Patent Application
20170175361
1. Field
Embodiments of the invention generally relate to control devices for hydraulic equipment and, more particularly, to systems and methods for intelligently gating control functions of hydraulic equipment so that the same physical controller can be used to control different hydraulic equipment without physical gates.
2. Related Art
Traditionally, hydraulic equipment has been operated by dedicated controls, with one control axis for each hydraulic function. For example, when a boom can be raised or lowered and also rotated, there is one control for raising and lowering, and one control for rotating. For efficiency or joint operation, controls are sometimes combined into two-axis joysticks, so that moving the joystick on the y-axis raises or lowers the boom, and moving the joystick on the x-axis rotates the boom.
For some hydraulic equipment, it is desirable to operate the two control functions at the same time (for example, to simultaneously rotate and raise the boom). In other examples, however, the control functions should not operate simultaneously. For example, there is not a reason to operate the winch and the digger at the same time so simultaneous activation is likely unintentional. To enforce these exclusions, physical gates can be used to restrict the movement of the joystick so that it can move in either the x-axis direction or the y-axis direction, but not both simultaneously.
However, controls that are mechanically gated in this fashion cannot be reused to control functions that require joint operation. For example, if a hydraulic equipment vehicle has a number of functions, then separate joysticks are required for each function, gated or not as the particular function requires. This prevents joysticks from being reconfigured to control different hydraulic equipment as needed. As such, there is a need for a way to dynamically and intelligently gate control inputs so that controls can be reused for different functions while being gated appropriately for current functions.
Embodiments of the invention address the above-described need by providing an intelligently gated multifunction controller for hydraulic equipment. In particular, in a first embodiment, the invention includes a mobile hydraulic equipment vehicle, comprising a joystick, freely movable in an first direction and a second direction, a vehicle incorporating a hydraulic device with a first hydraulic function and a second hydraulic function, a processor, one or more computer-readable media storing computer-executable instructions which, when executed by the processor, perform a method of electronic gating, comprising the steps of determining an first magnitude corresponding to a position of the joystick in the first direction, determining a second magnitude corresponding to a position of the joystick in the second direction, if the first magnitude is larger than the second magnitude determining an adjusted first magnitude by reducing the first magnitude based on the second magnitude, and sending the first hydraulic function a first control signal based on the adjusted first magnitude.
In a second embodiment the invention includes a system for controlling an item of hydraulic equipment, comprising a multifunction controller incorporating a plurality of joysticks, each joystick freely movable in an x direction and a y direction, a hydraulic controller configured to control a first function of the item of hydraulic equipment and a second function of the item of hydraulic equipment, a gating controller configured to receive a signal from a first joystick of the plurality of joysticks indicating an x magnitude corresponding to a distance the first joystick has been moved in the x direction and a y magnitude corresponding to a distance the joystick has been moved in the y direction, compare the x magnitude to the y magnitude, upon determining that the x magnitude is larger than the y magnitude, adjust the x magnitude based on the y magnitude and adjust the y magnitude to zero, and transmit the adjusted x magnitude and the adjusted y magnitude to the hydraulic controller.
In a third embodiment the invention includes a method of controlling an item of hydraulic equipment having a first function and a second function, comprising the steps of receiving, from a joystick freely movable in an x direction and a y direction, an x magnitude indicating how far the joystick has been moved in the x direction and a y magnitude indicating how far the joystick has been moved in the y direction, comparing the x magnitude and the y magnitude, if the x magnitude is greater than the y magnitude, adjusting the x magnitude based on the y magnitude, and operating the first function of the item of hydraulic equipment in accordance with the adjusted x magnitude.
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. Other aspects and advantages of the current invention will be apparent from the following detailed description of the embodiments and the accompanying drawing figures.
Embodiments of the invention are described in detail below with reference to the attached drawing figures, wherein:
The drawing figures do not limit the invention to the specific embodiments disclosed and described herein. The drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the invention.
At a high level, embodiments of the invention allow for improved controllers for mobile hydraulic equipment. Typically, mobile hydraulic equipment vehicles include multiple pieces of hydraulic equipment, each of which may include multiple functions. For example, a digger derrick may include a hydraulic auger (with separate controls to position and engage the auger) and a winch or claw for lifting and positioning poles in the holes dug by the auger (with separate controls for engaging the claw and for positioning the pole). These controls typically take the form of two-axis joysticks. Thus, for example, moving a joystick along the x-axis might control the rotation of a boom, while moving along the y-axis might control the tilt of the boom. Furthermore, to reduce the number of controls required for a vehicle control station, users can switch the controls from operating a first piece of hydraulic equipment to operate a second piece of hydraulic equipment. Thus, a pair of joysticks used to operate the auger can be reconfigured to operate the claw or winch.
For some hydraulic equipment the control functions on each axis should be jointly operable and for other equipment, they should be mutually exclusive. For example, when controlling a claw to position a pole in a hole, the arm may need to be rotated to maintain the position of the base of the pole as the claw rotates to tilt the pole into a vertical orientation. Thus, when arm position and claw rotation are mapped to the same control, the user needs to position the joystick in a diagonal position so that both the x-axis function and the y-axis function are engaged. However, if the functions for claw rotation and claw opening/closing are instead mapped to the same control, only one of these functions should be operable at a time, lest the user unintentionally open the claw while attempting to rotate the pole into position.
When dedicated controls are used for each item of hydraulic equipment, this is not a problem, because physical gates can be installed in the joystick to prevent off-axis operation. However, because remappable joysticks may be required to operate in a joint operation mode when configured to control a first piece of hydraulic equipment and in a mutually exclusive mode when operating a second piece of hydraulic equipment, physical gates are infeasible. As such, embodiments of the invention provide for software gates that can allow a joystick to operate safely in either a joint operation mode or a mutually exclusive mode by remapping a physical joystick position on its x-axis and y-axis into a virtual position in a manner dependent on the needs of the equipment being controlled.
The subject matter of embodiments of the invention is described in detail below to meet statutory requirements; however, the description itself is not intended to limit the scope of claims. Rather, the claimed subject matter might be embodied in other ways to include different steps or combinations of steps similar to the ones described in this document, in conjunction with other present or future technologies. Minor variations from the description below will be obvious to one skilled in the art, and are intended to be captured within the scope of the claimed invention. Terms should not be interpreted as implying any particular ordering of various steps described unless the order of individual steps is explicitly described.
The following detailed description of embodiments of the invention references the accompanying drawings that illustrate specific embodiments in which the invention can be practiced. The embodiments are intended to describe aspects of the invention in sufficient detail to enable those skilled in the art to practice the invention. Other embodiments can be utilized and changes can be made without departing from the scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense. The scope of embodiments of the invention is defined only by the appended claims, along with the full scope of equivalents to which such claims are entitled.
In this description, references to “one embodiment,” “an embodiment,” or “embodiments” mean that the feature or features being referred to are included in at least one embodiment of the technology. Separate reference to “one embodiment” “an embodiment”, or “embodiments” in this description do not necessarily refer to the same embodiment and are also not mutually exclusive unless so stated and/or except as will be readily apparent to those skilled in the art from the description. For example, a feature, structure, or act described in one embodiment may also be included in other embodiments, but is not necessarily included. Thus, the technology can include a variety of combinations and/or integrations of the embodiments described herein.
Turning first to
Computer-readable media include both volatile and nonvolatile media, removable and nonremovable media, and contemplate media readable by a database. For example, computer-readable media include (but are not limited to) RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile discs (DVD), holographic media or other optical disc storage, magnetic cassettes, magnetic tape, magnetic disk storage, and other magnetic storage devices. These technologies can store data temporarily or permanently. However, unless explicitly specified otherwise, the term “computer-readable media” should not be construed to include physical, but transitory, forms of signal transmission such as radio broadcasts, electrical signals through a wire, or light pulses through a fiber-optic cable. Examples of stored information include computer-usable instructions, data structures, program modules, and other data representations.
Finally, network interface card (NIC) 124 is also attached to system bus 104 and allows computer 102 to communicate over a network such as network 126. NIC 124 can be any form of network interface known in the art, such as Ethernet, ATM, fiber, Bluetooth, or Wi-Fi (i.e., the IEEE 802.11 family of standards). In vehicular embodiments, a controller area network (CAN) and/or the RS-485 (also known as TIA-485 or TIA-485-A) standard can be used for communication between components. NIC 124 connects computer 102 to local network 126, which may also include one or more other computers, such as computer 128, and network storage, such as data store 130. Generally, a data store such as data store 130 may be any repository from which information can be stored and retrieved as needed. Examples of data stores include relational or object oriented databases, spreadsheets, file systems, flat files, directory services such as LDAP and Active Directory, or email storage systems. A data store may be accessible via a complex API (such as, for example, Structured Query Language), a simple API providing only read, write and seek operations, or any level of complexity in between. Some data stores may additionally provide management functions for data sets stored therein such as backup or versioning. Data stores can be local to a single computer such as computer 128, accessible on a local network such as local network 126, or remotely accessible over Internet 132. Local network 126 is in turn connected to Internet 132, which connects many networks such as local network 126, remote network 134 or directly attached computers such as computer 136. In some embodiments, computer 102 can itself be directly connected to Internet 132.
In some embodiments, computer 102 is directly connected to and controls equipment as discussed below. In other embodiments, computer 102 communicates via network 126 or Internet 132 with another computer (such as computer 128 or computer 136) that controls the equipment. In still other embodiments, computer 102 controls (directly or indirectly) simulated equipment (for example, for the purpose of training an equipment operator).
Turning now to
The equipment profile may be selected from among a set of profiles associated with a particular joystick being controlled, or from among all available equipment profiles. In some embodiments, the equipment profile can be selected automatically based on a user selection of a piece of equipment to be controlled. For example, in the digger derrick example given above, selecting the auger might choose a joint operation profile for both the joystick controlling the rotation and extension of the auger arm and the joystick controlling the revolution and vertical position of the auger. If the user subsequently begins to operate the claw instead, a joint operation profile might be automatically selected for the joystick controlling the tilt and rotation of the arm, while a mutual exclusion profile might be selected for the joystick controlling the rotation and opening/closing of the claw. Other equipment might use the same or different sets of equipment profiles, and users may have the option of selecting a non-default profile for a given piece of equipment.
Processing then proceeds to a step 204, where joystick input from a user is received. As discussed in further detail below, the term “joystick” is used for brevity, but any two-axis (or more than two-axis) input device can be used instead. In some embodiments, such as a conventional joystick, absolute offsets for the x-axis and the y-axis are received. In such embodiments, a zero magnitude for both axes would be received only when the controller is centered. In other embodiments, such as a trackball, a relative offset (or delta) between the current position and the previous position is provided instead. In such embodiments, zero magnitudes for both axes are received whenever the controller is fixed in its current position. In some such embodiments, absolute offsets are calculated from the relative offsets, adjusted as described below, and passed to the hydraulic controller. In other such embodiments, the relative offsets themselves are adjusted and passed to the hydraulic controller.
Once the magnitudes for the x- and y-axes have been determined, processing proceeds to a step 206, wherein the relative x-axis and y-axis magnitudes are compared. In other words, this comparison determines whether the joystick is further in a horizontal direction (i.e., displaced along the x-axis) or in a vertical direction (i.e., displaced along the y-axis). If the x magnitude is greater than the y magnitude, processing proceeds to step 208. If the x and y magnitudes are equal, processing proceeds to step 212. If the x magnitude is less than the y magnitude, processing proceeds to step 214.
At step 208, the y magnitude is reduced for those equipment profiles that do not require full joint operation. For some equipment profiles, the y magnitude is reduced to zero if it is less than the x magnitude. Such profiles include mutually exclusive equipment profiles (i.e., those where only one of the control functions should be engaged at a time). In still other embodiments, the y magnitude may be reduced based on the x magnitude. For example, it may be desired to blend the x and y magnitudes such that the adjusted x magnitude is decreased based on the y magnitude and the adjusted y magnitude is decreased based on the x magnitude. As with all of steps 208-216, the nature of the adjustments in the x and y magnitudes is determined by the equipment profile determined at step 202.
Next, as step 210, the x magnitude is adjusted based on the y magnitude according to the equipment profile. As discussed below, this can allow mutually exclusive equipment profiles to prevent abrupt and unintentional switching from activating the function on the x-axis to the function on the y-axis by inadvertently moving the joystick through the 45-degree line. In some embodiments, x is reduced to zero if the y magnitude is greater than a threshold value. Thus, if the joystick is outside of a cross-shaped region around the x- and y-axes, then the joystick will be deactivated as if it were in the zero position. Such an equipment profile recreates the effect of the physical restriction gate described above. See
If the joystick is positioned on a diagonal (i.e., where the x magnitude is equal to the y magnitude), then processing proceeds to step 212, where the x and y magnitudes are adjusted according to the equipment profile selected at step 202. For example, in joint operation profiles, the x and y magnitudes may be passed through unadjusted. On the other hand, in mutual exclusion equipment profiles, both x and y magnitudes may be reduced to zero if they are equal, to prevent simultaneous activations of both functions. Other possibilities are also possible, depending on the selected equipment profile.
If decision 206 determined that the x magnitude is less than the y magnitude, processing proceeds to step 214 instead. At step 214, the x magnitude is decreased according to the selected equipment profile. In some embodiments, step 214 reduces the x magnitude in the same way that step 208 reduces the y magnitude. In other embodiments, the adjustments for the function controlled by the x-axis and the function controlled by the y-axis are adjusted differently. For example, the function on the x-axis may only operate as long as the y magnitude is less than a predetermined threshold, while the function on the y-axis can operate regardless of the x magnitude.
Processing then proceeds to step 216, where the y magnitude is adjusted based on the x-magnitude. As discussed above, in some embodiments the y magnitude may be adjusted based on the x magnitude in the same way that step 210 adjusted the x magnitude based on the y magnitude. In other embodiments, the y magnitude can be adjusted differently or passed through unadjusted.
Next, regardless of the determination at decision 206, processing continues at step 218, where the adjusted x and y magnitudes are sent to the hydraulic controller. In some embodiments, as discussed below, the hydraulic controller is integrated into computer 102 that executes method 200. In other embodiments, computer 102 transmits the adjusted magnitudes to a separate hydraulic controller directly or via a network. In still other embodiments, method 200 is performed by an intermediary controller added between the joystick or joysticks and the hydraulic controller, such as an aftermarket gating filter. Once the magnitudes have been transmitted on to the hydraulic controller, processing returns to step 204 where further magnitudes are received, adjusted and forwarded on. Processing can proceed in this manner until a new equipment profile is selected or the operator is finished using the equipment.
Turning now to
Control lines 306 convey the signals from each axis of each joystick control of multifunction controller 304 to control logic 308. For example, the depicted two, two-axis joysticks convey four signals to control logic 308: the x-axis and y-axis position of the first joystick and the x-axis and y-axis position of the second joystick. Although four control lines are depicted, it should be appreciated that signals may be multiplexed over a single physical line instead, or over one line per joystick. In some embodiments, one or more joysticks may be dedicated to specific items of hydraulic equipment and routed directly to hydraulic controller 312 without passing through control logic 308.
Control logic 308 maps the controls of multifunction controller 304 to the various functions of hydraulic equipment vehicle 316, and applies appropriate equipment profiles to them when doing so. For example, a joystick might initially control an arm that can move both up/down and in/out with its two axes. Because user 302 might wish to move the arm both up and out simultaneously, a joint operation profile could be applied when the joystick is controlling the arm. If, however, the joystick is subsequently configured to control the rotation and opening/closing of a claw at the end of the arm, a mutually exclusive equipment profile might be used instead so that the claw is not inadvertently opened when user 302 attempts to rotate it. Exemplary equipment profiles are discussed further below with respect to
In addition to adjusting the control signals in accordance with the appropriate equipment profiles, control logic 308 also maps them to the appropriate function control signals on function lines 310. While there is one (conceptual) control line for each control axis of multifunction controller 304, there is one function line for each function of hydraulic equipment vehicle 314. For example, separate function lines may be used to move an arm left, right, up, and down, to open and close a claw, to spin an auger clockwise, and counterclockwise, to raise and lower a lift, or generally to perform any function of hydraulically operated equipment. In some embodiments, each of function lines 310 operates a single hydraulic cylinder so that, for example, separate function lines are used to move an arm left and right. In such embodiments, control logic 308 can separate motion of the joystick in (for example) the positive x-axis and the negative x-axis onto these separate function lines of function lines 310. In other embodiments, a single function line carries a single signal indicating whether the arm should move in a left or right direction, and hydraulic controller 312 separates the signal into appropriate hydraulic lines 314 to operate the arm in the appropriate direction.
Each hydraulic line 314 controls the operation of a single hydraulic function of hydraulic equipment vehicle 316. Hydraulic equipment vehicle 316 is, broadly, any mobile platform with integrated hydraulic equipment. For example, a boom truck (a truck with a mounted crane), an aerial lift (a bucket truck or cherry picker), and a digger derrick (as discussed above) are all examples of mobile hydraulic equipment. Similarly, agricultural equipment such as a combine integrating hydraulic equipment may also be included in the scope of the term. More generally, power-line equipment, tree-care equipment, and telecommunications equipment may be instances where mobile hydraulic equipment is used. However, ordinary vehicles such as cars are not included in the scope of the term.
Turning now to
the x=y line, the signal sent to the x-axis function will abruptly change from a strong signal to zero, and the signal sent to the y-axis function will abruptly change from zero to a strong signal (or, of course, vice versa). In other words, steps 208 and 214 reduce the y magnitude and x magnitude (respectively) to zero, and steps 210 and 216 leave the other magnitude unchanged. Algorithm 2 depicts pseudocode implementing the equipment profile of
In order to accomplish this, step 208 again reduces the y magnitude to zero, and step 210 reduce the x magnitude by a weighting factor times the unadjusted y magnitude. For example, if this weighting factor is one, then the signal sent to the active function will become zero as the joystick reaches the diagonal. If a larger “dead zone” is desired, a larger weighting factor can be used (with the signal limited to a minimum of zero). Alternatively a smaller weighting factor can also be used. In some embodiments, steps 208 and 214 do not reduce y and x (respectively) to zero, but reduce them proportionally to their counterpart. In this way, joystick inputs can be blended (as in a joint operation profile), but reduced in such a way that increasing the signal for one function reduces the signal for the other function and vice versa. Algorithm 3 depicts pseudocode implementing the equipment profile of
Many different arrangements of the various components depicted, as well as components not shown, are possible without departing from the scope of the claims below. Embodiments of the invention have been described with the intent to be illustrative rather than restrictive. Alternative embodiments will become apparent to readers of this disclosure after and because of reading it. Alternative means of implementing the aforementioned can be completed without departing from the scope of the claims below. Certain features and subcombinations are of utility and may be employed without reference to other features and subcombinations and are contemplated within the scope of the claims. Although the invention has been described with reference to the embodiments illustrated in the attached drawing figures, it is noted that equivalents may be employed and substitutions made herein without departing from the scope of the invention as recited in the claims.
