Implement carrier

1. A method of sensing a position of an implement relative to an implement carrier of a power machine to which the implement can be attached, the implement carrier having a first plate coupled to a first arm of a lift arm structure and a second plate coupled to a second arm of the lift arm structure, the first and second plates each having a front face, a top surface angled with respect to the front face, and a bottom surface angled with respect to the front face, the method comprising:

determining whether a first sensor of an implement sensing system, located at a first position at the top surface of the first plate of the implement carrier, angled with respect to the front face of the first plate, during a process of beginning engagement with the implement, detects the implement, the first position on the implement carrier being separate from one or more pin engagement positions;

providing an indication to a control system of whether the first sensor detects the implement;

determining whether a second sensor of the implement sensing system, located at a second position at the bottom surface of the second plate of the implement carrier, angled with respect to the front face of the second plate, during the process of beginning engagement with the implement, detects the implement, the second position on the implement carrier being separate from the one or more pin engagement positions;

providing an indication to the control system of whether the second sensor detects the implement;

determining, if the second sensor detected the implement, whether a locking mechanism sensor of the implement sensing system detects a locking mechanism in an activated position; and

providing an indication to the control system of whether the locking mechanism is activated.

2. The method of claim 1 , wherein the first plate of the implement carrier has a first engagement feature at the top surface, wherein the first engagement feature and the first position of the first sensor are not on the front face of the first plate of the implement carrier, and wherein determining whether the first sensor detects the implement further comprises determining whether the first sensor detects the implement at the position of the first engagement feature at the top surface of the first plate of the implement carrier during the process of beginning engagement with the implement.

3. The method of claim 2 , wherein determining whether the first sensor detects the implement at the position of the first engagement feature at the top surface of the first plate during the process of beginning engagement with the implement comprises determining whether the first sensor detects the implement at the position of the first engagement feature that is configured to engage a complementary feature on the implement that can be sensed by the first sensor.

4. The method of claim 3 , wherein determining whether the second sensor of the implement sensing system detects the implement further comprises determining whether the second sensor detects the implement at the second position during the process of beginning engagement with the implement such that the front face of the implement carrier is positioned against an implement carrier interface of the implement during the process of beginning engagement with the implement.

5. The method of claim 4 , wherein determining whether the locking mechanism sensor of the implement sensing system detects the locking mechanism in the activated position comprises sensing whether a handle of the implement carrier is in a position that moves a coupled pin of the implement carrier to an extended position.

6. The method of claim 4 , wherein determining whether the locking mechanism sensor of the implement sensing system detects the locking mechanism in the activated position comprises sensing whether a position or state of an actuator coupled to a handle of the implement carrier is indicative of a handle position that moves a coupled pin of the implement carrier to an extended position.

7. A power machine comprising:

a frame;

a power system configured to provide power for operating functions on the power machine;

a traction system coupled to the frame and configured to move the power machine over a support surface;

a lift arm structure pivotally coupled to the frame and configured to be moved relative to the frame by at least one lift arm actuator, the lift arm structure having first and second arms disposed on first and second opposing sides of a frame of the power machine;

an implement carrier having first and second sides pivotally coupled respectively to the first and second arms of the lift arm structure and configured to be rotated relative to the lift arm structure by at least one implement carrier actuator, wherein the implement carrier includes a front face, a top surface angled with respect to the front face, and a bottom surface angled with respect to the front face, the implement carrier including an engagement feature for engaging an implement while and after the implement is being coupled to the implement carrier, the implement carrier configured such that the engagement feature is at a top portion of the implement carrier during a process of beginning engagement with the implement, the implement carrier further comprising a locking feature that is moveable between an unlocked position and a locked position to, along with the engagement feature, secure the implement to the implement carrier, and a locking mechanism operable to move the locking feature between the unlocked and the locked position;

a control system coupled to the power system and configured to control the provision of power from the power system, the control system including a controller and a human machine interface; and

an implement sensing system coupled to the control system and configured to sense whether the implement is in proximity to the implement carrier that the implement can be operably coupled to the implement carrier and to provide indications to the control system, wherein the implement sensing system includes:

a first sensor positioned at a first position on the top surface, angled with respect to the front face, adjacent the engagement feature on the first side of the implement carrier during the process of beginning engagement with the implement and separately from a pin engagement position where a pin of the implement carrier or implement is configured to be engaged by the other of the implement or implement carrier;

a second sensor positioned at a second position on the bottom surface, angled with respect to the front face, the second side of the implement carrier;

wherein the implement sensing system is further configured to:

determine whether the first sensor detects the implement at the first position on the top surface of the first side of the first implement carrier;

provide an indication to the control system of the first sensor sensing proximity of the implement if it is determined that the first sensor does detect the implement;

determine whether the second sensor detects the implement at the second position on the bottom surface of the second side of the implement carrier; and

provide an indication to the control system of the second sensor sensing proximity of the implement at the second position on the bottom surface of the second side of the implement carrier if it is determined that the second sensor detects the implement at the second position, the control system configured to responsively control the power machine.

8. The power machine of claim 7 , wherein the implement sensing system further includes a locking mechanism sensor and is further configured to:

determine, if the second sensor detected the implement at the second position, whether the locking mechanism sensor detects the locking mechanism in an activated position; and

provide an indication to the control system of whether the locking mechanism is activated.

9. The power machine of claim 7 , wherein the implement carrier comprises first and second plates respectively providing the first and second sides of the implement carrier, wherein the first position of the first sensor is at a top surface of the first plate, angled with respect to a front face of the first plate, and wherein the second position of the second sensor is at a bottom surface of the second plate, angled with respect to a front face of the second plate.

10. A power machine comprising:

a frame;

a power system configured to provide power for operating functions on the power machine;

a traction system coupled to the frame and configured to move the power machine over a support surface;

a lift arm structure pivotally coupled to the frame and configured to be moved relative to the frame by at least one lift arm actuator;

an implement carrier pivotally coupled to the lift arm structure and configured to be rotated relative to the lift arm structure by at least one implement carrier actuator, the implement carrier including a front face configured to be positioned in contact with an implement carrier interface of the implement when the implement is coupled to the implement carrier, a top surface angled with respect to the front face, and a bottom surface angled with respect to the front face, wherein the implement carrier further includes an engagement feature for engaging an implement while and after the implement is being coupled to the implement carrier, the implement carrier configured such that the engagement feature is at a top portion of the implement carrier during a process of beginning engagement with the implement, the implement carrier further comprising a locking mechanism that is operably coupled to a pin such that when the locking mechanism is operated the pin is caused to move relative to the implement between a disengagement position and an engagement position to secure the implement to the implement carrier;

a control system coupled to the power system and configured to control the provision of power from the power system, the control system including a controller and a human machine interface;

an implement sensing system coupled to the control system and configured to sense whether the implement is in proximity to the implement carrier that the implement can be operably coupled to the implement carrier and to provide indications to the control system of the implement proximity to the implement carrier, the implement sensing system comprising:

a first sensor positioned at a first position on the top surface of the implement carrier during the process of beginning engagement with the implement, and configured to detect presence of the implement;

a second sensor positioned at a second position on the bottom surface of the implement carrier and configured to detect presence of the implement;

a third sensor configured to detect movement of the locking mechanism to allow the control system to control operation of the locking mechanism and resulting movement of the pin between the disengagement position and the engagement position only if the first and second sensors detect presence of the implement.

11. The power machine of claim 10 , wherein the first position of the first sensor is at the top surface of the implement carrier on a first side of the implement carrier, and wherein the second position of the second sensor is at the bottom surface of a second side of the implement carrier, the first and second sides of the implement carrier being laterally spaced between first and second sides of the power machine.

12. The power machine of claim 11 , wherein the implement carrier comprises first and second plates respectively providing the front face on the first and second sides of the implement carrier, wherein the first position of the first sensor is at a top surface of the first plate, and wherein the second position of the second sensor is at a bottom surface of the second plate.