US20240117590A1

US20240117590A1 - Computer-implemented method of determining that an attachment tool is attached to the arm or boom of a working machine

Info

Publication number: US20240117590A1
Application number: US18/376,244
Authority: US
Inventors: Lars THUNBERG
Original assignee: Volvo Construction Equipment AB
Current assignee: Volvo Construction Equipment AB
Priority date: 2022-10-10
Filing date: 2023-10-03
Publication date: 2024-04-11
Also published as: EP4353911A1; CN117868249A

Abstract

A computer-implemented method for a working machine. A processor device of a computer system is configured to receive movement data from sensors that measure movements of the working machine and movements of an attachment tools. Based on the received movement data, the processor device determines movement patterns for the working machine and the attachment tool. The movement patterns are compared and, upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine, the processor device determines that the attachment tool is attached to an arm or a boom of the working machine.

Description

CROSS REFERENCE TO RELATED APPLICATION

This application claims foreign priority to European Application No. 22200595.1 filed on Oct. 10, 2022, the disclosure and content of which is incorporated by reference herein in its entirety.

TECHNICAL FIELD

The disclosure relates generally to a computer-implemented method for use in connection with a working machine. In particular aspects, the disclosure relates to a computer-implemented method of determining that an attachment tool is attached to the arm or boom of a working machine. The disclosure can be applied in heavy-duty vehicles, such as construction equipment. Although the disclosure may be described with respect to a particular vehicle, the disclosure is nor restricted to any particular vehicle.

BACKGROUND

Working machines in the form of articulated haulers, wheel loaders, trucks, forwarders and dumpers are frequently used for loading and transporting of material loads at construction sites, in forestry and the like. Some working machines can be used for numerous different working operations. To this end, different interchangeable attachment tools may be connected to such working machines. For instance, for certain working operations a bucket may be connected to a wheel loader, and for other working operations the bucket is disconnected and instead a fork may be connected to the wheel loader. For safety reasons it is generally desirable to confirm that an attachment tool has been properly attached to the working machine before a working operation is initiated. It may also be of relevance to identify the attached attachment tool for follow-up analyses.

SUMMARY

According to a first aspect of the disclosure, there is provided a computer-implemented method for a working machine, the method comprising:

- receiving, by a processor device of a computer system, first movement data from a first sensor device configured to measure a movement of the working machine,
- determining, by the processor device, a movement pattern of the working machine based on the received first movement data,
- receiving, by the processor device, second movement data from a second sensor device installed on an attachment tool and configured to measure a movement of the attachment tool simultaneously with the measurement performed by the first sensor device,
- determining, by the processor device, a movement pattern of the attachment tool based on the received second movement data,
- comparing, by the processor device, said movement pattern of the attachment tool with said movement pattern of the working machine, and
- upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine, determining, by the processor device, that the attachment tool is attached to an arm or a boom of the working machine. The first aspect of the disclosure may seek to provide a simple method for determining/confirming that an attachment tool has been properly attached to a working machine before a new working operation is initiated. A technical benefit may include that a relatively simple setup may be used, there is no need for an internal positioning system (such as GPS) to be provided on the attachment tool (but GPS could of course still be included, if desired). Rather simple registrations of a movement pattern suffices to determine that an attachment tool has been properly attached. For instance, the working machine may travel forwards a few meters in one direction, if both the first and the second sensors reveal the same forward movement, this may be indicative of the attachment tool being attached to the working machine. Another example is lifting an arm of a working machine up and/or down, the motion being registered by the first sensor, and if a movement data from the second sensor is also indicating the corresponding up and down movement, it may be confirmed that the attachment tool having said second sensor is now attached to the working machine. Other more complex movement sequences are, of course also conceivable. This may e.g. be relevant in case many working machines are present in the area, thereby reducing the risk that the motion of another attachment tool that is attached to another working machine is mistakenly matched with the motion pattern of the present working machine (albeit such a risk being rather low).

From the above, it can be understood that the method of this disclosure may, in at least some examples, be referred to as a method of determining that an attachment tool is attached to an arm or a boom of a working machine. However, as will be understood from discussions below, the method of this disclosure may, in at least some examples, also include acts performed subsequent to a determination having been made that the attachment tool is indeed attached to the arm or boom of the working machine.
In some examples, the method further comprises:

- receiving, by the processor device, identification data from said second sensor device, said identification data providing the identity of the attachment tool or the type of attachment tool on which the second sensor device is installed, and
- configuring, by the processor device, operational settings of the working machine and/or settings of a graphical user interface of the working machine based on the received identification data.

A technical benefit may include that not only will there be confirmed that the attachment tool has been attached, but additionally, the working machine may become automatically configured based on the identity of the attachment tool or type of attachment tool. For instance, if identification data indicates that the attachment tool is a bucket, one setting of the graphical user interface may be provided which is relevant for such a bucket, while if the identification data indicates that the attachment tool is a hammer, another setting of the graphical user interface may be configured which is relevant for such a hammer, etc. Other operational settings may include, activating/inactivating various auxiliaries, power systems, hydraulic system, etc. based on the identity of the attachment tool or type of attachment tool.
In some examples, the method further comprises, subsequent to said determining that the attachment tool is attached to the arm or boom of the working machine,

- receiving, by the processor device, third movement data from the second sensor device, said third movement data acquired by the second sensor device during a working operation performed by the working machine with the attachment tool attached,
- determining by the processor device, a working operation movement pattern of the attachment tool based on the received third movement data,
- identifying, by the processor device, based on the determined working operation movement pattern of the attachment tool, an operation type performed by the attachment tool, and
- determining, by the processor device, the geographical position at which said operation type is performed by the attachment tool.

A technical benefit may include that, by identifying the type of operation that is carried out by using the attached attachment tool and also determining the geographical position of such operation, material tracking information and/or productivity information may be obtained. For instance, if the attachment tool repeats a certain operation, such as moving rocks, gravel, sand, etc. from one place to another, a certain number of times, it may be used for estimating how much material that has been moved. The movement pattern and the monitoring of the geographical position may also be used for tool usage reporting. For instance, the acquired information may be used for predicting wear of the attachment tool, and/or if more similar attachment tools should be provided at a work site, etc. Working operation movement patterns, and thereby the operation type performed, are suitably provided with time stamps, as are the geographical positions of the working machine/attachment tool, so that an identified operation type can be easily matched with a geographical position. It should be understood, that in at least some examples, the various data received by the processor device, may be used for subsequent data analysis, which may be performed at a later point in time, even when the working machine and attachment tool are not currently in use. The identification of the operation type and the geographical position at which it has been performed, may suitably also be correlated to which working machine that has been used, such as where has the working machine been used and for how long. This is possible since it has already been determined that the attachment tool is attached to the working machine (based on the first movement data and the second movement data), prior to receiving of the third movement data, which together with the positional information can provide inducible information on how the working machine has been working with the attachment tool, and with any other attachment tool having corresponding second sensor devices. The possibility of implementing examples of the present disclosure in connection with several different attachment tools will be discussed below.
In some examples, said attachment tool is an attachment tool in a group of attachment tools, wherein each attachment tool in said group is provided with a respective sensor device for measuring movements of the attachment tool on which it is installed, the method further comprising:

- receiving, by the processor device, respective movement data from at least two of said sensor devices installed on respective attachment tools,
- determining, by the processor device, based on said respective movement data, a respective movement pattern of the attachment tools on which said at least two sensor devices are installed.

A technical benefit may include that the method may be implemented for various different attachment tools, be it of the same type or of different types.
In some examples, the act of comparing of the movement patterns comprises:

- comparing, by the processor device, the respective movement pattern of each attachment tool for which a movement pattern has been determined with said movement pattern of the working machine, and
  wherein the act of determining that the attachment tool is attached to the arm or boom of the working machine comprises:
- identifying, by the processor device, which one of the movement patterns of the respective attachment tools that matches the movement pattern of the working machine, and determining, by the processor device, that the attachment tool whose determined movement pattern has been identified as matching the movement pattern of the working machine, is attached to the arm or boom of the working machine.

As there may be multiple attachment tools at a work site, and each one of those, or at least a plurality of those may have a respective sensor device, the processor device may receive movement data from a number of different sensor devices at substantially the same time. By comparing the movement patterns of the associated attachment tools with the movement pattern of the working machine, the processor device can effectively identify which one of the communicating sensor devices is on the attachment tool currently attached to the working machine.
In some examples, the method further comprises:

- recording during a time period, by the processor device, the movement patterns of the working machine as well as respective movement patterns of the attachment tools in said group, and
- after said time period, determining, by the processor device, based on the recorded movement patterns, which attachment tool or tools has/have been attached to the arm or boom of the working machine during said time period.

A technical benefit may include that the hereby acquired information can be used to understand how much the different attachment tools have been used, where at a work site have they been used, etc. If a certain attachment tool has been used predominantly at a certain location it may be appropriate to park the attachment tool there. Attachment tools that have been used extensively may be subject to wear more quickly. Thus, the acquired information may, for instance, be used when planning which new attachment tools to buy.
In some examples, said second sensor device comprises an accelerometer configured to measure the accelerations of the attachment tool on which it is installed.
A technical benefit may include that an accelerometer may be used for measuring accelerations in different directions and may therefore be used for detecting various types of movement pattern, be it simple of more complex movement patterns. A very simple movement pattern may be to just, alternate driving and stopping the working machine, i.e. an on-off type of movement pattern. Other more complex movement patterns may include lifting the arm or boom of the working machine and/or rotating the cabin of the working machine, just to give some examples. An accelerometer on the attachment tool may thus register corresponding movement patterns, whereby it can be confirmed that the attachment tool is attached to the arm or boom of the working machine.
It should be understood that instead of, or in addition, having an accelerometer, the second sensor device may comprise an inertial measurement unit (IMU) or any other suitable movement sensor to measure the movements of the attachment tool on which it is installed.
In some examples, wherein said first sensor device comprises at least one of an accelerometer and GPS-sensor.
Similarly to the above discussion in relation to the second sensor device, a technical benefit of using an accelerometer may include that it may be used for measuring accelerations in different directions and may therefore be used for detecting various types of movement pattern. A GPS sensor (or any other global navigation system sensor) may suitably be installed on the working machine. By moving the entire machine in a certain direction at a certain speed, such movement may be registered by the GPS sensor and may be used by the processor device for determining a movement pattern of the working machine. In such case, an accelerometer may not be necessary in said first sensor device. On the other hand, a GPS sensor may not be necessary in said first sensor device, if the first sensor device comprises an accelerometer on, for example, the arm or boom, and the working machine is maintained stationary relative to the ground, while moving the arm/boom of the working machine. In such case, input information (first sensor data) from the accelerometer may be sufficient for the processor device to determine a movement pattern of the working machine, for comparison with a movement pattern of one or more attachment tools.
In some examples, said processor device is a local on-board processor device located on the working machine. A technical benefit may include that acquired data may be readily available to an operator of the working machine and is less dependent on data communication networks. For instance, in mines or other work sites where telecommunications capability may be limited, a local on-board processor device may perform any comparisons of movement pattern without access to an external network. The sensor devices may, in such cases, suitably communicate with the local on-board processor device via Bluetooth or other short range communication channels.
In some examples, said processor device is a remote off-board processor device located separately from the working machine. A technical benefit may include that by having a remote off-board processor device, there is no need to provide each individual working machine with its own local on-board processor device. Rather, the processor device may be a central processor device, such as in the cloud, a remote server. By having a remote off-board processor device, the analysis of the operation of several attachment tools and working machines may be conveniently handled and processed by a central processor device. As mentioned, above, this may involve a cloud-based solution, but it may also be a processor device at an office at a work site. In either case, a fleet manager may have a complete overview of the working machines and the thereto attached attachment tools. The sensor devices may suitably communicate with the remote off-board processor device by LTE (Long-Term Evolution) telecommunication.
Thus, from the above it should be understood that in some examples, said acts of receiving movement data from the sensors, comprises receiving said movement data wirelessly, such as by an LTE or Bluetooth communicating device of the processor device. Technical benefits may be largely analogous to those mentioned above.
As mentioned above, the processor device is part of a computer system. According to a second aspect of the disclosure, there is provided said computer system comprising the processor device configured to perform the method of the first aspect, including any examples thereof. Technical benefits may be largely analogous to those discussed in connection with the method of the first aspect, including any examples thereof.
According to a third aspect of the disclosure, there is provided a vehicle comprising the processor device to perform the method of the first aspect, including any examples thereof.
Technical benefits may be largely analogous to those discussed in connection with the method of the first aspect, including any examples thereof.
According to a fourth aspect of the disclosure, there is provided a computer program product comprising program code for performing, when executed by the processor device, the method of the first aspect, including any examples thereof. Technical benefits may be largely analogous to those discussed in connection with the method of the first aspect, including any examples thereof.
According to a fifth aspect of the disclosure, there is provided a control system comprising one or more control units configured to perform the method according to the first aspect, including any examples thereof. Technical benefits may be largely analogous to those discussed in connection with the method of the first aspect, including any examples thereof.
According to a sixth aspect of the disclosure, there is provided a non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of the first aspect, including any examples thereof. Technical benefits may be largely analogous to those discussed in connection with the method of the first aspect, including any examples thereof.
The above aspects, accompanying claims, and/or examples disclosed herein above and later below may be suitably combined with each other as would be apparent to anyone of ordinary skill in the art.
Additional features and advantages are disclosed in the following description, claims, and drawings, and in part will be readily apparent therefrom to those skilled in the art or recognized by practicing the disclosure as described herein. There are also disclosed herein control units, computer readable media, and computer program products associated with the above discussed technical benefits.

BRIEF DESCRIPTION OF THE DRAWINGS

With reference to the appended drawings, below follows a more detailed description of aspects of the disclosure cited as examples.

FIG. 1 is a schematic exemplary system diagram of parts that may be involved when carrying out the method of the disclosure according to one example.

FIG. 2 is a schematic illustration of a possible implementation of the method according to one example.

FIG. 3 is a schematic illustration of acts included in the method according to one example.

FIG. 4 is a schematic diagram of an exemplary computer system for implementing examples disclosed herein, according to one example.

FIG. 5 schematically illustrates a processor device according to one example.

FIG. 6 schematically illustrates a computer program product according to one example.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

Aspects set forth below represent the necessary information to enable those skilled in the art to practice the disclosure.
When an operator attaches an attachment tool to a working machine, such as to an arm or a boom of the working machine, the operator may be required to confirm that the attachment tool has been correctly attached. Furthermore, at a work site, different attachment tools may be attached to the working machine at different points in time. It may, for analytical purposes, be of relevance to determine which attachment tool is currently attached to a particular working machine, or which attachment tool(s) has/have been attached over a certain period of time. Applicant has realized that it is possible to compare a movement pattern of a working machine with a simultaneous movement pattern of an attachment tool, and if the comparison reveals that the movement patterns are substantially the same, then that may be indicative of the attachment tool being attached to the working machine.
FIG. 1 is a schematic exemplary system diagram of parts that may be involved when carrying out the method of the disclosure according to one example. A working machine 1 is present in FIG. 1 . The working machine 1 is here illustrated in the form of an excavator, however, it should be understood that the teachings of this disclosure may be implemented for other types of working machines as well, such as wheel loaders, backhoes, feller bunchers, etc. It should also be understood, that the teachings of the present disclosure may be implemented in various different environments, such as at construction sites, in forestry, in mining, in agriculture etc.
An attachment tool 3 is currently attached to the working machine 1. The attachment tool 3 is here illustrated in the form of a bucket attached to an arm 5 of the working machine 1, however, it should be understood that the teachings of this disclosure may be implemented for other types of attachment tools as well, such as forks, augers, spreaders, rippers, plows, etc. Furthermore, an attachment tool may be compatible with the arm of one working machine and with the boom of another working machine. For instance, an attachment tool may be attachable to a boom of a wheel loader.
FIG. 1 indicates that the working machine 1 may be provided with a first sensor device 7. The first sensor device 7 may, for instance, be mounted on the arm 5 of the working machine 1 as indicated here, however, in other examples the first sensor device 7 may be mounted to a different part of the working machine 1. For instance, the first sensor device 7 may be mounted on a boom, on/in a cabin, or other part of the working machine 1. In either case, the first sensor device 7 is configured to measure a movement of the working machine 1. For instance, if the first sensor device 7 is provided on the arm 5 of the working machine 1 as illustrated in FIG. 1 , then the sensor device 7 may measure the movement of the arm 5 even if the working machine 1 does not travel relative to the ground. Thus, the expression “movement of the working machine” does not imply that the entire working machine 1 is moved relative to the ground on which it stands, but it may be a part of the working machine 1 that is displaced relative to the ground. The first sensor device 7 may generate first movement data representative of the measured movement of the working machine 1.
FIG. 1 also indicates that the attachment tool 3 may be provided with a second sensor device 9. The second sensor device 9 is configured to measure the movement of the attachment tool 3 simultaneously with the measurement performed by the first sensor device 7. The second sensor device 9 may generate second movement data representative of the measured movement of the attachment tool 3.
The first sensor device 7 and the second sensor device 9 are configured to communicate with a processor device. Two alternatives are exemplified in FIG. 1 . More specifically, FIG. 1 illustrates that the processor device may be a remotely located off-board processor device 11, such as forming part of a remote server included in a cloud-based solution, or it may be a local on-board processor device 13 included in the working machine 1.
The processor device 11, 13 is configured to receive said first movement data from the first sensor device 7. The processor device 11, 13 is also configured to receive said second movement data for the second sensor device 9. As an illustrative example, in the case of a remote off-board processor device 11, the processor device 11 may suitably communicate with the first and second sensor devices via LTE (Long-Term Evolution) telecommunication 15. In the case of a local on-board processor device 13, the processor device 13 may suitably communicate with the first and second sensor device via Bluetooth communication 17. It should be understood that other means of wireless communication is also conceivable between the processor device 11, 13 and the first and second sensor devices 7, 9. Furthermore, in at least some examples, the first sensor device 7 may communicate by wire with a local on-board processor device 13. It should furthermore be noted that in case of a local on-board processor device 13, the first sensor device 7 may even be provided physically integrated in the processor device 13. Also, in at least some examples, the second sensor device 9 may be configured for cloud-based communication, wherein the cloud (such as a remote processor device 11), in its turn is operatively connected to the local on-board processor device 13, wherein the local on-board processor device 13 performs calculations (movement pattern recognition).
The processor device 11, 13 is further configured to determine a movement pattern of the working machine 1 based on the received first movement data. Similarly, the processor device 11, 13 is configured to determine a movement pattern of the attachment tool 3 based on the received second movement data.
The processor device 11, 13 is further configured to compare the movement pattern of the attachment tool 3 with the movement pattern of the working machine 1. If the processor device determines that the movement patterns match, then the processor device 11, 13 may determine that the attachment tool 3 is attached to the working machine 1.
It should be understood that the processor device 11, 13 may be configured to compare movement patters which are substantially time synched. Thus, the processor device 11, 13 may suitably obtain information about the point in time at which the movements of the working machine 1 and the attachment tool 3 occurred. For example, in case there is a slight delay between the activation of the first sensor device 7 and the second sensor device 9, then the processor device 11, 13 may ignore data generated by the first sensor device 7 during an initial time period when the second sensor device 9 was not yet activated. Instead, the processor device 11, 13 may be configured to compare movements performed at the same point in time for the attachment tool 3 and the working machine 1. Thus, the processor device 11, 13 may suitably be configured to time-synchronize the movement patterns of the working machine 1 and the attachment tool 3.
It should, however, also be understood that in the most simple cases (for example when there are no other attachment tools nearby), it may be enough to match one position sample at the same time for the working machine 1 versus the attachment tool 3. The pattern recognition, in such case, does not have to correlate at an exact time interval, if you can correlate the movement patterns (coordinates). This can be done independently of a set time interval. In this way, the pattern recognition is not effected by latency of different time settings/sources.
The activation of at least one of the first sensor device 7 and the second sensor device 9 may be triggered by a movement of the working machine 1 and attachment tool 3, respectively. Alternatively, or additionally, the activation of at least one of the first sensor device 7 and the second sensor device 9 may be triggered by an external signal, such as a signal sent from the processor device 11, 13, a separate communications device provided internally or externally of the working machine 1, a mobile phone or other remote control arrangements, etc.
The second sensor device 9 may suitably also comprise an ID tag or similar component which may communicate identification data to the processor device 11, 13. Thus, the processor device 11, 13 may suitably be configured to receive identification data from the second sensor device 9. The identification data may provide the identity of the attachment tool 3 and/or the type of attachment tool 3 on which the second sensor device 9 is installed. For instance, at a work site there may be different attachment tools such as buckets, forks etc. Each attachment tool, such as each bucket and each fork, etc. may be associated with its unique individual identification code. The identification data may include information contain such an identification code, enabling the processor device 11, 13 to identify the individual attachment tool that is attached to the working machine 1.
The processor device 11, 13 may suitably also be arranged to configure operational settings of the working machine 1 and/or settings of a graphical user interface 19 of the working machine based on the received identification data. For example, if the attachment tool is a bucket a first set of control options may be selectable, while if the attachment tool is a fork a different second set of control options may be selectable on the graphical user interface 19. As illustrated in FIG. 1 the local on-board processor device 13 may, for instance, comprise said graphical user interface 19. However, it should be understood that in other examples, even though there may be a local on-board processor device 13, the graphical user interface may be provided as a separate entity which does not form part of the local on-board processor device 13.
The processor device 11, 13 may continue to acquire sensor data from the first and/or second sensor device 7, 9 also after it has determined that a certain attachment tool 3 is attached to the working machine 1. For example, the processor device 11, 13 may receive sensor data from the second sensor device 9 after the attachment tool 3 has been attached to the working machine 1. Such subsequently received sensor data may be referred to as third movement data, so as to distinguish it from the second movement data received when making the comparison between movement patterns. Thus, the processor device 11, 13 may be configured to receive third movement data from the second sensor device 9, said third movement data acquired by the second sensor device 9 during a working operation performed by the working machine 1 with the attachment tool 3 attached. Based on the received third movement data, the processor device 11, 13 may determine a working operation movement pattern of the attachment tool 3. For example, a movement pattern may include lowering and raising the attachment tool 3, moving the attachment tool 3 to a different location, etc. Another example of a movement pattern may include dumping a load from the bucket (attachment tool 3) and measured by an IMU sensor, etc. In this way, loading/unloading operations, transports, processing operations, etc. using the attachment tool 3 may be detected and registered by the processor device 11, 13. Thus, based on the determined working operation movement pattern, the processor device 11, 13 may be configured to identify an operation type performed by the attachment tool 3. The processor device 11, 13 may also determine the geographical position at which said operation type is performed by the attachment tool 3. This may for example be achieved by accessing a navigation system of the working machine 1, or by other components that may be used for determining a geographical position, such as a camera that identifies certain points at a work site, radars, etc.
FIG. 2 is a schematic illustration of a possible implementation of the method according to one example. In FIG. 2 , a first attachment tool 21 and a second attachment tool 23 are shown, however, there may of course be more attachment tools. Thus, it can be generalized to a group of attachment tools. Each attachment tool 21, 23 in the group may be provided with a respective second sensor device (not shown in FIG. 2 ) for measuring movement of the attachment tool 21, 23 on which it is installed. Thus, in FIG. 2 , the first attachment tool 21 may be provided with one second sensor device, while the second attachment tool 23 may be provide with another second sensor device.
The processor device (not shown in FIG. 2 ) may receive respective movement data from each one of the second sensor devices that are installed on respective attachment tools 21, 23. Based on said respective movement data received by the processor device, the processor device may determine a respective movement pattern 25, 27 of the attachment tools 21, 23 on which said second sensor devices are installed. This is illustrated in FIG. 2 . In a first schematic exemplary diagram associated with the first attachment tool 21, the movement pattern 25 of the first attachment tool 21 is illustrated, while in a second schematic exemplary diagram associated with the second attachment tool 23, the movement pattern 27 of the second attachment tool 23 is illustrated. For simplicity, the movement patterns 25, 27 have in this example been illustrated as a representation of acceleration (a) of the attachment tool as a function of time (t). It should be understood that more complex movement patterns, such as accelerations in more than one direction, are also conceivable.
FIG. 2 also illustrates a third schematic exemplary diagram, representing the movement pattern 29 of a working machine 31. The processor device may compare the respective movement pattern of each attachment tool (in this example, the movement pattern 25 of the first attachment tool 21 and the movement pattern 27 of the second attachment tool 23) with the movement pattern 29 of the working machine 31. The processor device may now identify which one of the movement patterns 25, 27 of the respective attachment tool 21, 23 that matches the movement pattern 29 of the working machine 31. The processor device may then determine that the attachment tool whose determined movement pattern has been identified as matching the movement pattern 29 of the working machine 31 is attached to the arm or boom of the working machine 31. As can be seen in FIG. 2 , in this illustration the movement pattern 25 of the first attachment tool 21 matches the movement pattern 29 of the working machine 31. Thus, in this case, the processor device would determine that the first attachment tool 21 is attached to the working machine 31.
To make a proper comparison between the movement patterns, the movement patterns may suitably be time synchronized, so that the same time period is compared for the various movement patterns (i.e. in this illustration for the three movement patterns 25, 27, 29).
The processor device may be configured to record during a time period (e.g. during a day, a week, a month, etc.) the movement patterns of the working machine as well as respective movements of the attachment tool in said group of attachment tools. Thus, in the simple example of FIG. 2 , in which only two attachment tools 21, 23 are shown, the processor device may record the movement patterns 25, 27 of these two attachment tools 21, 23 during a time period. For instance, during that time period, the first attachment tool 21 may be initially attached to the working machine 31, and then replaced by the second attachment tool 23, and then again re-attached to the working machine 31, and so on. After said time period, which may be a predefined time period, the processor device may determine, based on the recorded movement patterns of the attachment tools and the working machine, which attachment tool or tools that has/have been attached to the working machine 31 during said time period. Furthermore, the processor device may determine the extent of usage, for example for how long accumulated time, each attachment tool 21, 23 has been used in different types of working operations. Some movement patterns may be indicative of a certain working operation, while other movement patterns may be indicative of other working operations. Based on the acquired information about the usage of the different attachment tools, the processor device may be configured to provide information or issuing an alert message relating to one or more attachment tools. For instance, such an alert message may include that the expected end of the useful lifetime of the attachment tool is approaching. The information acquired by the processor device may also be used for planning what type of attachment tools that a working site may need to acquire more of, e.g. if a certain type of attachment tool is in more operations and during longer time frames, then it may be suitably to have more such attachment tools available at a work site compared to other types of attachment tools that are not used as much.
Although the above-mentioned time synchronization may be advantageous, movement pattern recognition may also be performed without time synchronization. For instance, if there is a unique “window”/sequence of movement data from the sensor devices, a time stamp may not be required to match the movement patterns.
FIG. 3 is a schematic illustration of acts included in the method according to one example. Accordingly, FIG. 3 illustrates a computer-implemented method for a working machine, the method comprising:

- in a step S1, receiving, by a processor device of a computer system, first movement data from a first sensor device configured to measure a movement of the working machine,
- in a step S2, determining, by the processor device, a movement pattern of the working machine based on the received first movement data,
- in a step S3, receiving, by the processor device, second movement data from a second sensor device installed on an attachment tool and configured to measure a movement of the attachment tool simultaneously with the measurement performed by the first sensor device,
- in a step S4, determining, by the processor device, a movement pattern of the attachment tool based on the received second movement data,
- in a step S5, comparing, by the processor device, said movement pattern of the attachment tool with said movement pattern of the working machine, and
- in a step S6, upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine, determining, by the processor device, that the attachment tool is attached to an arm or a boom of the working machine.

It should be understood that the above steps do not need to be executed in the listed order. For instance, step S3 (receiving second movement data) may be initiated prior to, simultaneously with, or after step S1 (receiving first movement data). Similarly, step S4 (determining movement pattern of attachment tool) may be initiated prior to, simultaneously with, or aft step S2 (determining movement pattern of working machine).
FIG. 4 is a schematic diagram of an exemplary computer system 400 for implementing examples disclosed herein. The computer system 400 is adapted to execute instructions from a computer-readable medium to perform these and/or any of the functions or processing described herein. The computer system 400 may be connected (e.g., networked) to other machines in a LAN, an intranet, an extranet, or the Internet. While only a single device is illustrated, the computer system 400 may include any collection of devices that individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. Accordingly, any reference in the disclosure and/or claims to a computer system, computing system, computer device, computing device, control system, control unit, electronic control unit (ECU), processor device, etc., includes reference to one or more such devices to individually or jointly execute a set (or multiple sets) of instructions to perform any one or more of the methodologies discussed herein. For example, control system may include a single control unit or a plurality of control units connected or otherwise communicatively coupled to each other, such that any performed function may be distributed between the control units as desired. Further, such devices may communicate with each other or other devices by various system architectures, such as directly or via a Controller Area Network (CAN) bus, etc.
The computer system 400 may comprise at least one computing device or electronic device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein. The computer system 400 may include a processor device 402 (may also be referred to as a control unit), a memory 404, and a system bus 406. The computer system 400 may include at least one computing device having the processor device 402. The system bus 406 provides an interface for system components including, but not limited to, the memory 404 and the processor device 402. The processor device 402 may include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory 404. The processor device 402 (e.g., control unit) may, for example, include a general-purpose processor, an application specific processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a circuit containing processing components, a group of distributed processing components, a group of distributed computers configured for processing, or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The processor device may further include computer executable code that controls operation of the programmable device.
The system bus 406 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of bus architectures. The memory 404 may be one or more devices for storing data and/or computer code for completing or facilitating methods described herein. The memory 404 may include database components, object code components, script components, or other types of information structure for supporting the various activities herein. Any distributed or local memory device may be utilized with the systems and methods of this description. The memory 404 may be communicably connected to the processor device 402 (e.g., via a circuit or any other wired, wireless, or network connection) and may include computer code for executing one or more processes described herein. The memory 404 may include non-volatile memory 408 (e.g., read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.), and volatile memory 410 (e.g., random-access memory (RAM)), or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a computer or other machine with a processor device 402. A basic input/output system (BIOS) 412 may be stored in the non-volatile memory 408 and can include the basic routines that help to transfer information between elements within the computer system 400.
The computer system 400 may further include or be coupled to a non-transitory computer-readable storage medium such as the storage device 414, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SATA)), HDD (e.g., EIDE or SATA) for storage, flash memory, or the like. The storage device 414 and other drives associated with computer-readable media and computer-usable media may provide non-volatile storage of data, data structures, computer-executable instructions, and the like.
A number of modules can be implemented as software and/or hard-coded in circuitry to implement the functionality described herein in whole or in part. The modules may be stored in the storage device 414 and/or in the volatile memory 410, which may include an operating system 416 and/or one or more program modules 418. All or a portion of the examples disclosed herein may be implemented as a computer program product 420 stored on a transitory or non-transitory computer-usable or computer-readable storage medium (e.g., single medium or multiple media), such as the storage device 414, which includes complex programming instructions (e.g., complex computer-readable program code) to cause the processor device 402 to carry out the steps described herein. Thus, the computer-readable program code can comprise software instructions for implementing the functionality of the examples described herein when executed by the processor device 402. The processor device 402 may serve as a controller or control system for the computer system 400 that is to implement the functionality described herein. The computer system 400 also may include an input device interface 422 (e.g., input device interface and/or output device interface). The input device interface 422 may be configured to receive input and selections to be communicated to the computer system 400 when executing instructions, such as from a keyboard, mouse, touch-sensitive surface, etc. Such input devices may be connected to the processor device 402 through the input device interface 422 coupled to the system bus 406 but can be connected through other interfaces such as a parallel port, an Institute of Electrical and Electronic Engineers (IEEE) 1394 serial port, a Universal Serial Bus (USB) port, an IR interface, and the like. The computer system 400 may include an output device interface 424 configured to forward output, such as to a display, a video display unit (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)). The computer system 400 may also include a communications interface 426 suitable for communicating with a network as appropriate or desired.
The operational steps described in any of the exemplary aspects herein are described to provide examples and discussion. The steps may be performed by hardware components, may be embodied in machine-executable instructions to cause a processor to perform the steps, or may be performed by a combination of hardware and software. Although a specific order of method steps may be shown or described, the order of the steps may differ. In addition, two or more steps may be performed concurrently or with partial concurrence.
FIG. 5 schematically illustrates a processor device 500 according to at least one exemplary embodiment of the present disclosure. The processor device 500 in FIG. 5 may, for instance, correspond to the processor device 402 in FIG. 4 . FIG. 5 illustrates, in terms of a number of functional units, the components of a processor device 500 according to exemplary embodiments of the discussions herein. The processor device 500 may be comprised in any working machine disclosed herein, thus in the form of an on-board processor device 500, or as it may be comprised in a remote facility, such as in an office or in a cloud-based solution as discussed herein. Processing circuitry 510 may be provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontroller, digital signal processor DSP, etc., capable of executing software instructions stored in a computer program product, e.g. in the form of a storage medium 530. The processing circuitry 510 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA.
Particularly, the processing circuitry 510 is configured to cause the processor device 500 to perform a set of operations, or steps, such as the method discussed in connection to FIG. 3 and others examples discussed throughout this disclosure. For example, the storage medium 530 may store the set of operations, and the processing circuitry 510 may be configured to retrieve the set of operations from the storage medium 530 to cause the processor device 500 to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 510 is thereby arranged to execute exemplary methods as herein disclosed.
The storage medium 530 may also comprise persistent storage, which, for example may be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.
The processor device 500 may further comprise an interface 520 for communications with at least one external device such as first and second sensor devices, GPS system and the user interface discussed herein. As such, the interface 520 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication.
The processing circuitry 510 controls the general operation of the processor device 500, e.g. by sending data and control signals to the interface 520 and the storage medium 530, by receiving data and reports from the interface 520, and by retrieving data and instructions form the storage medium 530. Other components, as well as the related functionality, of the processor device 500 are omitted in order not to obscure the concepts presented herein.
FIG. 6 schematically illustrates a computer program product 600 according to one example. More specifically, FIG. 6 illustrates a non-transitory computer-readable storage medium 610 carrying a computer program comprising program code means 620 for performing the methods exemplified in FIG. 3 and any examples thereof, when executed by the processor device. The computer-readable storage medium 610 and the program code means 620 may together form the computer program product 600.
The terminology used herein is for the purpose of describing particular aspects only and is not intended to be limiting of the disclosure. As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. It will be further understood that the terms “comprises,” “comprising,” “includes,” and/or “including” when used herein specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood that, although the terms first, second, etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element without departing from the scope of the present disclosure.
Relative terms such as “below” or “above” or “upper” or “lower” or “horizontal” or “vertical” may be used herein to describe a relationship of one element to another element as illustrated in the Figures. It will be understood that these terms and those discussed above are intended to encompass different orientations of the device in addition to the orientation depicted in the Figures. It will be understood that when an element is referred to as being “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or intervening elements may be present. In contrast, when an element is referred to as being “directly connected” or “directly coupled” to another element, there are no intervening elements present.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having a meaning consistent with their meaning in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It is to be understood that the present disclosure is not limited to the aspects described above and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the present disclosure and appended claims. In the drawings and specification, there have been disclosed aspects for purposes of illustration only and not for purposes of limitation, the scope of the inventive concepts being set forth in the following claims.

Claims

1. A computer-implemented method for a working machine, the method comprising:

receiving, by a processor device of a computer system, first movement data from a first sensor device configured to measure a movement of the working machine, determining, by the processor device, a movement pattern of the working machine based on the received first movement data,

receiving, by the processor device, second movement data from a second sensor device installed on an attachment tool and configured to measure a movement of the attachment tool simultaneously with the measurement performed by the first sensor device,

determining, by the processor device, a movement pattern of the attachment tool based on the received second movement data,

comparing, by the processor device, said movement pattern of the attachment tool with said movement pattern of the working machine, and

upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine,

determining, by the processor device, that the attachment tool is attached to an arm or a boom of the working machine.

2. The computer system comprising the processor device configured to perform the method of claim 1.

3. The method of claim 1, further comprising:

receiving, by the processor device, identification data from said second sensor device, said identification data providing the identity of the attachment tool or the type of attachment tool on which the second sensor device is installed, and

configuring, by the processor device, operational settings of the working machine and/or settings of a graphical user interface of the working machine based on the received identification data.

4. The method of claim 1, further comprising, subsequent to said determining that the attachment tool is attached to the arm or boom of the working machine, receiving, by the processor device, third movement data from the second sensor device, said third movement data acquired by the second sensor device during a working operation performed by the working machine with the attachment tool attached,

determining by the processor device, a working operation movement pattern of the attachment tool based on the received third movement data,

identifying, by the processor device, based on the determined working operation movement pattern of the attachment tool, an operation type performed by the attachment tool, and

determining, by the processor device, the geographical position at which said operation type is performed by the attachment tool.

5. The method of claim 1, wherein said attachment tool is an attachment tool in a group of attachment tools, wherein each attachment tool in said group is provided with a respective sensor device for measuring movements of the attachment tool on which it is installed, the method further comprising:

receiving, by the processor device, respective movement data from at least two of said sensor devices installed on respective attachment tools,

determining, by the processor device, based on said respective movement data, a respective movement pattern of the attachment tools on which said at least two sensor devices are installed.

6. The method of claim 5, wherein the act of comparing of the movement patterns comprises:

comparing, by the processor device, the respective movement pattern of each attachment tool for which a movement pattern has been determined with said movement pattern of the working machine, and

wherein the act of determining that the attachment tool is attached to the arm or boom of the working machine comprises:

identifying, by the processor device, which one of the movement patterns of the respective attachment tools that matches the movement pattern of the working machine, and determining, by the processor device, that the attachment tool whose determined movement pattern has been identified as matching the movement pattern of the working machine, is attached to the arm or boom of the working machine.

7. The method of claim 5, further comprising:

recording during a time period, by the processor device, the movement patterns of the working machine as well as respective movement patterns of the attachment tools in said group, and

after said time period, determining, by the processor device, based on the recorded movement patterns, which attachment tool or tools has/have been attached to the arm or boom of the working machine during said time period.

8. The method of claim 1, wherein said second sensor device comprises an accelerometer configured to measure the accelerations of the attachment tool on which it is installed.

9. The method of claim 1, wherein said first sensor device comprises at least one of an accelerometer and GPS-sensor.

10. The method of claim 1, wherein said processor device is a local on-board processor device located on the working machine.

11. The method of claim 1, wherein said processor device is a remote off-board processor device located separately from the working machine.

12. The method of claim 1, wherein said acts of receiving movement data from the sensors, comprises receiving said movement data wirelessly.

13. A vehicle comprising the processor device to perform the method of claim 1.

14. A computer program product comprising program code for performing, when executed by the processor device, the method of claim 1.

15. A control system comprising one or more control units configured to perform the method according to claim 1.

16. A non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of claim 1.