Granted Patent B2

US 12,467,224 · App. 18/751,808 · Granted Nov 11, 2025

Inventor: Christopher Young (Fargo, ND)

Assignee: Doosan Bobcat North America, Inc.

E02F3/434E02F3/3414E02F3/422E02F9/2041E02F9/207E02F9/2095E02F9/267

Abstract

Claims (41)

1 . A method to control a power machine, comprising:

receiving, with one or more electronic processors, 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 provided during previous operation of the power machine; or a position for the power machine provided during previous operation of the power machine;

determining, with the one or more electronic processors, a current position of an electrical actuator of the power machine;

determining, with the one or more electronic processors, a difference between the current position of the electrical actuator and a target position associated with the recorded operation for the electrical actuator;

adjusting, with the one or more electronic processors, the current position of the electrical actuator based on the difference;

receiving, during performance of the recorded operation, an override command from an operator of the power machine; and

in response to receiving the override command:

cancelling performance of the recorded operation; and

controlling the power machine in accordance with the override command, wherein the override command includes a received operator command to control the power machine differently than the recorded operation.

2 . The method of claim 1 , further comprising:

accessing, from a database including a plurality of recorded operations, the recorded operation and the target position of the recorded operation.

3 . The method of claim 1 , further comprising:

detecting activation of a record mode for the power machine; and

while the record mode for the power machine 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.

4 . An electric power machine, the electric power machine comprising:

a power machine frame;

a plurality of electrical actuators supported by the power machine frame, wherein the plurality of electrical actuators includes a tractive motor, a lift actuator, and a tilt actuator;

a lift arm structure that includes:

a lift arm coupled to the power machine frame and configured to be moved relative to the power machine frame by the lift actuator; and

a work element supported by the lift arm and configured to be moved relative to the lift arm by the tilt actuator;

an electrical power source configured to power the plurality of electrical actuators; and

one or more electronic processors in communication with the plurality of electrical actuators, the one or more electronic processors configured to:

during activation of a record mode for the electric power machine:

determine a position associated with the plurality of electrical actuators; and

receive a set of operator commands controlling the electric power machine;

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;

in response to receiving the request:

control the electric power machine to achieve the target position; and

control the electric power machine to automatically perform the recorded operation; and

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.

5 . The electric power machine of claim 4 , wherein the set of operator commands includes activation of a float mode for the electric power machine.

6 . The electric power machine of claim 4 , wherein the set of operator commands includes an operator command that controls the tractive motor.

7 . The electric power machine of claim 4 , wherein the set of operator commands includes a first operator command that controls the lift actuator and a second operator command that controls the tilt actuator.

8 . The electric power machine of claim 4 , wherein the one or more electronic processors are further configured to:

determine a current position of at least one electrical actuator included in the plurality of electrical actuators;

determine a difference between the current position of the at least one electrical actuator and the target position; and

control the electric power machine to achieve the target position based on the difference.

Assignments (4)

Continuity (2)

References Cited (17)