KR20210130727A - Display integrated into the door - Google Patents

Abstract

The present invention has a door 1410; 1510 having a display 1404; 1406; 1530; 1730 that displays information such as gauges, user inputs, map-marked obstacles, boundaries, etc., wherein the operator of the power machine works with the displayed information. Disclosed is a power machine (100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500) that allows the user to see close to the line of sight of the area.

Description

Display integrated into the door

The present invention relates to a power machine. More particularly, the present invention relates to a power machine comprising a miniature loader having a display integrated into the cab door.

A power machine for the purposes of the present invention includes any type of machine that generates power for the purpose of accomplishing a specific task or various tasks. One type of power machine is a work vehicle. Work vehicles are generally self-propelled vehicles having work devices, such as lift arms (some work vehicles may have other work devices), that can be manipulated to perform work functions. Working vehicles include loaders, excavators, utility vehicles, tractors and trenchers, to name a few.

Loaders, including small and mini loaders, can be used to perform a variety of tasks using move, lift, tilt and assist functions. Loaders are typically used to move material and/or perform various operations including excavation and other operations by means of attached tools. Usually, the work performed by the loader is repetitive in nature. For example, when using a mower tool to cut grass in an area, it is usually necessary to repeatedly control the loader to control the running of the machine, raising or lowering of mower accessories, and power supply of the mower.

Some power machines include sealed cabs with doors pivotally mounted to the cab frame. The door may be opened to enter and exit the cab, and may be closed to protect the driver from the surroundings. In some power machines, the door is located in front of the cab and the operator sees the work area through the glass of the door during operation. A display panel, often mounted in the corner of the cab, provides the operator with operational information. It is important to maintain situational awareness of the work area and power machine and observe the displayed information.

The foregoing description merely provides general background information on the invention and is not intended to be an aid in determining the scope of the claimed invention.

The present invention provides a power machine. More particularly, the present invention provides a power machine comprising a miniature loader having a display integrated into the cab door.

Embodiments disclosed herein include systems used in power machines in the form of small loaders that are configured to enhance loader and power machine control to achieve repetitive tasks. Upon providing reinforcement control, a learning mode is initiated and a home position is established. Then, the sequence of machine motions required to repeat or cycle the task is learned. The loader can then be automatically commanded to perform a series of recorded actions, performing the action a specified number of times to complete the work project.

The present invention has a door with an integrated display that displays information such as gauges, user inputs, mapped obstacles, boundaries, etc., and allows the operator of the power machine to display the displayed information close to the line of sight of the work area. Disclosed are a power machine and a loader that make it visible.

One aspect of the present invention includes a cab 250; 1450; a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the cab; a display 1404; 1406; 1530; 1730 that is visible to the operator when viewed through the cab door, has display material configured to view through the display material at least a portion of a work area outside the cab, and is configured to present information to the operator of the loader; It includes a loader (100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500) that includes.

Embodiments of the present invention have one or more of the following features. The display includes a heads-up display (HUD) system 1406 having a rear-projection display device 1402 configured to display information on a transparent material 1404 positioned in front of an operator of the cab. The display includes display material 1530: 1730 integrated into the cab door. A display having display material integrated into the cab door is a touchscreen display in which an operator provides input through the display to control one or more machine functions and/or display parameters. The touchscreen display is configured to control one or more display variables by selecting the information to be displayed. The touchscreen display is configured to allow the driver to reconfigure the display of information. The display is configured to display the enhancement control information. The display configured to present the enhancement control information includes a display configured to display an enhanced reality image of the work area, wherein the enhanced real image includes an obstacle 1002 ; 1304 ; 1306 , a defined path 1202 , a virtual at least one representation of rod 1310 and boundary 1302 . The cab door is at the front of the cab.

One aspect of the present invention includes a cab 250; 1450; a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the front of the cab; a loader (100; 200) integrated into the cab door, the loader (100; 200) having a display material configured to present information to an operator of the loader (100; 200) including a display (1530; 1730) for viewing through the display material at least a portion of a work area outside the cab; 300; 900; 1000; 1200; 1300; 1400; 1500).

The present invention includes one or more of the following features. The display with display material integrated into the cab door is a touchscreen display in which the operator provides input via the display to control one or more machine functions and/or display parameters. The touchscreen display is configured to control one or more display variables by selecting information to be displayed in response to driver touchscreen input. The touchscreen display is configured to allow the driver to reconfigure the display of information.

One aspect of the present invention includes a cab 250; 1450; a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the front of the cab; a display 1404; 1406; 1530; 1730 having a display material configured to be visible to the operator through the cab door, at least partially visible through the display material in the work area outside the cab, and configured to present information to the operator of the loader; and a loader (100; 200; 300; 900; 1000; 1200; 1300; 1400) comprising a controller (370; 970; 1070; 1270; 1470; 1514; 1516) configured to control the display to display the enhanced reality information; 1500).

Embodiments of the present invention have one or more of the following features. The augmented reality information includes an enhanced reality image of the work area. The enhanced real-world image includes indicia of obstacles 1002 ; 1304 ; 1306 . The enhanced real-world image includes at least one indicia of a defined path 1202 , a virtual rod 1310 , and a boundary 1302 . The display includes a front-view display system 1406 having a rear-projection display device 1402 configured to display enhanced reality information in a transparent material 1404 positioned in front of an operator of the cab. The display includes display material 1530: 1730 integrated into the cab door.

One aspect of the present invention includes a cab 250; 1450; a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the cab; having a display material integrated into the cab door and configured to display information to an operator of the loader while at least partially visible through the display material in a work area outside the cab, wherein the operator provides input via a touchscreen display to enable the operator to provide input via a touchscreen display to one or more machines and a loader 100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500 comprising a touchscreen display 1530; 1730 configured to control functions and/or display variables.

Embodiments of the present invention have one or more of the following features. The touchscreen display is configured to control one or more display variables by selecting the information to be displayed. The touchscreen display is configured to allow the driver to reconfigure the display of information.

The Abstract and Abstract are provided to explain concepts in a simplified form and are further set forth in the Detailed Description below. This Summary is not intended to identify key or essential technology recited in the claims, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In various power machine embodiments of the present invention, the display is configured to clearly present to the operator information relating to the operating conditions of the power machine and information regarding the workspace environment. The information may be augmented reality information with beacons or enhanced real-world images of obstacles or obstacles, defined routes, virtual road boundaries, and the like.

In an example embodiment, the information may be displayed to the driver while providing clarity of the work area via a display material located on the front of the cab door (from the driver's seated view) or incorporated into the door. By means of the front door configuration, this provides the driver with a combination of clarity of the working area and increased display of operating information.

1 is a block diagram illustrating a functional system of an exemplary power machine in which embodiments of the present invention may be advantageously practiced.
2 and 3 are perspective views of a representative power machine in the form of a skid steer loader of the kind in which the disclosed embodiments may be practiced.
4 is a block diagram illustrating the components of a power system of a loader, such as the loader shown in FIGS. 2 and 3;
Fig. 5 is a block diagram showing in more detail the components of the power machine of Fig. 4 according to an exemplary embodiment;
6 is a block diagram of a kit constituting a loader for enhanced control.
7 and 8 are block diagrams of a system configured to provide enhanced control of a loader in accordance with an exemplary embodiment.
9 is a flowchart illustrating a method of learning a task for reinforcement control of a loader.
10 is a flowchart illustrating a method of controlling a loader to perform a learned task to provide enhanced control of the loader.
11 shows the loader in a driven position on a ramp.
12 is a flowchart illustrating a method of driving the loader to a trailer by controlling the loader according to an embodiment of the present invention.
13 is a block diagram illustrating a configuration between the portable controller and a user input device communicating with the portable controller.
14 is a diagram illustrating a system including a loader with enhanced control features that control the loader to avoid contact with obstacles.
15A to 15D show examples of obstacle areas displayed on various maps for obstacles.
Fig. 16 shows the characteristic of confirming the position of the loader in such a way that the error correction factor is determined.
17 is a flowchart illustrating an operation method of a loader for displaying a map of an obstacle area and avoiding contact with an obstacle.
18 illustrates dynamic fencing features of some disclosed embodiments.
19 depicts a field map with predefined virtual load characteristics of some disclosed embodiments.
Fig. 20 is a schematic side view of a loader having an enhanced control system and a forward view display system;
21 is a perspective view of a cab with a transparent door that may be used as a forward view display projection surface in one embodiment;
Fig. 22 is a front view of a door similar to the door shown in Fig. 21;
23 is a schematic view of a portion of a loader having a door with an integrated display according to another embodiment;
Fig. 24 is a schematic diagram of the door shown in Fig. 23 showing the display area and the open glass area configuration and the displayed information configuration;
Fig. 25 is a schematic diagram of the door shown in Figs. 23 and 24 showing the display of reinforcement control information such as a map-displayed obstacle;
Fig. 26 is a schematic diagram of the door shown in Figs. 23-25 showing the reconstruction of the indicated information location;
27 and 28 are schematic diagrams of reconstructions of the gauge display on the display shown in FIGS. 23-26.
29 is a schematic diagram of another embodiment loader door with an integrated display covering the entire glass area of the door.
30 is a schematic diagram of another embodiment loader door with an integrated display covering a band at the top of the door.

The concepts disclosed herein have been described and illustrated with reference to exemplary embodiments. However, these concepts are not limited to the application to the details of construction and arrangement of components in the illustrated embodiment, and may be practiced or carried out in various other ways. The terminology of the present invention is used for the purpose of description of the invention and should not be regarded as limiting. As used herein, words such as "including," "comprising," and "having," and variations thereof, are meant to include the listed item, equivalents thereof, as well as additional items. . Also, elements described as being “capable of performing” a task or function should be understood to include those “configured” to perform the task or function.

Disclosed embodiments of the present invention include systems used in loaders and loaders configured to enhance loader control to achieve repetitive tasks. Upon providing reinforcement control, a learning mode is initiated and a home position is established. In the learning mode, a series of machine motions required to perform repetitive tasks are learned. The loader is then instructed to automatically perform a series of recorded actions to complete the work project by repeating the task a specified number of times. Examples of tasks that can be learned are trailer loading, carry and dump operations, material transfer (driving a loader from one position to another), return grooves, positions for lift, tilt and auxiliary functions. including, but not limited to, tools or sub-tasks performed continuously, such as return of a working group to the furnace, mowing, grading and paving, and the like.

Embodiments of the present invention also include a cab door that is removably positioned over an opening in the front of the cab and allows entry and exit into and out of the cab. These cab doors include an integrated display panel positioned to present information to the driver, and in contrast to conventional display panels mounted in the upper or lower corners of the cab, the information is more within the operator's line of sight in the work area. do.

These concepts can be implemented in a variety of power machines as described below. A representative power machine capable of implementing the embodiment is shown in diagrammatic form in FIG. 1 , and one example of such a power machine is shown in FIGS. 2 and 3 and described below before disclosing the embodiment. In order to simplify the description of the present invention, only one power machine is shown and described as a representative power machine. However, as mentioned above, the following embodiment may be implemented in any of a number of power machines, including power machines of other types than the representative power machines shown in FIGS. 2 and 3 .

For the purposes of the present invention, a power machine comprises a frame, at least one working element and a power source capable of providing power to the working element to perform the work. One type of power machine is a self-propelled work vehicle. A self-propelled work vehicle is a type of power machine and includes a frame, a work element, and a power source capable of supplying power to the work element. At least one work element is a motive system that drives the power machine under power.

1 shows a block diagram illustrating a basic system of a power machine 100 into which the embodiments described below may advantageously be incorporated and into which may be any of a number of different types of power machines. The block diagram of FIG. 1 identifies the various systems of the power machine 100 and the relationships between the various components and systems. As described above, at the most basic level, a power machine for the purposes of the present invention comprises a frame, a power source and working elements. The power machine 100 has a frame 110 , a power source 120 , and a work element 130 . Since the power machine 100 shown in FIG. 1 is a self-propelled working vehicle, it also includes a traction element 140 which is itself a working element and a working element of the power machine, which are provided for moving the power machine over a supporting surface. It has a driver station 150 that provides a controlling driving position. In response to control signals provided by the driver, a control system 160 is provided to interact with other systems to perform, at least in part, various tasks.

A specific work vehicle has a work element capable of performing a dedicated work. For example, some work vehicles have a lift arm to which a tool such as a bucket is attached by means of a pinning arrangement. A work element, ie, a lift arm, can be manipulated to position a tool to perform a task. In some cases, the tool may be positioned relative to the work element, such as by rotating a bucket relative to a lift arm, to position the tool. Buckets are attached and used under normal operation of such a work vehicle. This work vehicle can accommodate other tools by disassembling the tool/work element combination and reassembling the other tools instead of the original bucket. Other work vehicles are intended to be used with a wide variety of tools and have a tool interface, such as tool interface 170 shown in FIG. 1 . Most basically, the tool interface 170 is a connection between the frame 110 or work element 130 and the tool, which is as simple as a connection point that attaches the tool directly to the frame 110 or work element 130 . or may be more complex and are described below.

In some power machines, tool interface 170 may include a tool carrier, which is a physical assembly that is movably attached to a work element. The tool carrier has engagement features and locking features for receiving and securing a plurality of tools to the work element. One characteristic of such a tool carrier is that once the tool is attached to the carrier, the carrier is fixed to the tool (ie not movable relative to the tool), and when the tool carrier moves relative to the work piece, the tool moves with the tool carrier. do. The term tool carrier, as used herein, is not simply a pivotable connection point, but a special dedicated device intended to be accommodated and secured to a variety of tools. The tool carrier itself is mountable to a work element 130 such as a lift arm or frame 110 . Tool interface 170 may also include one or more power sources for powering one or more working elements of the tool. Some power machines may have a plurality of work elements having a tool interface, each of which, although not necessarily, may have one tool carrier to receive the tool. Some other power machines may have one work element with a plurality of tool interfaces, and a single work element may accommodate multiple tools simultaneously. Each of these tool interfaces, although not necessarily, has one tool carrier.

Frame 110 includes a physical assembly capable of supporting various other components attached thereto or positioned thereon. Frame 110 may include several individual components. Some power machines have a rigid (rigid) frame. That is, no one part of the frame is movable relative to the other part of the frame. Other power machines have at least one part movable relative to another part of the frame. For example, an excavator may have an upper frame portion that rotates relative to a lower frame portion. Another work vehicle has an articulated frame in which one part of the frame pivots relative to another to achieve a steering function.

Frame 110 provides power for use by tools attached via tool interface 170 in some instances, as well as powering one or more work elements 130 , including one or more traction elements 140 . Supports a power source 120 configured to do so. Power from the power source 120 may be provided directly anywhere in the work element 130 , the pull element 140 , and the tool interface 170 . Alternatively, power from the power source 120 may be provided to the control system 160 , which in turn selectively provides power to components capable of performing work functions using the power. Power sources for power machines typically include an engine, such as an internal combustion engine, and a power conversion system, such as a mechanical transmission or hydraulic system, capable of converting output from the engine into a form of power usable by a work element. Other types of power sources may be incorporated into power machines, including combinations with power sources commonly known as power sources or hybrid power sources.

1 shows a single work element designated as work element 130 , various power machines may have any number of work elements. The working element is usually attached to the frame of the power machine and is movable relative to the frame when performing work. Traction elements 140 are also a special case of working elements in that their working function is generally to move the power machine 100 over a support surface. Traction element 140 is shown and shown separately from work element 130 because many power machines have additional work elements in addition to the traction element, although this may not always be the case. The power machine may have any number of traction elements, some or all of which may receive power from the power source 120 to propel the power machine 100 . The traction element may be, for example, a track assembly, wheels attached to an axle, or the like. The traction element may be mounted to the frame such that movement of the traction element is limited to rotation about the axle (steering is achieved by skidding), or alternatively such that the traction element achieves steering by pivoting relative to the frame. It may be pivotably mounted to the frame.

The power machine 100 includes an operator station 150 that includes a driving position from which an operator can control the operation of the power machine. In some power machines the operator station 150 is defined by an enclosed or partially enclosed cab. Some power machines in which embodiments of the present invention may be realized may not have a cab or operating area of the type described above. For example, a walk behind loader may have an operating position that does not have a cab or operating area, but rather functions as an operator station that properly operates a power machine. More broadly, a power machine other than a working vehicle may have a driving station that is not necessarily similar to the driving positions and operating areas mentioned above. In addition, some power machines, such as power machine 100, and others, regardless of whether they have an operating area or operating location, may be remotely (i.e., remotely located from the operator station). At least some of the operator control functions of the power machine may include applications capable of operating in a driving position coupled to a tool coupled to the power machine. Alternatively, for some power machines, a remote control device capable of controlling at least some of the operator control functions on the power machine may be provided (ie remote from the power machine and any tools coupled to the power machine).

Figures 2 and 3 show a loader 200, which is one particular example of the power machine shown in Figure 1, in which the embodiments to be described below may be advantageously employed. Loader 200 is a skid-steer loader with a traction element (in this case 4 wheels) mounted to the frame of the loader by a rigid axle. Here, "solid axle" means that the skid-steer loader 200 does not have any traction elements that can be rotated or steered to achieve the turn of the loader. Instead, skid-steer loaders have a drive system that independently powers one or more traction elements on each side of the loader, and by providing a different traction signal to each side, tends to cause the machine to slide over a support surface. This varying signal powers the traction element(s) on one side of the loader to move the loader forward and powers the traction element(s) on the other side to move the loader in the reverse direction. providing, and capable of pivoting the loader around a central radius within the footprint of the loader itself. The term "skid-steer" generally refers to a loader with slippery steering with wheels as traction elements as described above. It should be noted, however, that many track loaders also perform turns through sliding and are technically skid-steer loaders even though they do not have wheels. For the purposes of the present invention, unless otherwise stated, the term skid steer should not be limited in scope to loaders having wheels as traction elements.

The loader 200 is one particular example of the power machine 100 shown broadly in FIG. 1 and described above. Accordingly, features of the loader 200 described below use reference numerals similar to those used in FIG. 1 . For example, loader 200 is described as having frame 210 as power machine 100 has frame 100 . The skid-steer loader 200 described herein is intended to provide reference to an environment in which the embodiments described below may be practiced with respect to the track assembly and mounting elements for mounting the track assembly to a power machine. The loader 200 is not essential to the embodiments disclosed herein, and thus the embodiments described below may or may not be included in a power machine other than the loader 200 in which the embodiments described below may or may not be specifically limited to the description of the described features. should not be considered Unless otherwise noted, the embodiments described below may be practiced on various power machines and the loader 200 is only one such power machine. For example, some or all of the invention described below may be embodied in many different types of work vehicles, including various other loaders, excavators, trenchers and dozers, to name a few.

The loader 200 includes a frame 210 that supports a power system 220 that can generate or provide power to operate various functions on the power machine. Power system 220 is shown in block diagram form but located within frame 210. Frame 210 also includes a lift arm assembly 230 in the form of a lift arm assembly 230 powered by power system 220 to perform various tasks. support work elements. If the loader 200 is a working vehicle, the frame 210 also supports a traction system 240 that propels the power machine over a support surface and is powered by the power system 220 . The lift arm assembly 230, in turn, provides a tool carrier 272 capable of receiving and securing various tools to the loader 200 for performing various tasks, and a tool to selectively power tools that can be coupled to the loader. supports a tool interface 270 including a power coupler 274 to which it may be coupled. Power coupler 274 may provide a hydraulic or power source or both. The loader 200 includes a cab 250 defining an operator station 255 from which the operator may operate various controls 260 to cause the power machine to perform various work functions. Cab 250 may pivot back about an axis extending through mount 254 , providing access to power system components when maintenance and repair are required.

The operator station 255 includes a driver's seat 258 and a plurality of driver inputs including a control lever 260 that can be operated by the operator to control various machine functions. Driver inputs may include buttons, switches, levers, sliders, pedals, etc., and may be stand-alone devices, such as hand operated levers or foot pedals, or integrated into hand grips or display panels. can be, and includes a program input device. The actuation of the driver input may generate a signal in the form of an electrical signal, a hydraulic signal and/or a mechanical signal. Signals generated in response to the operator input are provided to various components of the power machine to control various functions of the power machine. Among the functions controlled by the operator input of the power machine 100 include control of a traction element 219 , a lift arm assembly 230 , and a tool carrier 272 , any of which may be operatively coupled to a tool. Provides a signal to the tool.

The loader may have a display provided in the cab 250 to give an indication of information relating to the operation of the power machine in a form that can be perceived by the operator, such as, for example, an audible and/or visual indication. It may include a man-machine interface comprising a device. The audible indication may appear in the form of buzzers, bells, etc., or verbal communication. Visual indications may appear in the form of graphs, lights, icons, gauges, alphabetic characters, and the like. The display may be dynamic to provide dedicated indications, such as warning lights or gauges, or to provide programmable information, including programmable display devices such as monitors of various sizes and functions. The display device may provide diagnostic information, troubleshooting information, instructional information, and various types of information for the operator to assist the power machine or tools associated with the power machine. Other information that can be used by the driver can also be provided. Other powered machines, such as walk-behind loaders, may not have a cab, cab or seat. The driving position of such a loader is generally defined as the most suitable position for the driver to operate the driver input device.

Various power machines incorporating or interacting with the embodiments of the invention described below may have various other frame components supporting various working elements. The components of the frame 210 of the present invention are provided by way of example for purposes of the present invention, and the frame 210 is not the only type of frame of a power machine in which the present invention is practiced.

The frame 210 of the loader 200 includes an undercarriage or lower portion 211 of the frame and an upper portion 212 of the main frame or frame supported by the undercarriage. In some embodiments, the main frame 212 of the loader 200 is attached to the undercarriage 211, such as by welding or fasteners between the undercarriage and the main frame. Alternatively, the main frame and the chassis may be integrally formed. The main frame 212 includes a pair of uprights 214A; 214B, located on both sides toward the rear of the main frame, supporting the lift arm assembly 230 and to which the lift arm assembly 230 is pivotally attached. do. Lift arm assembly 230 is illustratively pinned to each of uprights 214A; 214B. A combination of mounts on uprights 214A; 214B and lift arm assembly 230 and mounting hardware (including pins for securing the lift arm assembly to main frame 212) is assembled for purposes of the present invention. Commonly referred to as joints 216A; 216B (one in each of uprights 214). Joints 216A; 216B are arranged along axle 218 and allow the lift arm assembly to pivot about axle 218 relative to frame 210, as described below. Other power machines may not include uprights on either side of the frame, or may not have lift arm assemblies that can be mounted to uprights on either side toward the rear of the frame. For example, some power machines may have a single arm mounted to a single side of the power machine or to the front or rear end of the power machine. Other machines may have a plurality of work elements including a plurality of lift arms, each of which is mounted to the machine in its own unique configuration. Frame 210 also supports a pair of traction elements in the form of wheels 219A-D on either side of loader 200 .

The lift arm assembly 230 shown in FIGS. 2 and 3 is one of many different types of lift arm assemblies that may be mounted to a power machine, such as a loader 200 or other power machine, that may implement embodiments of the present invention. One example. The lift arm assembly 230 is what is known as a vertical lift arm, and the lift arm assembly 230, under the control of the loader 200, has a lift path 237 that forms a generally vertical path with respect to the frame 210. It means that it is movable along (ie, the lift arm assembly can be raised and lowered). Different lift arm assemblies may have different geometries and may be coupled to the frame of the loader in various ways to provide a lift path different from the radial path of the lift arm assembly 230 . For example, some lift paths in other loaders provide radial lift paths. Other lift arm assemblies may have expandable or telescoping portions. Other power machines may have a plurality of lift arm assemblies attached to their frame, each lift arm assembly independent of the other. Unless specifically stated herein, the inventive concepts disclosed in the Detailed Description are not limited to the type or number of lift arm assemblies coupled to a particular power machine.

The lift arm assembly 230 has a pair of lift arms 234 disposed on opposite sides of the frame 210 . In the lowered position shown in FIG. 2 , a first end of each lift arm 234 is pivotally coupled to the power machine at a joint 216 , and a second end 232B of each lift arm is coupled to the frame 210 . located towards the front. The joint 216 is positioned toward the rear of the loader 200 and the lift arm extends along the side of the frame 210 . The lift path 237 is defined by the path of travel of the second end 232B of the lift arm 234 as the lift arm assembly 23 moves between its minimum and maximum height.

Each of the lift arms 234 includes a lift arm assembly from a first portion 234A and a connection to the first portion 234A of each lift arm 234 pivotally coupled to the frame 210 at one of the joints 216. It has a second portion 234B extending to a second end 232B of 230 . Lift arms 234 are each coupled to cross members 236 that are attached to first portion 234A. The cross member 236 provides increased structural stability to the lift arm assembly 230 . A pair of actuators 238, which are hydraulic cylinders configured on the loader 200 to receive pressurized fluid from the power system 220, are mounted on each side of the loader 200 at pivotable joints 238A and 238B on each side of the frame ( It is pivotally coupled to both 210 and lift arm 234 . Actuators 238, individually and collectively, are often referred to as lift cylinders. Actuation of actuator 238 (ie, extension and retraction) causes lift arm assembly 230 to rise and lower along a fixed path indicated by arrow 237 by pivoting about joint 216 . Each of the pair of control links 217 is pivotally mounted to the frame 210 and one lift arm 232 on both sides of the frame 210 . Control link 217 helps define a fixed lift path of lift arm assembly 230 .

Some liftarms, most prominent on excavators and possibly with other loaders, are controllable to pivot about different segments instead of moving together (ie, along a path) as is the case with liftarm assembly 230 shown in FIG. 2 . can have parts. Some power machines have a lift arm assembly with a single lift arm, as is known in excavators or some loaders and other power machines. Other power machines may have a plurality of lift arm assemblies, each independent of the others.

A tool interface 270 is provided adjacent the second end 232B of the lift arm assembly 230 . The tool interface 270 includes a tool carrier 272 that can receive and secure a variety of different tools to the lift arm 234 . Such a tool has a complementary machine interface configured to engage a tool carrier 272 . The tool carrier 272 is pivotally mounted to the second end 232B of the arm 234 . A tool carrier actuator 235 is operatively coupled to the lift arm assembly 230 and the tool carrier 272 and is operable to rotate the tool carrier 272 relative to the lift arm assembly. Tool carrier actuator 235 is illustratively a hydraulic cylinder and is often known as a tilt cylinder.

By having a tool carrier attachable to a plurality of different tools, changing from one tool to another can be made relatively easy. For example, a machine having a tool carrier may provide an actuator between the tool carrier and a lift arm assembly, wherein removal or attachment of the tool comprises removal or attachment of the actuator from the tool, or removal or attachment of the tool from the lift arm assembly. don't need Tool carrier 272 provides a mounting structure for a lift arm assembly that does not require a tool carrier to easily attach tools to a lift arm (or other part of a power machine).

Some power machines may have a tool-like device attached by pinned to a lift arm with a tool or tilt actuator and coupled directly to the tool or tool-like structure. A common example of such a tool that is rotatably pinned to a lift arm is a bucket, to which one or more tilt cylinders are attached to a bracket that is secured directly to the bucket by welding or fasteners. These power machines do not have a tool carrier, but rather have a direct connection between the lift arm and the tool.

Tool interface 270 also includes a tool power source 274 usable for connection of tools of lift arm assembly 230 . The tool power source 274 includes a pressurized hydraulic fluid port to which the tool may be removably coupled. The pressurized hydraulic fluid port selectively provides pressurized hydraulic fluid to power one or more functions or actuators on the tool. The tool power source may also include a power source to provide power to an electrical actuator and/or electronic controller on the tool. Tool power source 274 also illustratively includes electrical conduits that communicate with a data bus on loader 200 to enable communication between the tool's controller and electronic devices of loader 200 .

2 and 3 the frame 210 supports and surrounds the power system 220 so that the various components of the power system 220 are not visible.

4 includes a diagram of various components of power system 220 . Power system 220 includes one or more power sources 222 that can generate and/or store power for use in various machine functions. In the power machine 200 , the power system 220 includes an internal combustion engine. Other power machines may include electrical generators capable of providing power to a given power machine component, rechargeable batteries, and various other power sources or combinations of power sources. Power system 220 also includes a power conversion system 224 operatively coupled to power source 222 . The power conversion system 224 is coupled to one or more actuators 226 which in turn perform the functions of the power machine. The power conversion system 224 of various power machines may include various components including mechanical transmissions, hydraulic systems, and the like. Power conversion system 224 of power machine 200 includes a pair of selectively controllable hydrostatic drive pumps 224A; 224B to provide a power signal to drive motors 226A, 226B. Drive motors 226A and 226B are, in turn, operatively coupled to axles, respectively, drive motor 226A coupled to axle 228A; 228B and drive motor 226B coupled to axle 228C; 228D. Axles 228A-D are in turn coupled to traction elements, such as wheels 219A-D. Drive pumps 224A; 224B are mechanically, hydraulically and/or electrically coupled to a driver input device to receive actuation signals to control the drive pumps.

The arrangement of the drive pump, motor and axle of the power machine 200 is one example of the arrangement of these components. As described above, the power machine 200 is a skid-steer loader, and the traction elements on each side of the power machine have the output of either a single hydraulic pump, a single drive motor of the power machine 200, or an individual drive motor. controlled together through Various other configurations and combinations of hydraulically driven pumps may be advantageously utilized.

The power conversion system 224 of the power machine 200 also includes a hydraulic tool pump 224C operatively coupled to a power source 222 . Hydraulic tool pump 224C is operatively coupled to working actuator circuit 238C. Task actuator circuit 238C includes control logic (such as one or more valves) as well as lift cylinder 238 and tilt cylinder 235 to control operation. Control logic selectively permits actuation of lift cylinders and/or tilt cylinders in response to driver input. In some machines, the work actuator circuit also includes control logic to selectively provide pressurized hydraulic fluid to the attachment tool.

The above description of the power machine 100 and loader 200 has been provided for illustrative purposes, and provides an exemplary environment in which the following embodiments may be realized. Embodiments disclosed herein may be realized in a power machine generally described by a loader, such as the power machine 100 shown in the block diagram of FIG. Unless otherwise stated, the concept of the present invention described below is not limited to the environment specifically described above.

FIG. 5 is a simplified block diagram of a power system 320 showing a representative power system for a power machine of the type power system 220 described with reference to FIG. 4 . The power system 320 includes a power source 322 that provides power to the power system 320 and is coupled to the power system to convert the power provided by the power source 322 and optionally provide the converted power to working elements of the power machine. and a power conversion system 324 for Power system controller 302 is in communication with power conversion system 324 . Power system controller 302 provides control signals to components in the power conversion system to provide converted power directly to work elements. Power system controller 302 provides this control signal in response to input from various sources, such as user input device 350 or other controller on the power machine.

The power source 322 corresponding to the power source 222 of FIG. 4 is an internal combustion engine such as a diesel engine, but other types of internal combustion engines may be used as the power source. Examples of other power sources include electrical power storage devices, combinations of power sources, or other types of engines. The type of power used does not affect the scope of the invention unless otherwise stated or clearly indicated in the description of a particular embodiment. The power conversion system 324 includes a pair of drive pumps, a left drive pump 326A and a right drive pump 326B, and a tool pump 326C in a pump package. Power source 322 may drive the pump directly, indirectly through a belt-driven coupling, or may drive the pump using an appropriate coupling. Power conversion system 324 also drives pumps 326A; 326B by pumping hydraulic fluid from tank 306 to provide pressurized hydraulic fluid that may leak from the drive pump through a case drain. may include a charge pump that compensates for and returns to tank 306 . Charge pumps that perform this kind of function are well known to those skilled in the art.

The drive system of the power system 320 is a hydrostatic system. In various embodiments, each drive pump 326A; 326B may be coupled with one or more motors. In the example shown in FIG. 5 , each drive pump is configured such that the left drive pump 326A provides hydraulic pressure to the left drive motor 328A and the right drive pump 326B provides hydraulic pressure to the right drive motor 328B. , a variable displacement pump combined with a single motor. The displacement of each of the pumps 326A and 326B is controlled by a control signal from the power system controller 302 and is controlled in either direction to control the forward and backward movement of the power machine. Drive motors 328A and 328B are two speed motors, which means that the motors can be operated with two different displacements, with each displacement being in an advantageous state in a particular operating situation. Other drive motors suitable for use in various machines of this type may be constant or infinitely variable displacement motors. 5 shows the dotted line relationship between the power system controller 302 and the left and right drive motors 328A; 328B. In machines where the left and right drive motors have multiple selectable displacements (or, in some embodiments, infinitely variable displacements), the power system controller 302 communicates with the left and right drive motors 328A; 328B to control their displacements. . Power system 320 is a type of power system that may be found on a skid steer loader, such as loader 200 . Different types of loaders and power machines may have different characteristics in the drive system, including steerable shafts, articulated joints, different drive motor configurations, mechanical transmissions, and the like.

Tool pump 326C provides a constant displacement of pressurized hydraulic fluid to control valve 340 of working actuator circuit 338C, which corresponds to working actuator circuit 238C shown in FIG. In other embodiments, tool pump 326C may be a variable displacement pump, and may be controlled in a variety of techniques to provide only the displacement needed to operate loads in hydraulic communication with tool pump 326C. The control valve 340 shown in FIG. 5 includes a lift spool 340A operable to selectively provide hydraulic fluid to one or more lift actuators 238; a tilt spool 340B operable to selectively provide hydraulic fluid to one or more tilt actuators 235; and an open center having three spools of auxiliary hydraulic spool 340C operable to selectively provide hydraulic fluid via auxiliary port 342 to an auxiliary function, such as a work actuator located on an attachment tool. It is a series valve. The hydraulic spool has priority upon receipt of a constant supply of hydraulic fluid in the order shown (e.g., lift spool has priority over tilt and auxiliary spool, tilt spool has priority over auxiliary spool) . Power system controller 302 provides a signal to control the position of the spool of control valve 340, for example, provides an electrical signal to control a solenoid valve (not shown) that can facilitate movement of the spool do. In some embodiments, the power system controller 302 is a standalone controller configured to control only functions related to the power system. In other embodiments, the power system controller 302 may be integrated into a controller on the power machine that performs other functions. When the spools are powered by the power system controller 302 , hydraulic fluid passing through the various spools and their actuators (eg, lift actuator 238 , tilt actuator 235 , etc.) It exits and returns to tank 306 . Control valve 340 is one embodiment of a system that selectively provides hydraulic fluid from tool pump 324C to various actuators. Other embodiments within the scope of the present invention may use different systems.

The drive pump 326A and the drive motor 328A and the hydraulic circuit between the drive pump 326B and the drive motor 328B may be a closed loop circuit. As mentioned above, some hydraulic fluid is usually leaked from the pump, and case drain lines (collectively shown as line 308 ) supply the leaked hydraulic fluid from each of the pumps back to the tank 306 . do. In some embodiments, this hydraulic fluid leak may also be fed through a cooler (not shown) before returning to tank 306 for the purpose of cooling hydraulic fluid in the system. The fill pump 304 supplies makeup fluid to counteract hydraulic fluid leakage in the drive pump. When controlling the drive function of the power machine, the power system controller 302 supplies an electrical signal to stroke the two drive pumps 326A; 326B independently of each other so that hydraulic fluid is provided to the hydraulic drive motors 328A; 328B. This allows the machine to run at the desired speed and in the desired direction.

As described above, the task performed by the loader is repeated in nature, and the driver may repeatedly manipulate a joystick or other user input device to request the task to be performed each time it is repeated. Repetitive tasks allow the operator to perform the same task or set of tasks over and over again. Depending on the complexity of the task or set of tasks, most drivers may not be able to perform the task in a very efficient manner, thus increasing the period of time required to perform the task. In some cases, it may be desirable for the loader to perform repetitive tasks autonomously, ie without the driver controlling the loader in real time. Some disclosed embodiments include a loader and include a system used in the loader and configured to semi-autonomously control the loader to enhance control of the loader by greatly reducing operator intervention required to perform repetitive tasks. Another disclosed embodiment includes a loader capable of performing tasks autonomously. In the present invention, the term enhanced control may refer to a control capable of performing autonomous or semi-autonomous tasks or both. The disclosed embodiments also include kits that can be used to configure or reconfigure existing loaders to implement the disclosed enhanced autonomous and/or semi-autonomous control methods and concepts. The disclosed embodiments also include a control system capable of learning autonomous and/or semi-autonomous tasks and memorizing tasks so that they can be performed later. In some embodiments, the learning mode includes learning about the home location where the autonomous task begins.

6 is a block diagram illustrating a power machine 300 having a power system 320 and an enhanced control system 420 in communication with the power system 320 in accordance with one exemplary embodiment. In some embodiments, an enhanced control system, such as the enhanced control system 420 described below, is integrated into the power machine 300 , while in other embodiments, the enhanced control system is provided as a kit for the machine to provide enhanced control to the machine. Functions can be added and transferred from one machine to another. As described below, the enhanced control system 420 is in communication with the power system controller 302 , which provides a signal to the power system controller to control an actuator that is part of the power conversion system 324 . configured to do As described above, the power system controller 302 is configured to receive signals from various sources to control the power conversion system 324 . When the enhanced control system 420 is installed in the power machine and in communication with the power system controller 302, the enhanced control system may be the sources from which the power system controller controls using the power conversion system, or under some conditions, It can be the only input source. The phrase the only input source in this example means that the power conversion system is controlled only by the enhanced control system, and inputs from other sources are not taken into account.

7 shows the enhancement control system 420 in more detail. The enhanced control system 420 includes an enhanced control controller 370 having an enhanced control module 360 therein. In FIG. 6 , the illustrated enhanced control system 420 is a kit 400 having components that can be added to an existing loader to make the system 400 . The kit 500 includes the components illustrated in FIGS. 6 and 7 , and the illustrated components may be understood to correspond to any of the system 300 , the system 400 , or the kit 500 . As shown, the kit 500 includes an enhanced control controller 370 that can be added to an existing loader to implement the enhanced functionality of the module 360 , and can transmit control commands to the existing power system controller 302 . . In the exemplary embodiment, the enhanced control controller 370 is provided by a programmable logic controller (PLC) unit having a display screen and user input capabilities to allow the driver to enter user settings, put the loader into learning mode (described below) , starts a user-defined work cycle (described below). In other embodiments, various other types of controllers, including embedded controllers, may be used as enhanced control controller 370 .

6 and 7 illustrate a system 300 and kit 400, respectively, comprising a power system 320 and components configured to provide enhanced control with a home position set, and required to perform a repetition of the task. A series of machine movements are learned. The loader, including system 300 and kit 400, is then automatically commanded to perform a series of recorded actions, repeating the tasks for a specified number of times to complete the work project. In the system 300 shown in FIG. 6 , the power system controller 302 is configured with a module 360 that programs the controller to realize the reinforced control learning and task execution functions described herein. Module 360 includes hardware (such as a microcontroller or related component) that is dedicated to performing hardening tasks and/or instructions, and dedicated hardware within module 360 or a power system controller that is not dedicated to performing hardening tasks. may be performed by the hardware in 302 . 6 shows the modules included within the power system controller 302 in various embodiments, while the module 360 may be physically separate from the power system controller 302, even if integrated into the loader in which the module is installed. can That is, the system 300 is integrated into a loader and may not normally be removed from the loader or moved to another. In contrast, FIG. 7 shows the kit 400 shown in FIG. 7 , wherein the kit 400 includes a separate enhanced control controller 370 that can be added to a previously manufactured loader, and a module 360 . can transform an existing loader into a loader capable of implementing the enhanced control concept disclosed herein. In system 400 , enhanced control controller 370 communicates with power system controller 302 to implement enhanced control functions.

While the loader's user input 350 (eg, joystick controller, touch screen display, etc.) may be used, a remote control device 352 may optionally be included to allow control of the loader by an operator not seated in the cab of the machine. make it possible In some demonstrative embodiments, in addition to control of regular loader functions, such as starting or stopping the loader, which have copied options available to the driver seated in the cab, remote control device 352 is used to initiate learning mode and , set the home position, initiate the loader's reinforcement control to perform an iteratively learned work cycle, enter other reinforcement control variables such as waypoints and geofence boundaries, or perform other reinforcement control functions. Control.

In addition, a learning mode input unit 354 and a variable input unit 358 are optionally provided. Learning mode input 354 is operated by the driver to record various operations of the loader, including, for example, recording of travel direction, travel speed, loader position, lift arm movement, tool carrier movement and/or auxiliary functions. It could be a switch, push button, or other input device that initiates the learning mode. The learning mode input 354 may be included in the remote controller 352 having the reinforcement controller 370 implemented as, for example, a reinforcement controller 370, such as an input on a touch screen, or other conventional input device. In this case, in some embodiments, the learning mode input unit 354 need not be a separate input device. Similarly, a variable input unit 358 may be included and may be configured to allow the driver to input reinforcement control variables such as home position, number of times the learned task is repeated, waypoints, boundaries, and the like. Similarly, variable input 358 may be implemented as part of enhanced controller 370 or remote controller 352 implemented with an existing input device.

Kit 500 also includes a real-time-kinematic (RTK) sensor 356 that provides position and movement information during learning mode. The RTK sensors include machine position sensor(s) 378 indicating the position of the loader, lift arm position sensor(s) 372 indicating the position and orientation of the lift arm relative to a reference such as the frame or ground of the loader, and tools. and tool carrier position sensor(s) 374 indicating the position or orientation of the carrier and the attachment tool relative to a reference such as a lift arm or the ground. Examples of RTK position sensors that can be used to determine position and movement when the driver puts the system in learning mode are: RTK Global Positioning System (GPS) sensors, inertial measurement unit (IMU) inclinometers, ultrasonic It includes sensors, low-power radars, and radio frequency (RF) ranging devices.

In an exemplary embodiment, the RTK position sensor is configured to be placed at a specific location on the loader, with the location indexed to existing features on the frame, lift arm, tool carrier. This controls the positioning of the sensors, but does not require any changes to the loader that could affect the structural performance or integrity of the loader.

Although exemplary embodiments have been described with reference to Figures 6-8, other embodiments include additional functions and features. For example, in some embodiments, the disclosed system has the ability to upload waypoints, boundaries and/or drive, lift and tilt functions from an external source instead of having user input for this variable or recorded functions during learning mode. . Further, in some embodiments, the disclosed system includes a geofence shutdown capability, and the controller is configured to disable the loader when the loader leaves a designated working area. Also, in some embodiments, the disclosed system will stop the loader when the machine leaves a user-defined window or operating area from a learned task. For example, if the loader is performing a material transfer operation, the user defines +/- X feet of the operating area, and the loader travels outside this tolerance, the loader can be automatically stopped by the controller.

Referring to FIG. 9 , a flowchart illustrating a method 600 of learning a task for reinforcement control of a loader using the system 300 ; 400 is shown. As shown in block 602 , the driver enters the learning mode using the learning mode input 354 , and as shown in block 604 , the home position of the loader is set using the variable input 358 . . Often, the home position will be the loader's current position as determined using the RTK position sensor at the start of the learning mode, although this need not be the case in all embodiments. At block 606 , a home position offset may be established. The home position offset may be, for example, a distance (or distance and direction) from the home position at which the enhanced control will automatically end. At block 608, the loader is controlled by the operator to perform a repetition of the task to be learned, and at block 610, the position, movement and/or function of the loader in performing the task is recorded or stored in a memory associated with the controller. do. As described, the loader can be controlled using operator controls/inputs from the operating area or using remote control. The recording may include the position and movement of the loader, lift arm (or lift cylinder) and tool carrier (or tilt cylinder) indicated by the RTK sensor 356 and/or operator input required for control of the loader. Once operator input, or position and movement of the loader, lift arm, and tool carrier necessary to complete the work cycle, has been recorded, the learning mode may end as shown in block 612 .

Referring to FIG. 10 , a flow diagram is shown illustrating a method 650 for providing enhanced control of a loader by controlling the loader to perform a learned cycle of work. In this method, at block 652, a task repetition variable is input by the operator (eg, using input 358) to indicate the number of times the recorded work cycle must be repeated during enhanced control operation of the loader. indicate The learned work cycle can be repeated once, twice, or as many times as the user chooses. In other embodiments, the task repetition variable may be something other than the number of iterations for the task cycle that should be repeated. For example, in a state where the home position is an offset, the task repetition variable may be a position of the loader at which the reinforced control operation is automatically terminated. In another embodiment, the task repetition variable may be a boundary position at which the reinforcement control is automatically terminated.

As shown in block 654, the enhanced control mode is initiated by the driver. After initiating the enhanced control mode, a determination is made at block 656 as to whether the loader is within a predetermined distance of a particular home location. The specific distance may be a permanent value for the loader or, in some embodiments, a variable previously entered by the driver. In one exemplary embodiment, the predetermined distance is user definable but does not exceed 50 feet and the default value is 10 feet. If it is determined that the loader exceeds the predetermined distance from the home position, the enhanced control mode ends at block 668 . However, if it is determined that the loader is within a predetermined distance from the home position, then at block 658 the loader automatically returns to the home position to begin the enhanced control task cycle.

After returning to the home position, at block 660 the loader is automatically or semi-automatically controlled to perform the travel, lift, tilt and/or assist functions recorded during the learning mode to complete the work cycle. In some embodiments, the driver drives the loader to transition from a hands-on regular driving mode to a hands-off work cycle driving mode, then back to the hands-on mode where the driver can use enhanced control to It is possible to repeat the loader on demand or perform the desired motion.

When the task cycle is complete, a determination is made at block 662 as to whether the task has been performed a predetermined number of times established upon input of the task repetition variable, as shown at block 652 . If the task has been performed a predetermined number of times, the enhanced control mode ends at block 668 . Otherwise, any specific home position offset is used to adjust the home position, as shown at block 664 , and the process continues with the loader returning to the new home position as shown at block 658 .

Learning mode can be used to teach the loader a full work cycle so that the loader can repeat the work cycle more than once. Alternatively or additionally, the learning mode may be used for learning of a special task to be repeatedly performed by the driver. For example, the operator can perform tasks such as drilling a post hole in a fence. The operator can put the loader in learning mode and learn how to drive a tool (eg, a post hole awl) to drill a hole of the appropriate depth. When driving is learned, the driver can start driving again by positioning the loader, starting the learned driving, drilling a hole, and moving the loader to another position. This kind of reinforced, semi-autonomous driving is another example of a learning mode.

11 shows the loader in a driven position on a ramp. 12 is a flowchart illustrating a method 700 of driving a loader on a trailer according to one embodiment, wherein the loader 900 is an enhanced control controller 970 configured to provide enhanced control including some or all of the features described above. ) is a loader of the above type with The portable controller 980 can communicate with the enhanced control controller 970 . In some embodiments portable controller 980 is a smartphone configured with one or more software applications to facilitate method 700 of driving a loader to a trailer using enhanced control controller 970 . A depiction of loader 900 and trailer 910 is provided for reference while describing method 700 . The loader can be moved to/from the job site by dragging the loader while positioned on the trailer. Loading a loader into a trailer can be a daunting task for inexperienced drivers.

Method 700 details how a loader can be loaded into a trailer without the driver having to control the loader. Referring to the flowchart of FIG. 12 , at block 710 , the method includes positioning a trailer 710 . In one embodiment, the trailer is positioned by identifying the four corners of the flatbed portion 940 of the trailer. The flat portion 940 of the trailer is where the loader 900 is intended to be located. For purposes of the present invention, trailer 910 has a left side 944 , a right side 946 , a front end 948 , and a rear end 950 . This type of trailer has, in addition to the flat section 94, a hitch (not shown) to engage the trailer to a common vehicle (not shown). Trailer 910 is also shown in a lower position in FIG. 13 and includes a ramp 942 that can move to an elevated position while the trailer is moving. The loader 900 will move up or down the platform 940 using a ramp.

In one embodiment, returning to block 710 , the trailer is positioned by identifying the four corners of the flat 940 . This can be accomplished by using a portable device 80 to pin the corners. For example, the portable device 980 may be positioned and operated over a corner of the trailer to identify the corner of the flat 940 of the trailer. In one embodiment, the four corners are identified with the front left corner 912 first identified, followed by the rear left corner 914 , the rear right corner 916 , and the front right corner 918 in a specific order. These points are collected by the portable device 980 and assigned a GPS location (ie, “fixed”). The GPS function of such a portable device is not necessarily accurate enough to ascertain the exact location of the trailer, but may be corrected in connection with the enhanced control controller 970 . This is explained in detail below. Once these 4 points have been collected, they are checked by handheld controller 980 to determine if the measurement is a rectangle. This is determined by calculating the diagonal lengths from the front left corner 912 to the rear right corner 916 and from the front right corner 918 to the rear left corner 914 . If these two diagonal lengths are sufficiently close in distance (ie, within acceptable tolerances), the trailer is identified and considered properly positioned. If the 2 diagonal lengths are not considered close enough distance, the trailer is judged not to be properly measured and the trailer will have to be re-measured by rechecking 4 corners. The shape confirmation of the collected points may be performed before or after correction of the collected points is made according to an embodiment.

In some embodiments, the pinning process is performed by aiming the phone at a corner, and in other embodiments, each corner may have an identifiable mark that can be recognized by a pinning device (eg, a smartphone). . As the fixture recognizes each identifiable mark, each corner is measured more accurately. If it is determined that the trailer is correctly secured, the portable controller 980 may determine the heading of the trailer in the direction of the line passing through the left front corner 912 and the left rear corner 914 . The handheld controller 980 can then also calculate the centerline of the trailer by finding the midpoint 930 of the line extending between the rear left corner 914 and the rear right corner 916 . The midpoint 930 is also located behind the flat portion 940 . Also, once the length and width of the flat portion 940 have been calculated, and these dimensions have been calculated and the type of machine to be placed on the trailer is determined, the handheld controller 980 determines whether the trailer is adequately sized to accommodate the loader 900 . can be judged This information may then be passed to the enhancement control controller 970 .

At block 720, the method may locate a loader. The loader 900 may be positioned by securing the loader using a handheld controller 980 that secures the loader to a specific spot on the loader. This may be any location and, in some embodiments, may be an identifiable mark at a known location on the loader. In some embodiments the enhanced control controller 970 is configured to have information related to the overall dimensions of the loader 900 and the location of identifiable marks on the loader. Although block 720 is shown subsequent to block 710 in the flowchart of FIG. 12 , in other embodiments, the loader may locate the trailer at the same time or prior to positioning it. Once the trailer is located and the GPS position is established, the loader 900 (ie, enhanced control controller 970 ) provides the RTK position to the handheld controller 980 of the loader 900 , which is an error for the GPS position. Corrective factors will be provided. More specifically, the RTK position is compared to the GPS position relative to the machine, and an error correction factor is calculated based on the difference between the two measurements. This error correction factor can also be applied to a fixed location on the trailer. This will provide a more accurate confirmation of the trailer's location.

Once the location of the loader 900 and trailer 910 has been determined, at block 730 the path the loader will travel on the trailer is ascertained. In one embodiment, a method of verifying a route includes identifying a point 932 on a trailer 910 indicating a final location on the route, ie, the location of the loader 900 when the method 700 is completed. Point 932 is centered between the left side 944 and the right side 946 of the trailer 910 and is located at a location between the front end 948 and the rear end 950 to properly place the loader 900 on the trailer. to be positioned For example, the point 932 may be selected to center the loader 900 relative to the axle or to be sufficiently forward from the rear end 950 of the trailer 910 . Additional points 934; 936; 938, on the back outside the trailer and on a line extending through points 930; 932, provide a path to follow to move the loader onto the trailer.

If the route is identified at block 740, the method includes driving a loader on the trailer. The process includes moving the loader to a first point 934 such that the loader is aligned with the trailer. The loader 900 is then retracted onto the trailer by moving the loader to point 936 , then to point 938 , and then to point 930 . In the step of moving from point 938 to point 930 , the loader will back up to ramp 942 . Finally, the loader moves to point 932 and is positioned on the trailer. In some embodiments, driving the loader onto the trailer is initiated by a command from the portable controller 980 . After the command is initiated (i.e., in response to user input), the handheld controller 980 instructs the enhanced control controller 970 to stop driving the loader on the trailer, press or other method of use (e.g., , by voice command) may be provided to the user.

The portable controller 980 may also interface with the enhanced control controller 970 or other controllers on the loader 900 to act as a remote control device to directly control the loader in response to commands by the user. The portable controller 980 may be configured to provide buttons, sliders, and the like, on the screen by which the driver controls the functions of the loader 900 to control functions such as driving of the loader, raising and lowering of the lift arm, and the like. Alternatively, the portable controller 980 may be combined with the input device 982 shown in FIG. 13 having user input devices such as buttons, toggles, and joysticks that can be used to provide user input signals to control the functions of the loader. can connect. The connection may be made through a wired connection or a wireless connection such as Bluetooth or other wireless communication protocol. Such a configuration can be used to drive the loader out of the trailer.

14 shows a system 1004 comprising a loader having an enhanced control controller 1070 configured to control the loader 1000 to avoid contact with an obstacle 1002 . System 1004 also includes a handheld controller 1080, where handheld controller 1080 and loader 1000 each have separate GPS receivers or receiver circuitry and software. 15A-15D show examples of various map-marked obstacle areas for an obstacle 1002 that may be created using a portable controller 1080 with a GPS receiver. Fig. 16 shows the feature of confirming the position of the loader in such a way that an error correction factor is determined and used to adjust the position of the map-marked obstruction area. 17 is a flowchart illustrating a method 1100 of displaying an obstacle area on a map and driving the loader 1000 to avoid contact with the obstacle 1002 .

Loader 1000 is a loader of the type described above having an enhanced control controller 1070 configured to provide enhanced control including some or all of the features described above. The loader 1000 includes a GPS receiver 1056 configured to ascertain the location of the loader within the workspace. Although shown as a separate component in FIG. 14 , the GPS receiver 1056 may be included within the enhancement controller 1070 in some embodiments. The GPS receiver of the portable controller 1080 may be a less accurate GPS receiver that provides lower location accuracy than the GPS receiver 1056 of the loader 1000 . The portable controller 1080 is also configured to communicate with the enhanced control controller 1070 . In some embodiments portable controller 1080 comprises one or more software applications and comprises a processor and It is a smartphone with memory. As a result, the configuration features of the enhanced control controller and the related features of FIGS. 14-16 are similar to the features described above for defining where the loader should travel, whereas the embodiment now described defines obstacles or obstacles in the working position and the loader It has more to do with defining where you shouldn't drive. Illustrations of loader 1000 , portable controller 1080 , and obstacle 1002 are provided for reference while describing method 1100 .

The method 1100 shown in FIG. 17 details how an object or obstacle 1002 within a workspace can be identified, followed by how a loader or other type of equipment can be prevented from operating in the obstacle position. As described below, the obstruction area surrounding or defining the obstruction location is a workspace map used by the enhanced control controller 1070 to prevent contact with the obstruction 1002 by preventing the operation of the loader in the obstruction area. can be assigned to An obstacle area is defined on the workspace map temporarily or more permanently so that the same task can be repeatedly performed without checking the same obstacle over and over again.

At block 1102 , method 1100 includes identifying an area of obstruction for obstruction 1002 . To identify the obstruction area, the user can tag the obstruction 1002 using the GPS receiver of the handheld controller 1080 . This positioning process may, in various embodiments, be accomplished by identifying a point, line, or series of line segments, or defining the perimeter of the object using a handheld controller. As discussed above, the location of the obstacle may be defined by locating the handheld controller 1080 and identifying one or more GPS points with a software application on that device. The portable controller may be further configured to define an area of obstruction by adding an area around the defined point, line segment(s) or perimeter. For example, referring to FIG. 15A , the defined area of the obstruction area is a rectangle (including a square) with a defined point centered at the defined point 1008 or at any location within the rectangle. Further, an obstruction area may be defined by a perimeter 1010 created by GPS points 1012 ; 1014 ; 1016 ; 1018 around an obstacle 1002 . As shown in FIG. 15B , the perimeter need not be rectangular in all embodiments. As shown in FIG. 15B , a perimeter 1020 of a polygonal shaped obstacle area around an obstacle 1002 may be constructed using a series of line segments between GPS points 1022 ; 1024 ; 1026 ; 1028 ; 1030 . . Further, the defined obstruction area area may be a circle defined around the point as shown in FIG. 15C , and the perimeter 1040 of the obstruction area is defined by a central GPS point 1042 and a radius 1044 . The radius may be input by the user or determined by the handheld controller 1080 from the second measurement GPS point 1046 . Also, in some embodiments, the shape of the obstruction area, such as a rectangle or oval, may be defined around a line segment. For example, as shown in FIG. 15D , a line segment 1052 may be defined between two measured GPS points 1054 ; 1056 proximate to an obstacle 1002 , and the obstruction area perimeter is the shape around the line segment. (in this case, an ellipse) can be automatically defined from

At block 1104 , the method 1100 includes locating the loader at a first location using a first GPS receiver. The first GPS receiver may be a GPS receiver in the portable controller 1080 located at a specific location on the loader 1000 . 16 shows the loader 1000 in the first position 1060 with the portable controller 1080 positioned to confirm the loader position. When obtaining the GPS loader position with the first GPS receiver (ie, the handheld controller 1080), it is important to measure the loader position of a known spot on the loader. For example, such a spot may be where the antenna for the loader GPS receiver 1056 is located. Alternatively, it may be a predefined location of the loader, which the application software of the handheld controller 1080 can ascertain and the distance between the mark and the antenna of the loader GPS 1056 is a known stored variable. It is also advantageous to know the specific type of loader 1000 and which types of attachments are mounted to the loader. This is because this information can be used to ascertain the overall footprint of the loader/attachment for the chosen GPD location. This information is useful in obstacle avoidance attempts and causes the loader to operate as close to the obstacle as possible. Referring again to FIG. 17 , at block 1106 the method includes using a second GPS receiver to determine a loader location at a first location 1060 . In this example, the second GPS receiver may be the loader GPS 1056 .

At block 1108 , the method includes locating the loader at the second location using the first GPS receiver. As shown in FIG. 16 , this may include moving the loader to a second location 1062 within the work area and measuring the GPS location of the loader using the handheld controller 1080 . Again, the handheld controller must be located in the same known spot on the loader as described above. It is important that the position of the portable controller on the loader is as close as possible to the previously used position. Using indexed or marked positions on the loader helps to ensure this. At block 1110 , the method includes identifying the loader location at the second location 1062 using the second GPS receiver, in this embodiment using the loader GPS 1056 .

Comparing the results from the first and second GPS receivers at each of the two loader positions allows an error correction factor or offset to be calculated or generated, as shown in block 1112 . An error correction factor can be calculated based on the difference between the two measurements at each location. For example, the error correction factor may be the average of the difference between the two measurements at the two loader positions. Then, as shown in block 1114, the error correction factor or offset is used to recalculate or correct the previously identified position of the obstacle 1002 or area of obstruction, which is much more than that provided by the first GPS receiver alone. Provides accurate location identification. Then, as shown in block 1116, the loader is driven using the recalculated position of the obstacle or obstacle area to avoid contact with the obstacle. This may include, by the enhanced control controller 1070 and/or other enhanced control actions as described above, autonomous or enhanced control of the loader 1000 to steer the loader away from contact with the obstacle 1002; When the driving path approaches the obstacle area, the loader stops running, and when the loader approaches the obstacle, it can warn the driver. In general, once an obstacle area or area is defined, the loader enters the obstacle area, regardless of whether the loader is driven by an in-vehicle driver, by a remote operator, or by a pre-programmed routine (eg autonomously). No entry will be allowed.

Referring to FIG. 18 , a loader 1200 is shown having a GPS receiver or other RTK position sensor 1256 and an enhanced control controller 1270 (as described above, the GPS receiver or other RTK position sensor 1256 is may be integrated into the controller 1270). Loader 1200 is a loader of the type described above having an enhanced control controller 1270 configured to provide enhanced control including some or all of the features described above. Further, the enhanced control controller 1270 is configured to control the loader 1200 using the disclosed dynamic fencing features as the loader travels along a predefined or pre-programmed path 1202 . Using this dynamic fence feature, loader control allows the loader to travel directly along path 1202 with minimal deviation. Rather than creating a large window of permitted driving area, the disclosed dynamic fencing feature creates a window along a path, as geo-fencing concepts are generally known. 18, the window 1204 of the loader's permitted operation is defined by path offset boundaries 1206; 1208. In this example, path offset boundaries 1206 ; 1208 are parallel to defined path 1202 . However, this need not be the case in all embodiments, and other techniques may be used to define the boundaries of the window 1204 of permitted driving around the defined route. If the loader deviates from the defined path 1202 and travels out of the window 1204 , a deviation event will be identified and the loader 1000 will be stopped.

The techniques and features disclosed herein may be used for map display of a workplace. A visual representation of a mapped workplace 1320 is shown in FIG. 19 . Although a loader 1300 having some or all of the features described above is shown, representations of the loader need not be included in all maps of some embodiments. As shown in FIG. 19 , a workplace 1320 may be described by manually surveying the site, including boundaries 1302 and obstacles 1304 ; 1306 . When the workplace is surveyed, boundaries and obstacles are converted to longitude and latitude information, which is stored in a computer readable file and downloaded by a software application on the handheld controller. Although not shown in FIG. 19, the portable controller may be any of the portable/mobile controllers described above (eg, 980; 1080). The computer readable file can then be stored for use at any future time in communication with the loader enhanced control controller. Because the loader has a high precision GPS receiver, the loader enhanced control controller can navigate the field without requiring any other input from the movement controller. However, if there are additional obstacles to be marked, the obstacles can be marked by the handheld controller and corrected using the process described above in communication with the GPS receiver and the loader's enhanced control controller. If the handheld controller also has a high precision GPS receiver (eg RTK is available), the information collected by the handheld controller's software application can be provided directly to the loader without the need to calibrate the information.

The map display method can create the outer boundary 1302 of the workshop 1320 and can also be used to create an area within the site where the machine is free to operate. That is, the map display method may generate virtual roads 1310 on which the loader can freely travel while performing a task. This allows the driver to send a command via a handheld controller to move to a specific point (eg, point 1312 ), and then the loader will follow the predefined virtual load 1310 without requiring a fully redefined route. will move to the spot. It has a plurality of predefined positions (eg, points 1312 ; 1314 ) at which the loader is assumed to move, the loader may move along the virtual rod 1310 to a first position 1312 , and then the driver's Upon command or after a period of time, the machine may be further extended to move to the second position 1314 .

20 shows a loader 1400 according to an exemplary embodiment of the present invention. Loader 1400 is similar to the loaders and power machines described above, and may have some or all of the features described above. The loader 1400 includes an enhancement control controller 1470 configured to implement the various enhancement control features described above. In the embodiment disclosed herein, the loader 1400 is also in the form of a rear projection device 1402 located within the cab 1450 and transmits images, videos and/or other information to a transparent material 1404 located in front of the driver of the cab 1450 . and a display configured to display on the In an example embodiment, the rear projection device 1402 and the transparent material 1404 are part of a front-view display (HUD) system used to display information by the loader 1400 . The front-view display system 1406 is under the control of or receives information from an enhanced control controller. For purposes of the present description, the term display is not limited to a self-contained display panel, but may include devices such as a rear projection device that projects an image onto another surface.

In some example embodiments, the transparent material 1404 is a glass or glass-like material (eg, plexiglass) located in front of the driver of the loader when seated within the cab 1450 . In some embodiments, the transparent material may be a display material dedicated to projection screens. In other embodiments, the transparent material 1404 may be part of a material that functions differently within the cab. For example, in some embodiments, the transparent material 1404 used to display the images and information projected by the device 1401 may be the glass or glass-like material of the front cab door. 21 and 22 are a front perspective view of the cab 1450 and a front view of the door 1410 of the cab 1450, respectively. In some example embodiments, the glass or glass-like transparent material of the door 1410 provides the transparent material 1404 schematically shown in FIG. 20 .

The projection device 1402 of FIG. 20 may be any suitably configured projection device of the type used to provide a forward field display system. Projection device 1402 may be mounted at any suitable location within cab 1450 where images and information may be projected onto transparent material 1404 without interfering with the operator of the loader. Also in some embodiments, the projection device 1402 may be located external to the cab 1450 and configured to project an enhanced reality image, content, or video into the cab for display on a transparent material 1404 . In an example embodiment, the projection device 1402 is configured to project images, content, and/or video using either laser projection or holographic projection techniques, and is 3D visible to the exterior of the cab 1450 and transparent material 1404 . The image shape may include a projected image area visible to the driver.

As described above, the front-view display system 1406 may be used to display various enhancement information. For example, the system 1406 can be configured to display live camera feeds from any of the rear camera 1420 , the front or cross-section camera 1422 , and the side camera 1424 . These camera feeds can provide an expanded or increased field of view of the loader's rear side when reversing, a field of view of the side area of the loader during operation, and/or an expanded or increased field of view of the working area in front of the loader. In some embodiments, the front camera 1422 may be positioned to provide an increased view of the tool or work tools attached to the loader, such as the view of the cut surface 1432 of the bucket tool 1430 . .

Also in some embodiments, the forward vision display system 1406 may include an identified terrestrial obstacle (eg, 1002 as described above, an obstacle (eg, 1304; 1306) as described above) or utilities, pipes, It may be configured to display subterranean objects such as buried objects, etc. These obstacles are marked via a hand-held (such as a smartphone or tablet) device and enhanced controller 1470 or forward vision display system. In addition, the forward vision display system 1406 is part of the disclosed enhanced control system, which may be marked by a portable device or display a landscaping or field map display program or app. It may be configured to display other workplace or site characteristics (eg, defined route 1202 , virtual load 1310 , boundary 1302 ) imported through it.

23 and 24 show a portion of a loader 1500 according to another embodiment of the present invention. Loader 1500 is similar to the loaders and power machines described above, and has some or all of the features described above. Loader 1500 may include any of the enhancement control controllers described above configured to implement the various enhancement controller features as described above. The loader 1500 includes a door 1510 that removably covers the front opening, enables entry and exit into and out of the cab, and has an integrated display panel 1530 positioned to display information on the front of the driver. The display panel 1530 is positioned so that information is more within the driver's field of vision of the work area than in the case of a conventional display panel mounted on the upper or lower part of the cab. This reduces the need for the operator to look away from the work area while the machine is running. Instead, the integrated display panel allows the driver to observe the displayed information while continuing to look towards the work area. Displaying information in the driver's line of sight to the work area, as in the case of the forward-looking display embodiment, provides the advantage that the driver does not need to look down or far away from the work area, allowing the driver to maintain better situational awareness. . However, the integrated display panel 530 provides more than that for a front-view display. For example, in an exemplary embodiment, the integrated display panel includes a touchscreen and allows the driver to control the display of information, data entry, or connection with other displays. Also, the integrated display panel 530 can be brighter than the rear-projected front-view display, and the displayed information is more readily visible to the driver, even in very bright ambient conditions.

In an example embodiment, the display panel 1530 is integrated into at least a portion of the door 1510 . For example, as shown in FIGS. 23 and 24 in some embodiments, door 1510 may include an open glass area 1520 and an integrated display 1530 adjacent the open glass area. In the illustrated embodiment, the integrated display is positioned around the open glass area 1520, although this need not be the case in all embodiments. If the information is not displayed in the open glass area 1520, the operator has a better view of the work area, and the integrated display 1530 is configured to display information very close to the open glass area, and the operator can see the work area very closely. There is no need to turn your attention to virtual attention away from the line of sight.

In some embodiments, integrated display 1530 is an OLED screen that is adhesively affixed or fixed to door 1510 or integrated. In an example embodiment, the OLED screen is fixed or integrated into the glass portion of the door 1510 . In some embodiments, a bond process adheres the display 1530 to the door using glass techniques or bonding to a material. However, in an exemplary embodiment, the glass of the door 50 to which the display 153 may be adhered is cured. In other embodiments, other display technologies are used. In various embodiments, the display 1530 should be sufficiently transparent so that the driver can see through the door reasonably well, while at the same time providing a clear display image that is well visible to the door.

For example, an electrical connection to the display 1530 from the door 1510 to the mounted electronics may be provided via a ribbon cable 1512 removably attached to the door. Most doors are pivotable on a hinge, and some doors for front entry into the loader cab are overhead doors that are opened by movement over the driver's head. A cable may be provided to connect the door to the mounted electronics. In one embodiment, the onboard electronics includes a video controller or processor 1514 , a main controller or processor 1516 and communication circuitry 1518 , although this configuration is not required in all embodiments. For example, the main controller or processor may include an integrated enhanced controller feature and controller that communicates with the separate enhanced control controller to display information and/or control the power machine using any of the enhanced control techniques or features described above. may include any of the controllers described above. In one example embodiment, video processor 1514 communicates with display 1530 to display information on a screen. The video processor is any suitable processor/driver software capable of providing display information to the display 1530 . The video processor displays the information in communication with the main processor 1516 which provides machine specific information to the video processor. Machine specific information includes video images around the illustrated faults, gauge clusters and information, camera images, virtual loads, and the like.

In some embodiments, communication circuitry 1518 is configured to communicate with mobile device 1508, such as a cell phone or other portable computing device using communication technologies and protocols using Bluetooth, Wi-Fi, cellular, radio frequency, or the like. This allows interaction between the controller or processor 1516 and the mobile device to aid in the configuration of the processor and/or display 1530 . For example, this allows for map representation of obstacles or obstacles, learning of task cycles or tasks or other reinforcement control concepts described above.

As shown in more detail in FIG. 24 in an exemplary embodiment, the display 1530 extends around a perimeter area of the door, with the center of the door having an open glass 1520 free of display material. The area with the display material, shown as the mesh area in FIG. 24, is touch sensitive to allow input from the driver. Within the display area, various display sections may appear in different spots on the door. For example, a virtual gauge may appear in the display area 1540 . In display areas 1532 ; 1534 ; 1536 a video feed from the dynamometer camera may be displayed to provide the operator with an increased view of the work area. In other embodiments, different information may be displayed in the display area, and the displayed information may be displayed in different locations and in different configurations.

25, the display area of display 1530 may be used to display the enhancement control information described above. For example, a mapped obstacle or obstacle can be graphically displayed in the display area to provide a virtual indication of its location to the operator of the power machine. Other reinforcement control information, such as a border or a border of a virtual fence, may also be displayed in the display area. Similarly, virtual load, iteration information, trailing loading path information, etc. may also be displayed.

In some embodiments where display 1530 is a touchscreen, processor 1514; 1516 may be configured to allow reconstruction of information displayed by the driver. For example, as shown in the reconfiguration display arrangement shown in FIG. 26, the driver can drag various display information to various positions on the display by touching the screen. The driver can similarly add, delete and change which information is displayed in some embodiments. For example, FIG. 27 shows one exemplary arrangement of gauges 1540 with other gauges, displayed information, and/or input indications. For example, items 1612; 1614; 1616; 1622 may represent other displayed gauges, and items 1618; 1620 may represent displayed data or displayed inputs for interacting with the gauge. Using the finger indicated by item 1602 , the operator of the power machine can move, delete, or hide displayed items, and add and add items. An example of one result of such driver reconstruction is shown in FIG. 28 , where a new item 1622 is added, items 1614 ; 1616 are removed, and items 1618 ; 1620 are moved.

While some example embodiments include an open glass area 1520 surrounded by a display material as shown in FIGS. 23-26, in other embodiments the entire door may be covered by the display material. This is shown for example in FIG. 29 , where the door 1710 includes a display 1730 that covers substantially the entire glass portion of the door. In other embodiments, the band of material extends across a portion of the door, but not around the entire perimeter of the door. For example, as shown in FIG. 30 , door 1810 has display 1830 that includes a band of display material across the top of the door, and open glass area 1820 covers all areas below display 1830. extend across For example, in some embodiments, the top 25% of the door may be covered with display material while the remaining portion of the door is free of display material. Various other configurations are contemplated within the disclosed embodiments of the present invention.

As described above, in various power machine embodiments, the display is configured to clearly present to the operator information related to the operating conditions of the power machine and information regarding the working space environment. The information may be augmented reality information with beacons or enhanced real-world images of obstacles or obstacles, defined routes, virtual road boundaries, and the like. In an example embodiment, the information may be displayed to the driver while providing clarity of the work area via a display material located on the front of the cab door (from the driver's seated view) or incorporated into the door. By means of the front door configuration, this provides the driver with a combination of clarity of the working area and increased display of operating information.

In the embodiments described above, the display has been described as being projected or integrated into the door. In other embodiments, a display, such as a projection or touchscreen display integrated into the glass, may be located on the front window in the case of a power machine with side or rear entry and/or side (or rear) windows. For the purposes of the present invention, such a window or door is referred to as a transparent surface.

While the present invention has been described with reference to preferred embodiments, those skilled in the art will recognize that changes may be made in form or detail without departing from the scope of the invention.

Claims (23)

cab 250; 1450;
a cab door (1410; 1510; 1710) movable relative to the cab between a closed position and an open position and configured to allow an operator to enter and exit the cab in the open position; and
a display 1404; 1406; 1530 configured to present information to an operator of the power machine, visible to the operator when viewed through the cab door when the cab door is in the closed position, and view through the door at least a portion of a work area outside the cab 1730), including power machines 100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500. 2. The power machine of claim 1, wherein the display includes a front view display system (1406) having a rear projection display device (1402) configured to display information on a transparent material (1404) located in front of an operator of the cab. 2. The power machine of claim 1, wherein the display comprises a display material (1530: 1730) incorporated into the cab door. 4. The power machine of claim 3, wherein the display with display material integrated into the cab door is a touchscreen display in which an operator provides input via the display to control one or more machine functions and/or display parameters. 5. The power machine of claim 4, wherein the touchscreen display is configured to control one or more display variables by selecting displayed information. 6. The power machine of claim 5, wherein the touchscreen display is configured to allow the operator to reconfigure the display of information. The power machine of claim 1 , wherein the display is configured to display enhanced control information. 8. The method of claim 7, wherein the display configured to present the enhancement control information comprises a display configured to display an enhanced real-world image of a work area, the enhanced real-world image comprising: an obstacle (1002; 1304; 1306), a defined path ( 1202 ), a virtual rod ( 1310 ), and at least one indicia of a boundary ( 1302 ). The power machine of claim 1, wherein the cab door is located over an opening in the front of the cab. cab 250; 1450;
a cab door (1410; 1510; 1710) movable relative to the cab between a closed position and an open position, the cab door configured to allow an operator to enter and exit the front of the cab in the open position; and
a display (1530; 1730) integrated into the cab door and having a display material configured to display information to an operator of the power machine when the door is in a closed position, wherein the display material allows viewing of at least a portion of a work area outside the cab through the display material; A power machine comprising (100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500). The power machine of claim 10 , wherein the display with display material integrated into the cab door is a touchscreen display in which an operator provides input via the display to control one or more machine functions and/or display parameters. 12. The power machine of claim 11, wherein the touchscreen display is configured to control one or more display variables by selecting information to be displayed in response to a driver's touchscreen input. 13. The power machine of claim 12, wherein the touchscreen display is configured to allow an operator to reconfigure the display of information. cab 250; 1450;
a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the front of the cab;
a display 1404; 1406; 1530; 1730 that is visible to the operator when viewed through the cab door, has a display material configured to view through the display material at least a portion of a work area outside the cab, and is configured to present information to an operator of the power machine ; and
a power machine 100; 200; 300; 900; 1000; 1200; 1300; 1400 comprising a controller 370; 970; 1070; 1270; 1470; 1514; 1516 configured to control a display to display enhanced reality information; 1500). The power machine of claim 14 , wherein the augmented reality information comprises an enhanced reality image of a work area. 16. The power machine of claim 15, wherein the augmented real-world image comprises an indication of an obstacle (1002; 1304; 1306). 16. The power machine of claim 15, wherein the enhanced real-world image includes at least one indicia of a defined path (1202), a virtual rod (1310) and a boundary (1302). 15. The power according to claim 14, wherein the display includes a front-view display system (1406) having a rear-projection display device (1402) configured to display enhanced reality information in a transparent material (1404) located in front of an operator of the cab. machine. 15. The power machine of claim 14, wherein the display comprises display material (1530: 1730) incorporated into the cab door. cab 250; 1450;
a cab door 1410; 1510; 1710 movable relative to the cab and configured to allow an operator to enter and exit the cab; and
having a display material integrated into the cab door and configured to display information to an operator of the power machine, wherein the display material allows viewing of at least a portion of a work area outside the cab through the display material, wherein the operator provides input through a touchscreen display to provide input to one or more of the one or more A power machine (100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500) comprising a touchscreen display (1530; 1730) configured to control machine functions and/or display parameters. 21. The power machine of claim 20, wherein the touchscreen display is configured to control one or more display variables by selecting displayed information. 22. The power machine of claim 21, wherein the touchscreen display is configured to allow an operator to reconfigure the display of information. frame 110; 210;
frame-mounted cab 250; 1450;
a lift arm 230 mounted on the frame and capable of performing a work function by moving under power;
a transparent surface of a portion of the cab that allows the operator to see the exterior of the cab; and
Power comprising a display 1404; 1406; 1530; 1730 configured to present information to an operator of the power machine, visible to the operator when viewed through the transparent surface, and configured to view at least a portion of a work area outside the cab through the transparent surface machine (100; 200; 300; 900; 1000; 1200; 1300; 1400; 1500).

Images