HK1175860B - A method and an apparatus for controlling a machine using motion based signals and inputs - Google Patents

Description

Method and apparatus for controlling a machine using movement-based signals and inputs

Technical Field

The present invention relates generally to human-machine interfaces, and more particularly to methods and apparatus for controlling a machine based on sensed movement inputs.

Background

The operation of machines such as industrial or heavy machinery, mobile cranes, concrete pumps, skid-steer vehicles, material handling machines, fluid handling or suction machines, agricultural machines, telemetry systems, load haul dump machines, winches, rescue vehicles, trailers, self-propelled mobile platforms, mining equipment, or the like, can often be performed remotely with advantage by using a suitable human-machine interface. It is desirable that such an interface be cost effective, reliable, and simple but efficient enough to perform the required machine operations.

One type of economical industrial remote control solution includes a plurality of mechanical toggle switches or buttons for actuating different aspects of the remote control machine. However, this type of solution only provides on/off control on a per machine basis, since the switch or button can only be operated in the on and off position.

Another type of remote control scheme involves a trigger input on the control handle. In this approach, a switch or button is activated with one hand while actuating the trigger input to the desired position along a generally continuous range. The magnitude of the selected control signal is proportional to the amount of flip-flop deflection. However, this type of solution requires two-handed operation, which can be cumbersome and can prevent the worker from simultaneously operating the remote control with one hand and performing another task with the other hand. In addition, flip-flops can only be used to provide one input at a time. Other types of inputs, such as a remote manual lever or joystick, may be used instead of or in addition to the trigger. However, these solutions are generally expensive, complex and prone to mechanical wear and still require two-handed operation.

One type of user input device that has not been widely used to date to control machines such as industrial equipment is a motion sensing user input device such as a handheld device or a wearable device. These devices are commonly applied to navigation with respect to integrated or external video displays associated with computers or to provide user interfaces for mobile phones, digital cameras or gaming devices. For example, the input device is converted into a signal for navigating through a video display by a translational or rotational movement in space.

For example, U.S. patent No.518181 discloses a handheld computer mouse that senses six degrees of movement resulting from motion within three dimensions. The mouse includes three accelerometers and three angular rate sensors for sensing linear translation and angular rotation. The mouse may also include a plurality of buttons for providing special command signals to the computer, such as resetting a zero reference point or keeping constant the position and attitude attributes of the mouse even if motion occurs while pressing the button. However, this application is directed only to computer control.

As another example, U.S. patent No.7280096 discloses a motion controlled handheld device that includes an integral display and responds to three-dimensional motion inputs through accelerometers, cameras, gyroscopes, and/or rangefinders. The mobile input may be used to navigate a computer application. The device may also be switched between a plurality of input modes, such as a movement-based mode and a gesture recognition mode, for example, by pressing a particular key. In addition, to enable greater movement within the virtual desktop in a limited amount of physical space, selective disengagement and re-engagement of the device's sensitivity of movement may be enabled by another input key. However, for at least some types of machine control, this approach is not suitable.

Accordingly, there is a need for methods and apparatus for controlling a machine based on sensed movement input that is not subject to one or more of the limitations of the prior art.

This background information is provided so that information known to the applicant to be of possible relevance to the present invention. It is not intended, and should not be construed, that any of the preceding information constitutes prior art against the present invention.

Disclosure of Invention

It is an object of the present invention to provide a method and apparatus for controlling a machine based on sensed movement inputs. According to one aspect of the present invention there is provided apparatus for controlling a machine based on sensed input, the machine being responsive to a plurality of machine control signals for controlling respective aspects thereof, the apparatus comprising: an input module, the input module comprising: a selection input interface operable by a general user input to select an input state from a plurality of potential states including a standby state and a plurality of operating states; and one or more movement sensors configured to generate one or more movement-based signals from the movement-based input; and a processing and control module operatively coupled with the input module and the machine, the processing and control module configured to: when the selected input state is one of the one or more operating states, determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals, the mapping determined based at least in part on the selected input state; and providing one or more machine control signals for controlling the machine based at least in part on the mapping and the one or more movement-based signals.

According to another aspect of the present invention, there is provided a system for controlling a machine, the system comprising: an input device comprising an input module and a processing and control module operatively coupled thereto, the input module comprising: a selection input interface operable by a general user input to select an input state from a plurality of potential states including a standby state and a plurality of operating states; and one or more movement sensors configured to generate one or more movement-based signals from the movement-based input; the processing and control module is configured to: when the selected input state is one of the one or more operating states, determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals, the mapping determined based at least in part on the selected input state; and providing one or more machine control signals for controlling a machine based at least in part on the mapping and the one or more movement-based signals; and a machine control module configured to receive one or more machine control signals from the input device, the machine control module configured to transmit the one or more machine control signals to the machine for controlling one or more of the plurality of controllable machine aspects.

According to another aspect of the present invention, there is provided a method for facilitating control of a machine, the method being responsive to a plurality of machine control signals for controlling respective aspects thereof, the method comprising: receiving a sensed input, the sensed input including a selection input based on a composite user input, the sensed input also including a movement-based input; determining an input state based on the selection input, the input state being selected from a plurality of potential states including a standby state and a plurality of operating states; generating one or more movement-based signals from the movement-based input; when the selected input state is one of the one or more operating states, determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals, the mapping determined based at least in part on the selected input state; and providing one or more machine control signals for controlling a machine based at least in part on the mapping and the one or more movement-based signals.

Drawings

These and other features of the present invention will become more apparent in the following detailed description, which proceeds with reference to the accompanying drawings.

FIG. 1 illustrates an apparatus for controlling a machine based on sensed input, according to an embodiment of the present invention.

FIG. 2 illustrates an apparatus for controlling a machine based on sensed input, according to an embodiment of the present invention.

FIG. 3 illustrates actions associated with processing sensed inputs to provide machine control signals in accordance with an embodiment of the present invention.

FIG. 4 illustrates a method for controlling a machine based on sensed input, according to an embodiment of the present disclosure.

Fig. 5A to 5D illustrate a method and apparatus for remotely operating a crane according to an exemplary embodiment of the present invention.

Detailed Description

Definition of

The term "proportional control" refers to the application of a control output signal having a signal magnitude or its effect that can be varied over a range of values. The output signal magnitude or its effect is proportional to the magnitude of the input signal or a function thereof, which may also vary over a range of values. The range of values may be a substantially continuous range or a discrete approximation to a continuous range, the discrete approximation having more than two values. The signal magnitude may correspond to an instantaneous or average value that is exhibited over a predetermined time interval, such as a sampling time interval.

As used herein, the term "movement-based input" refers to input that reflects spatial motion of an input device, such as one configured as a movement-sensitive device. Input may be managed by translating or rotating a substantially self-contained motion-sensitive device in space in one, two, or three spatial dimensions. The motion-sensitive device may be, for example, a fully rigid, hand-held, or wearable unit that contains one or more motion-based input sensors that provide an indication of spatial motion of the sensitive device. For example, the movement-based input sensor may be an accelerometer, a MEMS gyroscope, or other movement sensor that is sensitive to movement.

As used herein, the term "movement-based signal" refers to a signal such as an electrical and/or radio signal that carries information related to movement-based input. The movement-based signal may be generated by one or more movement-based sensors.

As used herein, the term "about" refers to a variation of +/-10% from a nominal value. It is to be understood that such a variation is always included in the given values provided herein, whether or not it is specifically referred to.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

The present invention provides methods and apparatus for controlling a machine, such as an industrial machine, based on sensed input, for example, sensed by an input module or a user interface controllable by a user, such as a human operator. The machine is responsive to a plurality of machine control signals, e.g., provided via control inputs, for controlling a corresponding plurality of machine aspects, such as various controllable mechanical devices, electrical devices, visual or audio devices, or combinations thereof. The invention includes receiving input including selection input and sensing of movement-based input, for example, by an appropriate input module of the device. Suitable input modules may include buttons, movement sensors such as accelerometers, and the like. A selection input, applied for example through a selection input interface, is operable to determine an input state from a plurality of potential states including a standby state and a plurality of operating states. A movement-based signal is generated based on the movement-based input. The present disclosure provides for determining a mapping between one or more movement-based signals and one or more of a plurality of machine control signals when the selected input state is one of the one or more operating states. A mapping is determined based at least in part on the selected input state. The present disclosure provides one or more machine control signals for controlling a machine based at least in part on the mapping and the one or more movement-based signals. The determination of the mapping and the provision of the machine control signal may be performed by a process control module of the device for controlling the machine.

FIG. 1 schematically illustrates an apparatus 100 for controlling a machine 160 based on sensed input, according to an embodiment of the invention. The device 100 includes an input module 110 containing a selection input interface 115, such as a plurality of buttons, switches, or one or more dials, and one or more movement sensors 120, such as an array of accelerometer-based movement sensors for sensing translational movement, rotational movement, or a combination thereof, of the device 100 in space. In embodiments, the input module may be provided within a housing that may be sized and shaped for operation using one hand. That is, the housing may be held in the user's hand, with hand movement being imparted to the (impart) movement sensor 120. The selection input interface 115 may further be ergonomically positioned so that it can be operated by hand while holding and possibly moving the device 100. The apparatus 100 also includes a processing and control module 140 operatively coupled with the input module 110 and the machine 160. Processing and control module 140 is configured to determine a mapping between the movement-based signals provided as a result of operation of movement sensor 120 and one or more of a plurality of machine control signals for aspects of machine 160. As described herein, processing and control module 140 is further configured to provide machine control signals for controlling aspects of machine 160 based at least in part on the mapping and the movement-based signals. The device 100 may also include a power supply 150 for providing power to the processing and control module 140, e.g., for powering the processor and transceiver, etc. The power supply 150 may also optionally provide power to the input module 110, if desired.

In embodiments of the present invention, an input state may be selected from a plurality of potential states by integrating user input operations, such as selection inputs applied to a selection input interface. The potential states include a standby state and a plurality of operating states. The integrated user input may, for example, correspond to selecting and pressing a button, releasing a selected depressed button, pressing and holding a selected button, turning a dial or potentiometer to a selected position, operating a selected single lever, multi-throw switch, selecting and operating one of a plurality of switches, touching a touch-sensitive surface at a selected position, or speaking a voice command, etc. In embodiments of the invention, the integrated user input may be characterized in that it corresponds to a single input condition and/or a single user action, such as a single integrated movement of the operator's hand, which may be easily performed by the operator. The single input condition is characterized by one or more buttons or other input operating conditions, e.g., a description of which buttons to actuate and which buttons not to actuate in response to user action. The single user action may be selected from a plurality of potential single user actions for selecting a desired input state from a plurality of potential states. For example, the selection input interface may suitably be ergonomically configured to facilitate its operation by integrating user input and/or individual input conditions according to respective individual integrated user actions.

In embodiments of the selection input interface of the present invention operable to select one of a standby state or a plurality of operating states, the processing and control module is configured to determine a mapping between the movement-based signal and the machine control signal when the selected input state is one of the plurality of operating states. Conversely, when the selected input state is a standby state, the processing and control module may be configured to refrain from providing the machine control signal in accordance with the movement-based signal. Thus, in the standby state, no mapping can be provided between the movement-based signal and the machine control signal, or a zero mapping can be provided therebetween. Alternatively, in the standby state, the machine control signal may correspond to a predetermined standby mode that sets the machine to the predetermined standby mode. The standby mode may include non-zero machine control signals that may be required to set the machine to a stationary or non-stationary standby mode. However, in standby mode, generally, the movement-based signal generally has no effect on the machine control signal.

For example, the standby state may correspond to a state in which any of a plurality of buttons or switches of the selection input interface is not actuated, and each of a plurality of operating states may correspond to actuation of one of the buttons or switches. For example, the operating state may be selected by a comprehensive user input such as that corresponding to pressing and holding a button.

As another example, the selection input interface may include a plurality of interconnected buttons, such as "radio buttons," where actuating one button automatically deactuates another button to actuate. Alternatively, a dial or a single-pole multi-throw switch may be used. In this case, the button remains actuated after being temporarily pressed until another button is actuated. For example, the operating state may be selected by a comprehensive user input such as that corresponding to a temporary press of a button.

In some embodiments, actuation of a selection input result results in two or more substantially simultaneous functions, which may include: determining a mapping between the movement-based signal and the machine control signal based on the selection input; enabling an operational state in which a machine control signal is provided for controlling the machine in accordance with the movement-based input; and determining an initial reference position based on the state of the movement sensor substantially at the time of the actuation selection input.

In some embodiments, the device may be suitably ruggedized for use in industrial applications. For example, the housing and selection input 115 of the exemplary device shown in fig. 1 may be mechanically made robust to be able to withstand rough handling, heavy gloved handling, falling, humidity, extreme temperatures or vibrations, and the like. Electronic components within the device may be similarly ruggedized and may also be configured to withstand electrical or Radio Frequency (RF) interference that may be present in an industrial environment.

Embodiments of the present invention provide a handheld control station or user input device that includes one or more enabling switches and a movement sensor mechanism configured to detect aspects of movement, such as acceleration, in one or more linear directions, one or more rotational directions, or a combination thereof.

FIG. 2 illustrates a handheld device 200 operatively coupled to a machine 260 via an interface device 280, according to an exemplary embodiment of the present invention. The device includes an input module comprising a plurality of buttons 215 and a plurality of movement sensors 220, such as accelerometers. In the present example, each accelerometer is configured to detect movement along one axis. By aligning different accelerometers along different axes, translational movement in three dimensions can be detected. By providing multiple accelerometers aligned in the same direction but along offset axes, rotational movement can be detected. The apparatus may additionally or alternatively include other motion sensing devices such as an optional camera or other light input device 225.

The device 200 also includes a processing and control module 240 operatively coupled to the buttons 215 and the movement sensor 220 and optional camera 225 by electrical signal wiring or circuit traces or the like. A power source, such as a battery 250, is operatively coupled to at least the processing and control module 240. A housing 230 is provided that is appropriately sized, weighted, balanced, and shaped to remain in the hand of the user, the housing 230 housing the motion sensor 220, optional camera 225, processing and control module 240, battery 250, and buttons 215. The button 215 is mounted on the housing 230 to be properly and conveniently operated by a user's finger while holding the housing 230.

As further shown in fig. 2, the processing and control module 240 includes a processor 244 configured to receive input signals from the buttons 215, the movement sensor 220, and the optional camera 225 and provide an output representative of machine control signals based thereon. Processor 244 may include appropriate electronic components such as microprocessors, microcontrollers, digital signal processors, FPGAs, memory, and analog-to-digital converters, among others, suitably configured for operation thereof. The memory may include RAM, ROM, magnetic or optical memory, or a combination thereof, or other computer memory as would be readily apparent to one of ordinary skill in the art. The memory may be operatively coupled with other components of the processor 244, such as a microprocessor, and may contain operating instructions for performing the operations of the processor 244. The memory may also be used to store data representing one or more predetermined or configurable mappings between movement-based signals and machine control signals, as well as other state variables, state or control data or other information relating to the operation of the device. The processor 244 is configured to provide an output based on a mapping between the movement-based signals from the movement sensor 220 and a mapping based on the input signals from the buttons 215. Output from the processor 244 is provided to a communication module 246 of the processing and control module 240. The communication module 246 may include suitable electronic components such as radio frequency electronics, power amplifiers, digital or analog filters, and digital signal processors. The communication module 246 is further operatively coupled with a radio antenna 248. The communication module 246 and the radio antenna 248 are configured for radio communication of signals representing machine control signals for use by the machine 260.

As further shown in fig. 2, a machine control module 280 is provided that is operatively coupled to the machine 260 and the handheld device 200 and configured to receive the radio signals transmitted through the communication module 246 and the radio antenna 248 and provide machine control signals to the machine based thereon. In this embodiment, the machine control module is located near or on the machine 260. The machine control module 280 is communicatively coupled with the processing and control module 240 of the device 200 by a radio link. Communicatively coupling may include pairing of the machine control module 280 and the processing and control module 240, for example, by establishing a common communication channel therebetween. One skilled in the art will readily appreciate that the establishment of a common communication channel may include establishing one or more common radio frequency bands, modulation schemes, spreading codes, channel codes, frequency hopping schedules, time access schedules, or the like. Machine control module 280 includes a radio antenna 285 for receiving radio signals transmitted through antenna 248. The radio antenna is operatively coupled with a machine communication module 287 of the machine control module 280 that is configured to provide a signal representative of a machine control signal based on the received radio signal. The machine communication module 287 may contain suitably configured electronic components such as radio frequency electronics, power amplifiers, digital or analog filters and digital signal processors. The machine control module 280 also includes a machine signal input module 290 operatively coupled with the machine communication module 287 and configured to provide a machine control signal based on a signal received from the machine communication module 287 through an output 294 for input to the machine. One or more machine control signals may be provided based on one or more received signals, for example, in accordance with preprogrammed operation of the machine signal input module 290. The plurality of machine control signals may be provided simultaneously, sequentially, or a combination of both. Machine signal input module 290 may include suitably configured electronic components such as microprocessors, microcontrollers, digital signal processors, FPGAs, memory, analog-to-digital converters, digital-to-analog converters, and amplifiers. The memory may include RAM, ROM, magnetic or optical memory, or combinations thereof, etc., or other computer memory as would be readily apparent to one of ordinary skill in the art. The memory may be coupled to other components of the machine signal input module 290, such as a microprocessor, and may contain operating instructions for performing the operations of the machine signal input module 290. The memory may also be used to store data representing one or more state variables, state or control data, or other information relating to the operation of the device. The appropriate provision of machine control signals may be provided based on predetermined instructions programmed into the memory of machine signal input module 290. In some embodiments, when the machine control signal is a mechanical, hydraulic, pneumatic, or other signal, the machine signal input module may also include a mechanical, hydraulic, pneumatic, or other actuator for providing the appropriate machine control signal to the machine. The machine control module also contains a power supply (not shown) for its operation. The power source may be a battery or an input for receiving power from the machine 260.

As further shown in FIG. 2, the machine 260 includes a plurality of controllable aspects 264, 268, 272, and 276 controllable by machine control signals via outputs 294. Controllable aspects include, but are not limited to, clockwise or counterclockwise rotation 264 of the boom, up and down tilt 268 of the boom, telescoping 272 of the boom, and clockwise or counterclockwise rotation 276 of the reel. For example, each of the controllable aspects 264, 268, 272, and 276 may be controlled by actuation of a suitable motor drive mechanism, such as one or more gears including a coupling to an electric motor or an internal combustion engine. In some embodiments, pneumatic or hydraulic control is also possible. Finally, while the machine 260 is shown as a mobile crane, it is contemplated that other machines may be similarly controlled. Those skilled in the art will readily appreciate that other controllable aspects of the machine 260 may be similarly provided and controlled.

In some embodiments, the apparatus may include a video camera operatively coupled with a processing and control module that may be configured to identify portions of the predetermined machine based on images supplied from the camera. The selection of the aspect of the machine for control may then be performed by pointing the camera at the aspect to be controlled. For example, if the video camera is pointed at the crane hoist and the selection button is actuated, the input state may be selected for control of the crane hoist.

In some embodiments, the processing and control module is configured to determine a mapping between the one or more movement-based signals and the one or more machine control signals based at least in part on the selected input state. The mapping may be determined by selecting from a plurality of predetermined mappings. For example, if a first operating state is selected, one or more groups of one or more movement-based signals may be processed and mapped in a first manner to provide one or more selected machine control signals. Selecting the second operating state may similarly result in processing and mapping of the movement-based signal in a second manner. For example, processing may include operations such as manufacturing, combining, and scaling the motion-based signals according to one or more linear or non-linear functions. The magnitude of the machine control signal may vary discretely or continuously over a predetermined range depending on the magnitude of the movement-based signal or based on a function thereof. This may enable proportional control of one or more machine control signals by the movement-based input. Simultaneous proportional control of multiple machine control signals corresponding to multiple simultaneous movement-based inputs may also be implemented. For example, multiple, substantially simultaneous movement-based inputs along different translational or rotational axes may be used, respectively, to provide proportional control for different machine aspects.

In some embodiments, multiple machine control signals may be provided simultaneously, sequentially, or a combination thereof in response to a movement-based input. For example, the processing and control module 240, the machine signal input module 290, or a combination thereof may be preprogrammed to provide machine control signals in a time-based sequence in response to their inputs. In some embodiments, movement-based inputs, selection inputs, or a combination thereof may be used to trigger such multiple machine control signals according to a preprogrammed macro. For example, a macro may be programmed to perform one or more predetermined machine tasks that may include a predetermined sequence of multiple machine movements or state transitions. For example, macros may be provided to move the machine to a power down position, an initial position, and the like.

FIG. 3 schematically illustrates an example of operations associated with the processing of a selection control signal 310 representing a selected input state and a movement-based signal 320 for providing a machine control signal 360, in accordance with an embodiment of the present invention, such as provided by a processing and control module or method of the present invention. The selection control signal 310 may be processed to determine a time interval 315. For example, a time interval may be defined between a start time 312 and a stop time 314, wherein the start time 312 may be substantially defined as the time at which the selection control signal 310 indicates entry into the operating state and the stop time 314 may be substantially defined as the time at which the selection control signal 310 indicates exit from the operating state. As shown, the selection control signal 310 is a single signal that can be switched between multiple values representing multiple input states. As will be readily understood by a person skilled in the art, the selection control signal may alternatively be a set of synthetic signals, such as parallel binary signals, which are capable of switching between a plurality of collective values. In time interval 315, one or more movement-based signals 320 may be selected and processed based on selection control signal 310 to provide one or more machine control signals 360. Movement-based signal 320 and machine control signal 360 may be selected from a larger set of movement-based signal 322 and machine control signal 362, respectively. Alternatively or additionally, one or more selected machine control signals 360 may be provided substantially in time interval 315 rather than one or more other time intervals. The selection of the movement-based signal 320, the machine control signal 360, and the manner in which processing occurs may be based at least in part on the selection control signal 310, for example, by determining a mapping between the movement-based signal 320 and the machine control signal 360 based at least in part on the selection control signal 310.

FIG. 4 illustrates a method 400 for facilitating control of a machine, in accordance with an embodiment of the present invention. The invention includes receiving sensed input 410, for example, from an interface operable by a user. The input includes, for example, a selection input corresponding to a single user action selected from a plurality of potential single user actions that may be based on a composite user input selected from a plurality of potential composite user inputs. The input also includes movement-based input such as from motion of a handheld or wearable device that includes a movement sensitive component. The method also includes determining an input state based on the selection input 420. The input state may be determined to be a selected one of a plurality of potential states. The potential states may include one or more standby states and a plurality of operating states. Each operating state may correspond to a different desired mode of operation of the machine. The method further includes generating one or more movement-based signals based on the movement-based input 430. The movement-based signal may be generated based on an output from a movement-sensitive component of the handheld or wearable device. In some embodiments, operations 420 and 430 may be performed simultaneously. Alternatively, step 430 may be performed only when the input state is determined to be the operating state. The method also includes determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals when the selected input state is one of the one or more operating states. In some embodiments, this may include determining whether the selected input state is an operational state 440 and determining the mapped sub-operation based at least in part on the selected input state 450 if the selected input state is so determined. The method further includes providing one or more machine control signals for controlling aspects of the machine 460. Providing a machine control signal may be based at least in part on the mapping and the one or more movement-based signals.

In some embodiments, the present invention includes the use of a selection input, such as an enable button or a mode selection button, for setting an initial reference position. Spatial translation or rotational deviation, or both, of the movement sensor from the initial reference position may result in a movement-based signal representative of movement along one or more axes. The movement may correspond to displacement, velocity, acceleration, or a combination thereof. The movement-based signals may be mapped to machine control signals. For example, a relative deviation from an initial reference position in a predetermined direction may be converted into a machine control input, thereby affecting machine parameters such as speed and direction of actuation of the movable machine portion. The relative offset through the movement-based signaling may be used to provide proportional control of the machine control signal. The movement-based signals corresponding to movement of the relative displacement, velocity, or acceleration may be mapped to machine control signals corresponding to actuation of the movable machine portion to provide the relative displacement, velocity, or acceleration.

For example, in some embodiments, when a button, trigger, or other selection input is actuated, a reference point is established for a predetermined set of functions. Deviation or movement of the movement sensor and/or associated movement-based input device from this point in a predetermined direction or about a predetermined axis of rotation results in proportional control of a respective aspect of the machine, where the magnitude of the deviation, e.g., the amount of displacement, corresponds to the magnitude of the machine-aspect movement, e.g., the speed of the machine-aspect movement. The more the device moves from its reference point, the greater the magnitude of the machine motion. The release button disables or pauses the proportional control. Pressing the same or another button establishes another reference point and enables proportional control. Movement of the movement sensor in different directions may correspond to control of different aspects of the machine, the correspondence depending at least in part on actuation of the selection input.

Selection input

The present invention provides for receiving a selection input, for example, through a selection input interface which may include dials, buttons, or switches that may be operated by a user. The selection input may be related to its input state and operable for enabling control of one or more functions or aspects of the machine. In some embodiments, the input state may be represented by a selection control signal which may be an aggregate signal based on the state of a plurality of selection inputs. It will be readily understood by those skilled in the art that each dial, button, switch, toggle, radio button, touch screen, point-and-click interface, or rocker pad, for example, may be associated with a substantially constant or time-varying voltage and/or current representative of its state. The time varying signal may vary in a switching manner, for example, switching between levels or waveforms rapidly, but constant or repeating. For example, an array of buttons or switches may be operable to selectively apply a predetermined voltage and/or current to selected portions of the circuit to which they are operatively coupled. A dial, such as a potentiometer, is operable to change the impedance in the circuit that is indicative of the dial state. The collective states of the select inputs correspond to the collective of the associated voltages and/or currents corresponding to the select control signals. The selection control signal may change over time due to changes in the state of the selection input.

In some embodiments, the digital or analog signal representing the selection control signal may be carried on one or more channels of a desired medium. The select control signals may be implemented as a collective signal carried by a plurality of parallel electrical conductors, such as wires or signal traces. Multiple portions of the selection control signal may be multiplexed or transmitted along a single conductor. All or a portion of the control signal may be modulated, demodulated, filtered, transformed, stored, or otherwise selected, either optically or by radio transmission, etc.

In some embodiments, the selection input interface includes two or more buttons located on a housing of the handheld input module. The input module may also contain a movement sensor as described herein for generating a movement-based signal within the housing. Each of the buttons is operable to define a desired mode of operation of the invention, for example by selecting a desired mapping between the movement-based signals and the machine control signals. Each of the buttons is further operable to select between the standby state and the plurality of operating states by, for example, a composite user input corresponding to a single user action from a plurality of selections thereof. In a time interval during which the operating state is selected, a movement-based signal corresponding to the movement-based input is processed to provide a machine control signal. Each of the buttons is operable to define a time interval during which the machine control signal is to be provided in accordance with a mapping of the selection between the movement-based signal and the machine control signal.

In some embodiments, the selection input interface may be configured to maintain input even if a physical actuator, such as a button, is released. For example, a button may be used to set or reset an electronic latch or flip-flop or similar latching logic in software or firmware. The temporary actuation of the input may thus set the desired operating mode until a future actuation is provided.

In embodiments, the selection input interface may be ergonomically configured to provide convenient and/or comfortable operation, e.g., through one-handed operation.

Motion-based signals

The present invention provides for generating a movement-based signal based on a movement-based input. For example, one or more movement sensors may be provided to detect movement-based inputs applied to a handheld or other movement-based input device. The movement-based signal may be based on a movement-based input such as horizontal movement, vertical movement, twisting, rotation, or a combination thereof. The movement-based signal may further be based on displacement, velocity, acceleration, or a combination thereof of a handheld or other movement-based input device. For example, the movement-based signal may vary in time over a substantially discrete or continuous range of values proportional to the intensity of the corresponding movement-based input. Since the movement-based signal may exhibit a range of values, proportional control can be achieved.

In some embodiments, the one or more sensors may include one or more accelerometers. For example, one or more accelerometers may be provided in an array, each accelerometer configured to generate a signal representative of acceleration of the associated movement-based signaling device in at least one direction. The signal indicative of acceleration may be processed by integrating the signal to provide a value indicative of velocity. The signal representative of the acceleration may alternatively or additionally be processed by twice integrating the signal to produce a signal representative of the displacement.

The accelerometer provided according to the present invention may be, for example, a piezoelectric accelerometer, a micro-electromechanical (MEMS) accelerometer, a capacitive accelerometer, a shear mode accelerometer, a thermal accelerometer, a surface acoustic wave accelerometer, a laser accelerometer, a gyroscopic integral gyroscope (PIGA) accelerometer, or a MEM gyroscope, etc. The accelerometer may be configured to detect accelerations in one or more predetermined spatial directions and output an electrical signal proportional to such accelerations, proportional to an average acceleration, or proportional to a single or double-repeated integral of the acceleration, which may represent the velocity or displacement of the accelerometer, respectively.

In some embodiments, the accelerometer may be provided as a pre-packaged module. For example, accelerometer modules available from third party vendors include data from Analog Devices^TMADXL330 and ADXL345 from STMicroelectronics^TMAIS326DQ and AIS from Kionix^TMKXTE 9. The accelerometer module may include an accelerometer and associated electronics such as ASICs, analog-to-digital converters, filters, and power devices.

In some embodiments, the one or more movement sensors may include other movement sensor technologies, such as optical or camera-based movement sensors, sensors for detecting movement through electric or magnetic fields, such as Hall effect sensors, or gyroscopic movement sensors, among others. A combination of sensor types may be utilized to provide sufficient motion sensing capability. For example, a second type of sensor may be used where a first type of sensor is deemed to be insufficient due to its inherent limitations.

E.g., from Analog Devices^TMADXL330 by Inc is a 3-axis accelerometer with signal-conditioned analog voltage output. It is capable of measuring static gravitational acceleration of tilt sensing applications as well as dynamic acceleration from movement, shock or vibration.

As another example, Kionix^TMLinear accelerometers and inclinometers including sensor elements and an ASIC packaged in a Land Grid Array (LGA) are provided. The sensor element is made of monocrystalline silicon. The interrupt may be generated for acceleration on any axis above the threshold or for acceleration on all three axes below the threshold. The sensor element functions on the principle of differential capacitance. Acceleration causes a displacement of the silicon structure, which results in a change in capacitance. ASIC detectionThe change in capacitance and transforms it into an analog output voltage proportional to the acceleration. The voltage is digitized by an on-board A/D converter and passed through an inter-integrated circuit (I)²C) A bus or Serial Peripheral Interface (SPI) is accessed.

In some embodiments, an array of movement sensors, such as accelerometers, may be configured to provide up to six axes of movement-based signals. For example, up to three motion-based signals may be provided based on translational motion in one or more orthogonal directions in space, such as along one or more orthogonal X, Y, and Z axes. As another example, up to three movement-based signals may be provided based on rotational motion about one or more orthogonal X, Y, and Z axes, e.g., due to yaw, pitch, and/or roll of the movement-based input device. In some embodiments, translation may be distinguished from rotation by utilizing two or more spatially separated motion sensors connected to a common rigid body. For example, if a pair of such movement sensors detects movement in a common direction, this may indicate translational movement; if a pair of such movement sensors detects movement in different directions, this may indicate rotational movement. Those skilled in the art will appreciate that signals from a plurality of movement sensors may be processed by one or more circuits or processors to provide an appropriate indication of movement.

In some embodiments, additional processing may be applied to the movement-based signal. For example, to reduce undesirable mechanical or electrical noise or jitter that may be introduced into the motion based signal, filtering, temporal averaging, or a combination of sensor inputs, etc. may be applied to the motion based signal. As another example, the movement-based signal may remain constant or turn off when no significant movement is detected by the device. This may advantageously avoid, for example, the signal integrator integrating noise picked up by the motion sensor that would otherwise cause input drift over time.

In embodiments, the movement-based signal may include an indication of displacement, velocity, acceleration, or a combination thereof, relative to a predetermined or arbitrarily defined reference frame. The movement-based signal may also include indications of time corresponding to portions of the indicated displacement, velocity, acceleration, or combinations thereof. For example, the movement-based signal may indicate a substantially continuous or discrete time series of multi-axis displacement, velocity, or acceleration values along a respective time reference for each portion of the series. Those skilled in the art will readily appreciate that providing an implicit or explicit time reference may facilitate subsequent signal processing.

In some embodiments, the one or more movement-based signals may be a movement-based representation of the desired machine operation according to the selected mapping. For example, a movement-based signal indicative of a movement-based roll or sway input may correspond to a tilt or swing of a crane boom, respectively. As another example, the movement-based torque input may correspond to a twisting of a machine portion or a rotation of a reel or other rotating machine portion. As yet another example, movement-based translation inputs for one or more directions may correspond to movement of the machine over the ground (e.g., via wheels or rails) in the respective direction. Other movement-based signals indicative of user-supplied movement-based inputs may also be mapped to the machine control signals, with the magnitude of the movement-based signals being proportional to the magnitude of the machine control signals. For example, the movement-based input may correspond to a translation while twisting, a translation while tilting, or a tilt followed by twisting, and so forth.

Processing and control

The present disclosure provides for one or more processing operations to be applied to the selection signal and the movement-based signal to facilitate providing one or more machine control signals. Processing operations may be performed using processing modules that may include centralized and/or distributed electronics, such as microprocessors, memory, programmable logic devices, FPGAs, logic circuits, amplifiers, and transistors. The processing may also utilize, for example, software, firmware, or a combination thereof provided as part of the processing module. In some embodiments, at least one of the processing electronics or processing modulesPortions may be integrated or closely related to selection input and/or movement sensors. For example, signals from buttons or other inputs may be amplified, filtered, kickback eliminated, or multiplexed; for example, by a gas such as I²C-bus, signals from the accelerometer chip may be processed, encoded, and transmitted.

In embodiments of the invention, the processing and control module may be configured to interpret input signals from the input interface and determine the aspect or axis of the machine to be controlled and the direction and amount of proportional control of the control.

In embodiments of the invention, the processing and control means, such as the processing and control module, may be associated with one or more of the following aspects: a control or user interface device, such as a handset, hardware and/or software incorporated into the machine being controlled, and one or more intermediate processing or relay stations, such as computers, operatively coupled with the control or user interface device and the machine to be controlled and processing signals provided by the control or user interface device to provide machine control signals. For example, the handset user interface device may provide raw signals to a computer relay or machine mount module, or may process the signals internally.

In an embodiment of the invention, the processing comprises: a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals is determined based at least in part on the selected input state or the selection control signal representative thereof. The set of available mappings may be pre-compiled and configured to facilitate appropriate control of a predetermined machine or type of machine. The mapping may be stored in internal or external memory such as RAM, ROM, solid state or optical or magnetic storage media, and the like. Determining the mapping from the set of available mappings may include determining a desired mapping from a predetermined correspondence between the selected input state and the mapping. For example, one of the plurality of buttons actuating the selection input may correspond to a selection of a respective mapping.

In some embodiments, the set of available mappings may be programmable. For example, the invention may include software or firmware that can be modified or updated to provide a desired or customized set of available mappings. For example, different mappings may be defined for different users, or for control of different machines, or in different environments. In some embodiments, the set of available mappings may be provided by a computer program product recorded on a computer readable medium.

In some embodiments, each mapping from the set of available mappings may be used to map one or more types of input movements to one or more machine control signals. For example, the type of input movement applied to the input device may include axial rotation (scrolling), vertical tilt (pitching), horizontal tilt (yawing), linear translation in a relatively predetermined direction, or a combination thereof. The movement may be relative to an input device based reference system or an external reference system such as one transmitted by gravity, acoustic, electric or magnetic fields, etc. Based on the mapping, each of the selected types of input movements may be mapped to one or more selected machine control signals. The mapping may map a plurality of selected types of input movements to a plurality of selected machine control signals, thereby facilitating simultaneous multi-axis machine control.

In some embodiments, at least one mapping from the set of available mappings maps the movement-based input to a particular machine control signal. That is, for each machine control signal, there may be at least one mapping that maps movement-based inputs to the machine control signal. In this manner, embodiments of the present invention may provide control of all controllable aspects of the machine.

In some embodiments, two or more mappings from the set of available mappings may map movement-based inputs to a given machine control signal. In this manner, embodiments of the present invention may provide different modes of controlling the same aspect of a machine, or different overlapping combinations of machine control functions, or both. This may facilitate ease of operation in performing the common function.

In some embodiments, the first machine control signal and the second machine control signal may be controlled simultaneously in one mode, and the first machine control signal and the third machine control signal may be controlled simultaneously in another mode. For example, when positioning the crane from its parked position, it may be desirable to allow simultaneous control of the boom tilt and boom extension/retraction aspects of the crane according to the first mapping. When operating the crane to move a load, it may be desirable to allow simultaneous control of the boom tilt and boom rotation aspects of the crane according to the second mapping. In both mappings, boom tilt is a controllable aspect.

Generally, the mapping may be preconfigured to facilitate ease of operation of the machine to perform general tasks. For example, the mapping may be configured such that aspects of a machine's generally simultaneous control may be used for control by the same mapping. The mapped banks may be configured such that tasks that are generally performed sequentially may be easily selected sequentially by an operation of selecting an input interface.

In an embodiment, each mapping may define one or more functional correspondences between one or more movement-based signals and one or more machine control signals. The mapping may include one or more processing operations, including but not limited to: combining or superimposing motion-based signals to provide one or more machine control signals, applying linear or nonlinear gains, time-based or frequency-based filtering, time quantization, value quantization, threshold detection, time delay, signal averaging, differentiation, integration, mapping by linear or nonlinear functions, or combinations thereof, and the like. Each map may take as input one or more predetermined movement-based signals and provide as output one or more predetermined machine control signals.

In an embodiment of the invention, the processing and control module is configured to provide proportional control of the machine based on the movement-based input. For example, the movement-based signal may exhibit a discrete or continuous range of values corresponding to the magnitude of displacement, rotation, velocity, or acceleration of the movement sensor. The mapping may operate on one or more of such movement-based signals to provide machine control signals exhibiting corresponding ranges of values. The machine control signal value may be proportional to the movement-based signal value. For example, the ratio may be a direct ratio or an inverse ratio. The machine control signal may alternatively be proportional to a function of the movement-based signal value, which may be described, for example, by a monotonically increasing or decreasing function, a periodic function, or a reversible or irreversible function, etc.

Each mapping may be described, represented and/or implemented in one or more various ways, e.g., by a discrete, continuous or piecewise continuous mathematical function, an autoregressive moving average (ARMA) process, a time or frequency domain transfer function, an analytic or non-analytic function, one or more tables of input and output values, one or more hierarchical arrangements of tables of values, combinations thereof, or the like.

Each mapping may be implemented by one or more of various means such as a look-up table, a hierarchical series of look-up tables, a functional transformation applied by digital and/or analog signal processing electronics, a computer program, or a combination thereof. In one embodiment, a digital signal processor configured to implement the selected mapping is applied to generate one or more machine control signals based on the one or more movement-based signals. In one embodiment, a series of electrical implementations of the look-up table module, possibly in combination with one or more multiplication or addition modules, may be configured to implement the selected mapping. Given one or more selectable mappings therebetween, those skilled in the art will understand how to provide appropriate signal processing to provide an output signal based on an input signal.

In an embodiment, the processing and control module is configured to provide a mapping between the movement-based signal and the machine control signal when the selected input state is an operational state. Conversely, the processing and control module may be configured to inhibit or suppress the provision of movement-based signals due to such mapping when the selected input state is a standby state. For example, in a standby state, a zero map or a movement independent map may be implemented that results in the machine control signals being provided substantially independent of the movement based signals. Alternatively, in the standby state, the processing and control module may be configured to disable or inhibit another configuration of providing a machine control signal, providing a substantially constant machine control signal, or providing a machine control signal corresponding to a predetermined standby state of the machine.

In some embodiments, the processing module may be configured to interpret movement-based signals relative to an initial state, such as the position and orientation of the movement sensor substantially upon entering the operational state. For example, an operation of selecting the input interface to enter the operational state may trigger the processing module to define an initial reference state, wherein the movement-based signal corresponds to a space that deviates from the initial reference state. In some embodiments, the initial reference state may be explicitly defined. Alternatively, the initial reference state may be implicitly defined. For example, if the movement-based signal provides an indication of acceleration or velocity and the initial reference state is an initial position and/or orientation, defining the initial reference state may include resetting or zeroing one or more displacement or rotation accumulators, wherein the displacement or rotation accumulators are incremented or decremented according to the acceleration and/or velocity indicated by the movement-based signal.

Providing machine control signals

The present invention is further configured to provide machine control signals to the machine, such as through a processing and control module and/or other signaling and/or control means. For example, machine control signals may be provided to machine control inputs of the machine using wired communication, wireless communication, or a combination thereof. One or more standard or proprietary signaling protocols appropriate for the control application being executed may be used to communicate machine control signals from the processing and control module to the machine or its machine control inputs. Currently, there are several companies that provide remote control schemes and related protocols for industrial equipment. In embodiments of the present invention, standards such as Hart, WirelessHart, ISA100, Bluetooth, Ethernet, wirelessethernet, GPIB, zigbee, USB, and the like, for example, are suitable for providing remote control schemes. Those skilled in the art will readily appreciate that other wired or wireless communication techniques may be used to transmit the machine control signals.

In some embodiments, the processing and control module may include a signal transmitter coupled with the user interface device or the relay device, and a corresponding signal receiver may be operatively coupled with the machine to be controlled. Communication of machine control signals may be performed between the signal transmitter and the signal receiver. The communication may be direct or indirect, for example via a network or relay station. The communication may include wired communication, wireless communication, radio communication, optical communication, or communication using signals carried by mechanical or fluidic devices, among others. Generally, a signal transmitter may transform a machine control signal into a form suitable for transmission and transmit the signal in a manner receivable by a signal receiver. The signal receiver receives the transmitted signals and transforms them into a form that can be used to control the machine. The signal receiver is then operatively coupled with the machine to provide control of a controllable aspect thereof by providing machine control signals in the form of electrical, mechanical, fluid or other suitable types of signals.

In some embodiments, the signal transmitter and the signal receiver are communicatively coupled by wireless radio communication. Wireless communication between a wireless signal transmitter and receiver may include encoding, decoding, modulation, demodulation, and other operations. Those skilled in the art will readily appreciate that wireless communication may involve digital or analog frequency, amplitude or phase modulation, communication over multiple redundant channels, frequency hopping spread spectrum, multiple access channel sharing, and source and channel coding, among others, to facilitate reliable and functional wireless communication in a given environment, as appropriate.

In some embodiments, telemetry, such as video or signals indicative of machine orientation, position, status, etc. of aspects of the controllable machine, may be transmitted through the controlled machine and displayed to be observable by a user of the control device to facilitate machine operation. For example, telemetry may be displayed via a visual display such as an LCD monitor, a visual indicator such as an LED, via force feedback, or via one or more audible signals. Telemetry may be used to provide feedback perceptible to a user or to provide feedback signals that are automatically processed in a processing and control module to provide machine control signals

Embodiments of the present invention provide one or more actuators configured for physically controlling one or more functions of a machine along with appropriate drivers for controlling the actuators.

The present invention may be configured for controlling one or more of a variety of machines, such as light industrial machines, heavy industrial machines, mobile or stationary cranes, concrete pumps, skid-steer vehicles, material handling machines, fluid handling or suction machines, agricultural machines, telemetry systems, load haul dump machines, winches, rescue vehicles, trailers, self-propelled mobile platforms, mining equipment, vehicles, robots, appliances, computers, computer interfaces, electrical or mechanical equipment, and the like. For example, the machine being controlled is responsive to a plurality of control signals by a plurality of control inputs such as inputs that accept electrical, electromagnetic, optical, mechanical or other signals that may be used to control one or more respective controllable aspects of the machine. The controllable aspects may include mechanical devices, electrical devices, visual or audio outputs, or combinations thereof, and the like. For example, the controllable aspects may include an electric motor, actuator, alarm, light, visual display, or electric or magnetic field generator, among others, that is controllable electrically, mechanically, hydraulically, or pneumatically. The machine control signals are provided to the machine in a form suitable for desired control of each controllable aspect of the machine.

In some embodiments, the machine control input is configured to accept standard or customer-defined control signals. In this case, the invention may provide an adapter or interface for converting a control signal, e.g. received by radio, into a machine control signal suitable for provision to an electrical, mechanical, hydraulic or pneumatic machine control input.

In some embodiments, machine control inputs are preconfigured for operation according to the present invention. For example, a radio interface module configured to convert radio signals into appropriate machine control signals may be provided inside the machine.

Embodiments of the present invention may facilitate a significantly lower cost device for control than comparable conventional control schemes. For example, motion sensing capabilities for multiple linear and/or angular axes may be provided by mounting a single mass producing accelerometer chip or the like. Such a chip may be provided at a lower cost than multiple joysticks, triggers or other prior art control devices, while still facilitating simultaneous multi-axis proportional control. Furthermore, embodiments of the present invention may facilitate one-handed control, which may facilitate ease of operation and multitasking. In addition, embodiments of the present invention may provide a substantially secure means for control by providing a simple, one-handed and intuitive user interface. Embodiments of the present invention may also provide a reliable means of machine control due to the use of motion-based sensors and a simple selection input interface. This configuration may provide a less complex interface with fewer conventional mechanical parts such as switches, shift keys, joysticks, triggers, etc. that are easily broken, as compared to prior art solutions.

The invention will now be described with reference to specific examples. It should be understood that the following examples are intended to describe embodiments of the invention and are not intended to limit the invention in any way.

Examples of the present invention

Fig. 5A-5D illustrate an example of a handheld user interface device 500 for remotely operating a crane 550 in accordance with an exemplary embodiment of the present invention. The crane 550 includes at least the following remotely controllable aspects: a rotatable reel 555, boom extension/retraction 560, boom tilt 565, and boom rotation 570. Spool 555 is attached to a cable and hook assembly 557 or other assembly. The user interface device includes a selection input interface comprising a set of three button selection inputs 502, 504, 506 configured to generate selection control signals. The user interface device also includes a plurality of movement sensors that are responsive to at least rotational movement, such as pitch or roll, of the device 500 to generate movement-based signals. As described later, the device 500 is operatively coupled with an internal or external processing and control module configured to generate machine control signals based on the selection control signals and based on the movement signals.

This example may be relevant for a handheld device that provides for proper proportional control by using only 3 buttons. The device may facilitate operating two or more proportional channels at a time.

When buttons 502, 504, and 506 are all in the unactuated position, no machine control signal is transmitted that would result in the movement of any of controllable aspects 555, 560, 565, or 570. This corresponds to a stationary standby state of the hoist 550. In some embodiments, a lock button, code or key may be provided that locks the crane 550 in a stationary state such that accidental actuation of the control input does not result in undesired crane operation.

When one of the buttons 502, 504, and 506 is actuated by pressing and holding the button, the movement-based signals are mapped to machine control signals for controlling a subset of the controllable aspects 555, 560, 565, or 570 according to the mapping corresponding to the actuated button 502, 504, 506. As long as the buttons 502, 504, 506 are actuated, a mapping between a start time corresponding to the actuation of the button and a stop time corresponding to its de-actuation is achieved. Thus, actuation of the button is simultaneously used to (a) determine a mapping between the movement-based signal and the machine control signal and (b) define a time interval during which the movement-based signal is mapped to the machine control signal by the mapping, i.e. during which the operating state is selected. This configuration facilitates a suitably simple and intuitive operation of the crane 550 with a desired economy of user effort and capable of being performed using one hand. Note that the desired actuation of the button or suppression of actuation of the button corresponds to a comprehensive user input that can be satisfied by performing a single user action (i.e., by pressing a single button or suppressing pressing of a button), which facilitates simple control as desired.

Actuation of the buttons 502, 504, 506 also serves to define an initial reference position 510 of the device 500, wherein the movement-based signal corresponds to a spatial deviation from the initial reference position 510. For example, the intensity or level of the movement-based signal may correspond to the amount of displacement or rotation of the device 500 relative to the initial reference position 510.

As shown in FIG. 5B, when the first button 520 is actuated corresponding to a first operational state, a first mapping is enabled for mapping the movement-based signals to machine control signals. According to the first mapping, the upward 515 or downward 517 tilt of device 500 relative to initial reference position 510 is mapped to machine control signals for controlling reel 555. Upward incline 515 corresponds to rotation of spool 555 into cable and hook assembly 557, and downward incline 517 corresponds to rotation of spool 555 out 518 from cable and hook assembly 557. The magnitude of the upward incline 515 or the downward incline 517 is proportional to the speed at which the spool 555 is actuated by machine control signals. Thus, the user can operate the reel at a desired speed and in a desired direction by changing the angle of inclination of the device 500.

Also, as shown in FIG. 5B, when the first button 502 is actuated, the rotation 520 or 522 of the device 500 about an axis parallel to its longest side relative to the initial reference position 510 is mapped by a first mapping to machine control signals for controlling boom extension/retraction 560. One direction of rotation 520 corresponds to boom extension 521 and the other direction of rotation 522 corresponds to boom retraction 523. The magnitude of the rotation 520 or 522 is proportional to the telescopic boom speed. Thus, the user can operate the boom extension/retraction aspect 560 in a desired direction at a desired speed and by changing the angle of rotation of the device 500.

As shown in FIG. 5C, when the second button 502 is actuated corresponding to the second operational state, the second mapping is enabled for mapping the movement-based signals to machine control signals. According to the second mapping, the upward tilt 525 or the downward tilt 527 of the device 500 relative to the initial reference position 510 is mapped to machine control signals for controlling boom tilt 565. The upward tilt 525 corresponds to boom tilt 565 raising boom 526 and the downward tilt 527 corresponds to boom tilt 565 lowering boom 528. The magnitude of the upward or downward tilt angle 525 or 527 is proportional to the speed at which boom tilt 565 is actuated by a machine control signal. Thus, the user can operate the boom tilt 565 in a desired direction at a desired speed and by changing the tilt angle of the device 500.

Also, as shown in FIG. 5C, when the second button 504 is actuated, a rotation 530 or 532 of the device 500 about an axis parallel to its longest side relative to the initial reference position 510 is mapped by a second mapping to a machine control signal for controlling boom rotation 570. Rotation 530 in one direction corresponds to counterclockwise boom rotation 531, while rotation 532 in the other direction corresponds to clockwise boom rotation 533. The magnitude of the rotation 530 or 532 is proportional to the speed of the rotating boom. Thus, the user may operate the boom rotation 570 in a desired direction at a desired speed and by changing the angle of rotation of the device 500.

As shown in FIG. 5D, when the third button 506 is actuated corresponding to the third operational state, the third mapping is enabled for mapping the movement-based signals to machine control signals. According to the third mapping, the upward 535 or downward 537 tilt of the device 500 relative to the initial reference position 510 is mapped to machine control signals for controlling the boom tilt 565. The upward tilt 535 corresponds to the boom tilt 565 raising the boom 536 and the downward tilt 537 corresponds to the boom tilt 565 lowering the boom 538. The magnitude of the tilt up or tilt down angle 535 or 537 is proportional to the speed at which the boom tilt 565 is actuated by a machine control signal. Thus, the user can operate the boom tilt 565 in a desired direction at a desired speed and by changing the tilt angle of the device 500.

Also, as shown in FIG. 5D, when the third button 506 is actuated, the rotation 540 or 542 of the device 500 about an axis parallel to its longest side relative to the initial reference position 510 is mapped by a third mapping to machine control signals for controlling boom extension/retraction 560. Rotation 540 in one direction corresponds to boom extension 541, while rotation 542 in the other direction corresponds to boom retraction 543. The magnitude of rotation 540 or 542 is proportional to the speed of the telescopic boom. Thus, the user can operate the boom extension/retraction 560 in a desired direction at a desired speed and by changing the angle of rotation of the device 500.

In some embodiments, the apparatus 500 is operable to control other aspects of the crane, such as navigation of the crane on wheels (onwheel), operation of lights or alarms, etc., start and stop of an electric motor or internal combustion engine or actuation of a magnetic or mechanical clamping mechanism attached to a reel, etc.

It is obvious that the above embodiments of the invention are examples and can be varied in many ways. Such present or future variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims (18)

1. An apparatus for controlling a physical machine based on sensed inputs, the physical machine being responsive to a plurality of machine control signals for controlling respective aspects thereof, the apparatus comprising:

a. an input module, the input module comprising:

a selection input interface operable by a general user input to select an input state from a plurality of potential states including a standby state and a plurality of operating states; and

one or more movement sensors configured to generate one or more movement-based signals from user-supplied movement-based inputs indicative of a desired operation of the physical machine; and

b. a processing and control module operatively coupled with the input module and the physical machine, the processing and control module configured to:

determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals when the selected input state is one of the one or more operating states, the mapping determined based at least in part on the selected one of the operating states, wherein the determined mapping is selected from a plurality of potential mappings based at least in part on the selected one of the operating states, each of the plurality of potential mappings corresponding to a different set of tasks that can be performed by the machine, and the operation of integrating the user input further defines an initial reference position from which the movement-based signal is measured, wherein the selection of the input state results in a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals and wherein the selection of the input state further defines an initial reference position;

providing one or more machine control signals for controlling actuation of a movable machine portion of a physical machine based, at least in part, on the mapping and the one or more movement-based signals; and

proportional control of a movable machine portion of a physical machine is provided based on a magnitude of one or more movement-based signals.

2. The apparatus of claim 1, wherein the determined mapping is selected from a plurality of potential mappings based at least in part on the selected input state, each of the plurality of potential mappings corresponding to a predetermined set of tasks collectively executable by the physical machine.

3. The device of claim 1, wherein the device is handheld or wearable.

4. The apparatus of claim 1, wherein the integrated user input corresponds to an operation-selected switch.

5. The apparatus of claim 1, further comprising a signal transmitter operatively coupled with the processing and control module, the signal transmitter configured for wireless transmission of machine control signals to a physical machine.

6. The device of claim 1, wherein the movement-based input comprises one or both of a translational movement and a rotational movement.

7. The device of claim 1, wherein the determined mapping maps two or more movement-based concurrent signals to two or more machine control signals.

8. The apparatus of claim 1, wherein the physical machine is selected from the group consisting of a light industrial machine and a heavy industrial machine.

9. A system for controlling a physical machine, the system comprising:

a. an input device comprising an input module and a processing and control module operatively coupled thereto,

the input module includes:

i. a selection input interface operable by a general user input to select an input state from a plurality of potential states including a standby state and a plurality of operating states; and

one or more movement sensors configured to generate one or more movement-based signals from user-supplied movement-based inputs indicative of a desired operation of the physical machine;

the processing and control module is configured to:

i. determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals when the selected input state is one of the one or more operating states, the mapping determined based at least in part on the selected one of the operating states, wherein the determined mapping is selected from a plurality of potential mappings based at least in part on the selected one of the operating states, each of the plurality of potential mappings corresponding to a different set of tasks that can be performed by the machine, and the operation of integrating the user input further defines an initial reference position from which the movement-based signal is measured, wherein the selection of the input state results in a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals and wherein the selection of the input state further defines an initial reference position; and

providing one or more machine control signals for controlling actuation of a movable machine portion of a physical machine based, at least in part, on the mapping and the one or more movement-based signals;

providing a magnitude of a plurality of machine control signals based on a magnitude of the one or more movement-based signals, thereby facilitating proportional control of a movable machine portion of the physical machine; and

b. a machine control module configured to receive one or more machine control signals from an input device, the machine control module configured to transmit the one or more machine control signals for controlling one or more of the plurality of controllable machine aspects to the physical machine.

10. The system of claim 9, wherein the input device further comprises a signal transmitter operatively coupled with the processing and control module, the signal transmitter configured for wireless transmission of the machine control signal, and wherein the machine control module further comprises a signal receiver configured for wireless reception of the machine control signal.

11. The system of claim 9, wherein the determined mapping is selected from a plurality of potential mappings based at least in part on the selected input state, each of the plurality of potential mappings corresponding to a predetermined set of tasks collectively executable by the physical machine.

12. A method for facilitating control of a physical machine responsive to a plurality of machine control signals for controlling respective aspects thereof, the method comprising:

a. receiving a sensed input, the sensed input including a selection input based on a composite user input, the sensed input further including a user-supplied movement-based input representing a desired operation of the physical machine;

b. determining an input state based on the selection input, the input state being selected from a plurality of potential states including a standby state and a plurality of operating states;

c. generating one or more movement-based signals from the movement-based input, wherein the one or more movement-based signals have a magnitude proportional to a magnitude of the movement-based input, and the one or more machine control signals have a magnitude proportional to one or more of the magnitudes of the one or more movement-based signals;

d. determining a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals when the selected input state is one of the one or more operating states, the mapping determined based at least in part on the selected one of the operating states, wherein the determined mapping is selected from a plurality of potential mappings based at least in part on the selected one of the operating states, each of the plurality of potential mappings corresponding to a different set of tasks that can be performed by the machine, and the operation of integrating the user input further defines an initial reference position from which the movement-based signal is measured, wherein the selection of the input state results in a mapping between the one or more movement-based signals and one or more of the plurality of machine control signals and wherein the selection of the input state further defines an initial reference position; and

e. providing one or more machine control signals for controlling actuation of a movable machine portion of a physical machine based, at least in part, on the mapping and the one or more movement-based signals.

13. The method of claim 12, wherein determining the mapping comprises selecting the mapping from a plurality of potential mappings based at least in part on the determined input state, each of the plurality of potential mappings corresponding to a predetermined set of tasks collectively executable by the physical machine.

14. The method of claim 12, wherein the integrated user input corresponds to an operating switch.

15. The method of claim 12, wherein the one or more machine control signals are transmitted to the physical machine at least in part via radio communication.

16. The method of claim 12, wherein the movement-based input includes one or both of a translational movement and a rotational movement.

17. The method of claim 12, wherein the determined mapping maps two or more movement-based concurrent signals to two or more machine control signals.

18. The method of claim 12, wherein the physical machine is selected from the group consisting of light industrial machines and heavy industrial machines.