and EPROM, a FLASH-EPROM, any other memory chip or cartridge, or any other medium from which a computer or processor can read. 
     Referring to  FIG. 2 , there is illustrated an exemplary controller-implemented system and method according to the present disclosure. The controller  160  may be connected to receive signals from a plurality of sensors (shown generally as  162  in  FIG. 1 ) and control inputs (shown generally as  164 ). While this disclosure is directed to a climate control system  154  for control of the climate within the cab  128  during unmanned operation, those of skill in the art will appreciate that the controller  160  may receive signals from sensors  162  and control inputs  164  not associated with the climate control system  154 . 
     The climate control system  154  includes at least one temperature sensor  168  is disposed to sense a temperature associated with the cab  128 . The at least one temperature sensor  168  may be disposed, for example, within or adjacent to the cab  128  or a structure associated with the cab  128 , so long as the at least one temperature sensor  168  is representative of the temperature within the cab  128 . The at least one temperature sensor  168  provides a temperature signal that is indicative of the temperature within the cab  128  to the controller  160 . 
     According to this disclosure, a plurality of control inputs  164  are provided for use in operating the climate controls  138  associated with the cab  128  when the machine  100  is operating in an unmanned mode. A control signal from a control input  164  relayed to the controller  160  may be used in a calculation, along with other parameters, to yield a desired operation of the machine  100 . According to the climate control system  154 , control inputs  164  to the controller  160  include at least a default maximum temperature threshold  170  and a default minimum temperature threshold  172 . The default maximum and minimum temperature thresholds  170 ,  172  may define the maximum and minimum temperatures for maintaining the cab  128  during unmanned operation of the machine  100 . That is, when a temperature indicated by the signal indicative the temperature within the cab  128  exceeds the default maximum temperature threshold  170  or is less than the default minimum temperature threshold  172 , the controller  160  provides appropriate temperature control signals for operation of the cab cooling device  142  or the cab heating device  141 , respectively. 
     The default maximum and minimum temperature thresholds  170 ,  172  are preset within the machine  100 , typically as factory settings during manufacture. In at least one embodiment, however, the default maximum and minimum temperature thresholds  170 ,  172  may be preset by the user. Further, in at least one embodiment, default maximum and minimum temperature thresholds  170 ,  172  are preset within the machine  100 , and the user may provide minimum and maximum temperature thresholds. That is, the default maximum and minimum temperature thresholds  170 ,  172  are preset within the machine  100 , but the user may additionally provide one or both of a user input maximum temperature threshold  174  and a user input minimum temperature threshold  176  that may be used to override the preset default maximum and minimum temperature thresholds  170 ,  172 . 
     In this way, the climate control system  154  may be tailored to environmental and/or user preferences. For example, although some embodiments may utilize both maximum and minimum temperature protection, some embodiments may utilize just maximum temperature protection, while other embodiments may utilize just minimum temperature protection. 
     According to another feature of the climate control system  154 , the blower  145  associated with the cab  128  may be utilized to maintain a minimum airflow within the cab  128 . That is, when the machine  100  is operating in an unmanned mode, the controller  160  may provide signals to operate the blower  145  at a minimum setting in order to maintain pressure and airflow within the cab  128 . 
     INDUSTRIAL APPLICABILITY 
     The present disclosure is applicable to a machine  100  that may be remotely controlled, or utilized in autonomously or semi-autonomously operation. 
     Turning now to the flow chart of  FIG. 3 , there is illustrated an embodiment of an exemplary method  200  according to this disclosure. At panel  202 , it is determined if the machine  100  is operating in an unmanned mode. If the machine is not operating in an unmanned mode, the operator uses the cab climate controls  138  to control the heating, ventilation, and cab cooling system (panel  204 ). Conversely, if the machine is operating in an unmanned mode, machine controls are generated at panel  206  to ignore any cab climate controls  138  for the temperature and the blower  145 , and turn on the blower  145  for the cab  128  at a minimum setting. 
     With the machine operating in an unmanned mode, the controller then determines if maximum temperature protection is to be utilized (panel  208 ). If maximum temperature protection is to be utilized, the controller determines if the cab temperature is above the maximum threshold (panel  212 ). In determining if the if the cab temperature is above the maximum threshold, the controller  160  compares the cab temperature as determined by the temperature sensor  168  (panel  214 ) with the maximum threshold as set by the default maximum temperature threshold (panel  216 ). If the cab temperature is above the maximum threshold, machine control commands are generated at panel  218  to turn on the cab cooling device  142  and adjust the blower control  144  as needed to maintain the temperature below the maximum threshold. 
     If the cab temperature is not above the maximum threshold at panel  212 , or if maximum temperature protection is not to be utilized at panel  208 , the controller determines if minimum temperature protection is to be utilized (panel  210 ). If minimum temperature protection is not to be utilized, the method returns to panel  206  regarding control of the blower  145 . 
     If, however, minimum temperature protection is to be utilized (panel  210 ), the controller determines if the cab temperature is below the minimum threshold (panel  220 ). In determining if the if the cab temperature is below the minimum threshold, the controller  160  compares the cab temperature as determined by the temperature sensor  168  (panel  224 ) with the minimum threshold as set by the default minimum temperature threshold (panel  222 ). If the cab temperature is below the minimum threshold (panel  220 ), machine control commands are generated at panel  226  to turn on the cab heating device  141  and adjust the blower control  144  as needed to maintain the temperature above the minimum threshold. 
     While  FIG. 3  illustrates the method as first addressing maximum temperature protection, followed by minimum temperature protection, in at least one embodiment, the method first addresses minimum temperature protection, followed by maximum temperature protection. Similarly, in at least one embodiment, both maximum temperature protection and minimum temperature protection may be addressed substantially simultaneously, then proceeding with the applicable protection as determined by the controller  160 . 
     Turning now to the flow chart of  FIG. 4 , there is illustrated an embodiment of an exemplary method  230  that includes both default maximum and minimum temperature thresholds  170 ,  172 , as well as user input maximum and minimum temperature thresholds  174 ,  176 , such as discussed above with regard to  FIG. 2 . For the sake of clarity, the panels that are the same as those of  FIG. 3  are given the same reference numbers. In this embodiment, however, the maximum and minimum temperature thresholds utilized at panels  212  and  220  are based upon user input. 
     More specifically, with regard to the application of maximum temperature protection, at panel  232 , it is determined whether a user input maximum threshold  174  has been provided. If a user input maximum threshold  174  has been provided, it is set as the maximum temperature threshold at panel  234  for comparison to the cab temperature in panel  212 . Conversely, if no user input maximum temperature threshold  174  has been provided (panel  232 ), then the default maximum temperature threshold  170  is set as the maximum temperature threshold at panel  234  for comparison to the cab temperature at panel  212 . 
     Similarly, with regard to the application of minimum temperature protection, at panel  236 , it is determined whether a user input minimum threshold  176  has been provided. If a user input minimum threshold  176  has been provided, it is set as the minimum temperature threshold at panel  238  for comparison to the cab temperature in panel  220 . Conversely, if no user input minimum temperature threshold  176  has been provided (panel  236 ), then the default minimum temperature threshold  172  is set as the minimum temperature threshold at panel  238  for comparison to the cab temperature at panel  220 . 
     The methods and systems of this disclosure may be applicable to machines used in unmanned operations, autonomous operation or remote control operation. 
     Some of the disclosed methods and systems according to this disclosure maybe useful to enhance cab cleanliness by maintaining pressurization of the cab  128  to reduce dust ingress. 
     Some of the disclosed methods and systems may be useful to and inhibit damage to internal components of the cab  128 , while some embodiments may be useful to prolong the life of internal components of the cab  128  by maintaining the cab temperature in a safe range for the life of the internal components. 
     Some of the disclosed methods and systems may be useful in facilitating machines remaining consistently productive without regard to a human operator or environmental conditions. Some of the disclosed methods and systems may enhance production by assisting in reducing or minimizing downtime for maintenance or repair operations. 
     In addition, autonomous systems may permit operation in environments that are unsuitable or undesirable for a human operator. Autonomous or semi-autonomous systems may also compensate for inexperienced human operators as well as inefficiencies associated with repetitive tasks. 
     Some of the disclosed methods and systems may not require a separate control center in that the detection, analyses, and generation of control commands are performed by onboard equipment and software. 
     It will be apparent to those skilled in the art that various modifications and variations can be made to the climate control systems and procedures of the present disclosure. Other embodiments of the described methods and systems will be apparent to those skilled in the art from consideration of the disclosure herein. It is intended that the specification and examples of this disclosure be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims and their equivalents. It is contemplated that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at that point and are not intended to imply any limitation as to the scope of the disclosure more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such from the scope of the disclosure entirely unless otherwise indicated. 
     Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. 
     Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.