US20170241104A1

US20170241104A1 - Method and system for controlling machines

Info

Publication number: US20170241104A1
Application number: US15/051,695
Authority: US
Inventors: Todd R. Farmer; Jeffrey M. Parker; David Jeremiah S. Benedict
Original assignee: Caterpillar Inc
Current assignee: Caterpillar Inc
Priority date: 2016-02-24
Filing date: 2016-02-24
Publication date: 2017-08-24

Abstract

A method for controlling a machine is provided. The method senses an orientation of a seat of an operator. The method selects a desired mode function with respect to at least one work tool, wherein the at least one work tool is equipped with the machine. Further, the orientation of the seat and the desired mode function is communicated to a processing module. Furthermore, a number of input modules are configured corresponding to predefined patterns to control functions of the at least one work tool and the machine. The predefined patterns define functions of the at least one work tool and the machine corresponding to the orientation of the seat, and the desired mode function.

Description

TECHNICAL FIELD

The present disclosure relates to operator controls for controlling various operations of a machine, and more specifically, to an adaptable operator controller for controlling front and rear work tools of machines.

BACKGROUND

A power machine is generally equipped with both front and rear implements and/or attachments and therefore requires many operator control patterns. To operate the front and rear implements, the power machine is equipped with a two-faced seat facing front and rear of the machine or a rotatable seat for an operator. Hence, a number of controls are provided to control both the front and rear implement functions along with other machine functions, such as front or back stabilizers etc. Also, the operator needs to either shift between the two faced seat facing the front and the rear of the machine or rotate while seated on the rotatable seat to operate the front and rear implements which may be difficult and physically uneasy for the operator. Additionally, this leads to non-smooth and uncoordinated control of the front and rear implements.
For example, a back-hoe loader is equipped to either a front linkage (i.e. engine end) or a rear linkage (i.e. non engine end) depending on the operator's preference or work requirements. The versatility of the power machine makes it cumbersome for the operator to intuitively operate each machine controls configuration. Further, the machine needs to operate many power controls to control the front and the rear attachments.
U.S. Pat. No. 7,918,303, hereinafter referred to as ‘303’ reference, discloses a mobile vehicle. The mobile vehicle includes a moveable operator seat, a left-side stabilizer, a right-side stabilizer, and a control system. The moveable operator seat is movable between a forward-use configuration and a rearward-use configuration. The control system is configured to control movement of the left-side stabilizer and the right-side stabilizer based on whether the operator seat is in the forward-use configuration or the rearward-use configuration. However, the '303 reference fails to disclose a controlling method to configure functions of controllers or input devices according to both the orientation of the operator seat and implement attachments. Therefore, there is a need of an adaptable controlling method that automatically adapts to the operator's seat orientation and a work tool/implement attachment.

SUMMARY OF THE DISCLOSURE

In an aspect of the present disclosure, a method for controlling a machine is provided. The method senses an orientation of a seat of an operator. The method selects a desired mode function with respect to at least one work tool, wherein the at least one work tool is equipped with the machine. Further, the orientation of the seat and the desired mode function is communicated to a processing module. Furthermore, input modules are configured corresponding to predefined patterns to control functions of the at least one work tool and the machine. The predefined patterns define functions of the at least one work tool and the machine corresponding to the orientation of the seat, and the desired mode function.
Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a machine utilizing a proposed system and method, in accordance with the concepts of the present disclosure;

FIG. 2 is a block diagram of a system for controlling functions of the machine, in accordance with the concepts of the present disclosure;

FIG. 3 depicts a top view of a seat in a first configuration and a second configuration, in accordance with the concepts of the present disclosure;

FIG. 4 shows a control module to select a desired mode function, in accordance with the concepts of the present disclosure; and

FIG. 5 is a flowchart of a method for controlling functions of the machine, in accordance with the concepts of the present disclosure.

DETAILED DESCRIPTION

Referring to FIG. 1, a machine 10 includes a cabin 12, input modules 14, 16 (for example, a right hand joystick and a left hand joystick), a first work tool 18, a second work tool 20, a seat 22, an engine 24, and stabilizers 26. The terms input module 14, the input module 16 are interchangeably used with a right hand (RH) joystick 14 and a left hand (LH) joystick 16 respectively without departing from the meaning and scope of the disclosure. Examples of the machine 10 include, but are not limited to, a backhoe loader, etc. For the purpose of simplicity, the various components of the machine 10 are not labeled in FIG. 1. The first work tool 18 and the second work tool 20 are controlled via the input modules 14, 16 to perform various operations of the machine 10. The first work tool 18 and the second work tools 20 are electro-hydraulically controlled via the input modules 14, 16. The first work tool 18 is equipped in a front end of the machine 10 facing the engine 24. The second work tool 20 is equipped in a rear end of the machine 10 facing in the opposite direction to the engine 24. It will be apparent to one skilled in the art that the first work tool 18 and the second work tool 20 may be coupled at any other location on the machine 10 without departing from the meaning and scope of the disclosure.
The input modules 14, 16 control various functions of the machine 10. The input modules 14, 16 are mounted on the seat 22, as shown in the FIG. 1. It will be apparent to the one skilled in the art that the input modules 14, 16 are mounted on a console (not shown) within a vicinity of the operator or are mounted at any other location apart from the seat 22 without departing from the meaning and scope of the present disclosure. The seat 22 is rotatable and therefore the input modules 14, 16 also rotate with the rotation of the seat 22. Examples of the input modules 14, 16 include, but are not limited to joysticks, keypads, touch screens, etc.
The machine 10 also includes the stabilizers 26 coupled to a frame (not shown). The machine 10 includes the stabilizers 26 coupled to a left and a right side of the frame. Only one of the stabilizers 26 is shown in the FIG. 1. The stabilizers 26 are movable between a lowered position and a raised position for supporting the frame of the machine 10.
The disclosure described herein may be used with other machines which have the first work tool 18 to be controlled and the second work tool 20 to be controlled without departing from the meaning and scope of the disclosure.
Referring to FIGS. 1 and 2, a system 28 controls the functions of the first work tool 18 and the second work tool 20. The system 28 includes a processing module 30, a position sensing device 34, a control module 36, a communication module 38, the input modules 14, 16, the first work tool 18 and the second work tool 20, and the seat 22. The machine 10 includes the input modules 14, 16, for example, a first input module 40, a second input module 42, a third input module 44 for controlling multiple functions of the machine 10. The first input module 40 is configured to control functions of the machine 10, such as drive, steer, stabilizer functions etc. The second input module 42 is configured to control a number of functions of the first work tool 18 and the second work tools 20. The third input module 44 is configured to control either the stabilizer 26 or one of the first work tool 18 or the second work tool 20.
Although, the system 28 disclosed herein configures the first input module 40 with the functions of the machine 10, the second input module 42 with the first work tool 18 and the second work tool 20, and the third input module 44 with the stabilizers 26 or the first work tool 18 and the second work tool 20. The system 28 configures or re-configures the first input module 40, the second input module 42, the third input module 44 with other functions of the machine 10 apart from the ones disclosed herein without departing from the meaning and scope of the present disclosure.
The processing module 30 receives signals from the communication module 38 that further communicates to receive signals from the position sensing device 34, the control module 36, and the first work tool 18 and the second work tool 20. After receiving the input signals from the communication module 38, the processing module 30 sends control signals to the input modules 14, 16 for controlling the functions of the machine 10 and the first work tool 18 and the second work tool 20.
The system 28 controls the functions of the machine 10 depending on the orientation of the seat 22 and the type of the first work tool 18 and the second work tool 20 attached to either the front end or the rear end of the machine 10. The system 28 adapts to the orientation of the seat 22 and automatically reconfigures the input modules 14 based on the input signals about a specific work tool.
The seat 22 is provided in a rotatable manner between a first configuration 46 facing the front end of the machine 10 and a second configuration 48 facing rear end of the machine 10 (as shown in FIG. 3). The input modules 14, 16 are mounted at different locations within the cabin 12 and are easily accessible by the operator. In an embodiment, the first input module 40 and the second input module 42 are mounted on the seat 22, and hence the first input module 40 and the second input module 42 also rotate with the rotation of the seat 22, while the third input module 44 is mounted on a console near the seat 22. In another embodiment, the first input module 40, the second input module 42 and the third input module 44 are mounted on the seat 22. The position sensing device 34 senses the orientation of the seat 22, whether the seat 22 is in the first configuration 46 or the second configuration 48. Upon sensing the orientation, the position sensing device 34 sends a signal regarding the orientation of the seat 22 to the processing module 30.
Further, the communication module 38 works in a controller area network (CAN) to send signals indicating the type of the first work tool 18 and the second work tool 20 to the processing module 30. Furthermore, the operator also selects a desired mode function (as described in FIG. 4) depending on which work tool to be utilized via the control module 36. The mode function defines different function modes for a particular work tool. It will be apparent to the one skilled in the art that the control module 36 is a manual or an automatic device that selects a mode function or automatically detects the work tool to select a mode function without departing from the meaning and scope of the disclosure. Further, the control module 36 may be a manual rotatable knob, a switch, a touchpad, an electronic display, any other device that allows selection of the mode function without departing from the meaning and scope of the disclosure. The processing module 30 receives a signal indicating the mode function from the control module 36 via the communication module 38.
The processing module 30 stores a number of predefined patterns 32 that define functions of the first work tool 18 and the second work tool 20 of the machine 10. The predefined patterns 32 are defined depending upon the work tool to be utilized and the first configuration 46 or the second configuration 48 of the seat 22. Upon receiving inputs from the position sensing device 34, the first work tool 18 and the second work tool 20 and the control module 36, the processing module 30 automatically adapts to one of the predefined patterns 32 that corresponds to the required work tool, the orientation of the seat 22 and the mode function. Thereafter, the processing module 30 reconfigures the input modules 14, 16 according to the predefined patterns 32 adapted. Hence, the input modules 14, 16 adapt to the predefined pattern 32. Therefore, the input modules 14, 16 operate accordingly to control either the first work tool 18 or the second work tool 20 or both along with the other functions of the machine 10, such as steering, driving or stabilizing.
Referring to FIGS. 1 and 2, the machine 10 includes the input modules 14, 16, for example, the right hand (RH) joystick 14 and the left hand (LH) joystick 16 on the seat 22. The right hand joystick 14 and the left hand joystick 16 also rotate with the seat 22. The LH joystick 16 and RH joystick 14 is referred to as the first input module 40 and the second input module 42 respectively. The operator selects a mode, i.e. a backhoe loader mode from the control module 36 (shown in FIG. 4) to operate the first work tool 18 i.e. the loader and the second work tool 20, i.e. a backhoe, while being in the first configuration 46 of the seat 22 facing the front of the machine 10. The processing module 30 adapts to the predefined patterns 32 that define the configuration of the first input module 40 and the second input module 42 in the first configuration 46 of the seat 22 for the loader mode. Therefore, the first input module 40 controls the drive and steer of the machine 10. While, the second input module 42 controls the lift or rack or auxiliary functions of the first work tool 18, i.e. a loader. Also, while being in the first configuration 46, the backhoe is in the rear of the operator, therefore the third input module 44 controls the functions of the backhoe as defined in the predefined patterns 32.
Now, when the seat 22 is rotated in the second configuration 48, the processing module 30 adapts to the predefined patterns 32 that defines the configuration of the first input module 40, the second input module 42, and the third input module 44 in the second configuration 48 for the backhoe loader mode. Hence, the processing module 30 reconfigures the first input module 40 and the second input module 42. As a result, the first input module 40 drives the machine 10 in reverse and steers the machine 10 in reverse, while the second input module 42 performs lifts or racks or aux functions of the second work tool 20, i.e. the backhoe in the rear. The third input module 44 controls the first work tool 18, i.e. loader which is in the rear of the operator now. As a result, the operator is able to maneuver multiple functions using the right hand (RH) joystick 14 and the left hand (LH) joystick 16.
Referring to FIGS. 2, and 3, the seat 22 is rotated in the first configuration 46. The position sensing device 34 senses the orientation of the seat 22 in the first configuration 46. The processing module 30 adapts to the predefined patterns 32 for the first configuration 46 in a desired mode function selected via the control module 36 to reconfigure the first input module 40, the second input module 42 and the third input module 44 according to the predefined pattern 32 adapted. In another configuration, the seat 22 is rotated in the second configuration 48. The position sensing device 34 senses the orientation of the seat 22 in the second configuration 48. The processing module 30 adapts to the predefined pattern 32 for the second configuration 48 in a mode function selected via the control module 36 to reconfigure the first input module 40, the second input module 42 and the third input module 44 according to the predefined pattern 32 adapted.
Referring to FIGS. 1, 2 and 4, the control module 36 includes four selectable mode functions. The mode functions selectable via the control module 36 are bucket mode 50 denoted by ‘A’, excavator mode 52 denoted by ‘B’, backhoe loader mode 54 denoted by ‘C’ and dozer mode 56 denoted by ‘D’. It will be apparent to the one skilled in the art that the control module 36 includes any number of mode functions with other functionalities described herein depending on the types of work tools attached to the machine 10, without departing from the meaning and scope of the present disclosure. Also, the control module 36 is in the form of a manually operated module, such as knobs, joysticks, switches, levers etc. or an electronically operated display module, or a touch pad etc. without departing from the meaning and scope of the present disclosure.

INDUSTRIAL APPLICABILITY

Referring to FIG. 5, a method 58 is described in conjunction with FIGS. 1-4.
At step 60, the orientation of the seat 22 is detected by the position sensing device 34.
At step 62, a desired mode function is selected via the control module 36 with respect to the work tool to be utilized, i.e. either the first work tool 18 or the second work tool 20.
At step 64, the orientation of the seat 22 and the desired mode function is communicated to the processing module 30.
At step 66, the processing module 30 configures the input modules 14, 16 according to the predefined patterns 32 adapted for controlling the functions of the machine 10. Examples of functions include, but are not limited to, drive, steer, stabilizer controls, along with the functions of the first work tool 18 and the second work tool 20 attached to the machine 10. The processing module 30 automatically adapts an appropriate predefined pattern 32 depending on the input signals received from the position sensing device 34 and the control module 36. Thereafter, the processing module 30 reconfigures the input modules 14 according to the predefined pattern 32 adapted.
The present disclosure provides a system and method to automatically configure the controlling functions of the input modules 14, 16 of the machine 10. The system 28 employs the processing module 30 that defines the predefined patterns 32 to re-configure the controls of the input modules 14, 16. The predefined patterns 32 consider the orientation of the seat 22 and the specific work tools that help in reducing the number of controls in the machine 10 and is more intuitive and user friendly to the operator. The operator is able to control the first work tool 18 and the second work tool 20 along with other functions of the machine 10, such as steer, stabilizer etc. in any configuration of the seat 22.
The operator of the machine 10 is able to efficiently control the functions of the first work tool 18 and the second work tool 20 along with other functions of the machine 10. The work accuracy of the operator for using the front work tool 18 and the rear work tool 20 increase and also the operator takes lesser time adapting to a different work tool controls.
While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.

Claims

What is claimed is:

1. A method for controlling a machine, the method comprising:

sensing an orientation of a seat of an operator;

selecting a desired mode function with respect to at least one work tool, the at least one work tool is equipped with the machine;

communicating the orientation of the seat and the desired mode function to a processing module; and

configuring a plurality of input modules corresponding to predefined patterns to control the functions of the at least one work tool and the machine;

wherein the predefined patterns define functions of the at least one work tool and the machine corresponding to the orientation of the seat, and the desired mode function.