Determination Of Remote Control Operator Position

• US 20110137491A1
• Filed: 02/14/2011
• Published: 06/09/2011
• 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 8,868,301 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• 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
• CPC Class Codes: G05D 2201/0202 Building or civil engineering machine

Abstract

A system and method for controlling a work machine system having a work machine and work tool. Operational characteristics of both the work machine and work tool are configured by a machine controller based upon the type of work tool attached to the work machine, the operating environment of the work machine, and the location of work site personnel or other observers relative to the machine or work tool. The operational characteristics of both the work machine and work tool may then be automatically altered during operation of the work machine system to limit or expand functions of the work machine system in response to changes in the operational environment or movement of personnel or observers relative to the work machine system.

Claims

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

determining a 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 person relative to the operational boundary; and

automatically altering an operational characteristic of the work tool or work machine based upon the location of the person relative to the operational boundary.

2. The method of claim 1 further comprising modifying the operational characteristic of the work tool if the person is inside the operational boundary.

3. The method of claim 1 further comprising determining a location of a remote control system relative to the operational boundary.

4. The method of claim 3 further comprising transmitting a control signal from the remote control system to operate the work tool subject to the loaded operational characteristics.

5. The method of claim 1 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 person within a particular one of the plurality of operational sectors.

6. The method of claim 1 further comprising determining an operating condition of the work machine and further altering one or more operational characteristics of the work tool based upon the operating condition of the work machine.

7. The method of claim 6 wherein determining the operating condition of the work machine comprises sensing an inclination of the work machine.

8. The method of claim 1 wherein altering the operational characteristic of the work tool comprises limiting a range of movement of the work tool based upon the location of the person within the operational boundary.

9. The method of claim 1 wherein altering the operational characteristic of the work machine comprises limiting a rate of movement of the work machine.

10. The method of claim 1 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 of the work tool and the location of the person relative to the operational boundary.

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

determining an operating condition of the work machine system;

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

determining a location of a person relative to the work machine; and

altering at least one operational characteristic of the work tool based upon the location of the person relative to the work machine.

12. The method of claim 11 wherein determining the location of the person relative to the work machine comprises:

transmitting a signal from the person to the work machine; and

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

13. The method of claim 11 wherein altering the operational characteristic of the work tool comprises limiting a range of movement of the work tool.

14. The method of claim 11 further comprising sensing movement of the person relative to the work machine and further altering the operational characteristics of the work tool in response to the sensed movements.

15. A system for controlling operation of a work machine having a work tool, the system comprising:

an attachment sensor to determine attachment of the work tool and to determine the type of work tool operatively connected to the work machine;

a controller assembly supported by the work machine to generate control signals used for operation of the work machine and the work tool;

an antenna assembly supported by the work machine to establish an operational boundary around the work machine and work tool and to transmit a personnel detection signal; and

a processing assembly to configure the controller assembly for operation of the work tool detected by the attachment sensor, to determine a location of personnel relative to the operational boundary and to periodically alter the control signal output by the controller system to change an operational characteristic of the work tool based upon a detected location of personnel relative to the operational boundary.

16. The system of claim 15 wherein the attachment sensor comprises a circuit with pre-wired responses based on selected inputs from a switch bank.

17. The system of claim 16 wherein the attachment sensor comprises a microprocessor based control system to interface with the controller assembly to automatically alter the operational characteristics of the work tool.

18. The work machine of claim 15 wherein the signal system further comprises at least one user input device adapted to generate a control command for communication to the controller assembly.

19. The work machine of claim 15 wherein the antenna assembly comprises a directional antenna assembly to scan an area of operation to determine the location of the person relative to the operational boundary.

20. The work machine of claim 15 further comprising at least one operational sensor used to obtain information about the operating conditions of the work machine and to generate an operational sensor information signal;

wherein one or more of the operational characteristics of the work tool are automatically altered in response to the operational sensor information signal.