U.S. patent application number 15/051695 was filed with the patent office on 2017-08-24 for method and system for controlling machines.
This patent application is currently assigned to Caterpillar Inc.. The applicant listed for this patent is Caterpillar Inc.. Invention is credited to David Jeremiah S. Benedict, Todd R. Farmer, Jeffrey M. Parker.
Application Number | 20170241104 15/051695 |
Document ID | / |
Family ID | 59630958 |
Filed Date | 2017-08-24 |
United States Patent
Application |
20170241104 |
Kind Code |
A1 |
Farmer; Todd R. ; et
al. |
August 24, 2017 |
METHOD AND SYSTEM FOR CONTROLLING MACHINES
Abstract
A method for controlling a machine is provided. The method
senses an orientation of a seat of an operator. The method selects
a desired mode function with respect to at least one work tool,
wherein the at least one work tool is equipped with the machine.
Further, the orientation of the seat and the desired mode function
is communicated to a processing module. Furthermore, a number of
input modules are configured corresponding to predefined patterns
to control functions of the at least one work tool and the machine.
The predefined patterns define functions of the at least one work
tool and the machine corresponding to the orientation of the seat,
and the desired mode function.
Inventors: |
Farmer; Todd R.; (Apex,
NC) ; Parker; Jeffrey M.; (Fuquay Varina, NC)
; Benedict; David Jeremiah S.; (Apex, NC) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Caterpillar Inc. |
Peoria |
IL |
US |
|
|
Assignee: |
Caterpillar Inc.
Peoria
IL
|
Family ID: |
59630958 |
Appl. No.: |
15/051695 |
Filed: |
February 24, 2016 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
E02F 9/2012 20130101;
E02F 9/166 20130101; E02F 3/964 20130101 |
International
Class: |
E02F 9/20 20060101
E02F009/20 |
Claims
1. A method for controlling a machine, the method comprising:
sensing an orientation of a seat of an operator; selecting a
desired mode function with respect to at least one work tool, the
at least one work tool is equipped with the machine; communicating
the orientation of the seat and the desired mode function to a
processing module; and configuring a plurality of input modules
corresponding to predefined patterns to control the functions of
the at least one work tool and the machine; wherein the predefined
patterns define functions of the at least one work tool and the
machine corresponding to the orientation of the seat, and the
desired mode function.
Description
TECHNICAL FIELD
[0001] The present disclosure relates to operator controls for
controlling various operations of a machine, and more specifically,
to an adaptable operator controller for controlling front and rear
work tools of machines.
BACKGROUND
[0002] A power machine is generally equipped with both front and
rear implements and/or attachments and therefore requires many
operator control patterns. To operate the front and rear
implements, the power machine is equipped with a two-faced seat
facing front and rear of the machine or a rotatable seat for an
operator. Hence, a number of controls are provided to control both
the front and rear implement functions along with other machine
functions, such as front or back stabilizers etc. Also, the
operator needs to either shift between the two faced seat facing
the front and the rear of the machine or rotate while seated on the
rotatable seat to operate the front and rear implements which may
be difficult and physically uneasy for the operator. Additionally,
this leads to non-smooth and uncoordinated control of the front and
rear implements.
[0003] For example, a back-hoe loader is equipped to either a front
linkage (i.e. engine end) or a rear linkage (i.e. non engine end)
depending on the operator's preference or work requirements. The
versatility of the power machine makes it cumbersome for the
operator to intuitively operate each machine controls
configuration. Further, the machine needs to operate many power
controls to control the front and the rear attachments.
[0004] U.S. Pat. No. 7,918,303, hereinafter referred to as `303`
reference, discloses a mobile vehicle. The mobile vehicle includes
a moveable operator seat, a left-side stabilizer, a right-side
stabilizer, and a control system. The moveable operator seat is
movable between a forward-use configuration and a rearward-use
configuration. The control system is configured to control movement
of the left-side stabilizer and the right-side stabilizer based on
whether the operator seat is in the forward-use configuration or
the rearward-use configuration. However, the '303 reference fails
to disclose a controlling method to configure functions of
controllers or input devices according to both the orientation of
the operator seat and implement attachments. Therefore, there is a
need of an adaptable controlling method that automatically adapts
to the operator's seat orientation and a work tool/implement
attachment.
SUMMARY OF THE DISCLOSURE
[0005] In an aspect of the present disclosure, a method for
controlling a machine is provided. The method senses an orientation
of a seat of an operator. The method selects a desired mode
function with respect to at least one work tool, wherein the at
least one work tool is equipped with the machine. Further, the
orientation of the seat and the desired mode function is
communicated to a processing module. Furthermore, input modules are
configured corresponding to predefined patterns to control
functions of the at least one work tool and the machine. The
predefined patterns define functions of the at least one work tool
and the machine corresponding to the orientation of the seat, and
the desired mode function.
[0006] Other features and aspects of this disclosure will be
apparent from the following description and the accompanying
drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a perspective view of a machine utilizing a
proposed system and method, in accordance with the concepts of the
present disclosure;
[0008] FIG. 2 is a block diagram of a system for controlling
functions of the machine, in accordance with the concepts of the
present disclosure;
[0009] FIG. 3 depicts a top view of a seat in a first configuration
and a second configuration, in accordance with the concepts of the
present disclosure;
[0010] FIG. 4 shows a control module to select a desired mode
function, in accordance with the concepts of the present
disclosure; and
[0011] FIG. 5 is a flowchart of a method for controlling functions
of the machine, in accordance with the concepts of the present
disclosure.
DETAILED DESCRIPTION
[0012] Referring to FIG. 1, a machine 10 includes a cabin 12, input
modules 14, 16 (for example, a right hand joystick and a left hand
joystick), a first work tool 18, a second work tool 20, a seat 22,
an engine 24, and stabilizers 26. The terms input module 14, the
input module 16 are interchangeably used with a right hand (RH)
joystick 14 and a left hand (LH) joystick 16 respectively without
departing from the meaning and scope of the disclosure. Examples of
the machine 10 include, but are not limited to, a backhoe loader,
etc. For the purpose of simplicity, the various components of the
machine 10 are not labeled in FIG. 1. The first work tool 18 and
the second work tool 20 are controlled via the input modules 14, 16
to perform various operations of the machine 10. The first work
tool 18 and the second work tools 20 are electro-hydraulically
controlled via the input modules 14, 16. The first work tool 18 is
equipped in a front end of the machine 10 facing the engine 24. The
second work tool 20 is equipped in a rear end of the machine 10
facing in the opposite direction to the engine 24. It will be
apparent to one skilled in the art that the first work tool 18 and
the second work tool 20 may be coupled at any other location on the
machine 10 without departing from the meaning and scope of the
disclosure.
[0013] The input modules 14, 16 control various functions of the
machine 10. The input modules 14, 16 are mounted on the seat 22, as
shown in the FIG. 1. It will be apparent to the one skilled in the
art that the input modules 14, 16 are mounted on a console (not
shown) within a vicinity of the operator or are mounted at any
other location apart from the seat 22 without departing from the
meaning and scope of the present disclosure. The seat 22 is
rotatable and therefore the input modules 14, 16 also rotate with
the rotation of the seat 22. Examples of the input modules 14, 16
include, but are not limited to joysticks, keypads, touch screens,
etc.
[0014] The machine 10 also includes the stabilizers 26 coupled to a
frame (not shown). The machine 10 includes the stabilizers 26
coupled to a left and a right side of the frame. Only one of the
stabilizers 26 is shown in the FIG. 1. The stabilizers 26 are
movable between a lowered position and a raised position for
supporting the frame of the machine 10.
[0015] The disclosure described herein may be used with other
machines which have the first work tool 18 to be controlled and the
second work tool 20 to be controlled without departing from the
meaning and scope of the disclosure.
[0016] Referring to FIGS. 1 and 2, a system 28 controls the
functions of the first work tool 18 and the second work tool 20.
The system 28 includes a processing module 30, a position sensing
device 34, a control module 36, a communication module 38, the
input modules 14, 16, the first work tool 18 and the second work
tool 20, and the seat 22. The machine 10 includes the input modules
14, 16, for example, a first input module 40, a second input module
42, a third input module 44 for controlling multiple functions of
the machine 10. The first input module 40 is configured to control
functions of the machine 10, such as drive, steer, stabilizer
functions etc. The second input module 42 is configured to control
a number of functions of the first work tool 18 and the second work
tools 20. The third input module 44 is configured to control either
the stabilizer 26 or one of the first work tool 18 or the second
work tool 20.
[0017] Although, the system 28 disclosed herein configures the
first input module 40 with the functions of the machine 10, the
second input module 42 with the first work tool 18 and the second
work tool 20, and the third input module 44 with the stabilizers 26
or the first work tool 18 and the second work tool 20. The system
28 configures or re-configures the first input module 40, the
second input module 42, the third input module 44 with other
functions of the machine 10 apart from the ones disclosed herein
without departing from the meaning and scope of the present
disclosure.
[0018] The processing module 30 receives signals from the
communication module 38 that further communicates to receive
signals from the position sensing device 34, the control module 36,
and the first work tool 18 and the second work tool 20. After
receiving the input signals from the communication module 38, the
processing module 30 sends control signals to the input modules 14,
16 for controlling the functions of the machine 10 and the first
work tool 18 and the second work tool 20.
[0019] The system 28 controls the functions of the machine 10
depending on the orientation of the seat 22 and the type of the
first work tool 18 and the second work tool 20 attached to either
the front end or the rear end of the machine 10. The system 28
adapts to the orientation of the seat 22 and automatically
reconfigures the input modules 14 based on the input signals about
a specific work tool.
[0020] The seat 22 is provided in a rotatable manner between a
first configuration 46 facing the front end of the machine 10 and a
second configuration 48 facing rear end of the machine 10 (as shown
in FIG. 3). The input modules 14, 16 are mounted at different
locations within the cabin 12 and are easily accessible by the
operator. In an embodiment, the first input module 40 and the
second input module 42 are mounted on the seat 22, and hence the
first input module 40 and the second input module 42 also rotate
with the rotation of the seat 22, while the third input module 44
is mounted on a console near the seat 22. In another embodiment,
the first input module 40, the second input module 42 and the third
input module 44 are mounted on the seat 22. The position sensing
device 34 senses the orientation of the seat 22, whether the seat
22 is in the first configuration 46 or the second configuration 48.
Upon sensing the orientation, the position sensing device 34 sends
a signal regarding the orientation of the seat 22 to the processing
module 30.
[0021] Further, the communication module 38 works in a controller
area network (CAN) to send signals indicating the type of the first
work tool 18 and the second work tool 20 to the processing module
30. Furthermore, the operator also selects a desired mode function
(as described in FIG. 4) depending on which work tool to be
utilized via the control module 36. The mode function defines
different function modes for a particular work tool. It will be
apparent to the one skilled in the art that the control module 36
is a manual or an automatic device that selects a mode function or
automatically detects the work tool to select a mode function
without departing from the meaning and scope of the disclosure.
Further, the control module 36 may be a manual rotatable knob, a
switch, a touchpad, an electronic display, any other device that
allows selection of the mode function without departing from the
meaning and scope of the disclosure. The processing module 30
receives a signal indicating the mode function from the control
module 36 via the communication module 38.
[0022] The processing module 30 stores a number of predefined
patterns 32 that define functions of the first work tool 18 and the
second work tool 20 of the machine 10. The predefined patterns 32
are defined depending upon the work tool to be utilized and the
first configuration 46 or the second configuration 48 of the seat
22. Upon receiving inputs from the position sensing device 34, the
first work tool 18 and the second work tool 20 and the control
module 36, the processing module 30 automatically adapts to one of
the predefined patterns 32 that corresponds to the required work
tool, the orientation of the seat 22 and the mode function.
Thereafter, the processing module 30 reconfigures the input modules
14, 16 according to the predefined patterns 32 adapted. Hence, the
input modules 14, 16 adapt to the predefined pattern 32. Therefore,
the input modules 14, 16 operate accordingly to control either the
first work tool 18 or the second work tool 20 or both along with
the other functions of the machine 10, such as steering, driving or
stabilizing.
[0023] Referring to FIGS. 1 and 2, the machine 10 includes the
input modules 14, 16, for example, the right hand (RH) joystick 14
and the left hand (LH) joystick 16 on the seat 22. The right hand
joystick 14 and the left hand joystick 16 also rotate with the seat
22. The LH joystick 16 and RH joystick 14 is referred to as the
first input module 40 and the second input module 42 respectively.
The operator selects a mode, i.e. a backhoe loader mode from the
control module 36 (shown in FIG. 4) to operate the first work tool
18 i.e. the loader and the second work tool 20, i.e. a backhoe,
while being in the first configuration 46 of the seat 22 facing the
front of the machine 10. The processing module 30 adapts to the
predefined patterns 32 that define the configuration of the first
input module 40 and the second input module 42 in the first
configuration 46 of the seat 22 for the loader mode. Therefore, the
first input module 40 controls the drive and steer of the machine
10. While, the second input module 42 controls the lift or rack or
auxiliary functions of the first work tool 18, i.e. a loader. Also,
while being in the first configuration 46, the backhoe is in the
rear of the operator, therefore the third input module 44 controls
the functions of the backhoe as defined in the predefined patterns
32.
[0024] Now, when the seat 22 is rotated in the second configuration
48, the processing module 30 adapts to the predefined patterns 32
that defines the configuration of the first input module 40, the
second input module 42, and the third input module 44 in the second
configuration 48 for the backhoe loader mode. Hence, the processing
module 30 reconfigures the first input module 40 and the second
input module 42. As a result, the first input module 40 drives the
machine 10 in reverse and steers the machine 10 in reverse, while
the second input module 42 performs lifts or racks or aux functions
of the second work tool 20, i.e. the backhoe in the rear. The third
input module 44 controls the first work tool 18, i.e. loader which
is in the rear of the operator now. As a result, the operator is
able to maneuver multiple functions using the right hand (RH)
joystick 14 and the left hand (LH) joystick 16.
[0025] Referring to FIGS. 2, and 3, the seat 22 is rotated in the
first configuration 46. The position sensing device 34 senses the
orientation of the seat 22 in the first configuration 46. The
processing module 30 adapts to the predefined patterns 32 for the
first configuration 46 in a desired mode function selected via the
control module 36 to reconfigure the first input module 40, the
second input module 42 and the third input module 44 according to
the predefined pattern 32 adapted. In another configuration, the
seat 22 is rotated in the second configuration 48. The position
sensing device 34 senses the orientation of the seat 22 in the
second configuration 48. The processing module 30 adapts to the
predefined pattern 32 for the second configuration 48 in a mode
function selected via the control module 36 to reconfigure the
first input module 40, the second input module 42 and the third
input module 44 according to the predefined pattern 32 adapted.
[0026] Referring to FIGS. 1, 2 and 4, the control module 36
includes four selectable mode functions. The mode functions
selectable via the control module 36 are bucket mode 50 denoted by
`A`, excavator mode 52 denoted by `B`, backhoe loader mode 54
denoted by `C` and dozer mode 56 denoted by `D`. It will be
apparent to the one skilled in the art that the control module 36
includes any number of mode functions with other functionalities
described herein depending on the types of work tools attached to
the machine 10, without departing from the meaning and scope of the
present disclosure. Also, the control module 36 is in the form of a
manually operated module, such as knobs, joysticks, switches,
levers etc. or an electronically operated display module, or a
touch pad etc. without departing from the meaning and scope of the
present disclosure.
INDUSTRIAL APPLICABILITY
[0027] Referring to FIG. 5, a method 58 is described in conjunction
with FIGS. 1-4.
[0028] At step 60, the orientation of the seat 22 is detected by
the position sensing device 34.
[0029] At step 62, a desired mode function is selected via the
control module 36 with respect to the work tool to be utilized,
i.e. either the first work tool 18 or the second work tool 20.
[0030] At step 64, the orientation of the seat 22 and the desired
mode function is communicated to the processing module 30.
[0031] At step 66, the processing module 30 configures the input
modules 14, 16 according to the predefined patterns 32 adapted for
controlling the functions of the machine 10. Examples of functions
include, but are not limited to, drive, steer, stabilizer controls,
along with the functions of the first work tool 18 and the second
work tool 20 attached to the machine 10. The processing module 30
automatically adapts an appropriate predefined pattern 32 depending
on the input signals received from the position sensing device 34
and the control module 36. Thereafter, the processing module 30
reconfigures the input modules 14 according to the predefined
pattern 32 adapted.
[0032] The present disclosure provides a system and method to
automatically configure the controlling functions of the input
modules 14, 16 of the machine 10. The system 28 employs the
processing module 30 that defines the predefined patterns 32 to
re-configure the controls of the input modules 14, 16. The
predefined patterns 32 consider the orientation of the seat 22 and
the specific work tools that help in reducing the number of
controls in the machine 10 and is more intuitive and user friendly
to the operator. The operator is able to control the first work
tool 18 and the second work tool 20 along with other functions of
the machine 10, such as steer, stabilizer etc. in any configuration
of the seat 22.
[0033] The operator of the machine 10 is able to efficiently
control the functions of the first work tool 18 and the second work
tool 20 along with other functions of the machine 10. The work
accuracy of the operator for using the front work tool 18 and the
rear work tool 20 increase and also the operator takes lesser time
adapting to a different work tool controls.
[0034] While aspects of the present disclosure have been
particularly shown and described with reference to the embodiments
above, it will be understood by those skilled in the art that
various additional embodiments may be contemplated by the
modification of the disclosed machines, systems and methods without
departing from the spirit and scope of what is disclosed. Such
embodiments should be understood to fall within the scope of the
present disclosure as determined based upon the claims and any
equivalents thereof.
* * * * *