Note: Descriptions are shown in the official language in which they were submitted.
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SYSTEMS AND METHODS FOR ATTACHMENT CONTROL SIGNAL
MODULATION
TECHNICAL FIELD
[0001] This disclosure relates to systems and methods for controlling
machines, machine
peripherals, attachments, implements, and the like.
BACKGROUND
[0002] Work machines can be used in various industries and are particularly
suited for
performing tasks such as earth-moving, digging, drilling, and transporting
heavy objects. In
general, work machines such as backhoes, bulldozers, skid steer loaders, and
cranes
commonly use some form of mechanical advantage to carry out tasks requiring
exceptional
strength or force, e.g., to move large, heavy objects or earth. Commonly,
hydraulic
machinery is used for lifting heavy loads, articulating booms, and controlling
other features
of work machines.
[0003] Attachments can be used with work machines for carrying out specific
tasks or
performing certain operations. Examples of work machine attachments include
augers,
brooms, excavator buckets, stump grinders, and trenchers, and most, if not all
attachments
operate by hydraulic power.
SUMMARY
[0004] In general, systems and methods are disclosed for controlling work
machines,
work machine attachments, and implements thereof.
[0005] In one exemplary aspect, a system for controlling a work machine
implement is
described. The system includes an electronic control module circuit capable of
receiving, at
one or more input registers, an input control signal of a first control signal
type generated by
a control mechanism of the work machine corresponding to a user input. The
circuit is
further capable of generating a control output signal of the first control
signal type or of a
second, different control signal type for controlling operation of the
implement according to
the user input. Generating an output signal causes simultaneous or
substantially simultaneous
generation of a hydraulic flow output control signal for providing hydraulic
power to the
implement. The control output signal and the hydraulic flow output control
signal are
transmitted to an output register.
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[0006] In one embodiment, the hydraulic flow output control signal is in
signal
communication with an electronic control module of the work machine that is
capable of
controlling hydraulic flow to a hydraulic motor or hydraulic cylinder integral
with the work
machine implement.
[0007] In one embodiment, the manufacturing company of the work machine is
different
from the manufacturing company of the implement. In one embodiment, the
implement
includes an electronic control module for controlling movement or
functionality of the
implement using one or more hydraulic systems, and wherein the electronic
control module is
configured to receive a control signal of a different type than that produced
by the control
mechanism.
[0008] In one embodiment, the control module circuit includes a
microcontroller in signal
communication with the one or more input registers that is capable of storing
and executing
software instructions for converting the one or more input control signals
from the first
control signal type into the output signals of the second control signal type,
alone, or
optionally in cooperation with one or more electronic filter components. In
one embodiment,
the microcontroller is capable of storing one or more configuration files that
include software
instructions for a chosen combination of work machine and implement. In one
embodiment,
the system further includes a selection mechanism for a user to select one of
the configuration
files to be executed by the microcontroller according to a chosen combination
of work
machine and implement. In one embodiment, the selection mechanism is a
computer-driven,
graphical user interface, a switch, a rotary dial, a lever, or a button. In
one embodiment, the
system further includes one or more optional electronic filters and one or
more optional
electronic regulators in signal communication with the input control signals,
which are
capable of conditioning the one or more input control signals according to
desired signal
input specifications of the microcontroller.
[0009] In one embodiment, the first control signal type is a pulse-width
modulated
(PWM) signal, an analog signal, a digital signal, an alternating-current
signal, or a direct-
current voltage signal.
[0010] In one embodiment, the control mechanism is a joystick, lever,
throttle, auxiliary
control module, pedal, switch, roll-knob, or control bar.
[0011] In one embodiment, the work machine is a skid-steer loader, an
excavator, a multi-
terrain loader, a telehandler, a track loader, a track-type tractor, a wheel
loader, a wheel
dozer, a motor grader, or a backhoe loader.
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[0012] In one embodiment, the implement is one or more of a: motor grader,
backhoe,
hydraulic breaker, fork, pallet fork, broom, angle broom, sweeper, auger,
mower, snow
blower, grinder, stump grinder, tree spade, trencher, dumping hopper, ripper,
tiller, grapple,
tiller, roller, blade, snow blade, wheel saw, cement mixer, bucket, clamp,
digger, cutter,
grader, grapple, breaker, mower, rake, planer, compactor, ripper, scraper,
seeder, sprayer,
spreader, trencher, plow, roller, wheelsaw, post driver, dumping hopper,
chipper, or wood
chipper.
[0013] In one exemplary aspect, a method for controlling an implement of a
work
machine is described. The method includes receiving an implement control
signal in a first
signal format from a work machine implement control mechanism at an input
register of a
conversion module. The conversion module includes a microcontroller in signal
communication with the input register, and the microcontroller is capable of
storing and
executing computer software instructions for converting the implement control
signal from
the first signal format to a second, different signal format. The method
further includes
transmitting the implement control signal in the second signal format to an
electronic control
module integral with the implement that is configured to receive control
signal of the second
signal format to engender user-controlled motion or activation of the
implement.
[0014] In one embodiment, the method further includes generating a hydraulic
flow
activation signal that corresponds with converting the implement control
signal from the first
signal format to a second signal format. The method further includes
transmitting the
hydraulic flow activation signal to an input register of a hydraulic power
system integral with
the implement, to cause hydraulic flow in the hydraulic power system to occur
only when the
implement is in motion or activated.
[0015] In one embodiment, the first or the second control signal format is a
pulse-width
modulated (PWM) signal, an analog signal, a digital signal, an alternating-
current signal, or a
direct-current voltage signal.
[0016] In one embodiment, the implement control mechanism is a joystick,
lever, throttle,
auxiliary control module, pedal, switch, roll-knob, or control bar.
[0017] In one embodiment, the work machine is a skid-steer loader, an
excavator, a multi-
terrain loader, a telehandler, a track loader, a track-type tractor, a wheel
loader, a wheel
dozer, a motor grader, or a backhoe loader, and wherein the implement is one
or more of a:
motor grader, backhoe, hydraulic breaker, fork, pallet fork, broom, angle
broom, sweeper,
auger, mower, snow blower, grinder, stump grinder, tree spade, trencher,
dumping hopper,
ripper, tiller, grapple, tiller, roller, blade, snow blade, wheel saw, cement
mixer, bucket,
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clamp, digger, cutter, grader, grapple, breaker, mower, rake, planer,
compactor, ripper,
scraper, seeder, sprayer, spreader, trencher, plow, roller, wheelsaw, post
driver, dumping
hopper, chipper, or wood chipper.
[0018] In one exemplary aspect, a computer program product is described. The
computer
program product is tangibly embodied in an information carrier, the computer
program
product includes instructions that, when executed, perform operations for
controlling a work
machine implement that is configured to receive operative control signals in a
format that is
different from the signal format of the implement control system of the work
machine. The
operations include receiving an implement control signal in a first signal
format from the
implement control system of the work machine at an input register of a
conversion module,
where the conversion module includes a microcontroller in signal communication
with the
input. The operations further include converting the implement control signal
from the first
signal format to a second, different signal format. The operations further
include transmitting
the implement control signal in the second signal format to an input register
of an electronic
control module integral with the implement that is configured to receive
control signals of the
second signal format to engender user-controlled motion or activation of the
implement.
[0019] In one embodiment, the operations further include instructions for
selecting,
through a graphical user interface, a configuration file corresponding to a
specific
combination of work machine type and implement type. The operations further
include
displaying, on the graphical user interface, selected operational data
corresponding to the
usage of the implement.
[0020] Unless otherwise defined, all technical and scientific terms used
herein have the
same meaning as commonly understood by one of ordinary skill in the art.
Although
methods and materials similar or equivalent to those described herein can be
used in the
practice or testing of any described embodiment, suitable methods and
materials are
described below. In addition, the materials, methods, and examples are
illustrative only and
not intended to be limiting. In case of conflict with terms used in the art,
the present
specification, including definitions, will control.
[0021] The foregoing summary is illustrative only and is not intended to be in
any way
limiting. In addition to the illustrative aspects, embodiments, and features
described above,
further aspects, embodiments, and features will become apparent by reference
to the drawings
and the following detailed description and claims.
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DESCRIPTION OF DRAWINGS
[0022] The present embodiments are illustrated by way of the figures of the
accompanying drawings in which like references indicate similar elements, and
in which:
[0023] FIG. 1 is a prior-art version of a skid steer/multi-terrain loader with
a motor grader
attachment.
[0024] FIG. 2 shows an electronic control and signal modulation system,
according to one
embodiment.
[0025] FIG. 3 shows a graphical user interface, according to one embodiment.
[0026] FIG. 4 shows a system for controlling a work machine attachment,
according to
one embodiment.
[0027] FIGS. 5A-5E show an exemplary circuit diagram corresponding to an
electronic
control and modulation system, according to one embodiment.
[0028] FIG. 6 shows a method for controlling a work machine attachment,
according to
one embodiment.
DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
[0029] In one exemplary aspect, systems and methods for attachment control
signal
modulation are disclosed. An electronic control and signal modulation system,
hereinafter
ECSMS, is disclosed for this and other purposes. In general, an ECSMS can
receive one or
more control signal input(s) of any signal type, e.g., pulse-width modulated
(PWM), analog,
digital, AC or DC voltage, or combinations thereof, and produce the correct
output signal(s)
necessary to power, control, or simultaneously power and control a work
machine implement
or attachment. In one embodiment, one or more control signals, which may be
different
signal types in the case of multiple control signals, are received by a signal
modulator. The
signal can be electronically filtered, converted, or other otherwise
conditioned to produce an
output signal capable of powering, controlling, or simultaneously powering and
controlling a
work machine attachment or implement. In one embodiment, signal filters,
signal converters,
or other signal-conditioning mechanisms can be embodied in computer hardware,
software,
firmware, or combinations thereof. In a preferred embodiment, an ECSMS can
receive
control input signals from a work machine joystick or other control device
configured to
control a first work machine attachment; the ECSMS is capable of producing
output signals
to simultaneously provide controlled hydraulic flow to, and mechanical
movement of a
second, different work machine attachment.
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[0030] In one general aspect, the systems and methods for attachment control
signal
modulation described herein can provide the ability to control various machine
implements or
attachments, including third-party implements or attachments, using existing
attachment
control systems built in to the work machine. In one non-limiting example,
some skid-steer
loaders have control implements, e.g., control joysticks for controlling
various work machine
attachments, such as a six-way blade, a tree spade, a broom, a bucket, a
trencher, a backhoe,
or other implements. However, if a user wished to use an off-brand or third-
party attachment
with the skid-steer loader, special considerations or re-wiring may be needed
so that the
control implement can communicate with the attachment to cause it to work
correctly, i.e., as
expected.
[0031] In some cases, off-brand or third party attachments cannot be used with
certain
work machines because the control system is not configured to control
attachments or
implements other than those provided by the work machine manufacturer. Some
manufacturers provide conversion kits that relay control signals to a third-
party attachment,
however, hydraulic flow to the attachment cylinders is typically required to
be 'on' at all
times. This can lead to damaged cylinders, which can be costly to replace.
[0032] In one embodiment, an ECSMS can receive any type of control signal from
a
control system and provide a conditioned output signal capable of controlling
a mechanical
attachment or implement as desired. Furthermore, an ECSMS is capable of
simultaneously
providing correct signals to control solenoids, hydraulics, and other power
systems to work
correctly with the mechanical implement. Keeping with the example above, an
ECSMS can
be used in work machines so that operators can control off-brand or third-
party work machine
attachments with the existing control system(s) of the work machine. In
preferred
embodiments, the ECSMS is capable of outputting any combination of power and
control
signals at desired signal levels or amounts individually, simultaneously, or
in any desired
combination thereof. Additionally, in preferred embodiments, an ECSMS is
capable of
outputting necessary hydraulic power signals and control signals
simultaneously, thereby
providing the capability of powering and controlling one or more machine
implements.
[0033] FIG. 1 shows an exemplary prior-art work machine 100 having a work
machine
attachment 105 which will be used for illustrative purposes throughout this
disclosure. This
type of work machine will be easily recognizable as a skid-steer loader by
those skilled in the
art and represents one of many work machine types to which this disclosure is
applicable.
The attachment 105 will be recognized by those skilled in the art as a motor
grader. Other
work machines and other machinery in general are equally contemplated,
including, but not
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limited to: heavy equipment (construction) machinery, such as bulldozers,
excavators, wheel
loaders, graders, compactors, conveyors, and the like; robotic machinery;
automobiles;
manufacturing equipment; controllers; and other machinery.
[0034] The work machine 100 includes a grader blade 106 on the attachment 105
that
can be controlled by a user in the cab portion 107. The grader blade 106 (and
the attachment
105 in general) can be raised and lowered via one or more lift arms 110, as
well as tilted
frontward and backward according to user input into a joystick controller 108.
It will be
understood that the joystick 108 shown in FIG. 1 is but one of many
commercially-available
control systems for use in work machines. Other non-limiting control systems
include levers,
pedals, switches, roll-knobs, control bars, and other control surfaces and
mechanisms capable
of sending control signals to various power plants and control mechanisms on
the work
machine 100, as is generally known in the art.
[0035] Other power sources may be used to maneuver the implements which are
not
shown in FIG. 1. For example, the grader blade 106 can be maneuvered wholly or
in part by
engine components, gears, other hydraulic cylinders, electronic or pneumatic
power plants,
etc. Those skilled in the art will recognize that a variety of commercially-
available
attachments can be coupled to a work machine to perform various tasks,
including, but not
limited to backhoes, hydraulic breakers, pallet forks, angle brooms, sweepers,
augers,
mowers, snow blowers, stump grinders, tree spades, trenchers, dumping hoppers,
rippers,
tillers, grapples, tilters, rollers, snow blades, wheel saws, cement mixers,
and wood chipper
machines.
[0036] Referring now to FIG. 2, an ECSMS 200 is shown according to one
embodiment.
In general, the ECSMS 200 can provide the capability of receiving input
control signals of
any type, e.g., PWM, AC, DC, analog, digital, etc., and optionally converting
or conditioning
those signals such that they produce an output signal capable of powering,
controlling, or
simultaneously powering and controlling a machine attachment or implement such
as any of
those described above. In a preferred embodiment, the ECSMS 200 is capable of
providing
control signals to hydraulic switches, e.g., solenoids, such that hydraulic
flow is produced
substantially only during the time that the attachment is being moved or
otherwise requiring
hydraulic power; and at other times, hydraulic flow to the attachment is
substantially absent.
[0037] As is generally known in the art, machines, in particular, work
machines such as
the skid-steer loader shown in FIG. 1 have user-operable control mechanisms
such as
joysticks, levers, pedals, and other control surfaces that allow the user to
control the machine
and its attachments or implements. Many work machines are wired such that
control signals
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from the various control surfaces and mechanisms are transmitted directly to a
work machine
attachment; the signals can be of a certain type (e.g., analog, PWM, etc.)
and/or conditioned
specifically for the attachment. As such, it can be difficult in some cases to
replace an on-
brand attachment with a third-party or off-brand attachment since the later
may not be
configured to receive control signals provided by the control surfaces and
mechanisms.
[0038] In general, the ECSMS 200 includes one or more components and modules
that
will be described in greater detail below, e.g., plugs and harness components
for receiving
control inputs and configurations 205, a low-pass filter module 210, a
microcontroller 215,
etc. The various components and modules of the ECSMS 200 can be in signal
communication with each other, and in some embodiments, the various components
of the
ECSMS 200 are capable of communicating directly with other components of the
ECSMS
200 or other electronic components of a work machine. For example, in one
embodiment, a
signal from a control mechanism such as a joystick (e.g., joystick 108 in FIG.
1) can be
received by the control input and configurations module 205 which can have one
or more
input registers; this signal can be sent directly to the switches module 220,
or an attachment
control module 230, thereby bypassing the low-pass filter 210 and the
microcontroller 215.
Such capability can be useful if, for example, a control signal received by
the control input
and configuration module 205 is suitable to directly control an attachment or
implement. In
general, "signal communication" refers to the sending and receiving of
information; signals
can be, e.g., electrical, digital, optical, analog, or any other type of
signal.
[0039] In the embodiment of FIG. 2, the ECSMS 200 is capable of receiving a
control
signal from a machine, e.g., a work machine, via the control inputs and
configurations
module 205. This module 205 can include input registers, e.g., plugs, wiring
harnesses, pins,
and other signal connection devices and provides the capability for plugging
existing signal
control hardware (such as a Deutsch connector) into the ECSMS 200. For
example, the
control inputs and configuration module 205 can include a receptacle capable
of receiving a
plug that carries machine attachment control signals from one or more joystick
controllers,
buttons, levers, pedals, etc. In one embodiment, the plug receptacle can be a
circular
connector such as a so-called DIN connector commonly used to transmit control
signals from
a controller to a machine attachment. Any other type of electrical receptacle,
including signal
converters or adaptors can be used, including, but not limited to: MIDI, XLR,
serial, coaxial,
HDMI, USB, Deutsch, optical, twisted-pair cable, such as so-called Category-5
cable, and
others.
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[0040] The control input and configuration module 205 can include one or more
switches,
controllers, or harnesses for receiving control input from the user, e.g., for
controlling work
machine attachments, and also from sensors built-in to the work machine
itself, e.g., roll-limit
switches, speed governors, etc. Those skilled in the mechanical and automotive
arts will
appreciate that modern work machines are capable of producing a vast number of
electronic
signals and outputs throughout the machine, e.g., for monitoring engine
performance, power
output, fluid levels, hydraulic pressure, speed, mechanical strain, stress,
and other factors. It
will be understood that in this and other embodiments, an ECSMS can be capable
of
receiving such electronic signals for diagnostic or other purposes. Signals
from the control
input and configuration module 205 can be passed to other modules in the ECSMS
200, such
as directly to the microcontroller 215, or to a control switch for an
attachment (e.g.,
attachment 3 (232)).
[0041] Still referring to FIG. 2, in this embodiment, the ECSMS 200 includes a
signal
filtering and regulation module 210. The signal filtering and regulation
module 210 can
receive signals from the control input and configurations module 205 and
provides the
capability for one or both of signal filtering and regulation, so that the
signals received by a
control device (such as a joystick for controlling the grader blade 106 in
FIG. 1) are clean and
can be interpreted by the microcontroller 215. The amount and type of
filtering and
regulation performed by the module 210 can be dependent on several factors,
such as the
signal type, e.g., digital, analog, PWM, etc., the signal strength, noise, and
other factors. It
will be understood that the number of commercially-available attachment
controllers as well
as the many different types of machine attachments precludes a specific
configuration of
signal filters and/or regulators in this disclosure. However, those skilled in
the electrical
engineering arts will appreciate the numerous methods by which signal
filtering, pre-
conditioning, and regulation can be obtained so as to pass clean signals to
the microcontroller
215. In one preferred embodiment, a low-pass filter includes a 3.3 1d2
resistor and a 0.1 .EF
capacitor for signal filtering; one or more 5 V regulators can be used to
ensure input signals
are regulating to 5V or less prior to arriving at the microcontroller.
[0042] Still referring to FIG. 2, in this embodiment, the ECSMS 200 includes a
microcontroller 215. The microcontroller 215 can receive control signals, and
in some cases,
control signals that have been filtered and conditioned by the signal
filtering and regulation
module 210. The microcontroller 215 can be programmed to convert - or transmit
without
conversion - any type of control signal, e.g., digital, analog, PWM, optical,
etc., to the
appropriate signal type necessary to control a machine attachment or
implement, and in
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particular, a third-party or off-brand machine attachment or implement with
respect to the
work machine manufacturer.
[0043] Referring back to FIG. 1, consider, for example, that the work machine
100 is
made by a particular company, and that the lift arms 110 are configured to
control on-brand
attachments using a combination of levers and the joystick 108 within the cab
portion 107 of
the vehicle. Continuing this example, consider that a user wishes to attach a
third-party
attachment (i.e., an attachment not made by the same company that manufactured
the work
machine 100) ¨ in the case of FIG. 1, a grader blade attachment 105.
Presumably, the signals
generated by the work machine joystick 108 are meant to control on-brand
attachments; there
would be no expectation that the motor grader attachment 105 would function as
expected
using the joystick 108 as built and installed by the work machine
manufacturer. However,
continuing this example, the ECSMS 200 can be programmed to receive control
signals from
the joystick 108 and other work machine control mechanisms, and convert them
into signals
suitable to control the motor grader attachment 105 for its intended use.
Furthermore, the
ECSMS 200 can be programmed such that hydraulic flow to the attachment 105 is
activated
only when the user of the work machine 100 moves the joystick 108 or otherwise
activates a
function of the attachment requiring hydraulic power, such as moving the
grader blade 106
up or down, or shifting it left or right. At all other times, the hydraulic
flow can remain off.
It will be understood that the foregoing example can be extended to virtually
any machine
attachment, so that third-party and off-brand attachments can be used on any
brand of work
machine, without losing control, functionality, or other features of the third-
party or off-brand
attachment.
[0044] Those skilled in the art of electrical engineering will appreciate the
type of
microcontroller suitable for the purposes described herein. In one embodiment,
a suitable
microcontroller is an Atmega328 RISC-based microcontroller. The
microcontroller 215 can
be programmed with any suitable software package capable of providing
instructions for one
or more of the following: receiving signals corresponding to work machine
attachment
control input; manipulating, converting, filtering, or regulating these
control signals, and
generating output control signals capable of powering and/or controlling a
third-party work
machine attachment or implements. In one embodiment, a suitable software
package for
programming the microcontroller 215 is provided under the open-source Arduino
environment. The microcontroller 215 can be capable of generating output
signals of any
type, e.g., analog, digital, PWM, optical, etc., as previously described.
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[0045] In a preferred embodiment, the ECSMS 200 includes a port allowing the
microcontroller 215 to be reprogrammed while allowing at least the
microcontroller to remain
attached to a work machine. In some embodiments, the ECSMS 200 can be packaged
in a
rugged enclosure capable of being attached to a frame portion of the work
machine. Thus,
users are provided the capability of using multiple attachments with a single
work machine;
i.e., each time an attachment is changed, the control instructions for that
particular implement
can be uploaded to the microcontroller 215. In some embodiments, an ECSMS has
a USB
connection allowing programs to be uploaded to the microcontroller without
having to
remove or adjust any of the ECSMS 200 hardware. The microcontroller allows for
numerous
inputs and outputs to be controlled simultaneously based on the programming.
In general,
any number of inputs and outputs can be programmed to control, receive, and
output any
combination of signals simultaneously or in any desired sequence.
[0046] In one embodiment, an ECSMS is capable of storing one or more
configuration
files that relate to the configuration of a work machine, work machine
attachment(s), or
combinations thereof. Such configuration files can be specific for a work
machine/third-
party attachment combination, and enables the control of the third-party
attachment using
existing work machine controls as described herein. For example, a work
machine user may
frequently switch back and forth between two attachments ¨ the first
attachment being a
digger, and the second attachment being a cutter (wherein the aforementioned
examples are
two of many attachment possibilities). To function properly, the digger and
the cutter may
require different control signals and have different power requirements, e.g.,
hydraulic power
requirements, etc. The ECSMS can be capable of outputting the correct signals
to power and
control each attachment as described herein; however, the ECSMS may require
different
executable code for each attachment. In this and other embodiments, the ECSMS
can store
each of the programmed instructions required for proper functionality of the
two attachments
as configuration files. Thus, continuing the example, when a user switches a
work machine
attachment, he simply selects the proper configuration file that allows the
ECSMS to output
the correct signals to power and control the attachment.
[0047] In one embodiment, an ECSMS includes a graphical user interface (GUI)
that
provides the capability for a user to select between different configuration
files that can be
used by the ECSMS processor to power and control a given work machine
attachment. In
one embodiment, the GUI can be integral with a housing that contains the ECSMS
microcontroller. In such an embodiment, the housing can be attached to the
frame or other
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part of the work machine, and a user can select from one or more configuration
files to load
into memory when a work machine is attached.
[0048] In one embodiment, an ECSMS can include other types of controls that
cause the
ECSMS to load or otherwise use a proper configuration file for a given work
machine
attachment. For example, an ECSMS can include a dial having several selectable
positions,
e.g., 3, 6, 9, and 12-o'clock positions, each of which represents a different
work machine
attachment, and, correspondingly, causes the appropriate configuration file to
be loaded so
that the attachment can be controlled by existing work machine control
mechanisms (e.g.,
joysticks, etc.).
[0049] In all embodiments, the term "loaded" ¨ as it relates to software and
executable
instructions - carries its ordinary meaning in the computer and software arts.
In general,
"loading" instructions can include causing executable or readable instructions
to be
transferred from one storage medium, such as a flash drive, into a memory or
storage device,
such as a hard drive, RAM, or other type of storage medium, so that the
executable or
readable instructions can be carried out by a processor, e.g., microcontroller
215.
[0050] Still referring to FIG. 2, a switches module 220 includes electronic
switches that
are capable of being controlled by output from the microcontroller 215.
Switches can be
toggled, e.g., between 'on' and 'off' states to cause work machine attachment
control signals
to be sent to the harness 225. The harness 225 can include signal transmission
hardware for
one or more attachments, e.g., attachments 1-4, as illustrated in FIG. 2.
Exemplary signal
transmission hardware includes Deutsch connectors, among others. Control
signals from the
switches module 220 can be addressed or wired to specific outputs on the
harness 225
corresponding to specific attachments, e.g., attachment 1 (230), attachment 2
(231), etc.
[0051] Thus, the ECSMS 200 can produce output signals for controlling a third-
party
work machine attachment as follows. First, a control signal from a work
machine control
mechanism (e.g., a joystick or lever) is received by the control inputs and
configurations
module 205. The signal can be passed to the signal filtering and regulation
module 210,
where it can be conditioned, or converted into a signal that is capable of
being used by the
microcontroller 215. For example, a noisy analog signal from a joystick can be
cleaned using
electronic filtering methods known in the art. Next, the filtered signal is
passed to the
microcontroller 215. The microcontroller 215 can have access to a stored
configuration file
containing instructions for converting the control signals provided by the
work machine into
new, usable signals for controlling and powering a third-party work machine
attachment. For
example, the microcontroller can convert the analog signal described above
into a digital
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signal, which may be the type required by the work machine attachment to
function properly.
The microcontroller 215 can send the new control signals to the switches
module 220 which
can cause switches to operate accordingly, e.g., open or close, to cause
signals to be sent to
the harness 225. The harness can channel signals from the switches to the
appropriate
attachment, e.g., attachment 1 (230), causing the work machine attachment to
operate. In a
preferred embodiment, the microcontroller 215 outputs both control signals and
power
control signals, which may be of different signal type, simultaneously. Thus,
the power
control signal, which may activate a solenoid that controls hydraulic flow, is
transmitted
simultaneously with a control signal, which may control movement or other
functions of a
work machine attachment.
[0052] Referring now to FIG. 3, an ECSMS GUI is shown, according to one
embodiment.
FIG. 3 shows an exemplary screen snapshot of the GUI; it will be understood,
however, that
many additional features, controls, and other GUI elements can be included, as
those skilled
in the art will recognize. The GUI is capable of communicating with one or
more selected
components of the ECSMS, e.g., microcontroller(s), memory, storage, etc., and
is capable of
causing ECSMS programs, instructions, and other code to be executed. In a
preferred
embodiment, the GUI can be placed proximate to a work machine operator, e.g.,
inside a cab,
so that the operator can choose the appropriate ECSMS software configuration
to execute
based on the work machine attachment used.
[0053] The GUI includes a screen 300, which can be a touch screen, a monitor,
a heads-
up display, or other display device. While not shown in FIG. 3, if the GUI is
a monitor, it
will be understood that other computer devices and peripherals (such as a
computer mouse)
may be necessary to drive the monitor and cause the GUI to display information
as described
herein. In general, a personal computer, laptop, tablet, or other computing
device can be used
to drive the GUI and interact with various components of the ECSMS, as will be
apparent to
those skilled in the art of computer programming. For illustrative purposes,
this embodiment
is described as if the screen 300 is a touch screen.
[0054] In this embodiment, the screen 300 includes a "TOOL SELECT" section
310.
This section can include a list of work machine attachments that the ECSMS is
capable of
powering, controlling, or simultaneously powering and controlling. In certain
embodiments,
the TOOL SELECT section 310 can include a list of work machine attachments for
which a
configuration file exists in a memory module of the ECSMS. Additional work
machine
attachments can be viewed beyond those immediately shown in the section as
indicated by
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the scroll arrow 320. In one embodiment, a user can view additional choices,
e.g., by a
vertical finger swipe across a portion of the TOOL SELECT section 310.
[0055] In this embodiment, touching the name of a work machine attachment
causes that
portion of the TOOL SELECT section 310 to be highlighted. Here, the user has
selected the
TREE CUTTER work machine attachment, as illustrated by the dashed line 330. In
this and
other embodiments, certain manufacturer information can be displayed to the
user to aid in
the correct choice of selecting a particular configuration file. In this
example, the tree cutter
attachment is manufactured by a first manufacturer (indicated by "Ml" next to
the attachment
type); the digger is manufactured by a second manufacturer ("M2"); and the
bucket is a third-
party attachment manufactured by a third company ("M3").
[0056] Furthermore, in this embodiment, touching the name of a work machine
attachment in the TOOL SELECT section 310 can cause information about that
attachment to
be displayed in an information area 340. This example shows that the Ml-brand
tree cutter
requires hydraulic power, 3500 psi of hydraulic pressure, and control
requirements include
articulation, extension, roll, and yaw capabilities. It will be understood
that additional
information can be included in the information area 340 and that the
information shown in
FIG. 3 is for illustrative purposes.
[0057] In this embodiment, the screen 300 includes a safety and compatibility
("SAFETY/COMPAT.") section 350. In this and other embodiments, the ECSMS can
be
capable of determining whether a work machine has the requisite (or
appropriate) hardware
to power, control, or power and control the attachment within its recommended
range of
usability. For example, the ECSMS can include a configuration file that
includes
specifications of the work machine. Specifications of the work machine can
include engine
size and power output, the number, placement, and power output of hydraulic
cylinders,
range of motion and degrees of freedom of arms, booms, and other features,
mobility,
tolerances, maximum and do-not-exceed usable weights, among other
specifications. In one
embodiment, the ECSMS is capable of "pinging" the various control and power
implements
on a work machine to gather status of the overall machine and any necessary
hardware; in
other embodiments, this information can be sought from manufacturers of work
machines
and integrated into an ECSMS configuration file, for example. The ECSMS can be
capable
of communicating with measurement devices, such as pressure-measuring devices,
to ensure
that proper hydraulic pressure is available to power a certain attachment. In
one embodiment,
an ECSMS is capable of communicating with diagnostic features or systems of a
work
machine. In such an embodiment, the ECSMS can determine from the diagnostic
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information if a fault exists somewhere in the system, which can occur, e.g.,
from a ruptured
hydraulic cylinder, a frozen or jammed joint on an arm, engine failure or
reduction of power,
etc.
[0058] Still referring to FIG. 3, the safety and compatibility check section
350 can
indicate to the user that the power, safety, and control requirements have
been met and are
operational for the selected configuration, i.e., the tree cutter. In this
embodiment, in order to
pass the "power" test, the ECSMS can, e.g., determine that there is ample
hydraulic or
electric power being produced by the work machine, that the connections have
been made,
solenoids and motors are functional, and that the attachment is actually
receiving power and
control signals. To pass the "safety" check, the ECSMS can run a diagnostic
check to ensure
that the attachment matches the loaded configuration before any operator
control signals are
sent to the attachment. To pass the control check, the ECSMS can send a pre-
determined set
of control instructions to the attachment, monitor the actual movement or
actuation of the
device, and ensure that the physical movement is within established control
parameters.
[0059] In one embodiment, an ECSMS is capable of automatically loading one or
more
configuration files or instructions for a given attachment. For example, an
ECSMS can
communicate with an identification module and any related hardware (which may,
in some
embodiments be integral with the ECSMS) that identifies a work machine
attachment. A
work machine attachment can be identified by any method known in the art,
including, but
not limited to: use of bar codes and bar code readers, radio-frequency
identifiers (RFID's),
transmitters and receivers (e.g., fobs), image extrapolation and recognition,
and other
identification methods. In one exemplary use of such a feature, an ECSMS can
include, e.g.,
ten different configuration files including instructions for powering,
controlling, or powering
and controlling ten different machine attachments. Each configuration file
can, therefore,
include specific instructions for controlling each machine attachment when it
is attached to
the work machine. The work machine can be capable of reversibly self-attaching
any of the
ten attachments, e.g., at the end of a boom. The user can, e.g., drive a work
machine up to
the attachment, and as the implement is attached, the ECSMS can recognize the
attachment
and load the appropriate configuration file for powering, controlling, or
powering and
controlling the attachment as described herein.
[0060] It will be understood that the foregoing example discloses a few out of
many
possibilities for GUI functionality. For example, the ECSMS can include
peripheral
hardware and software to allow personal computing tablets, phones, and
handheld devices to
communicate with the ECSMS and control its functionality as described herein.
In one
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example, a personal computing tablet such as that manufactured under the
"iPad" brand
(Apple, Inc.) can be used to communicate with an ECSMS to control its
functions, including
downloading data to the tablet, such as productivity, hours worked, engine
diagnostics, work
machine attachment usage data, and other data.
[0061] Referring now to FIG. 4, a system 400 for powering, controlling, or
powering and
controlling one or more work machine attachment(s) is shown, according to one
embodiment.
The system 400 schematically represents some of the features that can be found
on a work
machine, however, it will be understood that various components have been
omitted for
clarity and to focus on transmission of power and control signals throughout
the vehicle.
[0062] The system 400 includes a signal source 410 capable of generating
control, power,
or control and power input signals. The signal source 410 can be, for example,
a joystick
configured to control one or more attachments, arms, booms, or other features
of a work
machine. The signal source 410 may be configured to control a plurality of
mechanisms on a
work machine attachment. For example, some work machine joysticks are capable
of
moving in four directions (up, down, left, and right) so as to control
movement of the work
machine in a desired direction (forward, backward, left, and right,
respectively). The joystick
may also include triggers or other controls on the head of the joystick that
control
functionality of a work machine attachment. For example, some joysticks
include control
features for controlling motion of a digger attachment so that the user is
capable of scooping
and digging with the attachment. Depending on the manufacturer and other
considerations,
the signal source 410 may emit control signals in a variety of different
formats, e.g., PWM,
DC voltage, analog voltage, etc., as will be recognized by those skilled it
the art. It is a
common practice that manufacturers of work machines and work machine
attachments build
systems that communicate using the same signal format; e.g., a work machine
built by a first
manufacturer may integrate a signal source that utilizes digital control
signals, and any
attachments made for that work machine would correspondingly require the same
signal
format to function properly. A third-party attachment, however, may not be
expected to work
as intended utilizing the existing controls of a given work machine.
[0063] The system 400 includes an ECSMS 420 that is capable of receiving the
input
signals from the signal source 410. The ECSMS 420 can be, e.g., an ECSMS as
described
herein. The ECSMS 420 is capable of receiving one or more control, power, or
control and
power inputs from the signal source 410. In some embodiments, the ECSMS 420 is
capable
of receiving control, power, or control and power signals from a plurality of
signal sources,
for example, when a work machine includes several control joysticks, or
utilizes multiple
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levers, controls, pedals, or other devices to control the work machine and its
attachments or
implements.
[0064] As previously described, the ECSMS 420 is capable of receiving signals
from the
signal source 410, and converting those signals into control, power, or
control and power
signals for any type of work machine attachment. In the illustrative example
of FIG. 4, the
"hard-wired" input signals from the signal source 410 are a PWM signal, a DC
voltage
signal, and an analog signal. These signals may be the only output of the
signal source 410,
and they may be configured specifically so that an attachment made by the same
company as
the work machine can be controlled. However, a third-party attachment may
require a PWM
signal to control one or more hydraulic cylinder(s) (output 1, 430), a digital
signal to control
one or more control motor(s) (output 2, 440), and a PWM signal to activate one
or more
solenoid(s) (output 3, 450). As shown in FIG. 4, the ESCMS 420 can convert the
signal
inputs from the signal source 410 into the requisite signal type as required
by the work
machine attachment.
[0065] In this example, the ECSMS 420 may pass the PWM input signal through to
OUTPUT 1 (430) without any conversion (in some embodiments, the signal may be
filtered,
amplified, or otherwise conditioned to meet the signal requirements of the
attachment,
however). In this example, the DC voltage from the signal source 410 may be
converted by
the ECSMS 420 into a digital output signal (OUTPUT 2, 440) that controls a
control motor
480 for the work machine attachment. Similarly, in this example, the analog
voltage signal
can be converted to a PWM signal (OUTPUT 3, 450) for controlling one or more
solenoids
490.
EXAMPLE
[0066] With reference to FIGS. 5A-5E, the following example of an ECSMS 500
represents one embodiment of the attachment control signal modulator concepts
provided
herein. It will be understood that the circuit configuration, wiring,
machinery, and other
components of the ECSMS 500 shown in FIGS. 5A-5E are provided for illustrative
purposes
and are non-limiting with respect to the claims. Other embodiments and
alternatives to the
circuit configuration, wiring, machinery, and other components of the ECSMS
500 are
equally contemplated.
[0067] Referring now to FIGS. 5A-5E, an ECSMS 500 is shown, according to one
embodiment. The ECSMS 500 can be used to control a motor grader attachment
manufactured by Bobcat Company, using a Model 299C multi-terrain loader
manufactured
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by Caterpillar, Inc. The mutli-train loader includes a four-switch PWM control
pod,
Caterpillar part number 292-8706, that the operator can use for manipulating
various
attachments. Bobcat Company's corporate headquarters are located in West
Fargo, North
Dakota, USA; Caterpillar, Inc. has corporate headquarters are located in
Peoria, Illinois,
USA. In this example, reference is made to FIG. 1, which shows a Caterpillar
model 299C
multi-terrain loader and Bobcat grader attachment; the ECSMS is not shown in
FIG. 1,
however, the ECSMS can be attached to the multi-terrain loader or grader
attachment in a
chosen location.
[0068] In this particular example, the blade 106 of the motor grader
attachment 105 (FIG.
1) has the capability to be moved in eight distinct directions: left-side up,
left-side down,
right-side up, right-side down, blade rotate left, blade rotate right, blade
shift left, blade shift
right. Movements are powered using one or more hydraulic cylinders which are
each
activated by a solenoid; e.g., the left-side up/down movement can be
controlled by a left-side
hydraulic cylinder; the right-side up/down movement can be controlled by a
right-side
hydraulic cylinder, etc. It will be understood that an ECSMS of the type
described herein can
be expanded to control any number of hydraulic cylinders or other power plants
to gain
complete control of various attachment functionality.
[0069] Referring now to FIG. 5A, the signal wiring from the control pod output
is wired
to harness connector 501. In this example, the four-switch control pod is
capable of
providing eight PWM signals via six input lines which are shown attached to
terminals 1, 2,
3, 5, 6, and 7 in harness connector 501. Harness 501 is in signal
communication with double
harness 503 via wiring as shown. The wiring from double harness 503 continues
in FIG. 5B.
[0070] Harness connector 504 receives wired input from a control joystick
located in the
cab of the multi-terrain loader. Harness connector 504 can be used in this and
other
embodiments to receive control signals from auxiliary control mechanisms, or
to provide the
capability for controlling additional attachments. In this embodiment, cable
from the joystick
controller of the multi-terrain loader carrying control output signals is
connected to harness
connector 504 to provide additional control of the motor grader attachment.
[0071] Harness connector 502 is two-pin connector; terminal 1 from this
connector is
wired to the grader's ECM to control hydraulic flow in the attachment, thus
providing the
necessary power to move and control the grader blade 106 (FIG. 1). Terminal 2
in this
connector can receive input hydraulic flow signals from the controller pod or
other auxiliary
control mechanisms. If the input signal received at terminal 2 of harness
connector 502 is of
the correct type to co control hydraulic flow, e.g., PWM, the signal can be
passed directly to
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the ECM as illustrated. In other cases, hydraulic flow signals can be
generated by the
microcontroller from other signal types as described in herein; in the
illustration of FIG. 5A,
the wiring for these signals enters from FIG. 5B, as shown. Harness 505
bundles the cable as
shown; the circuit continues in FIG. 5B, as illustrated.
[0072] Referring now to FIG. 5B, the wiring from harness connector 505 is
connected to
harness connector 506 as shown. The various signals in each wire leading from
the twelve
terminals in harness connector 506 are labeled in FIG. 5B, and each wire
connects to
connector harness 507 as illustrated. The circuit extends into FIG. 5C as
illustrated.
[0073] Referring now to FIG. 5C, the PWM1, PWM2, PWM3 and PWM4 signals are
passed through low-pass filters. In this embodiment, the low-pass filters
include a 3.31d2
resistor and a 0.1 .EF. capacitor, although other electronic filters can be
used. The DC1, DC2,
and DC3 signals are passed through 5 V regulators; the power-to-control, PWM1,
and
hydraulic flow signals are not filtered or regulated in this embodiment. As
described herein,
the filters and regulators can process control signals from control mechanisms
so that they
may be input into the microcontroller safely and within input tolerance
limits. The wiring
continues in FIG. 5D, as illustrated.
[0074] Referring now to FIG. 5D, in this embodiment, the control signals are
fed into a
microcontroller 520 which, in this embodiment, is an Atmega328 RISC-based
microcontroller. As described herein, the microcontroller can be programmed to
be capable
of receiving a signal of a particular type, e.g., PWM, DC, or analog voltage,
and transforming
the signal to a different signal type, e.g., PWM, AC voltage, DC voltage,
frequency, etc. In
this example, the four-switch PWM controller provided PWM output control
signals;
however, the motor grader attachment 105 (FIG. 1) required 12 VDC signals to
activate the
various solenoids in order for the blade 106 (FIG. 1) to be moved under
hydraulic power as
described above. In addition, the attachment 105 was configured to receive PWM
signals at a
specific duty cycle to activate hydraulic flow.
[0075] Pins A5 through AO serve as the input to the microcontroller. The PWM1,
PWM2, PWM3, and PWM4 signals are converted to analog signals by the low-pass
filters
and connect to pins A4, A3, A2, and Al, respectively, as shown. DC1 and DC2
are voltage-
regulated digital signals that connect to pins AO and AS, respectively, as
shown. Pins 0-15
are digital input/outputs of the microcontroller. In this embodiment, the
microcontroller
processes the various input signals and provides digital output signals, with
the exception of
the DC3 signal, which is already a digital signal, and feeds through pin 11,
as shown.
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[0076] The digital output signals connect to 5V, 0.5A single-pole, double
throw (SPDT)
relays as shown. Closing a relay provides a 12 V output signal capable of
activating a
solenoid on the attachment 105 (FIG. 1). Functions 1-8 as illustrated in FIG.
5D correspond
to the eight possible motions of the grader blade 106 (FIG. 1), e.g., left-
tilt up, left-tilt down,
etc., as previously described. Functions 9-11 provide the capability for
additional attachment
functionality, e.g., an auxiliary steering mechanism, a tilt mechanism, or
other features.
[0077] Pin 13 is an output carrying a digital hydraulic flow trip signal which
is similarly
connected to a SPDT relay as shown. Activation of this relay sends a digital
hydraulic flow
signal to terminal 1 of harness connector 502, which, as heretofore described,
is plugged in to
the attachment ECM and can activate hydraulic flow. Thus, the microcontroller
can output a
function control signal which activates a particular solenoid on the
attachment (e.g., function
1, left-tilt up) and simultaneously output a hydraulic flow signal which
activates hydraulic
flow to the cylinder and provides the power to perform the desired function.
The wiring
extends to FIG. 5E, as illustrated.
[0078] Referring now to FIG. 5E, in this embodiment, the wiring from the
various
switches 530 connect to one of three harnesses 540, 541, 542. Wiring from
those harnesses
extend to an output harness 543. As described herein, the output harness 543
can be
connected to any type of connector known in the art so that the output signals
of the ECSMS
can be passed to the attachment control and power systems (not shown in FIGS.
5A-5E for
clarity).
[0079] Referring now to FIG. 6, a computer-implemented method 600 for
controlling a
work machine implement or attachment is shown in flowchart form, according to
one
embodiment. In various embodiments, the method 600 can be stored as computer-
executable
instructions, e.g., software, and stored in a computer-readable medium, such
as on a hard
drive, in memory, e.g., a flash drive, in RAM or ROM, or other media. In this
embodiment,
the method begins at step 601. Step 601 can include auxiliary functions, such
as receiving
power to a computer capable of executing the method 600, performing boot
operations, etc.
This method 600 can be performed in cooperation with existing hardware,
software, or other
components of a work machine, as described herein.
[0080] In this embodiment, at step 605 an identification of an attachment is
received. The
identification step can include, e.g., receiving user input that identifies an
attachment,
recognition of an attachment using auxiliary optical recognition hardware and
software,
recognition of an attachment using bar code readers, FOBs, RFID systems, and
other methods
of recognizing a work machine attachment.
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[0081] In this embodiment, at step 610 one or more configuration files
including control
parameters of the recognized work machine attachment are loaded. Control
parameters can
include, without limitation, the type of input control signals required for
the attachment to
function as intended, e.g., PWM, analog, etc. Control parameters can also
include, without
limitation, functional characteristics of the attachment, such as load and
movement limits,
optimal hydraulic power parameters, do-not-exceed limits, and other parameters
as described
hererin.
[0082] In this embodiment, at step 615, an optional (as denoted by the dashed
line) safety
or quality control (QC) check can be performed. If such a check is desired,
stored parameters
of the attachment or the work machine itself can be checked to ensure proper
functioning of
the machines (step 620). Step 620 can include, without limitation, ensuring
that the work
machine and work machine attachment are functioning within established
parameters, e.g.,
operating temperatures are within limits, hydraulic power is present and
functional, etc. If an
error, failure, or other parameter of the safety check does not meet the
standards or
requirements (step 625), then, at step 630 an error message can be generated
and sent to a
display device so that the user of the work machine can address the problem.
[0083] If the work machine and attachment pass the safety/quality control
checks (step
625), then, in this embodiment, step 635 includes receiving a control signal
input at an input
register. In this and other embodiments, an input register can include, e.g.,
an input register
associated with the control inputs and configurations module 205 described
with respect to
FIG. 2, or the ECSMS 420 described with respect to FIG. 4. The control signal
input can be
input generated, e.g., by a control mechanism integral with the work machine,
such as a
joystick, lever, pedal, knob, switch, or other control mechanisms, including
those described
herein.
[0084] In this embodiment, step 640 includes determining, e.g., based on the
configuration file loaded in step 610, whether or not the control input signal
should be
electronically filtered as described herein. If filtering is required, or
would result in improved
performance, then, at step 645 the control signal input can be electronically
filtered, e.g., as
described herein. If, however, electronic filtering of the signal is not
required, or would not
result in improved performance, the filtering step 645 can be ignored.
[0085] In this embodiment, step 650 includes determining, e.g., based on the
configuration file loaded in step 610, whether or not the control input signal
should be
converted from the format as received (e.g., PWM), or if the signal should be
converted to
another format (e.g., digital) so that the attachment will respond
substantially as the user
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intends, e.g., according to the control signals he or she generates using the
control
mechanism.
[0086] In this embodiment, if the work machine attachment requires a different
control
signal format than that output by the control mechanism, then, at step 655,
the input control
signals can be converted to the appropriate format as described herein. If,
however, the
control signals generated by the control mechanism are suitable to control the
attachment as
intended, then the conversion step 655 can be ignored.
[0087] In this embodiment, at step 660 the appropriate control signal, either
that
generated by the control mechanism of the work machine, or a control signal of
appropriate
format to control the attachment generated in step 655 can be sent to an
output register. The
output register can be in signal communication with, e.g., an electronic
control module that
controls the operation (e.g., movement or other parameters) of the attachment,
or any other
control system (including direct control) that controls the attachment.
[0088] In this embodiment, step 665 includes determining, e.g., based on the
configuration file loaded in step 610 whether or not a concurrent hydraulic
flow signal should
be output, e.g., to the aforementioned output register, so that the attachment
will receive a
hydraulic flow signal concurrently with the control signal sent to the
attachment (or the ECM
of the attachment) in step 660. In some embodiments, the length of time that a
hydraulic
flow output signal persists can be defined in the aforementioned configuration
file. In some
embodiments, the hydraulic flow output signal generated in step 670 can
persist as long as a
control output signal (step 660) is being sent to the attachment (or ECM of
the attachment).
In an exemplary embodiment, the hydraulic flow output signal generated at step
670 can be
terminated concurrently with the termination of the output control signal
generated at step
660.
[0089] In this embodiment, the method 600 includes a loop from step 665 to
step 635, so
as to continually receive control signal inputs from the user via the control
mechanism, and
produce control signal outputs formatted in the correct signal type that the
work machine
attachment responds and is controllable as intended by the user.
[0090] In this embodiment, the method 600 can be executed continuously, e.g.,
for as
long as the work machine and attachment are being used. In addition, multiple
instantiations
of the method 600 can be executed by a computer system simultaneously. For
example, a
first, second and third instantiation can be used for controlling first,
second and third
attachments or implements respectively, coupled to a work machine. In another
example, a
first instantiation of the method 600 can be used to control one aspect of a
work machine
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WO 2013/158079
PCT/US2012/033949
attachment, e.g., the articulation of a crane arm, and a second instantiation
can be used for
controlling a second aspect of the attachment, e.g., a bucket.
[0091] A number of illustrative embodiments have been described. Nevertheless,
it will
be understood that various modifications may be made without departing from
the spirit and
scope of the various embodiments presented herein. For example, various
attachments have
been described herein and used as examples of work machine implements. It will
be
understood, however, that those implements described herein are merely
representative of a
large number of commercial and custom work machine attachments available
throughout the
world. A work machine "attachment" or "implement" as used herein generally
refers to a
hydromechanical work tool, utensil, or other piece of equipment, which can be
configured,
adapted, or used for a particular purpose; however, these terms do not exclude
non-
hydromechanical work tools, utensils, or other pieces of equipment. The term
"manufacturing company" as used herein refers to companies that manufacture
work
machines or work machine implements, although those companies may additionally
design,
distribute, sell, or engage in other commercial and developmental matters
related to work
machines and work machine implements. Accordingly, other embodiments are
within the
scope of the following claims.
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