Patent Application
20230407593
The present invention relates to the field of controlling movement of an excavator arm of a construction machine. More particularly, the present invention relates to the field of a wearable equipment and method of controlling movement of an excavator arm on a construction machine.
Excavators and backhoes are used worldwide in a variety of configurations for building everything from homes to roads, as well as landscaping and a variety of work around home. Majority of the excavators comprises three parts, commonly referred to as the boom, the dipper, and the bucket, which constitute as an arm of the excavator. Each of these parts are independently operated by one or more hydraulic pistons or actuators. By combining the simultaneous movement of the pistons, a scooping motion can be created which causes the excavator to dig. The excavator arm can also be operated in a motion that allows it to lift, push, pull, grab, or move objects as needed.
Additionally, a separate piston (or pistons) is used to swing the excavator arm from side to side, or the entire excavator is moved side to side (with excavator arm attached) to allow the excavator to operate in a wider area.
In some cases, an additional part, commonly referred to as the thumb, operates across from the bucket and is used to grab objects or hold a load in place. The thumb is also usually piston operated.
Numerous control systems are currently in use to operate the pistons which drive the excavator arm, as each piston must be capable of operating in two directions. The simplest systems in use comprises two levers that, each moving in two directions, while more complex systems illustrated in U.S. Pat. No. 6,575,050B1 ('050 patent) and Patent KR101154777B1 ('777 patent), which propose one-armed systems that are intended to be more natural.
The '050 patent discloses a single stick for a backhoe. The single stick comprises a series of four levers to adjust four separate hydraulic valves independently or in any combination, using a single hand. The problem in the system of '050 patent is that the back and forth and side to side motions of the control sticks into a smooth scooping (or other) motion are not natural. This is because the smooth motion requires the simultaneous movement of several of the pistons at varying rates, which requires extensive training and skills. While highly experienced excavator operators can move the excavator bucket within inches of their target due to their excellent muscle memory, the new or occasional operator creates many inadvertent movements and is methodical and slow, and potentially dangerous. The end result is longer training times, slower excavations, and potential accidents due to movement of the excavator arm in an unintended direction, and/or contacting and damaging another object.
The '777 patent, an intuitive control device for an excavator is disclosed, which comprises a moving control unit configured to control forward, backward, left and right rotary motion of the excavator. The principle of operation of the excavator of '777 patent resembles to any child on the beach to simulate an excavator with their arm and hand, which can perfectly mimic the lateral and digging motions using his/her upper arm as the boom, his/her forearm as the dipper, and his/her entire hand as a bucket. No training is required, and there are no incorrect, unintended, or jerky movements in their play. But, the problem is that the full armed digging works fine while kneeling on a beach, but it is more difficult to mimic the full arm motion while sitting in the cab or an excavator.
Aformentioned '050 and '777 patent which illustrates functioning of the excavator, the current state-of-the art systems also provide remote control of the excavator, which is illustrated by U.S. Pat. No. 5,516,249 (hereinafter referred to as '249 patent). The '249 patent discloses a control apparatus and method for controlling a remote actuator, the control apparatus having a kinesthetic feedback system for providing a kinesthetic sensation to the operator as a physical sensation representative of the resistive forces encountered by the remote actuator. The control apparatus is configured to be releasably mounted to the hand of the operator with control modules supported at preselected joints of the hand. The control modules sense changes in the angular orientation in the respective joints and generate a control signal as a function of the change. This control signal is used to drive the corresponding actuator. Each actuator includes a sensor to sense resistive forces encountered by the actuator and generate a response signal as a function of the resistive forces. A magnetostrictive clutch mechanism on the control module is controlled by the response signal to provide a resistive force against movement of the control module thereby providing a kinesthetic sensation to the hand of the operator. Further the angular orientation results in movement of excavator arm. But, the change in angular direction of the hand results in movement of the excavator arm in only one direction, i.e. upwards and downwards or in a vertical direction, and completely missing out on movement of the excavator in a horizontal direction
Another US granted patent numbered U.S. Ser. No. 10/883,254B2 (hereinafter referred to as '254 patent) illustrates an operating device for a working machine. The working machine comprises at least one boom. The operating device is configured to generate control signals for actuating the boom of working machine in dependence on at least one joint position of a hand of an operator. Similar to '249 patent, the change in joint position of the hand results in movement of the boom in only one direction, i.e. upwards and downwards or in a vertical direction, and also seems to be absent the movement of the excavator in a horizontal direction.
Another patent application numbered CN209885234U (hereinafter referred to as '234 patent) discloses an excavator toy based on gesture control. The excavator comprises an excavator body and a gesture controller used for controlling the excavator body. The gesture controller comprises a glove body, which comprises a main glove body and finger glove bodies communicated with the main glove body. The gesture controller comprises a first power supply, a main control panel and an attitude sensor arranged in the main glove body. Further, a main controller and a first wireless communication device are arranged on the main control panel, an optical fiber bending sensor is arranged at the position, corresponding to a finger joint, in the finger glove body, and the first power supply. Further, the attitude sensor, the first wireless communication device and the optical fiberbending sensor are all connected with the main controller. Similar to '249 patent and '254 patent, the gesture control of '234 patent results in movement of a boom in only one direction, i.e. upwards and downwards or in a vertical direction, and also fails to disclose the movement of the boom in a horizontal direction.
Another patent application KR20200104600A (hereinafter referred to as '600 patent) discloses an excavator remote control apparatus. The excavator remote control apparatus comprises an input unit which receives sensor data about user's hand movement for controlling a remote excavator, a driving control unit which generates a control command for controlling an excavator based on the sensor data about the hand movement, a communication unit transmitting the control command to the excavator and receiving force reflection information of a bucket transmitted from the excavator, and a force reflection control unit controlling feedback on the received force reflection. But, Similar to '249 patent, '254 patent, and '234 patent, the '600 patent also discloses movement of a boom in only one direction, i.e. upwards and downwards or in a vertical direction, and also seems silent on the movement of the boom in a horizontal direction.
A non patent research publication “Excavator tele-operation system using a human arm”, authored by Dongmok Kim et al., discloses a simple light weight tele-operation system has been developed for excavators. The system comprises three sensors attached to the operator's arm, in order to detect of movements of the said arms. The operating commands for the actuators of an excavator are transmitted via Bluetooth wireless communications. But, Kim et al also discloses movement of a boom in only one direction, i.e. upwards and downwards or in a vertical direction, and fails to disclose the movement of the boom in a horizontal direction.
Therefore, a need exists in the field for a system that can mimic the body's natural movements to control the excavator arm or the boom in two perpendicular directions, i.e. horizontal direction and vertical direction, for creating an intuitive and easy to use control system. Additionally, a need exists for the capability to similarly control the ‘thumb’ or other attachments with the same easy system. Also, for attaining perfect operation even for an inexperienced worker, there is a need for remote operation (i.e.—operation while the operator is not physically in the machine) so that one operator can closely examine the excavation or other work being performed while simultaneously controlling the excavator arm.
The present invention relates to the field of controlling movement of a construction machine. More particularly, the present invention relates to the field of a wearable equipment and method of using the wearable equipment for controlling movement of a construction machine.
According to an aspect of the present invention, the wearable equipment is worn by an operator in a similar fashion as of a glove. After wearing, the operator is configured to rotate or move his/her hand, in a manner similar to movement of a construction machine, or to various components of a construction machine.
According to an aspect of the present invention, the wearable equipment comprises a plurality of covering portions comprising a first covering portion, a second covering portion, a third covering portion, a fourth covering portion, a fifth and a sixth covering portion. The first covering portion is configured to encircle or cover one or more distal phalanges and middle phalanges. The second covering portion is configured to cover proximal phalanges of a hand. The third covering portion is configured to encircle a middle region or palm of the hand. The fourth covering portion is configured to cover a wrist, a fifth and sixth covering portion configured to encircle a thumb. In an embodiment, the wearable equipment comprises a plurality of sensors. The plurality of sensors comprises a first sensor, a second sensor, a third sensor, and a fourth sensor. The first sensor is positioned between the first covering portion and the second covering portion. The second sensor is positioned between the second covering portion and the third covering portion. The third sensor is positioned between the third covering portion and the fourth covering portion, and the fourth sensor is positioned between the fifth covering portion and the sixth covering portion. In another embodiment, a control unit is positioned on the fourth covering portion.
According to another aspect of the invention, the control unit positioned in the fourth covering portion of the wearable equipment comprises a power source, a transmitter, and a first processor module. The first processor module is configured to receive sensor data from the plurality of sensors mounted on the wearable equipment. Basis on the sensor data, the control unit is configured to process the sensor data to generate a set of instructions related to movement of the construction machine. In one embodiment, the set of instructions are transmitted to the construction machine through the transmitter.
According to an aspect of the present disclosure, a method includes controlling movement of a construction machine using the wearable equipment. At first step, the method comprises aligning the wearable equipment on to a hand of an operator. In one embodiment, the method comprises the next step of moving the hand in accordance to the desired movement of the construction machine. In the same embodiment, the movement of the hand is sensed by the plurality of sensors mounted on the wearable equipment. In an embodiment, the method comprises the next step of generating sensor data from the plurality of sensors based on the movement of the hand. In an embodiment, the method comprises the next step of processing the sensor data to generate a set of instructions related to the movement of the construction machine using a control unit. The method comprises the next step of transmitting the set of instructions to a receiver unit of the construction machine, and after receiving the set of instructions, the method comprises actuating an actuator of the construction machine, based on the set of instructions received by the receiver unit.
In an embodiment, the fourth sensor is alternatively positioned between the third covering portion and the fifth covering portion. In another embodiment, the first sensor is positioned on side region between the first covering portion and the second covering portion. In another embodiment, the second sensor is positioned on side region between the second covering portion and the third covering portion. In another embodiment, the fifth covering portion and the sixth covering portion are a two-piece structure, and configured to cover upper part of the thumb and the lower part of the thumb respectively. In another embodiment, the plurality of sensors are configured to detect relative movement such as angular displacement, or a degree of bending of the covering portions, or stress within the plurality of covering portions. In an embodiment, the plurality of sensors is selected from a group comprising angular sensors such as goniometer, or flex sensors such as flex strips, uni-directional flex sensors, or bi-directional flex sensors, or load sensors such as load cells.
In an embodiment, the construction machine further comprises a receiver unit. The receiver unit comprises a receiver sensor configured to receive a set of instructions related to movement of the construction machine from the control unit of the wearable equipment. The receiver unit further comprises a second processor module configured to process the set of instructions, and actuate an actuator of the construction machine.
Various objects, features, aspects and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components.
In the figures, similar components and/or features may have the same reference label. Further, various components of the same type may be distinguished by following the reference label with a second label that distinguishes among the similar components. If only the first reference label is used in the specification, the description is applicable to any one of the similar components having the same first reference label irrespective of the second reference label.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details.
Embodiments of the present invention include various steps, which will be described below. The steps may be performed by hardware components or may be embodied in machine-executable instructions, which may be used to cause a general-purpose or special-purpose processor programmed with the instructions to perform the steps. Alternatively, steps may be performed by a combination of hardware, software, firmware and/or by human operators.
If the specification states a component or feature “may”, “can”, “could”, or “might” be included or have a characteristic, that particular component or feature is not required to be included or have the characteristic.
As used in the description herein and throughout the claims that follow, the meaning of “a,” “an,” and “the” includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of “in” includes “in” and “on” unless the context clearly dictates otherwise.
Exemplary embodiments will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this invention will be thorough and complete and will fully convey the scope of the invention to those of ordinary skill in the art. Moreover, all statements herein reciting embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (i.e., any elements developed that perform the same function, regardless of structure).
A control system for excavators or backhoes is discussed herein. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be evident, however, to one skilled in the art that the present invention may be practiced without the specific details.
In an embodiment, referring to
In an embodiment, referring to
In an embodiment, the plurality of sensors comprises a first sensor 10, a second sensor 11, a third sensor 12, and a fourth sensor 20. The first sensor 10 is positioned between the first covering portion 17 and the second covering portion 16, preferably in a side region between the first covering portion 17 and the second covering portion 16. The second sensor 11 is positioned between the second covering portion 16 and the third covering portion 15, preferably in a side region between the second covering portion 16 and the third covering portion 15. The third sensor 12 is positioned between the third covering portion 15 and the fourth covering portion 14, and the fourth sensor is positioned between the fifth covering portion 19 and sixth covering portion 18. In another embodiment, a control unit 21 is positioned on the fourth covering portion 14.
In an embodiment, the plurality of sensors 10, 11, 12, 20 are configured to measure the actual angle or change in angle, or actual flex/pressure/stress or change in flex/pressure/stress between the first covering portion 17, the second covering portion 16, the third covering portion 15, the fourth covering portion 14, the fifth covering portion 19, and the sixth covering portion 18. In another embodiment, the plurality of sensors 10, 11, 12, 20 are connected to the control unit 21 using wireless connection or wired connection 13.
In an embodiment, the wearable equipment is collectively worn on a hand of an operator similar to a glove, to produce gestures for enabling digging action for the construction machine. In the same embodiment, the gestures results in change the actual angle, or actual flex/pressure/stress or change in flex/pressure/stress between the first covering portion 17, the second covering portion 16, the third covering portion the fourth covering portion 14, the fifth covering portion 19, and the sixth covering portion 18. The degree of change is measured by the plurality of sensors 10, 11, 12, and sensor data is generated, which is further transmitted to the control unit 21.
In an embodiment, referring to
In an embodiment, referring to
In an embodiment, now referring to
In an embodiment, the wearable equipment is worn on a hand of an operator to produce gestures for enabling digging action for the construction machine. In the same embodiment, the gestures results in change in flex between the first covering portion 17 and the second covering portion 16, the third covering portion 15 and the fourth covering portion 14, the fifth covering portion 19, and the sixth covering portion 18. The degree of change in flex is measured by the plurality of flex sensors 23, 24, 26, 33 and generate sensor data which is transmitted to the control unit 21.
In an embodiment, referring to
In one embodiment, now refer to
In an embodiment, the excavator arm comprises a receiver unit. The receiver unit comprises a receiver sensor and a second processor module. The receiver unit is connected to the second processor module. The receiver unit is configured to receive the set of instructions from the transmitted of the control unit 21 over the wireless network. The set of instructions is processed by the second processor module, and after processing, the second processor module actuate the actuators, which operates the hydraulic pistons 5, 6, 7, 8, and 9, to enable a digging action for the excavator arm.
In an embodiment, the first processor module and the second processor module may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions.
In an embodiment, the wireless network 702 can be implemented as one of the different types of networks, such as intranet, local area network (LAN), wide area network (WAN), the internet, Wi-Fi, LTE network, CDMA network, and the like
In an embodiment, the entire control scheme allows simple operation of the excavator arm by converting gestures of the hand into sensor data for the excavator arm. Bending the fingertips and middle of the fingers (together) (distal and middle phalanges) relative to the base of the fingers (proximal phalanges) moves the second covering portion part 17 relatively to the first covering portion part 16 and/or creates a change in angle/pressure/flex/stress in the sensor 10 which is converted by the control unit 21 into a signal to extend or retract the hydraulic piston 8 controlling the bucket 3. Thus, movement of the tip and middle of the finger 17 is mimicked by the bucket 3 of the excavator arm.
In an embodiment, bending the base of the fingers (proximal phalanges) relative to the mid hand or palm (metacarpal bones) which bends the second covering portion part 16 relatively to the third covering portion 15 and creates a change in angle/pressure/flex/stress in the sensor 11 which is converted by the control unit 21 into a signal to extend or retract the hydraulic piston 7 controlling the up and down motion of the dipper 2. Thus, movement of the base of the fingers relative to the mid-hand is mimicked by the dipper 2 of the excavator arm.
In an embodiment, movement of the mid-hand part covered by the third covering portion 15, relative to the wrist part covered by the fourth covering portion 14, is measured by the third sensor 12 (refer to
In an embodiment, now referring to
While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.
