Remotely controlled construction equipment

• US 10,415,213 B2
• Filed: 10/28/2016
• Issued: 09/17/2019
• Est. Priority Date: 10/28/2015
• Status: Active Grant

• Current Assignee: Christine J. Orr
• Original Assignee: Cooper Gray Robotics LLC
• Inventors: Gray, Justin, Mariels, Nathan
• Primary Examiner(s): Worden, Thomas E
• Application Number:
  US15/338,101
• Publication Number:
  US 20170123414A1
• Time in Patent Office: 1,054 Days
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: E02F 3/3414 the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/207 of the type electric propulsion units, e.g. electric motors or generators
• CPC Class Codes: E02F 9/2235 including an electronic controller
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries

Abstract

A remote controlled construction vehicle that can be battery powered and have movement members and a tool. The vehicle in one implementation can have wheels and a bucket and may include redundant safety and control systems that inhibit inadvertent startup of the vehicle or tool. The safety and control systems may also disable the vehicle in response to detecting faults.

Claims

1. A construction vehicle comprising:

a chassis;

movement members attached to the chassis to permit movement of the chassis;

a construction tool attached to the chassis;

a plurality of batteries that provide power to at least one electric motor that moves the movement members and the construction tool; and

a control system associated with the vehicle,

wherein the control system comprises an interlock system and user interface equipment,

wherein the user interface equipment permits user control of the movement members and the construction tool,

wherein the user interface equipment comprises first and second user interface devices activated in order to startup the construction vehicle,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in a state associated with holding the movement members stationary at the time of activation of the first user interface device,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in the state associated with holding the movement members stationary at the time of activation of the second user interface device, and

wherein, the interlock system is configured to prevent powered movement of the movement members and the construction tool when the interlock system prevents startup of the construction vehicle, at least until both the first and second user interface devices are in a de-activated state.

2. The construction vehicle of claim 1, wherein the construction vehicle is a skid steer, wherein the movement members comprise wheels driven by the at least one electric motor, and wherein the construction tool comprises a bucket driven by the at least one electric motor.

3. The construction vehicle of claim 1, wherein the plurality of batteries are located at an end of the chassis opposite the construction tool.

4. The construction vehicle of claim 1, wherein the control system further comprises:

a first joystick that controls forward, reverse, and turning motions of the movement members; and

a second joystick that controls raising, lowering, and tilting of the construction tool.

5. The construction vehicle of claim 1, wherein the at least one electric motor comprises a first electric motor that drives a first one of the movement members, a second electric motor that drives a second one of the movement members, and a third electric motor that moves the construction tool.

6. The construction vehicle of claim 1, wherein the at least one electric motor drives a hydraulic pump and wherein the hydraulic pump provides hydraulic power to the construction tool.

7. The construction vehicle of claim 1, wherein the construction tool comprises a construction tool selected from the group consisting of:

a hydraulically actuated construction tool receiving hydraulic fluid from an electrically driven hydraulic pump, an electrically actuated construction tool, a backhoe, a hydraulically actuated bucket, and an electrically actuated bucket.

8. The construction vehicle of claim 1, wherein the first and second user interface devices comprise first and second start switches, respectively.

9. The construction vehicle of claim 1, wherein the control system only permits powered movement of the movement members or the construction tool when both the first and second user interface devices are activated.

10. The construction vehicle of claim 1, wherein the state of the user interface equipment associated with holding the movement members stationary is also associated with holding the construction tool stationary such that the interlock system is configured to prevent startup of the construction vehicle when, at the time of activation of either the first or second user interface device, the user interface equipment is not in the state associated with holding the movement members and the construction tool stationary.

11. The construction vehicle of claim 4, wherein the first and second joysticks each have a respective neutral position, wherein the interlock system is configured to prevent startup of the construction vehicle when at least one of the first and second joysticks is not in its respective neutral position at the time of activation of the first user interface device, and wherein the interlock system is configured to prevent startup of the construction vehicle when at least one of the first and second joysticks is not in its respective neutral position at the time of activation of the second user interface device.

12. A construction vehicle comprising:

a chassis;

movement members attached to the chassis to permit movement of the chassis;

a construction tool attached to the chassis;

a plurality of batteries that provide power to at least one electric motor that moves the movement members and the construction tool; and

a control system associated with the vehicle,

wherein the control system comprises an interlock system and user interface equipment,

wherein the user interface equipment permits user control of the movement members and the construction tool,

wherein the user interface equipment comprises first and second user interface devices activated in order to startup the construction vehicle,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in a state associated with holding the movement members stationary at the time of activation of the first interface device,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in the state associated with holding the movement members stationary at the time of activation of the second user interface device,

wherein the control system monitors a level of power available from the plurality of batteries,

wherein the control system is configured to lock powered movement of the movement members and the construction tool when the control system determines that power from the plurality of batteries has been lost or a level of power available from the plurality of batteries has dropped below a predetermined threshold, and

wherein the control system is configured to require, whenever powered movement of the movement members and the construction tool are locked, the first and second user interface devices be in a de-activated state and then require activation of both the first and second user interface devices before movement of the movement members and the construction tool are unlocked.

13. The construction vehicle of claim 12, wherein the control system comprises a radio-frequency remote control unit that includes the first and second user interface devices and that has separate controls for the movement members and the construction tool.

14. A construction vehicle comprising:

a chassis;

movement members attached to the chassis to permit movement of the chassis;

a construction tool attached to the chassis;

a plurality of batteries positioned within the chassis and configured to provide power to at least one electric motor that moves the movement members and the construction tool; and

a control system associated with the construction vehicle,

wherein the control system comprises an interlock system and user interface equipment that permits user control of the movement members and the construction tool, wherein the user interface equipment comprises first and second user interface devices activated in order to startup the construction vehicle,

wherein the chassis has a front end and a back end,

wherein the construction tool is located forward of the front end and the plurality of batteries are positioned at the back end of the chassis,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in a state associated with holding the movement members stationary at the time of activation of the first user interface device,

wherein the interlock system is configured to prevent startup of the construction vehicle when the user interface equipment is not in the state associated with holding the movement members stationary at the time of activation of the first user interface device,

wherein the control system monitors a level of power available from the plurality of batteries,

wherein the control system is configured to lock powered movement of the movement members and the construction tool when the control system determines that power from the plurality of batteries has been lost or a level of power available from the plurality of batteries has dropped below a predetermined threshold, and

wherein the control system is configured to require, whenever powered movement of the movement members and the construction tool are locked, the first and second user interface devices be in a de-activated state and then require activation of both the first and second user interface devices before powered movement of the movement members and the construction tool are unlocked.

15. The construction vehicle of claim 14, wherein the construction vehicle is a skid steer, wherein the movement members comprise wheels driven by the at least one electric motor and wherein the construction tool comprises a bucket driven by the at least one electric motor.

16. The construction vehicle of claim 14, wherein the control system comprises a radio-frequency remote control unit that includes the first and second user interface devices and that has separate controls for the movement members and the construction tool.

17. The construction vehicle of claim 14, wherein the control system further comprises:

a first joystick that controls forward, reverse, and turning motions of the movement members; and

a second joystick that controls raising, lowering, and tilting of the construction tool.

18. A method of operating a construction vehicle comprising movement members that permit movement of the construction vehicle and that are electrically powered, a construction tool that is electrically powered, a plurality of batteries that provide power to at least one electric motor that moves the movement members and the construction tool, and a control system comprising first and second user interface devices that are activated during startup of the construction vehicle, wherein the control system further comprises user controls coupled to the movement members and the construction tool, the method comprising:

detecting, with the control system, activation of the first user interface device;

upon detecting activation of the first user interface device, preventing, with the control system, startup of the construction vehicle when the user controls are not in a state associated with holding the construction tool stationary;

detecting, with the control system, activation of the second user interface device;

upon detecting activation of the second user interface device, preventing, with the control system, startup of the construction vehicle when the user controls are not in the state associated with holding the construction tool stationary;

monitoring, with the control system, a level of power available from the plurality of batteries;

detecting, with the control system, that the level of power available from the plurality of batteries has dropped below a predetermined threshold; and

upon detecting that the level of power available from the plurality of batteries has dropped below the predetermined threshold, disabling powered movement of the movement members and the construction tool at least until the first and second user interface devices are both in a de-activated state.

19. The method of claim 18, wherein the user controls comprise at least one joystick and wherein the at least one joystick must be in a neutral position in order for the user controls to be in the state associated with holding the construction tool stationary.