Determination of remote control operator position

• US 9,334,627 B2
• Filed: 10/20/2014
• Issued: 05/10/2016
• 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): Sample, Jonathan L
• Application Number:
  US14/518,117
• Publication Number:
  US 20150039158A1
• Time in Patent Office: 568 Days
• US Class Current: 1/1
• 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 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;

a remote control system relative to the work machine comprising a signal system;

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;

wherein the operational boundary is defined by the location of the remote control system, the work tool, and the work machine; 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.

2. The system of claim 1 wherein the attachment sensor comprises a circuit with pre-wired responses based on selected inputs from a switch bank.

3. The system of claim 2 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.

4. The work machine 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.

5. The work machine of claim 1 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.

6. The work machine of claim 1 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.

7. A work machine comprising:

a work tool operatively connected to the work machine;

an antenna assembly supported by the work machine to scan an operational boundary of the work machine and work tool for a person;

a remote control system relative to the work machine, the remote control system comprising a signal system comprising a signal generator to generate a control signal;

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

a processor adapted to determine a location of the person relative to the operational boundary and to change an operational characteristic of the work tool based upon the determined location of the person relative to the operational boundary;

wherein the operational boundary is defined by the location of the remote control system, the work tool, and the work machine;

wherein the processor determines a location of the signal system relative to the receiver assembly using the detected control signal and changes an operational characteristic of the work tool based upon either the control signal or the determined location of the signal system relative to the receiver assembly.

8. The work machine of claim 7 wherein the signal system further comprises at least one user input device adapted to generate a control command for communication to the receiver assembly.

9. The work machine of claim 7 wherein the processor selects a set of operational characteristics for the work machine based upon the type of work tool operatively connected to the work machine.

10. The work machine of claim 7 wherein the work tool comprises a trencher.

11. The work machine of claim 7 wherein the antenna assembly comprises a directional antenna assembly to scan the operational area to determine the location of the person relative to the operational boundary.

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

13. The work machine of claim 7 further comprising at least one operational sensor used to obtain information about the operating conditions of the work machine or work tool 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.

14. The work machine of claim 13 wherein the operational sensor comprises an inclination sensor.