Determination of remote control operator position

• US 20060271263A1
• Filed: 05/26/2006
• Published: 11/30/2006
• Est. Priority Date: 05/27/2005
• Status: Active Grant

• Current Assignee: Charles Machine Works Inc (Toro)
• Original Assignee: Charles Machine Works Inc (Toro)
• Inventors: Kiner, Nathan, Self, Kelvin P.
• Granted Patent: US 7,890,235 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/96 with arrangements for alternate or simultaneous use of different digging elements E02F3/7604, E02F3/769, E02F3/78 take precedence; quick-acting devices to connect tools to arms or booms E02F3/3609, for arms to tractors or the like E02F3/627
• CPC Class Codes: E02F 5/145 control and indicating devices
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G01S 13/751 wherein the responder or reflector radiates a coded signal
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 3/143 by vectorial combination of signals derived from differently oriented antennae
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle

Abstract

A system for controlling a work machine and work tool from a remote controller. The remote controller sends a control signal to a receiver assembly and machine controller. The machine controller processes the control signal to determine the location of the remote controller relative to the receiver assembly and to alter operational characteristics of the machine or work tool based on the control signal or the location of the remote controller relative to the receiver assembly. The system may include a tag system to detect the presence of workers at the jobsite and to alter operation of the machine and work tool based upon the location of the workers relative to the machine or work tool. In another embodiment, a signal may be transmitted from the work machine and detected by a remote receiver assembly. A processor uses the detected signal to determine the position of the remote receiver assembly relative to the work machine.

Claims

1. A system for controlling operation of a work machine, the system comprising:

a signal system, positionable at a remote location from the work machine, comprising;

a signal generator adapted to generate a control signal;

a controller assembly supported by the work machine comprising;

a receiver assembly adapted to detect the control signal from the signal generator;

a processor adapted to determine a location of the signal system relative to the receiver assembly using the detected control signal and to change an operational characteristic of the work machine based upon either the control signal or the determined location of the signal system relative to the receiver assembly.

2. The system of claim 1 wherein the signal system comprises a portable frame.

3. The system of claim 1 wherein the signal system further comprises at least one user input device adapted to generate a control command for communication to the controller assembly.

4. The system of claim 1 wherein the controller assembly further comprises a work machine transmitter assembly adapted to transmit work machine operation information to the signal system.

5. The system of claim 4 wherein the work machine operation information comprises a current operational status of the work machine.

6. The system of claim 1 wherein the work machine comprises a work tool operatively connected to the work machine and adapted for operation in response to the control signal from the signal system.

7. The system of claim 6 wherein the processor is further adapted to alter the operational characteristic of the work machine based upon the type of work tool operatively connected to the work machine.

8. The system of claim 6 wherein the work tool comprises a plurality of operational characteristics.

9. The system of claim 8 wherein the processor is further adapted to change at least one of the plurality of operational characteristics of the work tool based upon the control signal or the position of the signal system relative to the receiver assembly.

10. The system of claim 6 wherein the work tool comprises a loader bucket.

11. The system of claim 1 wherein the receiver assembly comprises one or more directional antennas adapted to scan an area of operation to determine the location of the signal system.

12. The system of claim 11 wherein the directional antenna comprises a gimble mount to support the directional antenna on the work machine for movement in at least two planes.

13. The system of claim 11 further comprising a wearable tag adapted to transmit a unique identification signal to the receiver assembly when the receiver assembly scans the wearable tag, wherein the unique identification signal is used to determine the location of the tag relative to the work machine.

14. The system of claim 13 further comprising altering an operational characteristic of the work machine based upon the location of the tag relative to the work machine.

15. The system of claim 1 wherein the receiver assembly comprises at least two directional antennas adapted to detect the control signal from the signal system.

16. The system of claim 1 wherein the signal generator comprises a radio frequency generator and wherein the control signal comprises a radio frequency signal.

17. The system of claim 1 further comprising at least one operational sensor used to obtain information about the operating conditions of the work machine and wherein the operational sensor information is processed by the processor to change one or more of the operational characteristics of the work machine.

18. A work machine operable in response to a control signal generated by a signal system remote from the work machine, the work machine comprising:

a controller assembly comprising;

a receiver assembly adapted to detect the control signal from the signal system; and

a processor adapted to determine a position of the signal system relative to the receiver assembly using the detected control signal and to control or alter an operational characteristic of the work machine based upon the control signal or determined position of the signal system relative to the receiver assembly.

19. The work machine of claim 18 wherein the controller assembly further comprises a work machine transmitter assembly adapted to transmit work machine operation information to the signal system.

20. The work machine of claim 19 wherein the work machine operation information comprises a current operational status of the work machine.

21. The work machine of claim 18 further comprising a work tool operatively connected to the work machine and adapted for operation in response to the control signal.

22. The system of claim 21 wherein the processor is further adapted to alter the operational characteristic of the work machine based upon the type of work tool operatively connected to the work machine.

23. The work machine of claim 21 wherein the work tool comprises a plurality of operational characteristics.

24. The work machine of claim 23 wherein the processor is further adapted to change at least one of the plurality of operational characteristics of the work tool based upon the control signal or the position of the signal system relative to the receiver assembly.

25. The work machine of claim 18 wherein the receiver assembly comprises a directional antenna adapted to scan an area of operation to determine the location of the transmitted control signal.

26. The work machine of claim 18 wherein the receiver assembly comprises at least two antennas adapted to detect the control signal.

27. A method for controlling operation of a work machine comprising a plurality of operational characteristics, the method comprising:

generating a control signal at a location remote from the work machine;

detecting the control signal at the work machine;

determining a point of origin of the control signal relative to the work machine; and

controlling or altering at least one of the plurality of operational characteristics of the work machine based upon the control signal and the determined point of origin of the control signal.

28. The method of claim 27 wherein the work machine comprises a work tool, wherein the method further comprises:

identifying the type of work tool;

establishing a set of work tool operational characteristics;

monitoring changes in the point of origin of the control signal; and

changing the set of work tool operational characteristics based upon the changes in the point of origin of the control signal.

29. The method of claim 27 wherein the work machine comprise a work tool, wherein the method further comprises establishing an operational boundary defined by the work tool and the work machine.

30. The method of claim 29 further comprising processing the control signal to control operation of the work tool.

31. The method of claim 27 further comprising processing the control signal to control operation of the work machine.

32. The method of claim 27 wherein determining the point of origin of the control signal relative to the work machine comprises measuring the strength of the control signal at the work machine.

33. The method of claim 28 further comprising determining at least two operational sectors defined by the work tool and the work machine.

34. The method of claim 33 further comprising controlling or altering at least one of the operational characteristics of the work machine based upon the point of origin of the control signal being within one of the operational sectors.

35. The method of claim 28 wherein the work tool comprises a loader bucket and wherein one of the plurality of operational characteristics of the work machine comprises propulsion of the work machine.

36. A method for controlling a work machine comprising a work tool, the method comprising:

determining the type of work tool operatively connected to the work machine;

loading operational characteristics of the work machine and the work tool based upon the type of work tool operatively connected to the work machine;

establishing an operational boundary defined by the type of work tool and configuration of the work machine;

determining a location of a remote control system relative to the operational boundary; and

altering one or more operational characteristics of the work tool based upon the location of the remote control system relative to the operational boundary.

37. The method of claim 36 further comprising modifying the operational characteristic of the work tool if the remote control system is inside the operational boundary.

38. The method of claim 36 further comprising determining the position of an observer relative to the operational boundary.

40. The method of claim 36 further comprising transmitting a control signal from the remote control system to operate the work machine or work tool subject to the determined operational characteristics.

41. The method of claim 36 wherein determining the location of the remote control system relative to the operational boundary comprises:

transmitting a plurality of electromagnetic fields from the work machine; and

receiving the plurality of electromagnetic fields at the remote control assembly; and

calculating the distance from remote control assembly to the work machine using each of the plurality of electromagnetic fields.

42. The method of claim 36 wherein the operational boundary comprises a plurality of operational sectors and wherein the method further comprises changing an operational characteristic of the work tool or work machine based upon the location of the remote control system within a particular one of the plurality of operational sectors.

43. The method of claim 36 further comprising determining the operating conditions of the work machine and further altering one or more operational characteristics of the work tool based upon the operating conditions of the work machine.

44. The method of claim 36 further comprising altering the operational characteristics of the work machine based upon the type of work tool operatively connected to the work machine.

39. The method of claim 59 further comprising altering an operational characteristic of the work tool or work machine based upon the location of the observer relative to the operational boundary.

45. A method for controlling operation of a work machine system comprising, a movable work machine, a remote control system, and a work tool, the method comprising:

determining the type of work tool operatively connected to the work machine;

determining the operating condition of the work machine and work tool;

loading at least one operational characteristic of the work tool and the work machine based upon the type of work tool and the operating conditions of the work machine and work tool;

determining a location of the remote control system relative to the work machine; and

altering at least one of the operational characteristics of the work machine or the work tool based upon the location of the remote control system relative to the work machine.

46. The method of claim 45 wherein determining the operating condition of the work machine comprises sensing an inclination of the work machine.

47. The method of claim 45 wherein determining the location of remote control system relative to the work machine comprises:

transmitting a signal from the remote control system to the work machine;

receiving the signal and determining a distance between the remote control system and the work machine based upon the strength of the signal received at the work machine.

48. The method of claim 45 wherein altering the operational characteristic of the work tool comprises limiting a range of movement of the work tool.

49. The method of claim 45 wherein altering the operational characteristic of the work machine comprises limiting rate of movement of the work machine.

50. The method of claim 45 further comprising sensing movement of the work machine and further altering the operational characteristics of the work machine or work tool in response to the sensed movements.

51. The method of claim 45 further comprising sensing movement of the work tool and further altering the operational characteristics of the work tool or work machine in response to the sensed movements.