Determination of remote control operator position

• US 8,868,301 B2
• Filed: 02/14/2011
• Issued: 10/21/2014
• Est. Priority Date: 05/27/2005
• Status: Active Grant

• Current Assignee: Charles Machine Works Incorporated The
• Original Assignee: Charles Machine Works Incorporated The
• Inventors: Self, Kelvin P., Kiner, Nathan
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Sample, Jonathan L
• Application Number:
  US13/026,438
• Publication Number:
  US 20110137491A1
• Time in Patent Office: 1,345 Days
• Field of Search: None
• 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 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 at least one of a plurality of different types of work tools and a machine controller, the method comprising:

operatively connecting the at least one of the plurality of different types of work tools to the work machine;

determining a type of work tool operatively connected to the work machine from the plurality of different types of work tools;

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

loading onto the machine controller operational characteristics of the work machine and operational characteristics of the at least one of the plurality of different types of work tools based upon the type of work tool operatively connected to the work machine;

establishing an operational boundary defined by the location of the remote control system, the type of work tool, and configuration of the work machine;

wherein the operational boundary automatically changes based upon movement of the work machine and the location of the remote control system;

determining a location of a person relative to the operational boundary; and

automatically altering at least one of the operational characteristics using the machine controller based upon the location of the person relative to the operational boundary.

2. The method of claim 1 further comprising altering the at least one of the operational characteristic of the at least one of the plurality of different types of work tools if the person is inside the operational boundary.

3. The method of claim 1 further comprising transmitting a control signal from the remote control system to operate the at least one of the plurality of different types of work tools subject to the loaded operational characteristics.

4. The method of claim 1 wherein the operational boundary comprises a plurality of operational sectors and wherein the method further comprises changing at least one of the operational characteristics based upon the location of the person within a particular one of the plurality of operational sectors.

5. 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 at least one of the plurality of different types of work tools based upon the operating condition of the work machine.

6. The method of claim 5 wherein determining the operating condition of the work machine comprises sensing an inclination of the work machine.

7. The method of claim 1 wherein altering the operational characteristic of the at least one of the plurality of different types of work tools comprises limiting a range of movement of the work tool based upon the location of the person within the operational boundary.

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

9. The method of claim 1 further comprising sensing movement of the at least one of the plurality of different types of work tools and further altering at least one of the operational characteristics in response to the sensed movements of the at least one of the plurality of different types of work tools and the location of the person relative to the operational boundary.