US 11,851,847 B2
Localized navigation system controller for power machine
Yizhe Chang, Claremont, CA (US); Robert J. Gonzalez, Margate, FL (US); Jingnan Shi, Shanghai (CN); Sirapatsorn Pongpiriyakarn, Bangkok (TH); Felipe Borja, Falls Church, VA (US); Chi-Yen Lee, New Taipei (TW); and Maxwell Maleno, Manhasset, NY (US)
Assigned to DOOSAN BOBCAT NORTH AMERICA INC., West Fargo, ND (US)
Appl. No. 17/609,574
Filed by Clark Equipment Company, West Fargo, ND (US)
PCT Filed May 6, 2020, PCT No. PCT/US2020/031644
§ 371(c)(1), (2) Date Nov. 8, 2021,
PCT Pub. No. WO2020/227387, PCT Pub. Date Nov. 12, 2020.
Claims priority of provisional application 62/844,494, filed on May 7, 2019.
Prior Publication US 2022/0228347 A1, Jul. 21, 2022
Int. Cl. E02F 9/20 (2006.01); E02F 9/26 (2006.01); G05D 1/02 (2020.01)
CPC E02F 9/205 (2013.01) [E02F 9/261 (2013.01); G05D 1/0276 (2013.01); G05D 2201/0202 (2013.01)] 14 Claims
OG exemplary drawing
 
8. A power machine configured to operate with augmented control in a localized positioning system environment, the power machine comprising:
a frame;
a power system supported by the frame;
a traction system supported by the frame and powered by the power system to controllably propel the power machine over a support surface;
a control system having a localization controller configured to determine positioning of the power machine within the localized positioning system environment, an augmented operation controller configured to provide augmented or at least partially autonomous control of the power machine, and a machine controller configured to control the power system and the traction system responsive to the augmented operation controller, the control system configured to control the traction system to automatically guide the power machine in the localized positioning system environment, the control system further configured to:
communicate between the localization controller and a tag device to identify presence of the power machine in the localized positioning system environment and to identify a current relative position of the power machine within the localized positioning system environment;
identify a desired destination position within the localized positioning system environment;
identify obstacles within the localized positioning system environment;
create a power machine path from the current relative position to the desired destination position based in part upon the identified obstacles; and
use the augmented operation controller and the machine controller to at least partially autonomously control the power machine to drive along the created power machine path from the current relative position to the desired destination position.