# US 11,029,681 B2 · Semi-autonomous payload retrieval system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,681 B2 - Document ID: US11029681B2 - Status: Granted - Kind: B2 - Application number: 16/291,821 - Filed: 2019-03-04 - Published: 2020-09-10 - Granted: 2021-06-08 - Earliest claimed: 2019-03-04 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: David J Rulseh; Jeffery R Kreiling - Web page: https://patentgrep.com/patent/US11029681B2 ## CPC - G05D 1/0011: {associated with a remote control arrangement} - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - H04L 12/40013: {Details regarding a bus controller} - H04L 12/4625: {Single bridge functionality, e.g. connection of two networks over a single bridge} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - H04L 2012/40215: {Controller Area Network CAN} - H04L 2012/40273: {the transportation system being a vehicle} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A semi-autonomous work machine having an operator compartment with a user-input interface; a machine CAN bus configured to receive a local user-input signal from the user-input interface; a controllable subsystem communicatively coupled to the machine CAN bus; a gateway interface controller configured to receive a remote user-input signal from a remote controller remotely located from the work machine, the gateway interface controller further configured to generate a CAN signal based on the remote user-input signal to command and actuate the controllable subsystem using the machine CAN bus, wherein the local user-input signal overrides the remote user-input signal. ## Claims ### Claim 1 A semi-autonomous work machine comprising: an operator compartment with a user-input interface; a machine CAN bus configured to receive a local user-input signal from the user-input interface; a controllable subsystem communicatively coupled to the machine CAN bus; a gateway interface controller configured to receive a remote user-input signal from a remote controller remotely located from the work machine, the gateway interface controller further configured to generate a CAN signal based on the remote user-input signal to command and actuate the controllable subsystem using the machine CAN bus, wherein the local user-input signal overrides the remote user-input signal and, wherein the machine CAN bus is configured to receive the remote user-input signal and generating a corresponding first CAN signal to command a first controllable subsystem and receive the local user-input signal and generate a second CAN signal to a second controllable subsystem at the same time. ### Claim 2 (depends on 1) The semi-autonomous work machine of claim 1, wherein the gateway interface controller comprises a transmitter and a receiver configured to communicate with the remote controller. ### Claim 3 (depends on 1) The semi-autonomous work machine of claim 1, wherein the remote user-input signal is configured to provide instructions for a planned path through a series of waypoints. ### Claim 4 (depends on 1) The semi-autonomous work machine of claim 1, wherein the remote user-input signal actuates the controllable subsystem with one or more of a time-delay, a distance window configured for the work machine to maintain a position proximate to a second work machine, and a global-positioning system. ### Claim 5 (depends on 1) The semi-autonomous work machine of claim 1, wherein the controllable subsystem may comprise one or more of a steering system, a propulsion system, a braking system, a winch system, and an implement control system. ### Claim 6 (depends on 1) The semi-autonomous work machine of claim 1, wherein the work machine further comprises a support subsystem, the support subsystem comprising of a real-time inclination detection system, the CAN signal for the controllable subsystem modified based on a real-time inclination of the work machine. ### Claim 7 (depends on 1) The semi-autonomous work machine of claim 1, wherein the work machine further comprises a support subsystem, the support subsystem comprising an object detection system, the CAN signal for the controllable subsystem modified based on object detection from an object detection device on the work machine. ### Claim 8 (depends on 1) The semi-autonomous work machine of claim 1, wherein the remote user-input signal on the work machine may be configured to imitate a steering angle of a leader work machine, move in a same direction of the leader work machine, or auto-correct towards a path of the leader work machine if the machine is not on a correct path. ### Claim 9 A method for payload operations through semi-autonomous control of a work machine, the method comprising: receiving with a receiver on a gateway interface controller on the work machine an active control request from a remote controller configured to send a remote user-input signal; generating an active control response by the gateway interface controller based on the active control request; sending an active control response by the gateway interface controller to the remote controller, wherein the active control response couples the remote controller to a machine CAN bus on the work machine based on acceptance of the active control request by the gateway interface controller, a controllable subsystem communicatively coupled to the machine CAN bus; receiving with the receiver the remote user-input signal from the remote controller, the remote user-input signal configured to command the controllable subsystem; and relaying the remote user-input signal from the remote controller across the machine CAN bus of the work machine; the remote user-input signal commanding and actuating the controllable subsystem on the work machine. ### Claim 10 (depends on 9) The method of claim 9, wherein the gateway interface controller comprises a transmitter and receiver configured to communicate with the remote controller. ### Claim 11 (depends on 9) The method of claim 9, wherein the remote user-input signal may be configured to provide instructions for a planned path through a series of waypoints. ### Claim 12 (depends on 9) The method of claim 9, wherein actuating the controllable subsystem on the work machine comprises one or more of a time-delay, a distance window configured for the work machine to maintain a position proximate to a leader work machine. ### Claim 13 (depends on 9) The method of claim 9, wherein the controllable subsystem comprises one or more of a steering system, a propulsion system, a braking system, a winch system, and an implement control system. ### Claim 14 (depends on 9) The method of claim 9, wherein the remote user-input signal on the work machine may be configured to imitate a steering angle of a leader work machine, move in a same direction of the leader work machine, or auto-correct towards a path of the leader work machine if the machine is not on a correct path. ### Claim 15 (depends on 9) The method of claim 9 further comprises modifying the remote user-input signal based on an object detection signal, the objection detection signal coming from an objection detection device coupled to the work machine. ### Claim 16 (depends on 9) The method of claim 9, wherein the method further comprises overriding the remote user-input signal from the remote controller on the work machine with a local user-input signal from the work machine. ### Claim 17 (depends on 9) The method of claim 9, wherein the remote controller is one or more of a hand-held device, a second user-input interface, a second work machine, a remote operator compartment, a base station, and a cloud source. ### Claim 18 (depends on 9) The method of claim 9, wherein the work machine further comprises a location detection system communicatively coupled to the machine CAN bus, the location detection system recalibrating the location of the work machine at a holding site.