DK180924B1

DK180924B1 - Excavator Position Detection Unit Common Interface and Excavator Position Detection Unit Common Interface Application Method

Info

Publication number: DK180924B1
Application number: DKPA202100001A
Authority: DK
Inventors: Hartvig Andersen Kasper; Nielsen Claus
Original assignee: Unicontrol Aps
Priority date: 2021-01-02
Filing date: 2021-01-02
Publication date: 2022-06-27
Also published as: DK202100001A1; WO2022144060A1; EP4271891A1

Abstract

A unified position detection device for detecting the position of the bucket located at the distal end of a front loader arm or an excavator arm on a backhoe is disclosed. The position detection device combines the user interfaces for excavators and wheel loaders into a single unified interface with two different run modes. One for when operating the excavator arm, and one for when operating the front loader arm. Change of run mode is integrated as part of other operations associated with the system.

Description

DK 180924 B1 1 Field of invention The present invention relates to a method for combining position detection devices for front loaders and excavators into a single unified position detection device with a simple interface. The invention is in particularly applicable to backhoes, which possess both a front loader arm and an excavator arm on the same machine, such that the position detection device allows operation of both tools through the same interface on a display. Prior art It requires a skilled operator to operate a backhoe efficiently. Since each of the couplings between the machine base, boom(s), stick, and bucket are pivots, extending or retracting any single hydraulic cylinder will cause the digging edge of the bucket to move.

One problem associated with the operation of a backhoe is how to indicate to the operator the position of the bucket. For the excavators and wheel loaders various devices for determining the relative and absolute positions of the bucket and other parts of the machine have been developed. These devices use a combination of Inertial Measurement Unit (IMU) sensors, Global Navigation Satellite System (GNSS) antennas and other sensors mounted on the machine to gather information about the posture of each part of the machine. Sensor data will then be processed on a control unit to calculate relative and absolute positions of different machine parts. The results are hereafter shown to the operator on a display and combined with other information such as design plans etc. These devices are often referred to as "Machine control systems”, "Machine guidance”, “3D navigation

DK 180924 B1 2 systems”, “2D or 3D systems”. Such a system will in the following in general be referred to as a position detection device. The information may be used for a variety of purposes, such as documentation of work, guiding the driver, controlling part of the machine, sending data to surveyor, foremen or others, and other purposes. Backhoes possess both a front loader arm and an excavator arm, and position detection devices exist for both tools individually. The front loader arm is often used to scoop up loose material from the ground, such as dirt, sand or gravel, and move it from one place to another without pushing the material across the ground. The front loader may also sometimes be used to push material around.

Some position detection devices may share the same physical display, and, therefore, allow for the possibility of integrating position detection devices for both tools into the same physical display, although two different interfaces are required. When the operator of the backhoe switches between operation of the front loader and the excavator arm, another interface has to be loaded onto the display.

US 2014/0190046 Al discloses a work vehicle (backhoe) wherein the user can change the information displayed to the user, by manually moving the seat around, wherein the displayed information is recorded by sensors located on the work vehicle.

However, this solution requires a user to move their seat during operation, in order to get the relevant information, which can be cumbersome.

Thus, there is a need for a device and a method which reduce or even eliminate the above-mentioned disadvantages of the prior art.

DK 180924 B1 3 It is an object of the invention to provide a device and a method for indicating to the operator the position of the bucket when operating a backhoe.

Definitions Front loader: A front loader is a type of vehicle, typically on wheels or tracks, with a cabin to which a front loader arm is attached.

Front loader arm: A number of booms (usually two) which has a bucket mounted at the distal end. The booms are normally connected to the bucket in parallel, such that no single boom is able to move independently.

Excavator: An excavator is a type of vehicle, typically on wheels or tracks, with a cabin to which an excavator arm is attached. Excavator arm: A structure comprises two or more parts who can move relative to each other around one or more joints. A bucket is mounted at the distal end of the arm. The parts may normally move independently about their joints (this may affect the position and orientation of subsequent joints, but usually not the rotation of subsequent part about their joints).

Backhoe: Backhoe is a type of vehicle, typically on wheels or tracks, with a cabin to which at least a front loader arm and an excavator arm is attached. A backhoe may sometimes have additional arms attached, e.g. a lift. Note that backhoes are both excavators and front loaders according to the definitions above. Position detection device: An assembly of sensors, brackets, cables,

DK 180924 B1 4 control units, display units and communication devices mounted on a machine with the purpose of providing information about the position or height of specific parts of the machine, measured as either absolute values in a predetermined coordinate system or relative to a reference point. Interface: The graphical information displayed to the user by the position detection device on a display unit. The interface also encompasses the graphical design (interface elements) and user interactions with the display unit.

Interface element: A graphical object such as a line, text, button, image, 3D rendering, etc., or a collection of such objects.

Interface configuration: the collection of all interface elements in a specific layout, it is possible for the user to modify the interface configuration to suit the needs of the user.

Bucket: Any attachment to the distal end of an excavator arm or front loader arm. This could for example be an actual excavator bucket, a front loader bucket, an excavator-mounted drilling attachment such as an auger, a brush mower, a concrete breaker, a compactor wheel, a crusher bucket, a drum cutter, a forestry mulcher, a hydraulic thumb or a plate compactor.

Current bucket (for a position detection device): A set of parameters currently in use by the position detection device in order to determine a position on the bucket attached to an excavator arm or front loader arm. In some configurations of the position detection devices there can be multiple current buckets, e.g. one for both the excavator arm and one for the front loader arm. The set of parameters are directly related to the dimensions of the physical bucket attached to

DK 180924 B1 an excavator arm or front loader arm. Focus point: A point on the machine used by the position detection device for various purposes such as calculating absolute or relative coordinates of the point in a predetermined coordinate system. The 5 point moves with the machine: an example is the left tip of the bucket, which is always the left tip of the bucket although its coordinates in the local machine coordinate system changes when the excavator arm moves.

Run mode: Terminology used to describe when the position detection device displays position data to the user. Different run modes are assigned depending on whether the front loader arm or the excavator arm of a backhoe is being used.

Summary of the invention The object of the present invention can be achieved by a method as defined in claim 1 and by a device as defined in claim 8. Preferred embodiments are defined in the dependent subclaims, explained in the following description and illustrated in the accompanying drawings.

The key aim of the invention is to combine position detection devices for the front loader arm and excavator arm of a backhoe into a single unified position detection device with a single interface. The main problem posed by such unification is the design of an interface that retains the intuitive and user-friendly qualities that may be achieved by each separate position detection device, allowing for a seamless user experience.

The method according to the invention is a method for using a position detection device arranged in a backhoe that comprises both a front loader arm and an excavator arm, wherein the position detection device comprises a display and is configured to display position data of the

DK 180924 B1 6 front loader arm or the excavator arm on the display, wherein the position detection device is configured to display the position data in one or more interface configurations, wherein the method comprises the step of selecting between;

a) a front loader mode, in which the display of the position detection device displays position data of the front loader arm on the display and b) an excavator mode, in which the display of the position detection device displays position data of the excavator arm on the display, wherein the method further comprises the step of applying a trigger action to initiate the selection between the front loader mode and the excavator mode wherein the trigger action comprises a user interaction with an interface element of interface configuration, or the trigger action comprises the user manually initiating motion of either the excavator arm or the front loader arm.

Hereby, it is possible to provide a method that is simpler, cheaper and more user-friendly than the prior art methods.

The method comprises the step of applying a unified position detection device that can be used as an alternative to the prior art solutions that require multiple devices and subsequent interfaces.

In one embodiment, the method further comprises the step of reusing all or part of the interface configurations when switching between front loader mode and the excavator mode.

Hereby, a better user experience is achieved as the user does not have to be familiarized with a new layout when changing modes.

Furthermore, by maintaining the same interface loading time is prevented, since no new app should be loaded onto the display and thus the user experience is also improved.

DK 180924 B1 7 Thus, the method also in some embodiments comprises the step of: a) using a first set of interface configurations in the front loader mode and b) using a different set of interface configurations in the excavator mode. Hereby, the user achieves an increased flexibility through individual customization of the interface. This allows for a better workflow when using changing run modes.

By having the interface retain most (if not all) of the interface configuration when switching run mode, the interface retains the intuitive and user-friendly qualities that may be achieved by each separate position detection devices, allowing for a seamless user experience.

In one embodiment, the interface contains interface elements showing information such as machine positions, absolute position of parts of the machine, relative distance to known points, lines and surfaces, information about job setup and other kinds of information. These interface elements may provide the information in various forms such as numbers, colouring, 3D visualization of machine elements etc.

Typical modifications to the interface configuration could, for example, be to change which kind of information that should be displayed in the interface, e.g. whether to display the height of the bucket or the distance from the bucket to a specific position in a predetermined coordinate system in a specific interface element. It should be noted, however, that certain types of changes in the interface elements would not be considered a change in interface configuration: changes in measured values (displayed by interface elements) or transformations

DK 180924 B1 8 of objects in a 3D visualization interface element are examples of visual changes in the interface that are not considered changes in the interface configuration, as long as the type of displayed information (e.g. the height of the bucket) is unchanged.

As a simple example of an interface configuration for a combined position detection device supporting a backhoe with both a front loader arm and an excavator arm, consider having three interface elements: a number showing the height of the focus point relative to a reference height, a 3D visualization showing a top-view of the backhoe with the focus point in the centre of the view, a button that toggles run mode between front loader mode and excavator mode. The top-view shows the backhoe from a position located above the machine, i.e. looking down on the backhoe from above. According to the invention, switching the run mode by clicking the button would make no change in the interface configuration: in this example only the focus point would change from a position on the excavator arm to a position on the front loader arm or vice versa. The interface elements would still show the height of the focus point and a top-view 3D visualization of the backhoe with the focus point in the centre, regardless of whether the focus point is located on the front loader arm or excavator arm. Now assume, in the example above, that the user changes the interface configuration such that the first interface element displays the cross- slope rather than the height of the bucket, and such that the 3D visualization shows a side-view rather than a top-view of the backhoe (but still centred on the focus point). Either of these changes would result in a new interface configuration since they change the type of information conveyed to the user by the interface. But note that, according to the invention, pressing the button to switch to run mode would leave the interface configuration unchanged, such that the cross- slope of the bucket on either the front loader arm or the excavator arm

DK 180924 B1 9 may be shown in the first interface element, and a side-view centred on a position on either the front loader arm or excavator arm is shown in the 3D visualization.

It should be noted that in the simple example above, constructed for the purpose of illustrating the essence of the invention, the practical implementation of the invention seems straightforward. This is especially due to the use of a focus point since the front loader arm and excavator arm would normally behave much differently and be used for different purposes. It should be emphasized that real position detection devices are very complex systems, and the invention would, therefore, be a less obvious solution for creating an actual unified backhoe position detection device.

In practice the front loader arm and excavator arm are used for different purposes and therefore it may be advantageous to use slightly different interface configurations for different run modes.

In one embodiment, the unified position detection device may, therefore, split interface elements into two groups: group 1 for the invariants when changing run mode, and group 2 for interface elements that may change when changing run mode. The definition of a single interface configuration may be extended to cover cases where group 2 is small but not empty, as long as most interface elements belong to group 1 (invariants).

In addition to the use of different run modes with a shared interface configuration, the invention also encompasses a way to switch run mode.

In one embodiment, the method comprises the step of applying a trigger action to initiate the selection between the front loader mode

DK 180924 B1 10 and the excavator mode. Hereby, the user is ensured full control over which data is displayed. In one embodiment, all parts of the interface configuration are reused when a trigger action is used, wherein the trigger action causes the data shown to the user of the backhoe to correspond to that of either the front loader arm when in front loader arm run mode, or the excavator arm when in excavator mode. In one embodiment, only a selection of the interface configuration is reused when a trigger action is used, wherein the trigger action causes the data shown to the user of the backhoe to correspond to that of either the front loader arm when in front loader arm run mode, or the excavator arm when in excavator mode.

In one embodiment, the trigger action comprises a user interacting with an interface element. This could be by clicking on the interface element (i.e. a button), by pressing and holding on the interface element, or by swiping on an interface element.

A position detection device may operate using a focus point, thus, there is usually an option to select a focus point between various options, henceforth referred to as the "select focus point” operation. Additionally, a variety of buckets may be used on the excavator arm and the front loader arm, and a position detection device should, therefore, provide a way for the user to select a current bucket for the position detection device, henceforth referred to as the “select bucket” operation. Both the “select bucket” and “select focus point” operations may be implemented in different ways, e.g. by choosing the bucket or focus point from a list, or by cycling through a list.

In one embodiment, the trigger action is the “select bucket” or “select focus point” operation, whereby the user can change the run mode, and

DK 180924 B1 11 according to the user defined settings, the interface configuration can change. Hereby, the user can have an easy and seamless transition between run modes. It may be advantageous that the trigger action comprises that the user manually initiates motion of either the excavator arm or the front loader arm.

By the term “initiates motion of either the excavator arm or the front loader arm” is meant that the user through a controller or other means in the cabin causes the selected arm to move. Hereby, the user can in an easy and logical manner change the run mode without unnecessary interruptions to the workflow. The position detection device according to the invention is a position detection device configured to be arranged in a backhoe that comprises both a front loader arm and an excavator arm in a manner, in which the position detection device is configured to collect data from the front loader arm or excavator arm, wherein the position detection device comprises a display and is configured to display position data of the front loader arm or the excavator arm in the display, wherein the position detection device is configured to display the position data in one or more interface configurations, wherein the interface configurations comprise various interface elements, wherein the position detection device is configured to be operated in a) a front loader run mode, in which the display of the position detection device displays position data of the front loader arm in the display and b) an excavator run mode, in which the display of the position

DK 180924 B1 12 detection device displays position data of the excavator arm in the display, wherein the position detection device comprises a trigger unit for selecting between the front loader mode and the excavator mode, wherein the trigger unit is arranged and configured to be triggered by the user interacting with an interface element or, the trigger unit is arranged and configured to be triggered by the user manually moving either the excavator arm or the front loader arm.

Hereby, it is possible to provide a position detection device that is simpler, cheaper and more user-friendly than the prior art position detection devices. The invention makes it possible to provide a unified position detection device.

By position data is meant information such as machine positions, absolute position of parts of the machine, relative distance to known points, lines and surfaces, information about job setup and other kinds of information.

It may be beneficial that the display described is mounted so that it follows the position of the seat of the backhoe, such that if the user rotates the seat of the backhoe to look at the other end of the backhoe, the user can still see the display.

In one embodiment, the display may comprise two separate displays in each end of the backhoe.

In may be advantageous that the display comprises one or more screens.

In may be beneficial that the trigger unit is arranged and configured to be triggered by a user interacting with an interface element.

DK 180924 B1 13 This could be by clicking on the interface element (i.e. a button), by pressing and holding on the interface element, or by swiping on an interface element.

In one embodiment, the trigger unit is arranged and configured to be triggered by the user manually initiating motion of either the excavator arm or the front loader arm.

By the term “initiating motion of either the excavator arm or the front loader arm” is meant that the user through a controller or other means in the cabin causes the selected arm to move. It may be advantageous that the user of the device can configure which trigger action to be used.

It may be beneficial that the method comprises the step of applying multiple trigger actions. This means that the trigger action(s) may include a) user interaction with an interface element, b) manual initiation by the motion of the excavator arm or the front loader arm and Description of the Drawings The invention will become more fully understood from the detailed description given herein below. The accompanying drawings are given by way of illustration only, and thus, they are not limitative of the present invention. In the accompanying drawings: Fig. 1 shows a prior art front loader; Fig. 2 shows a prior art excavator; Fig. 3 shows a backhoe; Fig. 4 shows an example of a display in front loader run mode and

DK 180924 B1 14 Fig. 5 shows an example of a display in excavator run mode. Detailed description of the invention Referring now in detail to the drawings for the purpose of illustrating preferred embodiments of the present invention, Fig. 1 A illustrates a prior art wheeled front loader 6. The front loader 6 comprises a cabin and a front-mounted wide bucket connected to the distal end of two booms. The front-mounted wide bucket is referred to as a front loader arm 10 that is attached to the cabin.

Since the front loader 6 comprises a single bucket only, it is sufficient to have a single position detection device (not shown) arranged in the front loader 6. The prior art position detection device comprises a display and is configured to display position data of the front loader arm 10 in the display.

Fig. 2 illustrates a prior art excavator 4 model. The excavator 4 is provided with tracks and comprises a cabin and an excavator arm 12 attached to the cabin, wherein a bucket is mounted at the distal end of the arm.

Since the excavator 4 comprises a single bucket only, the excavator 4 only needs a single position detection device (not shown). The prior art position detection device comprises a display and is configured to display position data of the excavator arm 12 in the display.

Fig. 3 illustrates a wheeled backhoe 2. The backhoe 2 comprises a cabin and an excavator arm 12 attached to the rear end of the cabin. The backhoe 2 comprises a front loader arm 10 that is attached to the front end of the cabin. Both the excavator arm 12 and the front loader arm 10 comprise a bucket. The backhoe 2 comprises a position detection device 28 according to

DK 180924 B1 15 the invention. In one embodiment, the position detection device 28 is placed close to the steering wheel in the cabin. The position detection device 28 comprises a display (not shown) configured to show position data to a user of the backhoe 2.

A trigger unit 30 is located in a seat of the backhoe 2. The trigger unit 30 is arranged and configured in such a manner that a predetermined motion of the seat is a trigger action. The predetermined motion of the seat may be a rotation of the seat (this may be performed by the user during operation of the backhoe 2). Accordingly, upon the predetermined motion of the seat, the display of the position detection device 28 will change the data shown to the user. Fig. 4 illustrates an example of a display 32 of a position detection device according to the invention. The display 32 illustrates an interface configuration 8 that contains various interface elements 14, 16, 18, 20, 22, 24, 26 that can be modified by the user. In the embodiment shown in Fig. 4, several interface elements are shown. The display 32 shows three information panels 14, 16, 18 in the top part of the display 32. A large 3D visualization 26 is presented in the central portion of the display 32. Moreover, a side panel 24 containing different buttons 20, 22 is presented in the right side of the display 32.

The information panel 14 located on the top left side of the display 32 shows a value for the bucket height left. The second information panel 16 located in the upper middle of the display 32 shows a value for the distance from the focus point to a line. The third information panel 18 located on the top right side of the display 32 shows a value for the bucket height. In this interface configuration 8, a side panel 24 that includes physical buttons 20, 22 are available.

DK 180924 B1 16 The first button 20 corresponds to the select focus point operation while the second button 22 corresponds to the select bucket operation.

The interface configuration 8 includes a 3D visualization 26 of the backhoe with a front loader arm pointing upwards.

This indicates that the interface currently is configured to show that the backhoe is running in front loader run mode.

Interaction with the buttons 20, 22 or interaction with another trigger will cause the various interface elements to change.

Fig. 5 illustrates an example of a display 32 of a position detection device according to the invention.

The display 32 illustrates an interface configuration 8 that contains various interface elements 14, 16, 18, 20, 22, 24, 26 that can be modified by the user.

It can be seen that the backhoe is run in excavator run mode.

This is indicated by the fact that the main interface screen 26 illustrates a 3D visualization of the backhoe with an excavator arm pointing upwards.

In Fig. 5 it can be seen that the interface configuration 8 shares the interface elements 14, 16, 18, 20, 22 that are shown in Fig. 4. The change in mode is indicated by the change of values in information panels 14, 16, 18 in the top part of the display 32. In this embodiment of the invention, the position detection device is configured to reuse all the various interface elements 14, 16, 18, 20, 22 of the interface configuration 8 shown in Fig. 4. In other embodiments, the interface configuration 8 may comprise invariants (a first group) and a set of interface elements that may change when shifting mode (a second group). In one embodiment, the second group is small but not empty and most elements fit in the first

DK 180924 B1 17 group.

Accordingly, change of mode may results in a different interface configuration 8. This means that the interface elements found on the display 32 differ when comparing the different modes.

DK 180924 B1 18 List of reference numerals 2 Backhoe 4 Excavator 6 Front Loader 8 Interface Front loader arm 12 Excavator arm 10 14 First interface section 16 second interface section 18 Third interface section 20 First trigger for interface change 22 Second trigger for interface change 24 Side panel 26 Main interface screen 28 Position Detection Device Trigger unit 32 Display

Claims

DK 180924 B1 19 Patent claim

1. A method of using a position detection unit (28) which is placed in an excavator (2) comprising both a front loader arm (10) and digging arm (12), wherein the position detection unit (28) comprises a display (32) and is configured for displaying position data (32) of the front loader arm (10) or backhoe arm (12) on the display (32), wherein the position detection unit (28) is configured to display position data in one or more interface configurations (8), the method comprising the step of selecting between : a) a front loader drive function in which the display (32) of the position detection unit (28) shows position data (32) of the front loader arm (10) on the display (32) and b) a backhoe drive function in which the display (32) of the position detection unit (28) shows position data (32) of the backhoe arm (12) on the display (32), wherein the method further comprises the step of using a trigger action to initiate the selection between the front loader function and the backhoe function the one, characterized in that the triggering action comprises a user interaction with an interface element (30) of the interface configuration (8), or the triggering action comprises the user manually initiating movement of either the digging arm (12) or the front loader arm (10).

DK 180924 B1

2. Method according to claim 1, characterized in that the method comprises the step of reusing all or a part of one or more interface configurations (8) when switching between the front loader function and the digging co function.

3. Method according to claim 1, characterized in that the method comprises the following steps: a) using a first set of interface configurations (8) in the front loader function and b) using a second set of interface configurations (8) in the digger function.

4. Position detection unit (28) configured to be placed in an excavator (2) comprising both a front loader arm (10) and a backhoe arm (12) in a manner where the position detection unit (28) is configured to collect data from the front loader arm (10) or the backhoe arm (12), wherein the position detection unit (28) comprises a display (32) and is configured to display position data of the front loader arm (10) or backhoe arm (12) on the display (32), where the position detection unit (28) is configured for displaying position data in one or more interface configurations (8), wherein the interface configurations (8) comprise different interface elements (14, 16, 18, 20, 22, 24, 26), wherein the position detection unit (28) is configured to be used in a) a front loader function in which the display (32) of the position detection unit (28) shows position data of the front loader arm (10) on the display (32) and

DK 180924 B1 21 b) a backhoe function, in which the display (32) of the position detection unit (28) shows position data for the backhoe arm (12) on the display (32), where the position detection unit (28) comprises a trigger unit (30), to select between the front loader function and the backhoe function , characterized in that the position data trigger unit (30) is arranged and configured to be triggered by the user interacting with an interface element, or the position data trigger unit (30) is arranged and configured to be triggered by the user manually moving either the digging arm (12) or the front loader arm (10).