Interface for retrofitting a manually controlled machine for automatic control

• US 8,078,297 B2
• Filed: 12/01/2006
• Issued: 12/13/2011
• Est. Priority Date: 12/01/2006
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Lasher, Vincent Lansing, Piekutowski, Richard Paul, Zalusky, James Thomas
• Primary Examiner(s): Patel, Ramesh
• Assistant Examiner(s): DUNN, DARRIN D
• Application Number:
  US11/607,800
• Publication Number:
  US 20080133062A1
• Time in Patent Office: 1,838 Days
• Field of Search: 373/48, 37352-362, 373/82, 701/50, 701/207, 701/213, 414/222.02, 414/270, 414/323, 414/148, 332/86, 172/779, 700/85
• US Class Current: 700/85
• CPC Class Codes: G05B 19/0426 Programming the control sequence
• 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: G05B 2219/21101 Connect I-O interface to joystick port
• CPC Class Codes: G05B 2219/25458 Opto isolation, optical separation
• CPC Class Codes: G05B 2219/2616 Earth moving, work machine
• CPC Class Codes: G05B 2219/33007 Automatically control, manually limited, operator can override control
• CPC Class Codes: G05B 2219/35438 Joystick
• CPC Class Codes: G05B 2219/45012 Excavator

Abstract

An operator controllable machine is retrofitted to be operator controlled or to be automatically controlled. An electrical joystick output is provided by a manually actuated joystick control, including a joystick, to a machine control in the manually controlled machine. An interface is added between the joystick control and the machine control to permit an external source, such as a GPS receiver or a laser receiver, to apply an electrical automatic control output to the machine control, as well. The interface includes a number of optical isolation circuits and a microprocessor. The isolated microprocessor output is supplied to the machine control, which produces valve control signals to control the hydraulic valves of the machine. The application of hydraulic fluid to the hydraulic cylinders of the machine is then controlled by either the joystick control output or the automatic control output. In an intermediate range of joystick movement, the hydraulic cylinders of the machine are controlled by both outputs, resulting in a smooth transition between manual and automatic operation.

Claims

1. An interface for retrofitting for automatic control a machine of the type having a manually actuated joystick control, including a joystick, for providing an electrical joystick output in response to a position of the joystick;

a machine control, responsive to the electrical joystick output, for providing valve control signals;

hydraulic cylinders for moving a machine element; and

hydraulic valves, responsive to said valve control signals, for controlling an application of hydraulic fluid to said hydraulic cylinders;

comprising;

at least one optical isolation circuit for isolating said electrical joystick output, and providing an isolated electrical joystick output,

at least one optical isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, said at least one optical isolation circuit for isolating an electrical automatic control output from an external source comprises

an optical isolation circuit for receiving a pulse width modulated electrical automatic control output and providing an isolated electrical automatic control output, and

an optical isolation circuit for receiving a serial digital automatic control output from an external source and providing an isolated serial digital automatic control output,

a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output, said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, and at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control, whereby the application of hydraulic fluid to said hydraulic cylinders may be controlled by either said joystick control output or said automatic control output.

2. The interface of claim 1 in which said at least one optical isolation circuit for isolating said electrical joystick output comprises a pair of electrical optical isolation circuits for isolating said electrical joystick output, and providing multiple isolated electrical joystick outputs.

3. The interface of claim 1 in which said electrical joystick output comprises one or more ratiometric voltages.

4. The interface of claim 1 in which said at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control comprises an optical isolation circuit, responsive to said microprocessor output, for providing an isolated pulse width modulated microprocessor output to said machine control.

5. The interface of claim 1 further comprising electrically isolated power and ground for each of said optical isolation circuits.

6. The interface of claim 1 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical automatic control output when said isolated electrical joystick output is less than a first certain value.

7. The interface of claim 1 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical joystick output when said isolated electrical joystick output is greater than a second certain value.

8. The interface of claim 1 in which said microprocessor, when switched in said, second automatic mode, operates to provide a microprocessor output which is dependent upon both said isolated electrical automatic control output and said isolated electrical joystick output when said isolated electrical joystick output is both greater than a first certain value, and less than a second certain value.

9. The interface of claim 1 in which said at least one optical isolation circuit for isolating said electrical joystick output comprises an optical isolation circuit for receiving a pulse width modulated electrical joystick output.

10. The interface of claim 1 in which said at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control comprises an optical isolation circuit, responsive to said microprocessor output, for providing an isolated analog microprocessor output to said machine control.

11. The interface of claim 1 in which said microprocessor is switchable to a third mode of operation in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said automatic control output.

12. An operator controllable machine which has been retrofitted to be operator controlled or to be automatically controlled, comprising:

a manually actuated joystick control, including a joystick, for providing an electrical joystick output in response to a position of the joystick,

an external source for providing an electrical automatic control output, at least one optical isolation circuit, responsive to said electrical joystick output, for isolating said electrical joystick output, and providing an isolated electrical joystick output,

at least one optical isolation circuit for isolating an electrical automatic control output from said external source, and providing an isolated electrical automatic control output,

a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output,

at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output, said at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output comprising an optical isolation circuit, responsive to said microprocessor output, for providing an isolated pulse width modulated microprocessor output, and an optical isolation circuit, responsive to said microprocessor output, for providing an isolated analog microprocessor output,

a machine control, responsive to said isolated microprocessor output, for providing valve control signals, hydraulic cylinders for moving a machine element, and

hydraulic valves, responsive to said valve control signals, for controlling the application of hydraulic fluid to said hydraulic cylinders,

said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, whereby the application of hydraulic fluid to said hydraulic cylinders may be controlled by either said joystick control output or said automatic control output.

13. The operator controllable machine of claim 12, in which said at least one optical isolation circuit for isolating said electrical joystick output comprises a pair of electrical optical isolation circuits for isolating said electrical joystick output, and providing multiple isolated electrical joystick outputs.

14. The operator controllable machine of claim 12 in which said electrical joystick output comprises one or more ratiometric voltages.

15. The operator controllable machine of claim 12 in which said at least one optical isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, comprises an optical isolation circuit for receiving a pulse width modulated electrical automatic control output and providing an isolated electrical automatic control output.

16. The operator controllable machine of claim 12 in which said at least one optical isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, comprises an optical isolation circuit for receiving a serial digital automatic control output from an external source and providing an isolated serial digital automatic control output.

17. The operator controllable machine of claim 12 further comprising electrically isolated power and ground for each of said optical isolation circuits.

18. The operator controllable machine of claim 12 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical automatic control output when said isolated electrical joystick output is less than a first certain value.

19. The operator controllable machine of claim 12 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical joystick output when said isolated electrical joystick output is greater than a second certain value.

20. The operator controllable machine of claim 12 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent upon both said isolated electrical automatic control output and said isolated electrical joystick output when said isolated electrical joystick output is both greater than a first certain value, and less than a second certain value.

21. The operator controllable machine of claim 12 in which said at least one optical isolation circuit for isolating said electrical joystick output comprises an optical isolation circuit for receiving a pulse width modulated electrical joystick output.

22. The operator controllable machine of claim 12, in which said microprocessor is switchable to a third mode of operation in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said automatic control output.

23. An interface for retrofitting for automatic control a machine of the type having a manually actuated joystick control, including a joystick, for providing an electrical joystick output in response to a position of the joystick;

a machine control, responsive to the electrical joystick output, for providing valve control signals;

hydraulic cylinders for moving a machine element; and

hydraulic valves, responsive to said valve control signals, for controlling a application of hydraulic fluid to said hydraulic cylinders;

comprising;

at least one isolation circuit for isolating said electrical joystick output, and providing an isolated electrical joystick output,

at least one isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, said at least one isolation circuit including an isolation circuit for receiving pulse width modulated outputs, and an isolation circuit for receiving digital serial inputs,

a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output, said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, and

at least one isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control, said isolated microprocessor output being available as both a pulse width modulated isolated microprocessor output and an analog isolated microprocessor output, as needed by the machine being retrofitted, whereby the application of hydraulic fluid to said hydraulic

position of the joystick;

a machine control, responsive to the electrical joystick output, for providing valve control signals;

hydraulic cylinders for moving a machine element; and

hydraulic valves, responsive to said valve control signals, for controlling the application of hydraulic fluid to said hydraulic cylinders;

comprising;

at least one isolation circuit for isolating said electrical joystick output, and providing an isolated electrical joystick output,

at least one isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, said at least one isolation circuit including an isolation circuit for receiving pulse width modulated outputs, and an isolation circuit for receiving digital serial inputs,

a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output, said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, and

at least one isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control, said isolated microprocessor output being available as both a pulse width modulated isolated microprocessor output and an analog isolated microprocessor output, as needed by the machine being retrofitted, whereby the application of hydraulic fluid to said hydraulic cylinders may be controlled by either said joystick control output or said automatic control output.

24. The interface of claim 23 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical automatic control output when said isolated electrical joystick output is less than a first certain value.

25. The interface of claim 23 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent only upon said isolated electrical joystick output when said isolated electrical joystick output is greater than a second certain value.

26. The interface of claim 23 in which said microprocessor, when switched in said second, automatic mode, operates to provide a microprocessor output which is dependent upon both said isolated electrical automatic control output and said isolated electrical joystick output when said isolated electrical joystick output is both greater than a first certain value, and less than a second certain value.

27. The interface of claim 23 in which said microprocessor is switchable to a third mode of operation in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said automatic control output.