Augmented loader controls

Patent metadata

Field	Value
Publication number	US-2020042003-A1
Application number	US-201916533417-A
Country	US
Kind code	A1
Filing date	Aug 6, 2019
Priority date	Aug 6, 2018
Publication date	Feb 6, 2020
Grant date	—

Abstract

Disclosed embodiments include power machines or loaders, and systems used on loaders, configured to augment the control of the loader to accomplish repetitive tasks. Also disclosed are methods of learning a task for augmented control of a loader, and methods of controlling a loader to perform a learned task to provide augmented control of the loader.

First claim

What is claimed is:

1 . A method of loading a power machine onto a trailer, the method comprising:
locating a position of the trailer using a positioning device to identify trailer position information; locating the power machine using the positioning device to generate power machine position information; identifying a path for the power machine to travel onto the trailer, the path including a final point on the trailer that represents a final position on the path where the power machine is to be located; and controlling the power machine with a controller to drive the power machine to a first point on the path to align the power machine with the trailer and then drive the power machine along the path onto the trailer to final point.

2 . The method of claim 1 , wherein locating a position of the trailer further comprises identifying four corners of a flatbed portion of the trailer.

3 . The method of claim 2 , wherein locating the position of the trailer further comprises identifying the four corners in a predetermined order.

4 . The method of claim 2 , wherein locating the position of the trailer further comprises verifying that the four corners identify a rectangle by calculating a first diagonal length between a left front corner and a right rear corner, calculating a second diagonal length between a right front corner and a left rear corner, and determining whether the first diagonal length and the second diagonal length are within a predetermined tolerance of each other.

5 . The method of claim 2 , wherein identifying the four corners comprises using the positioning device to recognize identifiable marks positioned at the four corners.

6 . The method of claim 1 , wherein locating the position of the trailer further comprises calculating a length and width of the trailer.

7 . The method of claim 1 , wherein locating the position of the trailer further comprises calculating a centerline of the trailer.

8 . The method of claim 1 , wherein locating the power machine using the portable positioning device further comprises obtaining real-time-kinematic (RTK) position information from RTK sensors on the power machine and generating an error correction factor based upon the power machine position information generated by the portable positioning device and the RTK position information.

9 . The method of claim 8 , and further comprising using the error correction factor to correct the trailer position information and the power machine position information.

10 . The method of claim 1 , wherein the final point is centered between a left side and a right side of the trailer and is positioned between a front end and a rear end of the trailer.

11 . The method of claim 10 , wherein the path includes a mid-point of a line that extends between a left rear corner and a right rear corner of the trailer, the path further including the first point and at least one additional point off of the trailer and on a line that extends through the final point and the mid-point.

12 . The method of claim 1 , wherein using the controller on the power machine to autonomously control the power machine to drive the power machine to the first point on the path to align the power machine with the trailer and then driving the power machine along points of the path onto the trailer to final point further comprises using the controller to back the power machine from the first point, along the points of the path and up a ramp to final point.

13 . The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a portable positioning device.

14 . The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a positioning device that is fixed to the trailer.

15 . The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a positioning device that is fixed to the power machine.

16 . A method of mapping obstruction zones of a work area on a workplace map and providing augmented control of a power machine, the method comprising:
identifying an obstruction zone for an obstruction in the work area using a first portable positioning device to tag a position of the obstruction; identifying a position of a power machine at a first location in the work area using the first portable positioning device; identifying a position of the power machine at the first location in the work area using a second positioning device; identifying position information of the power machine at a second location in the work area using the first portable positioning device; identifying a position of the power machine at the second location in the work area using the second positioning device; generating an error correction factor based upon the positions of the power machine at the first location in the work area identified using the portable positioning device and the second positioning device, and based upon the positions of the power machine at the second location in the work area identified using the portable positioning device and the second positioning device; recalculating the identified obstruction zone in the work area using the error correction factor to obtain a recalculated obstruction zone; and using a controller configured with the recalculated obstruction zone to control travel of the power machine in the work area to avoid contact with the obstruction.

17 . The method of claim 16 , wherein using the controller configured with the recalculated obstruction zone to control travel of the power machine in the work area comprises using the augmented control controller to control travel of the power machine autonomously.

18 . The method of claim 16 , wherein using the controller configured with the recalculated obstruction zone to control travel of the power machine in the work area comprises using the controller to augment control of travel of the power machine by an operator positioned on the power machine or controlling the power machine remotely.

19 . The method of claim 16 , wherein identifying the obstruction zone for the obstruction in the work area using the portable positioning device to tag the position of the obstruction further comprises identifying a point in the obstruction.

20 . The method of claim 16 , wherein identifying the obstruction zone for the obstruction in the work area using the portable positioning device to tag the position of the obstruction further comprises identifying at least one line segment and defining a position of the obstruction from the at least one line segment.

21 . The method of claim 16 , wherein identifying the obstruction zone for the obstruction in the work area using the portable positioning device to tag the position of the obstruction further comprises identifying a perimeter around the obstruction.

22 . A method of performing a task using a power machine, the method comprising:
initiating a learning mode of a controller using a learning mode input; setting a home position for the power machine using a parameter input to provide the home position to the controller; while an operator controls the power machine to perform an iteration of a task, recording in memory associated with the controller positions, movements and/or functions of the power machine in performing the iter

Assignees

• Clark Equipment Co

Inventors

• Pfaff John
• Hoaby John

Classifications

• E02F9/2045 Primary

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• E02F9/245

  for preventing damage to underground objects during excavation, e.g. indicating buried pipes or the like (detection of pipes in the ground F16L1/11) · CPC title

• E02F3/437

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title