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EP-4735695-A1 - SYSTEMS AND METHODS OF PERFORMING AUTOMATED OPERATIONS WITH AN ELECTRIC POWER MACHINE

EP4735695A1EP 4735695 A1EP4735695 A1EP 4735695A1EP-4735695-A1

Abstract

Automated operation methods and systems are provided for power machines (200, 400, 600). One system includes an electronic processor (700) configured to record operator commands for controlling the power machine (200, 400, 600) as a recorded operation. The electronic processor (700) is also configured to store the recorded operation in association with a start position of the recorded operation. The electronic processor (700) is also configured to control operation of the power machine (200, 400, 600) to achieve the start position and to perform the recorded operation.

Inventors

  • YOUNG, CHRISTOPHER

Assignees

  • Doosan Bobcat North America, Inc.

Dates

Publication Date
20260506
Application Date
20240624

Claims (15)

  1. 1. A system to control an electric power machine (200, 400, 500), the system comprising: one or more electronic processors (700) configured to: receive a set of operator commands controlling the electric power machine (200, 400, 500) for execution of a power machine operation; record the power machine operation as a recorded operation; receive a request to perform the recorded operation; and in response to receiving the request to perform the recorded operation, control one or more electrical actuators (660) of the electric power machine (200, 400, 500) to perform the recorded operation.
  2. 2. The system of claim 1, wherein the one or more electronic processors (700) are further configured to: before recording the recorded operation, determine a current position associated with the electric power machine (200, 400, 500); wherein the recorded operation is stored in association with the current position, the current position being a start position for the recorded operation.
  3. 3. The system of claim 2, wherein the current position includes a current tilt position of an electrical tilt actuator (680) of the one or more electrical actuators (660) and a current lift position of an electrical lift actuator (675) of the one or more electrical actuators (660).
  4. 4. The system of any of the preceding claims, wherein the set of operator commands includes activation of a float mode for the one or more electrical actuators (660).
  5. 5. The system of any of the preceding claims, wherein the set of operator commands includes a tractive control signal for at least one electrical tractive actuator (630) of the one or more electrical actuators (660).
  6. 6. The system of any of the preceding claims, wherein the one or more electronic processors (700) are configured to record the set of operator commands over a predetermined time period.
  7. 7. The system of any of the preceding claims, wherein the one or more electronic processors (700) are configured to detect activation of a record mode for the electric power machine (200, 400, 500); and wherein, responsive to detecting the activation of the record mode for the electric power machine (200, 400, 500), the one or more electronic processors (700) determine a current position associated with the electric power machine (200, 400, 500) and receive the set of operator commands.
  8. 8. The system of any of the preceding claims, wherein the one or more electronic processors (700) are configured to: store the recorded operation in a database, the database storing a plurality of recorded operations for the electric power machine (200, 400, 500); and selectively perform any of the recorded operations in response to a subsequent operator input.
  9. 9. A method to control a power machine (200, 400, 500), comprising: receiving, with one or more electronic processors (700), a request to perform a recorded operation, the recorded operation corresponding to one or more of: a set of operator commands for controlling the power machine (200, 400, 500) provided during previous operation of the power machine (200, 400, 500); or a position for the power machine (200, 400, 500) provided during previous operation of the power machine (200, 400, 500); determining, with the one or more electronic processors (700), a current position of an electrical actuator (630, 660) of the power machine (200, 400, 500); determining, with the one or more electronic processors (700), a difference between the current position of the electrical actuator (630, 660) and a target position associated with the recorded operation for the electrical actuator (630, 660); and adjusting, with the one or more electronic processors (700), the current position of the electrical actuator (630, 660) based on the difference.
  10. 10. The method of claim 9, further comprising: receiving, during performance of the recorded operation, an override command from an operator of the power machine (200, 400, 500); and in response to receiving the override command: cancelling performance of the recorded operation; and controlling the power machine (200, 400, 500) in accordance with the override command, wherein the override command includes a received operator command to control the power machine (200, 400, 500) differently than the recorded operation.
  11. 11. The method of any of the preceding claims, further comprising: detecting activation of a record mode for the power machine (200, 400, 500); and while the record mode for the power machine (200, 400, 500) is active: determining the target position; receiving the set of operator commands as the recorded operation; and storing the recorded operation in association with the target position, the target position being a start position for the recorded operation.
  12. 12. An electric power machine (200, 400, 500), the electric power machine (200, 400, 500) comprising: a power machine frame (110); a plurality of electrical actuators (630, 660) supported by the power machine frame (110), wherein the plurality of electrical actuators (630, 660) includes a tractive motor (640), a lift actuator (675), and a tilt actuator (680); a lift arm structure that includes: a lift arm (670) coupled to the power machine frame (110) and configured to be moved relative to the power machine frame (110) by the lift actuator (675); and a work element (655) supported by the lift arm (670) and configured to be moved relative to the lift arm (670) by the tilt actuator (680); an electrical power source (682) configured to power the plurality of electrical actuators (630, 660); and one or more electronic processors (700) in communication with the plurality of electrical actuators (630, 660), the one or more electronic processors (700) configured to: during activation of a record mode for the electric power machine (200, 400, 500): determine a position associated with the plurality of electrical actuators (630, 660); and receive a set of operator commands controlling the electric power machine (200, 400, 500); store the set of operator commands as a recorded operation in association with the position as a target position, the target position being a start position to be achieved prior to performance of the recorded operation; receive a request to perform the recorded operation; and in response to receiving the request: control the electric power machine (200, 400, 500) to achieve the target position; and control the electric power machine (200, 400, 500) to automatically perform the recorded operation.
  13. 13. The electric power machine (200, 400, 500) of claim 12, wherein the set of operator commands includes a first operator command that controls the lift actuator (675) and a second operator command that controls the tilt actuator (680).
  14. 14. The electric power machine (200, 400, 500) of any of the preceding claims, wherein the one or more electronic processors (700) are further configured to: detect a fault associated with performance of the recorded operation when a length of time associated with performance of the recorded operation exceeds a predetermined time period.
  15. 15. The electric power machine (200, 400, 500) of any of the preceding claims, wherein the one or more electronic processors (700) are further configured to: determine a current position of at least one electrical actuator (630, 660) included in the plurality of electrical actuators (660); determine a difference between the current position of the at least one electrical actuator (630, 660) and the target position; and control the electric power machine (200, 400, 500) to achieve the target position based on the difference.

Description

SYSTEMS AND METHODS OF PERFORMING AUTOMATED OPERATIONS WITH A POWER MACHINE CROSS-REFERENCE TO RELATED APPLICATIONS [0001] This application claims the benefit of and priority to U.S. Provisional Application No. 63/510,977, filed June 29, 2023, the entirety of which is incorporated by reference herein. BACKGROUND [0002] This disclosure is directed toward power machines. More particularly, the present disclosure is directed to power machines that operate in whole or in part under electrical power. Power machines, for the purposes of this disclosure, include any type of machine that generates power for the purpose of accomplishing a particular task or a variety of tasks. One type of power machine is a work vehicle. Work vehicles, such as loaders, are generally self-propelled vehicles that have a work device, such as a lift arm (although some work vehicles can have other work devices) that can be manipulated to perform a work function. Work vehicles include loaders, excavators, utility vehicles, tractors, and trenchers, to name a few examples. [0003] The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter. SUMMARY OF THE DISCLOSURE [0004] Some configurations of the disclosure are directed to providing automated task operation for power machines, and, in particular, electric power machines. Configurations described herein facilitate automated task operation through generation and execution of a recorded operation. Automated task operation may be utilized for executing repeated tasks, such as, e.g., dig and dump operations. For example, after lifting and dumping material into a truck bed, the operator may, with a single operator input, automate the movement of the workgroup back down from the dump position. Automated task operation may allow an operator to focus on other operations or tasks while the automated task operation is being executed, which may increase operator efficiency, accuracy, etc. Following the previous example, the automated task operation of moving the workgroup down from the dump position may allow the operator to focus on repositioning the power machine such that, once the bucket is down, the operator may engage (or dig) the next load to be lifted and dumped more quickly. [0005] In some configurations, the technology disclosed herein may be implemented as a return to position technique. For instance, the automated operation may include controlling the power machine (or a component thereof) to return to a target position (e.g., a previous position). A target position may include, e.g., a dig position, a dump position, etc. In some configurations, the technology disclosed herein may be implemented as a replay technique. For instance, the automated operation may include controlling the power machine (or a component thereof) to perform (or repeat) a set of previously executed operator commands such that the power machine repeats the set of previously executed operator commands as if the operator commands were being received in real-time (or near real-time). [0006] Some configurations of the present disclosure provide a system to control an electric power machine. The system may include one or more electronic processors. The one or more electronic processors may be configured to receive a set of operator commands controlling the electric power machine for execution of a power machine operation. The one or more electronic processors may also be configured to record the power machine operation as a recorded operation. The one or more electronic processors may also be configured to receive a request to perform the recorded operation. The one or more electronic processors may also be configured to, in response to receiving the request to perform the recorded operation, control one or more electrical actuators of the electric power machine to perform the recorded operation. [0007] In some configurations, the one or more electronic processors may be further configured to, before recording the recorded operation, determine a current position associated with the electric power machine. The recorded operation may be stored in association with the current position. The current position may be a start position for the recorded operation. [0008] In some configurations, the current position may include a current tilt position of an electrical tilt actuator of the one or more electrical actuators and a current lift position of an electrical lift actuator of the one or more electrical actuators. [0009] In some configurations, the set of operator commands may include activation of a float mode for the one or more electrical actuators. [0010] In some configurations, the set of operator commands may include a tractive control signal for at least one electrical tractive actuator of the one or more electrical actuators. [0011] In some configurations, the set of operator commands may include one or mo