Granted Patent B2

US 12,353,205 · App. 17/886,297 · Granted Jul 8, 2025

Inventors: John Pfaff (Bismarck, ND); Matti Maurice Kariluoma (Bismarck, ND)

Assignee: Doosan Bobcat North America, Inc.

G05D1/0016E02F9/205G08C17/02

Abstract

Claims (44)

1. A remote control system for a power machine, the system comprising:

a mobile device including a processor device and a wireless communication system; and

a hand-held remote control device including a remote control communication module configured to be in communication with the mobile device, wherein the hand-held remote control device includes a plurality of operator input modules configured for manual actuation to generate operator input signals for transmission by the remote control communication module, wherein a first of the operator input modules of the hand-held remote control device is manually movable with a plurality of movement patterns corresponding to a plurality of operator input signals;

wherein the mobile device is configured to be operatively connected to the power machine by the wireless communication system of the mobile device;

wherein the mobile device and the hand-held remote control device are remotely located from the power machine; and

wherein the processor device on the mobile device is configured to:

receive an operator input signal from the hand-held remote control device via the remote control communication module, wherein the operator input signal corresponds to a first movement pattern of the plurality of movement patterns;

in response to receiving the operator input signal from the hand-held remote control device, output a command signal to a control system of the power machine via the wireless communication system to control an operation of the power machine based on operator inputs at the hand-held remote control device; and

operate in an exception mode, including applying an exception modification to the command signal to control the power machine remotely, in response to identifying that the first movement pattern corresponds to a command error at the hand-held remote control device.

2. The system of claim 1 , wherein the mobile device includes one of a smart phone or a tablet.

3. The system of claim 1 , wherein the operator input signal from the hand-held remote control device is generated by manual actuation of one or more operator input modules among the plurality of operator input modules on the hand-held remote control device.

4. The system of claim 1 , wherein the remote control communication module is a wired communication module configured to be communicatively coupled to the mobile device by a wired connection to a wired communication module of the mobile device.

5. The system of claim 1 , wherein the processor device is further configured to:

generate a graphical user interface on a display of the mobile device, wherein the graphical user interface includes a plurality of digital inputs that are selectable on the display to generate corresponding signals to control the power machine remotely.

6. The system of claim 5 , wherein each of the plurality of operator input modules on the hand-held remote control device corresponds to a respective digital input of the plurality of digital inputs on the graphical user interface on the display of the mobile device.

7. The system of claim 1 ,

wherein the processor device on the mobile device is further configured to operate in the exception mode in response to identifying that the first movement pattern corresponds to a first exception pattern, wherein the first exception pattern corresponds to the command error at the hand-held remote control device.

8. The system of claim 7 , wherein the first operator input module includes a joystick; and

wherein the first movement pattern includes a movement pattern of the joystick within a spatial envelope defined by the hand-held remote control device.

9. The system of claim 8 , wherein the first exception pattern corresponds to a mechanistically linear movement of the joystick, wherein the mechanistically linear movement of the joystick is indicative of the command error at the hand-held remote control device.

10. The system of claim 8 , wherein the first exception pattern corresponds to a mechanistically fixed orientation of the joystick, wherein the mechanistically fixed orientation of the joystick is indicative of the command error at the hand-held remote control device.

11. The system of claim 7 , wherein applying the exception modification to the command signal includes de-rating the command signal such that a gain of the command signal is reduced.

12. The system of claim 7 , wherein the processor device on the mobile device is further configured to cease operation in the exception mode in response to receiving a second operator input signal from the hand-held remote control device that does not correspond to the first exception pattern.

13. A method of remotely operating a power machine using a mobile device, the method comprising:

electronically receiving an input command signal, at the mobile device remote from the power machine, from a hand-held remote control device in electronic communication with the mobile device;

in response to receiving the input command signal, electronically providing an output command signal, with the mobile device, to a control system on the power machine such that one or more power machine functions on the power machine are remotely controlled;

electronically analyzing the input command signal to determine whether the input command signal is indicative of a command error associated with the hand-held remote control device; and

in response to determining that the input command signal is indicative of the command error, applying an exception modification to the input command signal to generate the output command signal to control the power machine remotely,

wherein the input command signal is generated by actuation of a first control input of a plurality of control inputs on the hand-held remote control device.

14. The method of claim 13 , wherein the hand-held remote control device is communicatively coupled to the mobile device by a wired connection between the hand-held remote control device and an input port of the mobile device.

15. The method of claim 14 , wherein the first control input includes a joystick.

16. The method of claim 13 ,

wherein electronically analyzing the input command signal to determine whether the input command signal is indicative of the command error includes electronically analyzing the input command signal to determine whether the input command signal corresponds to an exception input that is indicative of the command error associated with the hand-held remote control device; and

wherein applying the exception modification to the input command signal includes applying the exception modification to the input command signal in response to determining that the input command signal corresponds to the exception input.

17. The method of claim 13 , wherein applying the exception modification to generate the output command signal includes derating the output command signal based on determining that the input command signal corresponds to a mobile operator input at the hand-held remote control device that is mechanistically linear for a forward command or a reverse command, wherein the mobile operator input being mechanistically linear is indicative of the command error associated with the hand-held remote control device.

18. The method of claim 17 , wherein applying the exception modification to generate the output command signal further includes modifying the derating of the output command in response to an override input at the hand-held remote control device.

19. A remote control system for a power machine, the system comprising:

a user input interface that includes a processor device, an operator input device adapted to receive manual operator inputs and provide corresponding control signals, and a wireless communication system, wherein the operator input device is remotely located from the power machine;

wherein the processor device is configured to:

receive control signals corresponding to manual operator inputs at the operator input device;

in response to receiving the control signals, cause the wireless communication system to transmit, to a control system local to the power machine, corresponding command signals to control operation of the power machine remotely;

analyze a rate of change of the control signals over time to identify a command error associated with the control signals; and

apply one or more exception modifications to the control signals to generate the command signals, in response to determining that the rate of change corresponds to an exception pattern for the operator input device, the exception pattern indicative of the command error.

20. The remote control system of claim 19 , wherein the exception pattern corresponds to a mechanistically linear movement of the operator input device, wherein the mechanistically linear movement of the operator input device indicates the command error.

Assignments (2)

Continuity (2)

References Cited (85)