# US 11,897,448 B2 · Systems, methods, and apparatuses for machine control at worksite based on noise level > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,448 B2 - Document ID: US11897448B2 - Status: Granted - Kind: B2 - Application number: 17/124,699 - Filed: 2020-12-17 - Published: 2022-06-23 - Granted: 2024-02-13 - Earliest claimed: 2020-12-17 - Assignees: Caterpillar Inc. - Applicants: Caterpillar Inc. - Inventors: Sean A. Randleman - Web page: https://patentgrep.com/patent/US11897448B2 ## CPC - B60W 20/17: for noise reduction - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes - E02F 9/2054: {Fleet management} - B60W 2300/125: Heavy duty trucks - B60W 2300/17: Construction vehicles, e.g. graders, excavators - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - 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 - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A system, method, and apparatus can provide control signaling to control one or more autonomous machines during a plurality of predefined periods of time. Each of the one or more autonomous machines can be controlled according to a maximized productivity level for each task performed by the autonomous machine while at the same time generating sound during performance of the task at the maximized productivity level no louder than respective maximum noise limit levels specific for the plurality of predefined periods of time. ## Claims ### Claim 1 A system for controlling a plurality of mobile autonomous machines at a worksite comprising: non-transitory computer-readable memory to store time-specific maximum noise limit data specific to the worksite, the time-specific maximum noise limit data including maximum noise limit levels for different periods of time for the worksite; and control circuitry operatively coupled to the non-transitory computer-readable memory, the control circuitry being configured to set a continuous work period for the mobile autonomous machines at the worksite, when the continuous work period is in a first period of time of said different periods of time, control each of the mobile autonomous machines at all times in a first noise-optimized mode according to a first plurality of different sets of defined machine operation parameters each previously identified to yield different sound characteristics no louder than a first maximum noise limit level of said maximum noise limit levels stored in the non-transitory computer-readable memory, each of the different sets of defined machine operation parameters of the first plurality corresponding to respective first operational tasks performed by the mobile autonomous machine, and when the continuous work period is in a second period of time that is non-overlapping with the first time period of said different periods of time, control each of the mobile autonomous machines at all times in a second noise-optimized mode according to a second plurality of different sets of defined machine operation parameters each previously identified to yield different sound characteristics no louder than a second maximum noise limit level of said maximum noise limit levels stored in the non-transitory computer-readable memory, each of the different sets of defined machine operation parameters of the second plurality corresponding to respective second operational tasks performed by the mobile autonomous machine, wherein, for each said mobile autonomous machine, maximum productivity and sound output levels in the first noise-optimized mode are greater than maximum productivity and sound output levels in the second noise-optimized mode. ### Claim 2 (depends on 1) The system according to claim 1, wherein the different periods of time for the worksite include different times of a day, different days of a week, and/or different days of a year. ### Claim 3 (depends on 1) The system according to claim 1, wherein the control circuitry is configured to control the mobile autonomous machines according to the first noise-optimized mode such that collective sound generated at any one time by all of the mobile autonomous machines never exceeds the first maximum noise limit level, and/or control the mobile autonomous machines according to the second noise-optimized mode such that collective sound generated at any one time by all of the mobile autonomous machines never exceeds the second maximum noise limit level. ### Claim 4 (depends on 1) The system according to claim 1, wherein at least a portion of the non-transitory computer-readable memory and/or at least a portion of the control circuitry are remote from the mobile autonomous machines, said at least the portion of the control circuitry that is remote being in operative communication with the mobile autonomous machines to perform the setting and/or the controlling via a wireless communication network. ### Claim 5 (depends on 1) The system according to claim 1, wherein the non-transitory computer-readable memory and/or the control circuitry are/is distributed among the mobile autonomous machines at the worksite. ### Claim 6 (depends on 1) The system according to claim 1, wherein the maximum productivity of each of the mobile autonomous machines in the first noise-optimized mode and the maximum productivity of each of the autonomous machines in the second noise-optimized mode are greater than a maximum productivity of an operator-controlled mode of the mobile autonomous machine. ### Claim 7 (depends on 1) The system according to claim 1, wherein one of the operational tasks performed by the mobile autonomous machine in the second noise-optimized mode involves a different movement pattern compared to a corresponding one of the operational tasks performed by the mobile autonomous machine in the first noise-optimized mode. ### Claim 8 (depends on 7) The system according to claim 7, wherein the different movement pattern includes a re-sequencing of operations to perform said one of the operational tasks in the second noise-optimized mode. ### Claim 9 (depends on 7) The system according to claim 7, wherein the different movement pattern includes a different rate of moving a working tool of the autonomous machine to perform said one of the operational tasks in the second noise-optimized mode. ### Claim 10 A method for enforcing noise level limits at a worksite comprising: accessing, in electronic memory, time-specific maximum noise limit data specific to the worksite, the time-specific maximum noise limit data including maximum noise limit levels for different periods of time for the worksite; providing, using one or more electronic processors, control signaling to control a plurality of autonomous working machines at the worksite during a continuous work period; and in response to said providing the control signaling, and depending upon whether in a first period of time or a second period of said different periods of time, either controlling each of the autonomous working machines in a first noise-optimized mode according to first defined machine operation parameters previously identified to yield different sound characteristics no louder than a first maximum noise limit level of said maximum noise limit levels, or controlling each of the autonomous working machines in a second noise-optimized mode according to second defined machine operation parameters previously identified to yield different sound characteristics no louder than a second maximum noise limit level of said maximum noise limit levels, wherein, for each said autonomous working machine, maximum productivity and sound output levels in the first noise-optimized mode are greater than maximum productivity and sound output levels in the second noise-optimized mode. ### Claim 11 (depends on 10) The method according to claim 10, wherein the first defined machine operation parameters correspond to one or more tasks of the autonomous working machines in the first noise-optimized mode, and wherein the second defined machine operation parameters correspond to one or more tasks of the autonomous working machines in the second noise-optimized mode. ### Claim 12 (depends on 10) The method according to claim 10, further comprising: controlling the autonomous working machines according to the first noise-optimized mode such that collective sound generated at any one time by all of the autonomous working machines never exceeds the first maximum noise limit level, and/or controlling the autonomous working machines according to the second noise-optimized mode for each of the autonomous working machines such that collective sound generated at any one time by all of the autonomous working machines never exceeds the second maximum noise limit level. ### Claim 13 (depends on 12) The method according to claim 12, wherein said controlling the autonomous working machines according to the first noise-optimized mode such that collective sound generated at any one time by all of the autonomous working machines never exceeds the first maximum noise limit level includes performing respective tasks of the autonomous working machines in non-overlapping fashion in terms of timing, and/or wherein said controlling the autonomous working machines according to the second noise-optimized mode such that the collective sound generated at any one time by all of the autonomous working machines never exceeds the second maximum noise limit level includes performing respective tasks of the autonomous working machines in non-overlapping fashion in terms of timing. ### Claim 14 (depends on 10) The method according to claim 10, further comprising: detecting sound generated from each of the one or more autonomous working machines for said controlling each of the autonomous working machines in the first noise-optimized mode or the second noise-optimized mode; and incrementally modifying the first or the second defined machine operation parameters to decrease, increase, or maintain sound generated by each of the one or more autonomous working machines.