阅读说明：本技术 车辆外部的物体检测 (Object detection outside a vehicle ) 是由 约翰·普法夫 于 2019-08-06 设计创作，主要内容包括：公开的实施例包括诸如装载机的动力机械(100；200；400)以及在动力机械上使用的系统,该系统被配置为检测物体(402；406)在与动力机械的后部或侧部相邻的区域(404；408；410)内的存在,并且以响应的方式控制动力机械以停止或减缓作业功能。(Disclosed embodiments include a power machine (100; 200; 400), such as a loader, and a system for use on the power machine configured to detect the presence of an object (402; 406) in an area (404; 408; 410) adjacent a rear or side of the power machine and responsively control the power machine to stop or slow a work function.)

1. A power machine (100; 200; 400) comprising:

a power system (120; 220; 320) including a power source (222; 322), a power conversion system (224; 324) driven by the power source, a traction system coupled to and receiving power from the power conversion system to implement a travel function and move the power machine, and a work actuator (238; 235) coupled to and receiving power through the power conversion system to implement a work function;

a user input (350) actuatable by an operator of the power machine and configured to responsively provide a user input signal to control the travel function of the power machine;

at least one object detection sensor (352) configured to detect the presence of an object (402; 406) within one or more monitored areas (404; 408; 410) surrounding the power machine and responsively provide an object detection signal indicative of the detection of the presence of the object;

an area illumination system (354) configured to illuminate all or a portion of any monitored area in the monitored area where the presence of the object is detected; and

a controller (302) coupled to the user input, the at least one object detection sensor, the area illumination system, and the power conversion system, the controller configured to receive the user input signal and the object detection signal and responsively control the power conversion system to control the traction system, wherein when the object is detected within the one or more monitored areas, the controller controls the area illumination system to illuminate all or a portion of the monitored areas where the presence of the object is detected.

2. The power machine of claim 1, wherein the controller is further configured to cause: the controller controls the power conversion system (324) to slow or stop performance of the travel function when the object is detected within the one or more monitored zones.

3. The power machine of claim 2, wherein the controller is configured such that: when the object is detected within the one or more monitored zones, the controller controls the power conversion system (324) to slow or stop the travel function of the power machine using the traction system to prevent a collision with the object despite a user input signal commanding travel.

4. The power machine of claim 3, wherein the controller is configured such that: the controller controls the power conversion system (324) to enable at least some work functions using the work actuators when the object is detected within the one or more monitored zones.

5. The power machine of claim 1, wherein the power conversion system includes left and right drive pumps (324A; 324B) driven by the power source and coupled to left and right drive motors (326A; 326B), respectively.

6. The power machine of claim 5, wherein the power conversion system includes:

an implement pump (324C) driven by the power source; and

a control valve (340) that receives pressurized hydraulic fluid from the implement pump and selectively provides the pressurized fluid to the work actuator.

7. The power machine of claim 6, further comprising:

a frame (110; 210);

a lift arm assembly (230) pivotably coupled to the frame;

an implement carrier (272) pivotably coupled to the lift arm assembly;

wherein the work actuator includes a lift actuator (238) coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly, and a tilt actuator (235) pivotably coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.

8. The power machine of claim 1, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area in which the presence of the object is detected by illuminating a portion of the ground within the monitored area in which the presence of the object is detected.

9. The power machine of claim 1, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area where the presence of the object is detected by illuminating a boundary of the monitored area where the presence of the object is detected.

10. The power machine of claim 1, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area where the presence of the object is detected by illuminating the detected object.

11. A power machine (100; 200; 400) comprising:

a power system (120; 220; 320) comprising:

a power source (222; 322), a power conversion system (224; 324) driven by the power source, a traction system including left and right drive motors (326A; 326B), the traction system coupled to and receiving power through the power conversion system to implement a travel function and move the power machine, and a work actuator (238; 235) coupled to and receiving power through the power conversion system to implement a work function;

a user input (350) actuatable by an operator of the power machine and configured to responsively provide a user input signal to control the work function and the travel function of the power machine;

at least one object detection sensor (352) configured to detect the presence of an object (402; 406) within one or more monitored areas (404; 408; 410) surrounding the power machine and responsively provide an object detection signal indicative of the detection of the presence of the object;

a controller (302) coupled to the user input, the at least one object detection sensor, and the power conversion system, the controller configured to receive the user input signal and the object detection signal, and to control the power conversion system in a responsive manner to control the traction system and the work actuators, and thereby control the work function and travel function of the power machine, wherein when the object is detected within the one or more monitored areas, the controller controls the power conversion system to slow or stop execution of at least one of the travel function and the work function using the traction system and the work actuators to change normal control in response to the user input signal.

12. The power machine of claim 11, wherein the controller is configured such that: when the object is detected within the one or more monitored zones, the controller controls the power conversion system (324) to slow or stop the travel function of the power machine using the traction system to prevent a collision with the object despite a user input signal commanding travel.

13. The power machine of claim 12, wherein the controller is configured such that: the controller controls the power conversion system (324) to enable at least some work functions using the work actuators when the object is detected within the one or more monitored zones.

14. The power machine of claim 11, wherein the power conversion system includes left and right drive pumps (324A; 324B) driven by the power source and coupled to the left and right drive motors (326A; 326B), respectively.

15. The power machine of claim 14, wherein the power conversion system comprises:

an implement pump (324C) driven by the power source; and

a control valve (340) that receives pressurized hydraulic fluid from the implement pump and selectively provides the pressurized fluid to the work actuator.

16. The power machine of claim 15, further comprising:

a frame (110; 210);

a lift arm assembly (230) pivotably coupled to the frame;

an implement carrier (272) pivotably coupled to the lift arm assembly;

wherein the work actuator includes a lift actuator (238) coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly, and a tilt actuator (235) pivotally coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.

17. The power machine of claim 11, and further comprising an area lighting system (354) coupled to the controller and configured to illuminate all or a portion of any of the monitored areas where the presence of the object is detected, wherein when the object is detected within the one or more monitored areas, the controller controls the area lighting system to illuminate all or a portion of the monitored areas where the presence of the object is detected.

18. The power machine of claim 17, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area in which the presence of the object is detected by illuminating a portion of the ground within the monitored area in which the presence of the object is detected.

19. The power machine of claim 17, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area where the presence of the object is detected by illuminating a boundary of the monitored area where the presence of the object is detected.

20. The power machine of claim 17, wherein the controller controls the area illumination system to illuminate all or a portion of the monitored area where the presence of the object is detected by illuminating the detected object.

Background

The present disclosure relates to power machines. More specifically, the present disclosure relates to power machines, such as compact loaders, having an object detection and machine control system that affects machine control and provides a visual warning in the presence of a detected object.

For purposes of this disclosure, power machines include any type of machine that generates power for the purpose of accomplishing a particular task or tasks. One type of power machine is a work vehicle. Work vehicles are typically self-propelled vehicles having a work implement, such as a lift arm (although some work vehicles may have other work implements), which may be manipulated to perform work functions. Work vehicles include loaders, excavators, utility vehicles, tractors, and trenchers, to name a few examples.

The loader may be used to perform various tasks by using a travel function, a lift function, a tilt function, and an assist function. Typically, loaders are used to transport material and/or perform various tasks with attached implements. When operating a loader to perform a task, one or more persons, animals, vehicles, or other objects may approach a work area adjacent to the power machine.

The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.

Disclosure of Invention

Disclosed embodiments include a power machine, such as a loader, and a system for use on the power machine configured to detect the presence of an object in an area adjacent to a rear or side of the power machine and responsively control the power machine to stop or slow a work function. Some disclosed embodiments also illuminate an area or a portion of an area where an object has been detected.

Disclosed embodiments include a power machine and a method of providing control of a power machine in a work area having an obstacle. A system of one or more controllers or computers may be configured to perform particular operations or actions by installing software, firmware, hardware, or a combination thereof on the system, where the software, firmware, hardware, or a combination thereof, in operation, causes or causes the system to perform the actions. One or more computer programs may be configured to perform particular operations or actions by including instructions that, when executed by a data processing apparatus, cause the apparatus to perform the actions.

One general aspect includes a power machine (100; 200; 400) comprising: a power system (120; 220; 320) having: a power source (222; 322); a power conversion system (224; 324) driven by the power source; a traction system including left and right drive motors (326 a; 326b) coupled to and receiving power through the power conversion system to implement a travel function and move the power machine; and a work actuator (238; 235) coupled to and receiving power through the power conversion system to implement a work function. The power system also includes a user input (350) actuatable by an operator of the power machine and configured to responsively provide a user input signal to control the work function and the travel function of the power machine. The power system also includes at least one object detection sensor (352) configured to detect the presence of an object (402; 406) within one or more monitored areas (404; 408; 410) surrounding the power machine and responsively provide an object detection signal indicative of the detection of the presence of the object. The power machine also includes an area illumination system (354) configured to illuminate all or a portion of any of the monitored areas where the presence of the object is detected. The power machine further includes a controller (302) coupled to the user input, the at least one object detection sensor, the area lighting system, and the power conversion system, the controller configured to receive the user input signal and the object detection signal and responsively control the power conversion system to control the traction system and the work actuators and thereby control the work functions and travel functions of the power machine, wherein when the object is detected within the one or more monitored areas, the controller controls the area lighting system to illuminate all or a portion of the monitored area where the presence of the object is detected. Other embodiments of this aspect include respective computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the described methods.

Implementations may include one or more of the following features. In the power machine, the controller is further configured such that: when the object is detected within the one or more monitored zones, the controller controls the power conversion system (324) to slow or stop execution of at least one of the travel function and the work function using the traction system and the work actuator to change normal control in response to the user input signal. In the power machine, the controller is configured such that: when the object is detected within the one or more monitored zones, the controller controls the power conversion system (324) to slow or stop the travel function of the power machine using the traction system to prevent a collision with the object despite a user input signal commanding travel. In the power machine, the controller is configured such that: the controller controls the power conversion system (324) to enable at least some work functions using the work actuators when the object is detected within the one or more monitored zones.

In the power machine, the power conversion system includes left and right drive pumps (324 a; 324b) driven by the power source and coupled to left and right drive motors (326 a; 326b), respectively. In the power machine, the power conversion system includes: an implement pump (324c) driven by the power source; and a control valve (340) that receives pressurized hydraulic fluid from the implement pump and selectively provides the pressurized fluid to the work actuator. The power machine further includes: a frame (110; 210); a lift arm assembly (230) pivotably coupled to the frame; an implement carrier (272) pivotably coupled to the lift arm assembly; wherein the work actuator includes a lift actuator (238) coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly and a tilt actuator (235) pivotably coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.

In the power machine, the controller controls the area illumination system to illuminate all or a part of the monitored area in which the presence of the object is detected by illuminating a part of the ground within the monitored area in which the presence of the object is detected. In the power machine, the controller controls the area illumination system to illuminate all or a part of the monitored area in which the presence of the object is detected by illuminating a boundary of the monitored area in which the presence of the object is detected. In the power machine, the controller controls the area illumination system to illuminate all or a part of the monitored area where the presence of the object is detected by illuminating the detected object.

One general aspect includes a power machine (100; 200; 400) comprising: a power system (120; 220; 320) comprising: a power source (222; 322); a power conversion system (224; 324) driven by the power source; a traction system including left and right drive motors (326 a; 326b) coupled to and receiving power through the power conversion system to implement a travel function and move the power machine; and a work actuator (238; 235) coupled to and receiving power through the power conversion system to implement a work function. The power machine also includes a user input (350) actuatable by an operator of the power machine and configured to responsively provide a user input signal to control the work function and the travel function of the power machine. The power machine also includes at least one object detection sensor (352) configured to detect the presence of an object (402; 406) within one or more monitored areas (404; 408; 410) surrounding the power machine and responsively provide an object detection signal indicative of the detection of the presence of the object. The power machine further includes a controller (302) coupled to the user input, the at least one object detection sensor, and the power conversion system, the controller configured to receive the user input signal and the object detection signal, and to control the power conversion system in a responsive manner to control the traction system and the work actuators, and thereby control the work function and the travel function of the power machine, wherein when the presence of the object is detected within the one or more monitored zones, the controller controls the power conversion system to slow or stop the execution of at least one of the travel function and the work function using the traction system and the work actuators to thereby change the normal control in response to the user input signal. Other embodiments of this aspect include respective computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the described methods.

Implementations may include one or more of the following features. In the power machine, the controller is configured such that: when the object is detected within the one or more monitored zones, the controller controls the power conversion system (324) to slow or stop the travel function of the power machine using the traction system to prevent a collision with the object despite a user input signal commanding travel. In the power machine, the controller is configured such that: the controller controls the power conversion system (324) to enable at least some work functions using the work actuators when the object is detected within the one or more monitored zones.

In the power machine, the power conversion system includes left and right drive pumps (324 a; 324b) driven by the power source and coupled to left and right drive motors (326 a; 326b), respectively. In the power machine, the power conversion system includes: an implement pump (324c) driven by the power source; and a control valve (340) that receives pressurized hydraulic fluid from the implement pump and selectively provides the pressurized fluid to the work actuator. The power machine further includes: a frame (110; 210); a lift arm assembly (230) pivotably coupled to the frame; an implement carrier (272) pivotably coupled to the lift arm assembly; wherein the work actuator includes a lift actuator (238) coupled between the frame and the lift arm assembly and configured to raise and lower the lift arm assembly and a tilt actuator (235) pivotably coupled between the lift arm assembly and the implement carrier and configured to rotate the implement carrier relative to the lift arm assembly.

The power machine further includes an area illumination system (354) coupled to the controller and configured to illuminate all or a portion of any of the monitored areas where the presence of the object is detected, wherein when the object is detected within the one or more monitored areas, the controller controls the area illumination system to illuminate all or a portion of the monitored areas where the presence of the object is detected. In the power conversion system, the controller controls the area illumination system to illuminate all or a part of the monitored area in which the presence of the object is detected by illuminating a part of the ground within the monitored area in which the presence of the object is detected. In the power machine, the controller controls the area illumination system to illuminate all or a part of the monitored area in which the presence of the object is detected by illuminating a boundary of the monitored area in which the presence of the object is detected. In the power machine, the controller controls the area illumination system to illuminate all or a part of the monitored area where the presence of the object is detected by illuminating the detected object.

This summary and abstract are provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

Drawings

FIG. 1 is a block diagram illustrating the functional system of a representative power machine upon which embodiments of the present disclosure may be advantageously implemented.

Fig. 2-3 show perspective views of a representative power machine of the type in the form of a skid steer loader on which the disclosed embodiments may be implemented.

Fig. 4 is a block diagram illustrating components of a power system of a loader, such as the loader shown in fig. 2-3.

FIG. 5 is a block diagram illustrating components of the power system of FIG. 4 in greater detail, according to an exemplary embodiment.

FIG. 6 is a block diagram of a system configured to detect the presence of an object in an area adjacent to a power machine and to responsively control a travel function and/or a work function of the power machine.

7-1-7-3 are schematic top views of a power machine having the system of FIG. 6, illustrating a monitored area adjacent the power machine.

FIG. 8 is a schematic side view of the power machine of FIGS. 7-1-7-3 illustrating an area illumination system that illuminates an area where an object has been detected.

Detailed Description

The concepts disclosed in this discussion are described and illustrated with reference to exemplary embodiments. However, these concepts are not limited in their application to the details of construction and the arrangement of components in the illustrative embodiments, and can be embodied or practiced in various other ways. The terminology herein is for the purpose of description and should not be regarded as limiting. As used herein, words such as "comprising," "including," "having," and variations thereof are intended to cover the items listed after the words, equivalents of the listed items, and additional items.

Disclosed embodiments include power machines, such as loaders, and systems for use on such power machines that are configured to detect objects within one or more areas of a side and/or rear of the machine and responsively limit or stop operation of the power machine. For example, the travel function, lift function, and/or other functions of the power machine may be slowed or stopped upon detecting that an object is within or approaching a region of a side or rear of the power machine. In some disclosed embodiments, illumination or other visual indication of the area is implemented by a power machine. For example, in some embodiments, a laser tracks the boundaries of the area, or other light sources are used to illuminate the area.

These concepts may be implemented on a variety of power machines as described below. A representative power machine in which embodiments may be practiced is illustrated in block diagram form in fig. 1, and one example of such a power machine is illustrated in fig. 2-3 and described below, prior to any embodiments being disclosed. For the sake of brevity, only one power machine is shown and discussed as a representative power machine. However, as noted above, the following embodiments may be implemented on any of a variety of power machines, including different types of power machines than the representative power machine shown in fig. 2-3. For purposes of this discussion, a power machine includes a frame, at least one work element, and a power source configured to provide power to the work element to accomplish a work task. One type of power machine is a self-propelled work vehicle. Self-propelled work vehicles are a type of power machine that includes a frame, a work element, and a power source capable of providing power to the work element. At least one of the work elements is a motive system for moving the power machine under power.

FIG. 1 is a block diagram illustrating the basic system of a power machine 100, which may be any of a number of different types of power machines that may advantageously incorporate the embodiments discussed below. The block diagram of FIG. 1 identifies various systems and relationships between various components and systems on the power machine 100. As mentioned above, in its most basic level, a power machine for the purposes of this discussion includes a frame, a power source, and a work element. Power machine 100 has a frame 110, a power source 120, and a work element 130. Because the power machine 100 shown in fig. 1 is a self-propelled work vehicle, the power machine 100 also has a traction element 140, which traction element 140 is itself a work element arranged to move the power machine over a support surface, and an operator station 150, which operator station 150 provides an operating position for controlling the work element of the power machine. Control system 160 is configured to interact with other systems to perform various work tasks at least partially in response to control signals provided by an operator.

Some work vehicles have work elements that are capable of performing specialized tasks. For example, some work vehicles have a lift arm to which an implement, such as a bucket, is attached, for example, by a pin connection. For the purpose of performing a task, the work element (i.e., the lift arm) may be manipulated to position the implement. In some cases, the implement may be positioned relative to the work element, for example, by rotating the bucket relative to the lift arm, to further position the implement. Under normal operation of such a work vehicle, the bucket is intended to be attached and in use. Such work vehicles are able to accept other implements by disassembling an implement/work element combination and reassembling another implement in place of the original bucket. However, other work vehicles are intended for use with a wide variety of implements and have an implement interface such as implement interface 170 shown in fig. 1. At its most basic, the implement interface 170 is a connection mechanism between the frame 110 or work element 130 and the implement, which may simply be a connection point for attaching the implement directly to the frame 110 or work element 130, or may be more complex, as discussed below.

On some power machines, the implement interface 170 may include an implement carrier that is a physical structure movably attached to the work element. The implement carrier has an engagement feature and a locking feature to receive and secure any of a plurality of implements to the work element. One characteristic of such an implement carrier is that once the implement is attached to the implement carrier, the implement carrier is fixed to the implement (i.e., is not movable relative to the implement) and the implement moves with the implement carrier as the implement carrier moves relative to the work element. The term "implement carrier" as used herein is not merely a pivotal connection point, but is a special device specifically for receiving and being secured to a variety of different implements. The implement carrier itself may be mounted to a work element 130 such as a lift arm or the frame 110. The implement interface 170 may further include

One or more power sources for providing power to one or more work elements on the implement. Some power machines may have a plurality of work elements with implement interfaces, each of which may, but need not, have an implement carrier for receiving an implement. Some other power machines may have a work element with multiple implement interfaces such that a single work element may accept multiple implements simultaneously. Each of these implement interfaces may, but need not, have an implement carrier.

The frame 110 includes a physical structure that can support various other components attached to the frame 110 or positioned on the frame 110. The frame 110 may include any number of individual components. Some power machines have a rigid frame. That is, no part of the frame can move relative to another part of the frame. Other power machines have at least one portion that is movable relative to another portion of the frame. For example, an excavator may have an upper frame portion that rotates relative to a lower frame portion. Other work vehicles have an articulated frame such that one portion of the frame pivots relative to another portion to perform a steering function.

The frame 110 supports a power source 120 configured to provide power to one or more work elements 130 including one or more traction elements 140, and in some cases, to provide power for use by an attached implement via an implement interface 170. Power from power source 120 may be provided directly to any of work elements 130, traction elements 140, and implement interface 170. Alternatively, power from power source 120 may be provided to control system 160, which in turn selectively provides power to elements capable of using the power to perform work functions. Power sources for power machines typically include an engine, such as an internal combustion engine, and a power conversion system, such as a mechanical transmission or a hydraulic system, configured to convert output from the engine into a form of power that can be used by the work elements. Other types of power sources may be incorporated into the power machine, including an electrical power source or a combination of power sources commonly referred to as a hybrid power source.

Fig. 1 shows a single work element designated as work element 130, but various power machines may have any number of work elements. Typically, the work element is attached to a frame of the power machine and is movable relative to the frame while performing a work task. Additionally, the special case where the traction element 140 is a work element is that the work function of the traction element is typically to move the power machine 100 over a support surface. The traction element 140 is shown separate from the work element 130 because many power machines have additional work elements in addition to the traction element, although this is not always the case. The power machine may have any number of traction elements, some or all of which may receive power from the power source 120 to propel the power machine 100. The traction elements may be, for example, track assemblies, wheels attached to an axle, and the like. The traction element may be mounted to the frame such that movement of the traction element is limited to rotation about an axis (such that steering is achieved by a sliding action), or alternatively, the traction element may be pivotably mounted to the frame to accomplish steering by pivoting the traction element relative to the frame.

The power machine 100 includes an operator station 150 that includes an operating position from which an operator may control operation of the power machine. In some power machines, the operator station 150 is defined by an enclosed cab or a partially enclosed cab. Some power machines that may implement the disclosed embodiments may not have a cab or operator compartment of the type described above. For example, a walking self-propelled loader may not have a cab or operator compartment, but rather an operating position that serves as an operator station from which the power machine may be properly operated. More broadly, the power machine may have an operator station other than a work vehicle that does not necessarily resemble the above-mentioned operating locations and operator rooms. Additionally, some power machines, such as power machine 100 and others, which may be capable of being operated remotely (i.e., from a remotely located operator station), whether or not having an operator compartment or operator location, may be used instead of or in addition to an operator station located on or adjacent to the power machine. This may include applications in which at least some of the operator-controlled functions of the power machine may be operated from an operating position associated with an implement coupled to the power machine. Alternatively, for some power machines, a remote control (i.e., both remote from the power machine and any implement coupled with the power machine) may be provided that is capable of controlling at least some of the operator-controlled functions on the power machine.

Fig. 2-3 illustrate a loader 200, which is a specific example of a power machine of the type shown in fig. 1, in which the embodiments discussed below may be advantageously employed. The loader 200 is a skid steer loader, which is a loader with traction elements (in this case four wheels) mounted to the frame of the loader via rigid axles. Here, the term "rigid shaft" refers to the fact that: skid steer loader 200 does not have any traction elements that can rotate or steer to assist the loader in completing a turn. Instead, skid steer loaders have a drive system that independently powers one or more traction elements on each side of the loader so that by providing different traction signals to each side, the machine will tend to skid on the support surface. These varying signals may even include powering the traction element(s) on one side of the loader to move the loader in a forward direction and powering the traction element(s) on the other side of the loader to run the loader in an opposite direction so that the loader will make a turn around a radius centered on the loader's own footprint. The term "skid steer" conventionally refers to a loader having skid steer with wheels as the traction elements as described above. However, it should be noted that many track loaders can complete a turn by slipping even without wheels, and are also technically skid steer loaders. For the purposes of this discussion, unless otherwise specified, the term "skid steer" should not be construed as limiting the scope of the discussion to those loaders having wheels as the traction elements.

The loader 200 is one specific example of the power machine 100 broadly illustrated in FIG. 1 and discussed above. To this end, features of the loader 200 described below include reference numerals that are substantially similar to those used in fig. 1. For example, loader 200 is depicted with frame 210, just as power machine 100 has frame 110. Loader 200 should not be considered limiting, particularly with respect to the descriptions of features of loader 200 that have been described herein, which are not essential to the disclosed embodiments, and thus may or may not be included in a power machine other than loader 200 that may advantageously implement the embodiments disclosed below. Unless specifically stated otherwise, the embodiments disclosed below may be implemented on a variety of power machines, and the loader 200 is only one of these power machines. For example, some or all of the concepts discussed below may be implemented on many other types of work vehicles, such as various other loaders, excavators, trenchers, and dozers, to name a few examples.

The loader 200 includes a frame 210 that supports a power system 220 that is capable of generating or otherwise providing power to operate various functions on the power machine. The power system 220 is shown in block diagram form, but the power system 220 is located within the frame 210. The frame 210 also supports a work element in the form of a lift arm assembly 230 that is powered by a power system 220 and is capable of performing various work tasks. Since loader 200 is a work vehicle, frame 210 also supports a traction system 240, which traction system 240 is also powered by power system 220 and is capable of propelling the power machine over a support surface. The lift arm assembly 230, in turn, supports an implement interface 270 that includes an implement carrier 272 that is capable of receiving and securing various implements to the loader 200 to perform various work tasks, and a power coupler 274 to which implements may be coupled to selectively provide power to implements that may be connected to the loader. The power coupling 274 may provide a hydraulic power source or an electrical power source, or both. The loader 200 includes a cab 250 defining an operator station 255 from which an operator may manipulate various controls 260 to cause the power machine to perform various work functions. The cab 250 may be pivoted rearwardly about an axis extending through the mount 254 to provide access to the powertrain components as needed for maintenance and repair.

The operator station 255 includes an operator seat 258 and a plurality of operational input devices including a lever 260 that an operator can manipulate to control various machine functions. The operator input devices may include buttons, switches, levers, sliders, pedals, and similar devices, including programmable input devices, which may be stand alone devices such as manual levers or foot pedals, or incorporated into a handle or display panel. Actuation of the operator input device may generate a signal in the form of an electrical signal, a hydraulic signal, and/or a mechanical signal. Signals generated in response to the operator input device are provided to various components on the power machine to control various functions on the power machine. Among the functions controlled via operator input devices on the power machine 100 are control of the traction element 219, the lift arm assembly 230, the implement carrier 272, and providing signals to any implement operably coupled to the implement.

The loader may include a human-machine interface including a display device disposed in the cab 250 to provide an indication, e.g., an audible indication and/or a visual indication, of information related to the operation of the power machine in a form that is perceptible to the operator. The sound indication may be in the form of a beep, bell, etc. or by verbal communication. The visual indication may be in the form of a graphic, a light, an icon, a meter, an alphanumeric symbol, or the like. The display may be dedicated to providing dedicated indications, such as warning lights or meters, or may dynamically provide programmable information, including programmable display devices such as monitors of various sizes and capabilities. The display device may provide diagnostic information, troubleshooting information, instructional information, and various other types of information that assist an operator in operating the power machine or an implement coupled to the power machine. Other information that may be useful to the operator may also be provided. Other power machines, such as walk-behind loaders, may not have a cab, operator compartment, or seat. The operator position on such loaders is typically defined relative to the position at which the operator is best suited to manipulate the operator input device.

Various power machines that can include and/or interact with the embodiments discussed below may have various different frame components that support various work elements. The elements of frame 210 discussed herein are provided for illustrative purposes, and frame 210 is not the only type of frame that a power machine on which embodiments may be implemented may employ. The frame 210 of the loader 200 includes a bottom frame or lower portion 211 of the frame and a main frame or upper portion 212 of the frame supported by the bottom frame. The main frame 212 of the loader 200 is attached to the undercarriage 211, in some embodiments, such as by fasteners or by welding the undercarriage to the main frame. Alternatively, the main frame and the under frame may be integrally formed. The main frame 212 includes a pair of upright portions 214A and 214B on either side of the main frame and toward the rear of the main frame, the pair of upright portions 214A and 214B supporting a lift arm assembly 230, and the lift arm assembly 230 being pivotally attached to the pair of upright portions 214A and 214B. The lift arm assembly 230 is illustratively pinned to each of the upright portions 214A and 214B. For purposes of this discussion, the combination of mounting features on the lift arm assembly 230 and upright portions 214A and 214B, as well as mounting hardware, including pins for pinning the lift arm assembly to the main frame 212, are collectively referred to as joints 216A and 216B (one joint on each upright portion 214). The joints 216A and 216B are aligned along an axis 218 such that the lift arm assembly is pivotable relative to the frame 210 about the axis 218, as discussed below. Other power machines may not include an upright section on either side of the frame, or may not have a lift arm assembly mountable to an upright section on either side of the frame and toward the rear of the frame. For example, some power machines may have a single arm mounted to a single side of the power machine or to a front or rear end of the power machine. Other machines may have multiple work elements including multiple lift arms, each of which is mounted to the machine in its own configuration. The frame 210 also supports a pair of traction elements in the form of wheels 219A-219D on either side of the loader 200.

The lift arm assembly 230 shown in fig. 2-3 is one example of many different types of lift arm assemblies that may be attached to a power machine, such as the loader 200 or other power machine on which embodiments of the present discussion may be implemented. The lift arm assembly 230 is a so-called vertical lift arm, meaning that the lift arm assembly 230 is movable relative to the frame 210 under the control of the loader 200 along a lift path 237 (i.e., the lift arm assembly can be raised and lowered), the lift path 237 forming a substantially vertical path. Other lift arm assemblies may have different geometries and may be coupled to the frame of the loader in various ways to provide a different lift path than the radial path of the lift arm assembly 230. For example, some lift paths on other loaders provide radial lift paths. Other lift arm assemblies may have telescoping portions. Other power machines may have multiple lift arm assemblies attached to a frame of the power machine, where each lift arm assembly is independent of the other. Unless specifically stated otherwise, none of the inventive concepts set forth in the present discussion are limited by the type or number of lift arm assemblies coupled to a particular power machine.

The lift arm assembly 230 has a pair of lift arms 234 disposed on opposite sides of the frame 210. A first end of each of the lift arms 234 is pivotably coupled to the power machine at joint 216, and a second end 232B of each of the lift arms is positioned forward of the frame 210 when in the lowered position as shown in fig. 2. The joint 216 is positioned toward the rear of the loader 200 so that the lift arm extends along the side of the frame 210. The lift path 237 is defined by the travel path of the second end 232B of the lift arm 234 as the lift arm assembly 230 moves between a minimum height and a maximum height.

Each of the lift arms 234 has a first portion 234A and a second portion 234B, the first portion 234A of each lift arm 234 being pivotably coupled to the frame 210 at one of the joints 216, the second portion 234B extending from a connection with the first portion 234A to the second end 232B of the lift arm assembly 230. The lift arms 234 are each coupled to a cross member 236, which cross member 236 is attached to the first portion 234A. The cross member 236 provides increased structural stability to the lift arm assembly 230. A pair of actuators 238 (which are hydraulic cylinders on the loader 200 configured to receive pressurized fluid from the power system 220) are pivotably coupled to both the frame 210 and the lift arms 234 at pivotable joints 238A and 238B, respectively, on either side of the loader 200. The actuators 238 are sometimes referred to individually as lift cylinders. Actuation (i.e., extension and retraction) of the actuator 238 causes the lift arm assembly 230 to pivot about the joint 216 and thereby be raised and lowered along a fixed path as indicated by arrow 237. Each of a pair of control links 217 is pivotally mounted to the frame 210 and one of the lift arms 232 on either side of the frame 210. Control link 217 helps define a fixed lift path for lift arm assembly 230.

Some lift arms (most notably those on excavators, but perhaps also on loaders) may have portions that are controllable to pivot relative to one another rather than move in unison (i.e., along a predetermined path) as is the case with the lift arm assembly 230 shown in fig. 2. Some power machines have a lift arm assembly with a single lift arm, such as is known in excavators, and even some loaders and other power machines. Other power machines may have multiple lift arm assemblies, each independent of the other.

The implement interface 270 is disposed proximate the second end 232B of the lift arm assembly 234. The implement interface 270 includes an implement carrier 272 that is capable of receiving a variety of different implements and securing the implements to the lift arm 230. Such implements have complementary mechanical interfaces configured to engage with the implement carrier 272. An implement carrier 272 is pivotally mounted at the second end 232B of the arm 234. The implement carrier actuator 235 operably couples the lift arm assembly 230 and the implement carrier 272 and is operable to rotate the implement carrier relative to the lift arm assembly. The implement carrier actuator 235 is illustratively a hydraulic cylinder, and is commonly referred to as a tilt cylinder.

By having an implement carrier that is attachable to a plurality of different implements, changing from one implement to another implement can be accomplished relatively easily. For example, a machine having an implement carrier may provide an actuator between the implement carrier and the lift arm assembly such that removing or attaching an implement does not involve removing or attaching the actuator from the implement or removing or attaching the implement from the lift arm assembly. The implement carrier 272 provides mounting structure for easily attaching an implement to a lift arm (or other portion of the power machine) such that a lift arm assembly without an implement carrier is free of the mounting structure.

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

The implement interface 270 also includes an implement power source 274 that can be used to connect to an implement on the lift arm assembly 230. The implement power source 274 includes a pressurized hydraulic fluid port to which an implement may be removably coupled. The pressurized hydraulic fluid port selectively provides pressurized hydraulic fluid to power one or more functions or actuators on the implement. The implement power source may also include a power source for powering an electric actuator and/or an electronic controller on the implement. The implement power source 274 also illustratively includes electrical conduits that communicate with a data bus on the excavator 200 to allow communication between the controller on the implement and the electronics on the loader 200.

The frame 210 supports and substantially encloses the power system 220 such that various components of the power system 220 are not visible in fig. 2-3. Fig. 4 includes, among other things, an illustration of various components of the power system 220 that are controlled in response to detection of an object in the embodiments described below. The power system 220 includes one or more power sources 222 configured to generate and/or store power for various mechanical functions. On the power machine 200, the powertrain 220 includes an internal combustion engine. Other power machines may include generators, rechargeable batteries, various other power sources, or any combination of power sources capable of providing power to a given power machine component. The power system 220 also includes a power conversion system 224 that is operatively coupled to the power source 222. The power conversion system 224 is, in turn, coupled to one or more actuators 226 configured to perform functions on the power machine. Power conversion systems in various power machines may include various components, including mechanical transmissions, hydraulic systems, and the like. The power conversion system 224 of the power machine 200 includes a pair of hydrostatic drive pumps 224A and 224B that may be selectively controlled to provide power signals to drive motors 226A and 226B. Drive motors 226A and 226B are each, in turn, operably coupled to a shaft, with drive motor 226A coupled to shafts 228A and 228B and drive motor 226B coupled to shafts 228C and 228D. The shafts 228A-228D, in turn, are coupled to traction elements such as wheels 219A-219D, respectively. Drive pumps 224A and 224B may be mechanically, hydraulically, and/or electrically coupled to an operator input device for receiving actuation signals for controlling the drive pumps.

The arrangement of the drive pump, motor, and shaft in the power machine 200 is merely one example of an arrangement of these components. As discussed above, the power machine 200 is a skid steer loader, and thus the traction elements on each side of the power machine are controlled together by the output of a single hydraulic pump or by a single drive motor as in the power machine 200 or by separate drive motors. Various other configurations and combinations of hydraulically driven pumps and motors may be advantageously employed.

The power conversion system 224 of the power machine 200 also includes a hydraulic implement pump 224C that is also operatively coupled to the power source 222. The hydraulic implement pump 224C is operatively coupled to the work actuator circuit 238C. The work actuator circuit 238C includes a lift cylinder 238 and a tilt cylinder 235 and control logic (e.g., one or more valves) for controlling the actuation of the lift cylinder 238 and the tilt cylinder 235. Control logic selectively allows actuation of the lift and/or tilt cylinders in response to operator input. In some machines, the work actuator circuit also includes control logic for selectively providing pressurized hydraulic fluid to an attached implement.

The above description of the power machine 100 and loader 200 is provided for illustrative purposes to provide an illustrative environment on which the embodiments discussed below may be implemented. Although the discussed embodiments may be implemented on a power machine such as the power machine 100 generally illustrated in the block diagram of fig. 1, and more specifically on a loader such as the loader 200, unless otherwise stated or stated, the concepts discussed below are not intended to limit their application to the environments specifically described above.

Referring now to FIG. 5, a diagram of a power system 320 is shown, the power system 320 being a more specific embodiment of the power system 220 discussed with reference to FIG. 4, and the power system 320 being controlled in response to detection of an object in an area surrounding the power machine. The power system 320 may be employed on a machine such as the loader 200. As shown in FIG. 5, power source 322, which corresponds to power source 222 in FIG. 4, is an engine, typically a diesel engine, although the disclosed embodiments are not limited to this particular type of power source. Similar to the power system 220, the power system 320 includes a power conversion system 324, the power conversion system 324 having a pair of drive pumps (a left drive pump 324A and a right drive pump 324B in a pump assembly) and an implement pump 324C. The motor 322 may drive the pump directly, may drive the pump indirectly through a belt drive coupling mechanism, or may drive the pump using any other type of coupling. The power conversion system 324 may also include a make-up pump 304, the make-up pump 304 pumping hydraulic fluid from the tank 306 to make up input to the drive pumps 324A and 324B.

In some embodiments, the implement pump 324C may be a constant displacement gear pump that provides a constant displacement of pressurized hydraulic fluid to a control valve 340 of a work actuator circuit 338C, the work actuator circuit 338C corresponding to the work actuator circuit 238C shown in fig. 4. The control valve 340 is a parallel valve with a central opening of three spools: a lift spool 340A that provides hydraulic fluid to the lift actuator(s) 238, a tilt spool 340B that provides hydraulic fluid to the tilt actuator(s) 235, and an auxiliary hydraulic spool 340C that provides hydraulic fluid to auxiliary functions, such as auxiliary functions of a work actuator located on an attached implement, through an auxiliary port 342. The hydraulic spools have priority in the order shown in terms of receiving a constant supply of hydraulic fluid (e.g., the lift spool has priority over the tilt spool and the auxiliary spool, and the tilt spool has priority over the auxiliary spool). The controller 302 controls the position of the spool of the control valve 340 using, for example, a solenoid. When the spools are activated by the controller 302, hydraulic fluid flowing through each spool and the corresponding actuator (e.g., lift actuator(s) 238, tilt actuator(s) 235, etc.) exits the control valve 340 and returns to the tank 306. Alternatively, the implement pump 324C may be a variable displacement pump without departing from the scope of any of the embodiments in this discussion.

In the exemplary embodiment, a drive system of power system 320 is a hydrostatic system. Each drive pump 324A and 324B is coupled to one or more motors. In a skid steer loader, each drive pump is a variable displacement pump coupled to one motor, with left drive pump 324A providing hydraulic fluid to left drive motor 326A and right drive pump 324B providing hydraulic fluid to right drive motor 326B. The displacement of each of the pumps 324A and 324B is controlled by control signals from the controller 302 and the displacement may be controlled in either direction to control the forward and backward movement of the power machine. Motors 326A and 326B may be fixed displacement motors. Further, the motors 326A and 326B may be multi-speed motors having two or more speeds that may be switched, with each speed having a different constant displacement. The hydraulic circuit between drive pump 324A and drive motor 326A and the hydraulic circuit between drive pump 324B and drive motor 326B may be closed loop circuits. Typically, there will be some leakage of hydraulic fluid in the pump, and the housing drain line 308 returns hydraulic fluid leaking from the pump to the tank 306. Such hydraulic fluid leakage may also be provided through a cooler (not shown) before being returned to the tank 306 for the purpose of cooling the hydraulic fluid in the system. When the controller 302 controls the drive functions of the power machine, the controller 302 provides electronic signals to cause the two drive pumps 324A and 324B to be activated independently of each other to provide hydraulic fluid to the hydraulic drive motors 326A and 326B. In some embodiments, the controller 302 also provides electronic signals to control the displacement speed of the motors 326A and 326B, which are typically two-speed motors.

Disclosed embodiments include a loader or other power machine and a system for use on the power machine that is configured to detect the presence of an object in one or more areas to the side or rear of the machine and control operation of the machine in a responsive manner to slow or stop travel functions and/or work functions. In some embodiments, the controller 302 is configured to provide or assist with control as described below. For example, the controller 302 may control a drive or implement pump, control valve 340, or alternatively control the engine 322 of the power conversion system 324 in response to various inputs, including detection of objects in one or more zones.

FIG. 6 illustrates a system 300 that may be employed on a power machine, such as the loader 200, according to some embodiments. The system 300 includes a powered system 320 and a number of components configured to define and illuminate an area in which an object may be detected, and to provide control of the powered system in response to the object if detected. The controller 302 is configured to control the power conversion system 324, control the valve 340, or alternatively control the engine 322, in response to signals from the user input 350. Examples of user inputs 350 include joystick controls, levers, foot pedals, touch screen inputs, switches, and the like, although other user inputs may also be utilized. Under normal operation, in response to input signals from user input 350, controller 302 controls power conversion system 324, control valves 340, etc. to perform work functions, such as advancing the machine, raising and lowering the lift arm, controlling the tilt actuator to control the positioning of the implement, and/or controlling auxiliary functions on the implement.

The system 300 also includes one or more object detection sensors 352, the object detection sensors 352 configured to detect the presence of an object in one or more areas surrounding the power machine. FIG. 7-1 is a schematic top view of a power machine 400 including a system 300 in which a sensor(s) 352 detects the presence of an object 402 in an area 404 to the rear and rear of the machine. Fig. 7-2 is a schematic top view of power machine 400 in which sensor(s) 352 detect the presence of object 406 in one of regions 408 and 410 to the sides of the power machine. Fig. 7-3 is a schematic top view of a power machine 400 in which sensor(s) 352 monitor all of the zones 404, 408, and 410 for the presence of an object. The size, shape, number, and location of the regions being monitored may vary and are not intended to be limited to the shapes or locations of the regions shown in fig. 7-1 through 7-3. Further, the size of the regions may be varied as desired. For example, in some embodiments, the area includes all areas to the sides and rear of the power machine within 10 feet of the power machine. In other embodiments, other sized regions may be used. Object detection sensor(s) 352 may include any type of sensor or combination of any type of sensors that may be used to detect objects such as humans or animals, vehicles, and the like. For example, sensor(s) 352 may include a radar or low power radar sensor, a laser sensor, an optical sensor or camera with image processing circuitry for object recognition, an infrared sensor, a motion sensor, and so forth.

When an object (e.g., object 402 or 406 shown in fig. 7-1 and 7-2) is detected in the monitored area adjacent to the power machine 400, the controller 302 controls the power conversion system 324, the control valve 340, etc. to slow or stop performance of the work function to override or alter the normal control (e.g., in response to a user input signal when no object is detected). In some embodiments, the travel or job group function is completely stopped despite the command from user input 350. In other embodiments, the functionality is merely slowed. In still other embodiments, some functions are stopped while others are slowed. For example, despite a user input commanding travel, the travel function may be completely stopped to prevent collision with an object while allowing the lift arm or auxiliary functions to continue in response to the user input, but with the powered movement slowed or reduced.

The system 300 also includes an area illumination system 354, the area illumination system 354 controllable by the controller 302, configured to illuminate all or a portion of the monitored area when an object is detected. For example, referring to the schematic side view of the power machine of FIG. 8, when an object 402 is detected within the area 404 to the rear of the power machine, the light source 420 of the area illumination system 354 illuminates a portion 422 of the ground within the area 404. The area illumination system 354 and the light source 420 may be configured to illuminate the entire area, a portion of the area, or a boundary of the area or a portion of the area. For example, the light source may be an array of LEDs (or other type of light source) that is directed to illuminate the entire area where the object is detected. In the alternative, the light source may be a tracking laser configured to illuminate a border around the area or an object within the area. By providing illumination with system 354, an operator of the power machine may more easily visually identify the object. Moreover, illuminating the area or a portion of the area may provide a visual indication to a person outside of the power machine in an area surrounding the power machine.

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