Heavy machine with wireless sensor and automatic wireless control

• US 9,587,378 B2
• Filed: 06/05/2015
• Issued: 03/07/2017
• Est. Priority Date: 03/29/2009
• Status: Active Grant

• Current Assignee: Stephen T. Schmidt
• Original Assignee: Stephen T. Schmidt
• Inventors: Schmidt, Stephen T
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/731,781
• Publication Number:
  US 20160010310A1
• Time in Patent Office: 641 Days
• Field of Search: 701/2
• US Class Current: 1/1
• CPC Class Codes: E02F 3/325 Backhoes of the miniature type
• CPC Class Codes: E02F 3/432 for keeping the bucket in a predetermined position or attitude
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• CPC Class Codes: E02F 3/964 of several tools mounted on one machine E02F3/962 takes precedence
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/2058 Electric or electro-mechanical or mechanical control devices of vehicle sub-units for vehicles in general B60W
• CPC Class Codes: E02F 9/2228 including an electronic controller
• CPC Class Codes: E02F 9/2246 Control of prime movers, e.g. depending on the hydraulic load of work tools

Abstract

An auto-powered mobile machine with controls for a riding operator and a system for carrying and making efficient use of a variety of attachable tools. Wireless radio communication from the controls to a lower tool may allow the swivel to spin any number of times without limitation. Hydraulic tool position controls are wirelessly coupled to a remote sensor that responds to a string datum line, a curb, direction of gravity, or GPS data.

Claims

1. A method for automatically controlling a heavy machine, comprising:

(a) having on the machine remote from a central controller a terrestrial position sensor that generates data indicating where the sensor is positioned relative to the earth;

(b) wirelessly transmitting the position data from a wireless sending unit coupled to the sensor to a wireless receiver coupled to the central controller;

(c) the receiver providing the position data to the controller; and

(d) the controller using the position data to automatically determine commands sent to one or more actuators to control actions of components of the machine which actions are determined in part as a function of the sensor'"'"'s position relative to the earth.

2. The method of claim 1 wherein the terrestrial position sensor is selected from the group comprising:

a slope sensor, a GPS unit, a sonar sensor, and a laser sensor.

3. The method of claim 1 wherein the position sensor is mounted on a removable tool.

4. The method of claim 3 wherein the removable tool is selected from the group comprising:

a bucket, a claw, a rake, a vibratory compactor, a curb and gutter grading blade, a curb and gutter extruder, a sidewalk and shoulder grading blade, a horizontally extendable low profile side blade, an asphalt paver, a concrete paver, a fence installer, a trencher, a concrete/asphalt saw, a side roller/compactor, a vibratory roller, and a snow plow.

5. The method of claim 1 wherein the controller uses the position data to automatically maintain a tool in a constant orientation with respect to gravity.

6. The method of claim 1 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to a datum line.

7. The method of claim 1 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to positions defined by GPS coordinates.

25. The method of claim 1 wherein the terrestrial position sensor is powered by a battery and the wireless sending unit is powered by a battery.

8. A heavy machine with a wireless link for automatically controlling its actions, comprising:

(a) a central controller that controls actions of a component of the machine relative to the earth coupled to a wireless receiver;

(b) remote from the central controller a terrestrial position sensor that generates data indicating where the sensor is positioned relative to the earth;

(c) coupled to the sensor, a wireless sending unit that wirelessly transmits the position data from the sensor to the wireless receiver which transmits the position data to the central controller; and

(d) means within the controller for using the position data to automatically determine commands sent to at least one actuator to control actions of at least one component of the machine which actions are determined in part as a function of the sensor'"'"'s position relative to the earth.

9. The machine of claim 8 wherein the terrestrial position sensor is selected from the group comprising:

a slope sensor, a GPS unit, a sonar sensor, and a laser sensor.

10. The machine of claim 8 wherein the position sensor is mounted on a removable tool.

11. The machine of claim 10 wherein the removable tool is selected from the group comprising:

a bucket, a claw, a rake, a vibratory compactor, a curb and gutter grading blade, a curb and gutter extruder, a sidewalk and shoulder grading blade, a horizontally extendable low profile side blade, an asphalt paver, a concrete paver, a fence installer, a trencher, a concrete/asphalt saw, a side roller/compactor, a vibratory roller, and a snow plow.

12. The machine of claim 8 wherein the controller uses the position data to automatically maintain a tool in a constant orientation with respect to gravity.

13. The machine of claim 8 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to a datum line.

14. The machine of claim 8 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to positions defined by GPS coordinates.

26. The heavy machine of claim 8 wherein the terrestrial position sensor is powered by a battery and the wireless sending unit is powered by a battery.

15. A set of components for automatically and wirelessly controlling heavy machinery tools, comprising:

(a) at least one terrestrial position sensor mountable on a tool which position sensor generates position sensor data;

(b) at least one wireless sensor data sending unit coupled to or couplable to the position sensor that transmits position sensor data;

(c) at least one wireless data receiving unit that receives position sensor data; and

(d) at least one automatic controller coupled to or couplable to the data receiving unit which controller receives position sensor data from the wireless data receiving unit and automatically generates commands to be sent to at least one tool actuator to automatically position the tool based at least in part on the position sensor data received from the sensor.

16. The set of components of claim 15 further comprising:

(c) at least one wireless command sending unit coupled to or couplable to the automatic controller; and

(f) at least one wireless command receiving unit coupled to or couplable to the at least one actuator.

17. The set of components of claim 16 wherein the wireless command receiving unit is merged with the wireless sensor data sending unit.

18. The set of components of claim 16 wherein the wireless command sending unit is merged with the wireless sensor data receiving unit.

19. The set of components of claim 15 wherein the terrestrial position sensor is selected from the group comprising:

a slope sensor, a GPS unit, a sonar sensor, and a laser sensor.

20. The set of components claim 15 wherein the position sensor is mounted on a removable tool.

21. The set of components of claim 20 wherein the removable tool is selected from the group comprising:

a bucket, a claw, a rake, a vibratory compactor, a curb and gutter grading blade, a curb and gutter extruder, a sidewalk and shoulder grading blade, a horizontally extendable low profile side blade, an asphalt paver, a concrete paver, a fence installer, a trencher, a concrete/asphalt saw, a side roller/compactor, a vibratory roller, and a snow plow.

22. The set of components of claim 15 wherein the controller uses the position data to automatically maintain a tool in a constant orientation with respect to gravity.

23. The set of components of claim 15 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to a datum line.

24. The set of components of claim 15 wherein the controller uses the position data to automatically maintain a tool on a preferred path with respect to positions defined by GPS coordinates.

27. The set of components of claim 15 wherein the terrestrial position sensor Is powered by a battery and the wireless sending unit is powered by a battery.