Augmented loader controls
Disclosed embodiments include power machines or loaders, and systems used on loaders, configured to augment the control of the loader to accomplish repetitive tasks. Also disclosed are methods of learning a task for augmented control of a loader, and methods of controlling a loader to perform a learned task to provide augmented control of the loader.
1. A method of loading a power machine onto a trailer, the method comprising:
locating a position of the trailer using a positioning device to identify trailer position information, wherein locating the position of the trailer further comprises identifying four corners of a flatbed portion of the trailer using the positioning device;
locating the power machine using the positioning device to generate power machine position information;
identifying a path for the power machine to travel onto the trailer, using a computer and the position of the trailer and the position of the power machine, the path having points including a final point on the trailer that represents a final position on the path where the power machine is to be located; and
autonomously controlling the power machine with a controller, using the identified path and without an operator controlling the power machine in real time, to drive the power machine to a first point on the path to align the power machine with the trailer and then drive the power machine along the path onto the trailer to the final point.
2. The method of claim 1 , wherein locating the position of the trailer further comprises identifying the four corners in a predetermined order.
3. The method of claim 1 , wherein locating the position of the trailer further comprises verifying that the four corners identify a rectangle by calculating a first diagonal length between a left front corner and a right rear corner, calculating a second diagonal length between a right front corner and a left rear corner, and determining whether the first diagonal length and the second diagonal length are within a predetermined tolerance of each other.
4. The method of claim 1 , wherein identifying the four corners comprises using the positioning device to recognize identifiable marks positioned at the four corners.
5. The method of claim 1 , wherein locating the position of the trailer further comprises calculating a length and width of the trailer.
6. The method of claim 1 , wherein locating the position of the trailer further comprises calculating a centerline of the trailer.
7. The method of claim 1 , wherein locating the power machine using the positioning device further comprises obtaining real-time-kinematic (RTK) position information from RTK sensors on the power machine and generating an error correction factor based upon the power machine position information generated by the positioning device and the RTK position information.
8. The method of claim 7 , further comprising using the error correction factor to correct the trailer position information and the power machine position information.
9. The method of claim 1 , wherein the final point is centered between a left side and a right side of the trailer and is positioned between a front end and a rear end of the trailer.
10. The method of claim 9 , wherein the path includes a mid-point of a line that extends between a left rear corner and a right rear corner of the trailer, the path further including the first point and at least one additional point off of the trailer and on a line that extends through the final point and the mid-point.
11. The method of claim 1 , wherein controlling the power machine with the controller to drive the power machine to the first point on the path to align the power machine with the trailer and then drive the power machine along the path onto the trailer to the final point further comprises using the controller to back the power machine from the first point, along the points of the path and up a ramp to the final point.
12. The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a portable positioning device.
13. The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a positioning device that is fixed to the trailer.
14. The method of claim 1 , wherein locating the position of the trailer using the positioning device to identify trailer position information includes using a positioning device that is fixed to the power machine.
15. The method of claim 1 , wherein the computer is the positioning device.
16. The method of claim 1 , wherein the computer is a mobile computing device.
17. The method of claim 16 , wherein the mobile computing device is a smart phone.