Depth-related help functions for a wheel loader training simulator

• US 9,666,095 B2
• Filed: 05/15/2014
• Issued: 05/30/2017
• Est. Priority Date: 08/02/2012
• Status: Active Grant

• Current Assignee: Joy Global Surface Mining Inc. (Komatsu Ltd.)
• Original Assignee: Harnischfeger Technologies Inc. (Komatsu Ltd.)
• Inventors: Swiderski, Gregory, Benedict, II, James
• Primary Examiner(s): Musselman, Timothy A
• Application Number:
  US14/278,545
• Publication Number:
  US 20140248589A1
• Time in Patent Office: 1,111 Days
• CPC Class Codes: E02F 9/2008 Control mechanisms in the form of the machine in the reduced scale model
• CPC Class Codes: G09B 9/042 providing simulation in a real vehicle G09B9/052, G09B9/058 take precedence

Abstract

Methods and systems for training an operator. One system includes a computing device including a processing unit and computer-readable medium. The computer-readable medium stores a training simulator application that is configured to receive an operating command from the operator, generate a simulated working environment and a simulated wheel loader having a simulated bucket, and generate an indicator providing depth-related information to an operator relating to a position of at least a portion of the simulated wheel loader with respect to a point-of-reference within the simulated working environment. The training simulator application is further configured to output the simulated working environment and the indicator for display to the operator, and automatically modify the indicator based on a position of the simulated wheel loader with respect to the point-of-reference.

Claims

1. A system for training an operator, the system comprising:

a computing device including a processing unit and computer-readable medium, the computer-readable medium storing a training simulator application;

wherein the training simulator application, when executed by the processing unit, is configured to

receive an operating command from the operator,

generate and output a simulated training environment, the simulated training environment including a simulated ground plane and a simulated wheel loader having a simulated bucket, the simulated wheel loader and the simulated bucket positioned and moveable within the simulated training environment in response to the operating command received from the operator,

determine a current position of a level-grade plane within the simulated ground plane,

determine a current position of at least a portion of the simulated wheel loader within the simulated training environment,

determine if at least a portion of the simulated bucket is below the level-grade plane based on the current position of at least a portion of the simulated wheel loader and the current position of the level-grade plane,

when at least a portion of the simulated bucket is below the level-grade plane, generate and output an indicator having a first feature, wherein the indicator marks at least a portion of the level-grade plane within the ground plane, and

when at least a portion of the simulated bucket is not below the level-grade plane, generate and output the indicator having a second feature, wherein the second feature differs from the first feature by at least one selected from the group comprising a color, a size, a shape, a pattern, and an animation.

2. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a height of a simulated haul truck within the simulator training environment.

3. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a position of a simulated haul truck within the simulated training environment.

4. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a centerline of a tire of a simulated haul truck within the simulated training environment.

5. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a height of a side rail of a simulated haul truck within the simulated training environment.

6. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a height of a guard weld of the simulated bucket.

7. The system of claim 1, wherein the training simulator application is further configured to generate and output a second indicator marking a recommended angle of the simulated bucket.

8. A method for training an operator of a wheel loader, the method comprising:

generating, with a processor, a simulated wheel loader having a simulated bucket within a simulated training environment;

generating a simulated haul truck within the simulated training environment;

determining a current position of at least a portion of the simulated haul truck;

determining a current position of at least a portion of the simulated wheel loader within the simulated training environment;

determining a recommended position of the simulated wheel loader based on the current position the simulated haul truck;

determining if the current position of the simulated wheel loader corresponds to the recommended position;

when the current position of the simulated wheel loader corresponds to the recommended position, generating and outputting an indicator having a first feature within the simulated training environment, the indicator marking at least a portion; and

when the current position of the simulated wheel loader does not correspond to the recommended position, generating and outputting the indicator having a second feature, wherein the second feature differs from the first feature.

9. The method of claim 8, wherein generating and outputting the indicator includes generating and outputting the indicator marking a height of the simulated haul truck.

10. The method of claim 8, wherein generating and outputting the indicator includes generating and outputting the indicator marking at least one selected from a group comprising a top side of the simulated haul truck and an underside of simulated lift arms supporting the simulated bucket.

11. The method of claim 8, further comprising displaying a second indicator within the simulated training environment marking a direction of travel of the simulated wheel loader to reach the recommended position.

12. The method of claim 11, further comprising generating and outputting a second indicator within the simulated training environment marking a second direction of travel of the simulated wheel loader to reach the recommended position, wherein the first direction of travel represents a backward direction of travel until the simulated wheel loader is positioned approximately halfway down a length of the simulated haul truck and the second direction of travel represents a turning direction of travel until the simulated wheel loader is facing the simulated haul truck for depositing material in the simulated bucket within the simulated haul truck.

13. The method of claim 8, wherein generating and outputting the indicator includes generating and outputting the indicator a height of a side rail of the simulated haul truck with respect to a height of a guard weld of the simulated bucket.

14. The method of claim 8, wherein generating and outputting the indicator includes generating and outputting the indicator marking a position within the simulated haul truck where the simulated wheel loader should deposit materials contained in the simulated bucket.

15. The method of claim 14, wherein generating and outputting the indicator includes generating and outputting the indicator marking a front half of a back tire of the simulated haul truck.

16. The method of claim 15, wherein determining if the current position of the simulated wheel loader corresponds to the recommended position includes determining if a center of the simulated wheel loader is aligned with the front half of the back tire of the simulated haul truck.

17. The method of claim 8, wherein generating and outputting the indicator having the second feature includes generating and outputting the indicator with the second feature, wherein the second feature differs from the first feature based on color.

18. The method of claim 8, further comprising, when the current position of the simulated wheel loader does not correspond to the recommended position, generating and outputting the indicator with a third feature when the current position of the simulated wheel loader is within a predetermined distance of the recommended position.

19. The method of claim 8, wherein generating and outputting the indicator with the second feature includes generating and outputting the indicator with the second feature, wherein the second feature differs from the first feature based on at least selected from a group consisting of color, size, shape, pattern, and animation.

20. The method of claim 8, further comprising, when the current position of the simulated wheel loader does not correspond to the recommended position, outputting at least one selected from a group consisting of a text-based warning, an audible warning, and a tactile warning.

21. A method for training an operator of a wheel loader, the method comprising:

generating and outputting, with a processor, a simulated wheel loader having a simulated bucket within a simulated training environment;

generating and outputting, with the processor, a simulated ground plane within the simulated training environment;

when an operator operates the simulated wheel loader to load material into the simulated bucket,

determining, with the processor, a current position of a level-grade plane within the simulated ground plane,

determining, with the processor, a current position of at least a portion of the simulated wheel loader within the simulated training environment,

determining, with the processor, if at least a portion of the simulated bucket is below the level-grade plane based on the current position of at least a portion of the simulated wheel loader and the current position of the level-grade plane,

when at least a portion of the simulated wheel loader is below the level-grade plane, generating and outputting, with the processor, an indicator having a first feature, wherein the indicator marks at least a portion of the level-grade plane within the ground plane, and

when at least a portion of the simulated wheel loader is not below the level-grade plane, generating and outputting, with the processor, the indicator having a second attribute, wherein the second attribute differs from the first attribute based on at least one selected from the group comprising color, size, shape, pattern, and animation,

generating and displaying, with the processor, a second indicator within the simulated training environment marking a recommended angle of the simulated bucket;

determining if the simulated bucket is positioned at the recommended angle; and

when the simulated bucket is not positioned at the recommended angle, alerting the operator, wherein alerting the operator includes modifying the second indicator.

22. The method of claim 21, wherein generating and displaying the second indicator includes generating and displaying the second indicator superimposed on the simulated bucket.

23. The method of claim 21, wherein generating and displaying the second indicator includes generating and displaying an angled line within the simulated training environment.

24. The method of claim 21, wherein generating and displaying the second indicator includes generating and displaying at least one arrow indicating a direction of movement of the simulated bucket to reach the recommended angle.

25. The method of claim 21, wherein modifying the second indicator includes changing at least one selected from a group consisting of color, size, shape, pattern, and animation.

26. The method of claim 21, wherein alerting the operator further includes outputting at least one selected from a group consisting of a text-based warning, an audible warning, and a tactile warning.