WO2003096596A2

WO2003096596A2 - Equipment control system and methods for its use

Info

Publication number: WO2003096596A2
Application number: PCT/US2003/015054
Authority: WO
Inventors: Ronald Gustav Presswood, Jr.; Clark James Thompson
Original assignee: Robotic Cranes, Lp
Priority date: 2002-05-13
Filing date: 2003-05-13
Publication date: 2003-11-20
Also published as: AU2003241433A8; AU2003241433A1; WO2003096596A3

Abstract

An equipment control system is disclosed, which includes a control unit (102) through which all equipment control instructions are implemented and monitored, at least one piece of equipment to be controlled (104) and at least one remote user interface (106), designed to allow a user to select and pass commands to the control unit and receive equipment status information from the piece of equipment via the control unit, which can refine the status information. A method for using the system is also disclosed.

Description

PATENT SPECIFICATION

TITLE: EQUIPMENT CONTROL SYSTEM AND METHODS FOR ITS USE

INVENTOR: Clark James Thompson and Ronald Gustav Presswood ASSIGNEE: Robotic Cranes, LP

BACKGROUND OF THE INVENTION

1. Field of the Invention

[0001] The present invention relates to an equipment control system including a piece of equipment to be controlled, a control unit in two-way communication with the piece of equipment and a remote user interface (RUT) in two-way communication with the control unit, where the RUI forwards user commands and/or command protocols to the control unit and receives refined and/or raw equipment status data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment status data from the equipment or from sensors associated with the equipment. The present invention also relates to methods for making and using the system.

[0002] More particularly, the present invention relates to an equipment control system including at least one piece of equipment to be controlled, a control unit in two-way communication with the at least one piece of equipment and at least one remote user interface (RUI) in two-way communication with the control unit, where the RUI forwards user commands and/or command protocols to the control unit from a modifiable command and command protocol selection format and receives refined and/or raw equipment state data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment state data from the equipment or from sensors associated with the equipment. The present invention also relates to methods for making and using the system.

2. Description of the Related Art

[0003] Some anti-sway devices for cranes exist in the art, such as those described in United States Pat. Nos. :, incorporated herein by reference. Some of these anti-sway devices attempt to reduce sway by controlling load and crane motion is such a way that as the crane moves the load, the motion speed and direction tends to minimize sway.

[0004] Although these system do act to reduce sway, they are difficult to use and generally do not completely or substantially eliminate load sway. Thus, there is a need in the art of a more efficient, cost effective and easy anti-sway device for cranes.

SUMMARY OF THE INVENTION [0005] The present invention provides an equipment control system including a piece of equipment to be controlled, a control unit in two-way communication with the piece of equipment and a remote user interface (RUI) in two-way communication with the control unit, where the RUI forwards user commands and/or command protocols to the control unit and receives refined and/or raw equipment status data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment status data from the equipment or from sensors associated with the equipment

[0006] The present invention also provides an equipment control system including at least one piece of equipment to be controlled, a control unit in two-way communication with the at least one piece of equipment and at least one remote user interface (RUT) in two-way communication with the control unit, where the RUI forwards user commands and/or command protocols to the control unit from a modifiable command and command protocol selection format and receives refined and/or raw equipment state data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment state data from the equipment or from sensors associated with the equipment.

[0007] The present invention also provides a modifiable user command or command protocol selection format implemented on the RUIs and the control unit so that the commands or command protocols can be easily and quickly reformatted for different equipment control requirements and/or reformatted for user taste and visual preferences, where the different formats can be stored formats selectable from a selection menu, derivable from stored user preferences or created on the fly by the user for a particular piece of equipment or control protocol.

[0008] The present invention provides a method for controlling a piece of equipment including the steps of selecting a command or a command protocol selectable on a remote user interface (RUT) in two-way communication with a control unit. Once the user selects a desired command or command protocol, the RUI forwards the desired command or command protocol to the control unit. The control unit processes the command or command protocol converting the command or command protocol into equipment executable instructions. The control unit then checks to determine whether the equipment is currently executing another command or whether the command or command protocol includes an override and/or emergency command. If the command or command protocol includes an override and/or emergency command, then the control unit forwards the instructions to the piece of equipment. If the control unit determines that the piece of equipment is currently executing a command and command protocol, then the control units sends a hold notice to the issuing RUI, w aits for t he p iece o f e quipment to e omplete i ts c urrently e xecuting c ommand o r command protocol and then forwards the new instructions to the piece of equipment, after completion of the current task.

[0009] The present invention also provides method for controlling equipment including the steps of selecting a command or a command protocol selectable on a plurality of remote user interfaces (RUIs) in two-way communication with a control unit and in two-way communication with each other. Once a user selects a desired command or command protocol, that RUI forwards the desired command or command protocol to the control unit and to the other RUIs as notification of the issuance of a command or a command protocol to a particular piece of equipment. The control unit processes the command or command protocol converting the command or command protocol into equipment executable instructions. The control unit then checks to determine whether the equipment is currently executing another command or whether the command or command protocol includes an override and/or emergency command. If the command or command protocol includes an override and/or emergency command, then the control unit forwards the instructions to the piece of equipment. If the control unit determines that the piece of equipment is currently executing a command and command protocol, then the control units sends a hold notice to the issuing RUI, waits for the piece of equipment to complete its currently executing command or command protocol and then forwards the new instructions to the piece of equipment, after completion of the current task.

[0010] The present invention also provides a method for modifying the user interface display format including the step of either selecting a pre-defined display format from a selection menu, selecting a pre-defined display format and selecting a user preference, or reformatting the display format on the fly using format edit commands accessible from menus or entered directly from user interface commands or command strings. DESCRIPTION OF THE DRAWINGS

[0011] The invention can be better understood with reference to the following detailed description together with the appended i Uustrative drawings in which like elements are numbered the same:

[0012] Figure 1A depicts a schematic diagram of a preferred embodiment of the equipment control system of this invention;

[0013] Figure IB depicts a schematic diagram of a preferred embodiment of the equipment control system of this invention;

[0014] Figure 1C depicts a schematic diagram of a preferred embodiment of the equipment control system of this invention;

[0015] Figure ID depicts a schematic diagram of a preferred embodiment of the equipment control system of this invention;

[0016] Figure 2 depicts a schematic diagram of a preferred embodiment of a control unit of this invention;

[0017] Figure 3 depicts a schematic diagram of a preferred embodiment of a remote user interface of this invention;

[0018] Figures 4A-C depict a conceptual flowchart of a preferred method for controlling a piece of equipment using the system of this invention; and

[0019] Figure 5 depicts a preferred equipment interface format of this invention.

DETAILED DESCRIPTION OF THE INVENTION

[0020] The inventors have found that a new equipment control system can constructed and implemented which provides control unit mediated user control of one or more pieces of equipment using remote user interfaces (RUIs), which is in two-way communication with the control unit, which is in turn in two-way communication with the one or more pieces of equipment. The systems is designed to allow the user to interact with the one or more of the piece of equipment via communication with the control unit which, depending on the status of a given piece of equipment, converts user commands or command protocols to equipment executable instructions. The RUIs allow the user to select equipment from equipment lists and control the actions of the selected equipment from a pre-defined interface format, from user configured interface format or from an on the fly modified interface format. [0021] The two-way communication between the control unit and the each piece of equipment allows the control unit to forward equipment executable instructions to any of the pieces of equipment and allows any of the pieces of equipment to send back status information, where the status information includes data associated with equipment status and/or data from sensors associated with the equipment. The two-way communication between the confrol unit and the RUIs allows each user to select and issue commands or command protocols to the control to instruct to any of the pieces of equipment in two- communication with the control unit to execute the command or command protocol depending on the status of the equipment and to receive equipment status and command execution status information from the control unit.

[0022] Some o f t he a dvantages o f using a central c ontrol u nit t o r eceive c ommands o r command protocols from the RUIs, convert the commands or command protocols into equipment executable instructions and transmit the instruction to the desire piece of equipment is to efficiently orchestrate control of many different pieces of equipment and/or by many different user having RUIs in two-way communication with the control unit. Moreover, by having a control unit, which can of course be a single digital processing unit, a collection of digital processing units or a distributed collection of digital processing units, complex equipment protocols can be developed and implemented by selection formats accessible on the RUIs and mirrored on the control unit. Furthermore, because multiple users may try to simultaneously control a given piece of equipment, the control unit will monitor equipment status and c ommand e xecution t iming to d ecrease or e liminate m ultiple a nd potentially conflicting instructions being issued to any given piece of equipment improving safety. Additionally, centralizing control provides for efficient emergency and supervisor override capability.

[0023] The present invention broadly relates to an equipment control system including a piece of equipment to be controlled, a control unit in two-way communication with the piece of equipment and a remote user interface (RUI) in two-way communication with the control unit. The RUI is adapted to forward user commands and/or command protocols to the control unit and receives refined and or raw equipment status data from the control unit. The control unit is adapted to forward command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment status data from the equipment or from sensors associated with the equipment [0024] The system of this invention is ideally suited for controlling a plurality of pieces of equipment from a plurality of remote user interface (RUI), where the RUIs are in independent two-way communication with the control unit and each other and the control unit is in independent two-way communication with each piece of equipment. [0025] In a second aspect, the present invention broadly relates to a modifiable user command or command protocol selection format implemented on the RUIs and the control unit, so that the commands or command protocols can be easily and quickly reformatted for different equipment control requirements and/or reformatted for user taste and visual preferences, where the different formats can be stored formats selectable from a selection menu, derivable from stored user preferences or created on the fly by the user for a particular piece of equipment or control protocol.

[0026] In another aspect, the present invention broadly relates to a method for controlling a piece of equipment including the steps of selecting a command or a command protocol selectable on a remote user interface (RUI) in two-way communication with a control unit. Once the user selects a desired command or command protocol, the RUI forwards the desired command or command protocol to the control unit. The control unit processes the command or command protocol converting the command or command protocol into equipment executable instructions. The control unit then checks to determine whether the equipment is currently executing another command or whether the command or command protocol includes an override and/or emergency command. If the command or command protocol includes an override and/or emergency command, then the control unit forwards the instructions t o t he p iece o f e quipment. I f t he c onfrol u nit d etermines t hat t he p iece o f equipment is currently executing a command and command protocol, then the confrol units sends a hold notice to the issuing RUI, waits for the piece of equipment to complete its currently executing command or command protocol and then forwards the new instructions to the piece of equipment, after completion of the current task.

[0027] The method of this invention is ideally suited for controlling a plurality of pieces of equipment from a plurality of remote user interface (RUT), where the RUIs are in independent two-way communication with the control unit and each other and the control unit is i n independent two-way communication with each piece of equipment. [0028] h another aspect, the present invention broadly relates to a method for modifying the user interface display format including the step of either selecting a pre-defined display format from a selection menu, selecting a pre-defined display format and selecting a user preference, or reformatting the display format on the fly using format edit commands accessible from menus or entered directly from user interface commands or command strings. [0029] Suitable pieces of equipment that can be controlled by the system of this invention includes, without limitation, any piece of commercial, industrial, or residential equipment capable of being controlled by a centralized control unit or by remote control. Preferred pieces of equipment include, without limitation, cranes, robots, automated manufacturing equipment, presses, stamping equipment, injectors, extruders, mixers, reactors, instrumentation, instrument gauges, sorting equipment, commutating equipments, mills, internal mixers, production or manufacturing lines, or any other equipment controllable from a control unit (central or remote).

[0030] Suitable control units include, without limitation, one or more digital processing unit directly connected to each other or a distributed network of a plurality of digital processing unit.

[0031] Suitable remote user interfaces include, without limitation, digital processing units, especially hand help digital processing units, standard telephones, especially telephones with displays, cellular phones, especially cellular phones with displays, digital processing units connected to a distributed computer network such as an intranet or an internet, such as the world wide web, or any other device capable of two-way communication with the control unit.

[0032] Suitable digital processing units or computer systems for use in this invention, include, without limitation, any device including a central processing unit for executing digital microcode and programs and an optional cache memory, a memory associated with the processing unit connected by a bus, optionally one or more mass storage devices such as a disk drive, solid state disks, CD drive or the like, connected to the processing unit and/or memory by a bus, communication hardware and software for communicating with external devices such as displays, printers, scanners, voiced activated devices, or the like as is well- known in the art. Such devices can be mainframe computer, mini-mainframe computer, PCs, palm, smart controllers, or the like. The computer equipment can be made by any manufacturer such as Compaq, Dell, Intel, Motorola, Apple, or the like. The computer equipment can also have loaded therein software including operating systems especially windowing operating systems, user interfaces especially graphics user interfaces, communication software, security software, internet browser software, or the like. [0033] Suitable operating systems running on the digital processing units of this invention, include, without limitation, windowing operating systems such as Window®, Linux®, Apple® OS, or the like, or any other operating system capable of supporting the programs operating the cable control devices and other software used in the apparatuses of this invention.

[0034] Referring now to Figure 1A, a preferred system, generally 100, of this invention is shown to include a central control unit 102, a plurality of pieces of equipment 104 controllable by the control unit 102 and a plurality of RUIs 106. The control unit 102 is in two-way communication with each piece of equipment 104 via first communication pathways 108; and the control unit 102 is in two-way communication with each RUI 106 via second communication pathways 110. The system 100 also includes third two-way communication pathways 112 between the RUIs 106. The communication pathways 108, 110 and 112 may be wireless communication pathways or hard wired communication pathways. [0035] Referring now to Figure IB, a preferred system, generally 120, of this invention is shown to include a central control unit 122, a plurality of pieces of equipment 124 controllable by the control unit 122 and a plurality of RUIs 126. The control unit 122 is in two-way communication with each piece of equipment 124 via first communication pathways 128. The control unit 122 is in two-way communication with a network, an intranet (local area network) or an internet (distributed network), 130 via second communication pathway 132; and each RUI 126 is in two-way communication with the network 130 via third communication pathways 134. The system 120 also includes fourth two-way communication pathways 136 between the RUIs 126. The communication pathways 128, 132, 134 and 136 may be wireless communication pathways or hard wired communication pathways. [0036] Referring now to Figure 1C, a preferred system, generally 140, of this invention is shown to include a central confrol unit 142, a plurality of pieces of equipment 144 controllable by the control unit 142 and a plurality of RUIs 146. The control unit 142 is in two-way communication with each piece of equipment 144 via first communication pathways 148. The control unit 142 is in two-way communication with a first network, an intranet (local area network) or an internet (distributed network), 150 via second communication pathway 152; and each RUI 146 is in two-way commumcation with the first network 150 via third communication pathways 154. The system 140 also includes fourth two-way communication pathways 156 between the RUIs 146 and a second network 158, which allow the RUIs to exchange information. The networks 150 and 158 maybe the same or different network. The communication pathways 148, 152, 154 and 156 may be wireless communication pathways or hard wired communication pathways. [0037] Referring now to Figure ID, a preferred system, generally 160, of this invention is shown to include a central control unit 162, a plurality of pieces of equipment 164 controllable by the control unit 162 and a plurality of RUIs 166. The control unit 162 is in two-way communication with a first network 168 via first communication pathway 170; and each piece of equipment 164 is in two-way communication with the first network 168 via second communication pathways 172. The control unit 162 is in two-way communication with a second network 174 via third communication pathway 176; and each RUI 106 is in two-way communication with the second network 174 via fourth communication pathways 178. The system 160 also includes fifth two-way communication pathways 180 between the RUIs 166 and a third network 182, which allow the RUIs to exchange information. The communication pathways 170, 172, 176, 178 and 180 may be wireless communication pathways or hard wired communication pathways. The networks 168, 174 and 182 may the same or different networks. Preferably, the networks 168 and 174 are the same. [0038] The term wireless communication pathways means that communication is handled by communication hardware and software utilizing any known or yet to be discovered through air communication protocol including, without limitation, electromagnetic waves, sound waves, or the like. Preferred electromagnetic wireless protocols include, without limitation, RF, IR, near IR, microwave, or the like. The term hard wired means that physical devices such as metal based wires, fiber optic wires, or the like capable of carrying electric signals connect the control unit to the pieces of equipment.

[0039] The term network includes local area networks (LANs) or intranets, distributed networks or internets such as the world wide web or the like, phone system such as land based, cellular, satellite or the like, or any other broad band resource for transmitting infoπnation from one connection point to another connection point. [0040] Referring now to Figure 2, a preferred confrol unit, generally 200, of this invention is shown to include processing unit 202, a memory 204 and a communication unit 206 connected to communication port 208. The processing unit 202, the memory 204 and the communication unit 206 are in two-way communication one with the others as is typical in computer systems, where the communication is generally over buses. Preferably, the processing unit 202 is a digital processing unit. Of course, the control unit 200 can also include any of a host ofperipheri.es such as a display device, a mass storage device (a disk drive, solid state disks, optical disks, etc), a printer, a video camera, keyboard, a mouse, or the like. The memory 204 includes a windowing operation system 210, communication software 212, an equipment control interface 214, an equipment control interface designer 216, an equipment instruction generator 218 and an equipment instruction execution monitor 220. The equipment control interface 214 is established in the control unit 204 and is designed to include all options and selections for operating a given piece of equipment. The exact nature of the interface 214 depends on the equipment being control, but also depends on user preferences which are stored in a list associated with the interface 214. The equipment control interface designer 216 allows a user to configure new interface formats for a new piece of equipment, to modify an existmg interface format according to a set of user preference, to modify and save or overwrite an existing interface format, to create new commands, to create new command protocols or macro commands, to modify and save or overwrite existing commands or command protocols, or to construct new audio and/or visual feedback formats.

[0041] The equipment instruction generator 218 converts a user selected command or command protocol into equipment instructions that cause the equipment to perform the selected command or command protocol. The conversion processed performed by the generator 218 can include: calculating a trajectory for the equipment (e.g. , remote controlled fork lift, etc.) to traverse or for a part of the equipment (e.g., a crane hook or end effector, the lift of a fork lift, the arm of a robot, etc.) to traverse; calculating the length of cables at each position along a trajectory for cable type cranes, or calculating any other computation that must be made to effectuate the selected command or command protocol. Another important function o f the generator 218 is to resolve conflicting commands, to properly sequence multiple commands, and to properly handle override commands or emergency commands.

[0042] The equipment instruction execution monitor 220 processes incoming data from the piece of equipment in response to the instruction sent to the piece of equipment by the control unit 200. The incoming data can be any data associated or generated by the piece of equipment during operation or can be data from sensors associated either directly (located on the piece of equipment) or indirectly (located in proximity to the equipment) with the piece of equipment. The incoming data can include numeric, video, audio, or any other data needed to monitor the execution of instruction from the control unit by the piece of equipment. [0043] The term interface format means the way that the user interface appears on a display device associated with a RUI. The term command means a nemonic representing a set of equipment instructions that cause a given piece of equipment to perform a given task. The term command protocol means a nemonic representing a set of commands that cause a given piece of equipment to perform a complex task including a number of tasks performed in series. The term task means a specific equipment change in state such as a simple move, up or down hook or end effector movement, hook or end effector attachment, or the like. A complex task means a specific equipment operation that may include many equipment changes of states such as an automated sequence to reposition to a start position, move to a given position, lower the end effector to attach to a load, raise the end effector with attached load, move the load to an end position, lower the end effector with the load attached and place the load at the end position.

[0044] Referring now to Figure 3, a preferred remote user interface (RUI), generally 300, is shown to include a rocessing unit 302, a memory 304 and a communication unit 306 connected to communication port 308. The processing unit 302, the memory 304 and the communication unit 306 are in two-way communication one with the others as is typical in computer systems, where the communication is generally over buses. Preferably, the processing unit 302 is a digital processing unit. Of course, the control unit 300 can also include any of a host of peripheries such as a display device, a mass storage device (a disk drive, solid state disks, optical disks, etc.), a printer, a video camera, keyboard, a mouse, or the like. The memory 304 includes a windowing operation system 310, communication software 312, and an equipment control interface 314. The interface 314 is a pure mimic of the interface 214 of the control unit 200 and merely displays the current interface format in control on the control unit 200. The interface 214 and its mimic 314 also include selection lists for changing the interface format or alternatively, to selected applications that may control one or more pieces of equipment. The control interface 214 and 314 can also include commands that only continue as long as the user continues to hold down a key, place a finger on a soft button, or the like.

[0045] A u ser i ndirectly i nteracts w ith t he p iece o f e quipment u sing a RUI 300, w hich forwards a user selected command or command protocol to the control unit 200 for processing, execution and monitoring. Although the control is indirect, the user receives data from the control unit 200, showing the current status of the equipment as it performs the selected command or command protocol. This feedback of equipment status information to the RUI 300 from the control unit 200 allows the user to check operation status on a continuous or periodic basis and to issue corrections, modifications, changes, overrides or emergency c ommands t o t he e quipment v ia t he c onfrol u nit as it p erforms t he s elected command or command protocol. The interface 314 also allows the user to access the interface designer 216 of the control unit 200 so that the user can create, modify or set preferences.

[0046] Although Figure 3 depicts a RUI that includes a processing unit and is essentially a computer such as a lap top computer, palm computer, or other hand held computer, the RUIs of this invention can also be simple devices such as touch key phones, where the key pad becomes the command and command protocol selector and the speakerbecomes the feedback unit. Thus, the user would call into the control unit via a traditional phone line. Once connected, the user would be advised as to the interface format to be used, that is the user will be advised as to the meaning of each key in the key pad via spoken instruction. The user would then hit keys to select commands and the control unit would send back spoken equipment status information. Of course, the control unit can also have voice recognition software so that the user could simply speak commands or command protocols to the control unit after being advised as so the active commands or command protocols. [0047] The advantages to indirect control are numerous, but command stacking and efficient override and emergency handling and monitoring are among the most important advantages associated with the systems of this invention. Using the system of this invention, the equipment can be set to default in an OFF condition or automatically reposition to a preset condition, unless a continuous or preset periodic signal is received from the control unit, hi this manner, the equipment goes dormant until and unless communications are received according to a given protocol from the control unit.

[0048] Referring now to Figures 4A-C, a preferred embodiment of a control software, generally 400, of this invention used to control a piece of equipment and depicted in concept flow chart format. The control software 400 is shown to include a power up step 402, which starts the confrol process either from a RUI coming on line or when bringing up the control unit. After power on either a RUI or the control unit, the software checks to see is if a previous application or equipment interface format was selected in a conditional step 404, if a previous selection was made or if the control unit is in a predefined selection, then control is transferred along a YES branch 406 to a change application or format step 408. If no previous application or format was selected or the system defaults to a default format, then control is transferred along an NO branch 410 to a display application or format selection list or menu 412. If a change is made in step 408, then control is transferred along a YES branch 414 to the display step 412; otherwise confrol is transferred along a NO branch 416 to a display equipment interface format step 418. If control was transferred to step 408, then the user can select a new application or format in select step 420 and control is passed to the display step 418. After the desired interface format has been selected, the user can choose to edit or modify the format in an edit/modify conditional step 422. If editing is requested, then control is transferred along a YES branch 424 to a display control selection list or menu step 426, where a user can select a control or control modification in select step 428 and control is transferred to a second display interface format step 430 (which can of course be the same display step as step 418). If no editing is desired in step 422, then control is fransferred along a NO branch 432 to the display step 430. One should recognize that the application or format select process not only selects a particular form of the user interface, it selects the piece or pieces of equipment to be controlled by the interface. Thus, each interface format not only include the appropriate command and command protocols for accomplishing a given task, each format also includes an association to the equipment needed to accomplish the desired command or command protocol.

[0049] Once the desired interface format has been selected and or editing, which could have simply been modifying the interface format according to user preferences, the user can select a command or command protocol from a select step 434, where the command or command protocol allows the user to perform a given task with one or more pieces of equipment. Figure 4A also includes a continuation step 436, which corresponds to continuation step 438 of Figure 4B and a FROM step 440, which corresponds to TO step of Figure 4C. [0050] Looking now at Figure 4B, from continuation step 438, the selected command or command protocol is highlighted on the format display in a highlight step 442, where the highlighting can be a color change, emboldened, flashing or any other highlight technique. Concurrent with the highlighting, the selected command or command protocol is forwarded to the control unit in a forward step 444. Next, the command or command protocol is converted to equipment executable instruction is a convert step 446. Once converted, the instructions are tested to see if an override and/or emergency instruction is included in a test step 448. If no override or emergency instruction is found, then control is fransferred along a NO branch 450 to a test step 452 to determine whether the equipment is busy requiring the instructions to be stacked until the equipment is no longer busy. If the equipment is busy, then control is transferred along a YES branch 454 back to the test step 452. Of course, the transfer branch 454 can include a delay.

[0051] If an override or emergency instruction is found in step 448, then control is transferred along a YES branch 456 to a send instruction to equipment step 458. Also, if the equipment is not busy as found in step 452, controlled is fransferred along a NO branch 460 to the send step 458. Of course, the emergency and override instructions will override any process currently being performed by the equipment. Additionally, the emergency instruction may activate other safety procedures as well such as setting of sirens or other emergency procedures. Of course, the emergency and override instructions will override any process currently being performed by the equipment. Additionally, the emergency instruction may activate other safety procedures as well such as setting of sirens or other emergency procedures.

[0052] Next, t he i nstruction a re r eceived b y t he e quipment i n a r eceive step 462. T he equipment then, processes the instructions in a process step 464. The equipment then implements the instructions and starts raw data collections in an implement and collect step 466. As data collection proceeds, raw data is either continuously or periodically sent to the confrol unit is a send step 468. Figure 4B also includes a continuation step 470, which corresponds to continuation step 472 of Figure 4C, and a FROM step 474, which comes from the modify command or protocol step of Figure 4C.

[0053] Looking at Figure 4C, after the continuation step 472, the raw data is receive by the confrol unit is a receive data steps 476. The control unit can optionally refine the raw data into refined data in refine data step 478, and can send either or both the raw data or refined data to the RUI in send step 480. The RUI then displays the equipment raw and/or refined status data in a display step 482. The user can then modify the executing command or protocol in a modify test step 484. If modification is requested, then control is transferred along a YES branch 486 to a TO step 488 which connects to the FROM step 474 and to the convert step 442 of Figure 4B. Otherwise, control is fransferred along a NO branch 490 to a command or protocol completion step 491. If the user is done with this session as determined in a done test step 492, then control is transferred along a YES branch 493 to a power down test step 494. If the user is not done with this session or does power done, then control is fransferred along NO branches 495 and 496 to TO step 497, where control is sent via the FROM step 473 and TO step 475 of Figure 4B to the FROM step 440 to the change application step 408 of Figure 4A. If the user does power down, then control is transferred along a YES branch 498 to a stop session step 499.

[0054] All references cited herein are incorporated by reference. While this invention has been described fully and completely, it should be understood that, within the scope of the appended claims, the invention may be practiced otherwise than as specifically described. Although the invention has been disclosed with reference to its preferred embodiments, from reading this description those of skill in the art may appreciate changes and modification that may be made which do not depart from the scope and spirit of the invention as described above and claimed hereafter.

Claims

CLAIMSWe claim:

1. An equipment control system comprising: a piece of equipment to be controlled, a control unit in two-way communication with the piece of equipment and a remote user interface (RUT) in two-way communication with the control unit, where the RUT forwards user commands and/or command protocols to the control unit and receives refined and/or raw equipment status data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment status data from the equipment or from sensors associated with the equipment.

2. An equipment control system comprising: at least one piece of equipment to be controlled, a control unit in two-way commumcation with the at least one piece of equipment and at least one remote user interface (RUI) in two-way commumcation with the control unit, where the RUI forwards user commands and/or command protocols to the control unit from a modifiable command and command protocol selection format and receives refined and/or raw equipment state data from the control unit and the control unit forwards command instructions corresponding to the user commands or command protocols to the equipment and receives raw equipment state data from the equipment or from sensors associated with the equipment.

3. A method for controlling a piece of equipment comprising the steps of: selecting a command or a command protocol selectable on a remote user interface (RUT) in two-way communication with a confrol unit; forwarding the desired command or command protocol to the confrol unit; converting the command or command protocol into equipment executable instructions; determining whether the equipment is currently executing previous command and whether the command or command protocol includes an override and/or emergency command; if the command or command protocol includes an override and/or emergency command, immediately forwarding the equipment executable instructions to the piece of equipment; if the control unit determines that the piece of equipment is currently executing the previous command or command protocol, stacking the equipment executable instruction until the equipment is free and notifying the RUI that the command or command protocol is on hold; otherwise, forwarding the equipment executable instruction to the piece of equipment; and executing the instruction at the piece of equipment.

4. A method for controlling equipment comprising the steps of: selecting a command or command protocol selectable on a plurality of remote user interfaces (RUIs) in two-way communication with a control unit and in two-way communication with each other, where the command or command protocol is adapted to confrol a piece of equipment in two-way communication with the control unit; forwarding the selected command or command protocol from the RUI to the confrol unit and to the other RUIs as notification of issuance of a command or command protocol to a particular piece of equipment; converting the selected command or command protocol in the control unit into equipment executable instructions of the particular piece of equipment; checking whether the particular piece of equipment is currently executing previous command or command protocol or whether the selected command or command protocol includes an override and/or emergency command; if the selected command or command protocol includes an override and/or emergency command, then immediately forwarding the instructions to the particular piece of equipment; if the selected command or command protocol does not includes an override and/or emergency command and the particular piece of equipment is currently executing the previous command or command protocol, then sending a hold notice to the issuing RUI, waiting for the particular piece of equipment to complete execution of the previous command or command protocol, once free, forwarding the instructions to the particular piece of equipment and issuing a send notice to the issuing RUI; and if the selected command or command protocol does not includes an override and/or emergency command and the particular piece of equipment is free, forwarding the instructions to the particular piece of equipment.

5. A method for modifying the user interface display format including the step of either selecting a pre-defined display format from a selection menu, selecting a pre-defined display format and selecting a user preference, or reformatting the display format on the fly using format edit commands accessible from menus or entered directly from user interface commands or command strings.