LIFT DEVICE WITH PLATFORM TRAVEL REPLAY

A lift device includes a base assembly, a platform assembly, a lift assembly coupled between the base assembly and the platform assembly and including a lift actuator configured to raise or lower the platform assembly, a rotary motor configured to rotate the platform assembly, and a controller in communication with the drive motor, the lift actuator, and the rotary motor. The controller is configured to record steps performed by the lift actuator and the rotary motor during a positioning event that moves the platform assembly from an initial position to a work site, and operate the lift actuator and the rotary motor to perform the steps performed during the positioning event in a reverse order and in a movement direction that is opposite to a direction of the steps recorded during the positioning event to automate movement of the platform assembly from the work site to the initial position.

BACKGROUND

The present disclosure relates to lift devices. More specifically, the present disclosure relates to controlling lift devices.

SUMMARY

At least one embodiment relates to a lift device. The lift device includes a base assembly having a drive motor, a platform assembly, a lift assembly coupled between the base assembly and the platform assembly and including a lift actuator configured to raise or lower the platform assembly, a rotary motor configured to rotate the platform assembly, and a controller in communication with the drive motor, the lift actuator, and the rotary motor. The controller is configured to record steps performed by the lift actuator and the rotary motor during a positioning event that moves the platform assembly from an initial position to a work site, and operate the lift actuator and the rotary motor to perform the steps performed during the positioning event in a reverse order and in a movement direction that is opposite to a direction of the steps recorded during the positioning event to automate movement of the platform assembly from the work site to the initial position.

At least one embodiment relates to a lift device. The lift device includes a base assembly including a drive motor, a platform assembly, a lift assembly coupled between the base assembly and the platform assembly and including a plurality of actuators configured to move the platform assembly relative to the base assembly, a user interface configured to receive one or more inputs and control operation of the plurality of actuators, and a controller in communication with the plurality of actuators and the user interface. The controller is configured to record steps input to the user interface during a positioning event that moves the platform assembly from an initial position to a work site, wherein each of the steps in the positioning event includes a first direction and a magnitude associated with moving one of the plurality of actuators, and operate the plurality of actuators to perform the steps recorded during the positioning event in a reverse order to automate movement of the platform assembly from the work site to the initial position, wherein each of the steps performed in the reverse order include a second direction, opposite to the first direction, and the magnitude associated with moving the one of the plurality of actuators recorded during the positioning event.

At least one embodiment relates to a method for controlling a platform assembly of a lift device. The method includes recording an input to a user interface during a positioning event that results in movement a platform assembly from an initial position to a work site. The input is recorded as a step that includes moving an actuator or motor in a first direction with a magnitude. The method further includes triggering a travel replay procedure, and in response to triggering the travel replay procedure, performing the step recorded during the positioning event in a reverse order to automate movement of the platform assembly from the work site to the initial position. The step performed in the reverse order includes moving the actuator or motor in a second direction, opposite to the first direction, and the magnitude.

DETAILED DESCRIPTION

Overview

In general, a positioning event includes movement of one or more motors and/or actuators that results in placement of a platform at a work site where an operator can perform a job. Positioning events are typically difficult and time consuming for lift devices (e.g., boom lifts), often requiring several individual movements of different components on the lift device to reach a work site. Referring generally to the FIGURES, a lift device includes a control system (e.g., a controller) that is configured to record operations (e.g., movement of a platform, lift arms (tower, boom, jib, etc.), a turntable, and a base (drive motors)) during a positioning event as a platform is moved to a work site. Recording the operations during the positioning event enables the controller to implement a travel replay procedure (e.g., either in response to a request or input). The travel replay procedure may enable the controller to automate the recorded positioning event, either forward or backwards. For example, a positioning event may be recorded (e.g., first step to last step) while a platform is moved from an initial position to a work site.

Upon the platform reaching the work site, the controller is configured to implement the travel replay procedure to perform a reverse of each recorded step in the positioning event in a reverse order (e.g., last step to first step). For example, if a platform is raised in one step during the positioning event, the platform will be lowered the same amount during the travel replay procedure, or if a platform is rotated in a first direction during the positioning event, the platform will be rotated in a second direction, opposite to the first direction, in the travel replay procedure. In this way, for example, the process of returning the platform to the initial position is automated and does not require an operator to perform the complex order of steps that were used to reach the work site. In some embodiments, the replay procedure may automate the platform returning from the initial position to the work site by replaying the steps in the positioning event in a forward order (e.g., first step to last step). In some embodiments, the lift device includes one or more object detection sensors that are configured to override the travel replay procedure if an object is detected within a predefined distance of any portion of the lift device.

Lift Device

Referring toFIG.1, a lifting apparatus, lift device, or mobile elevating work platform (MEWP) (e.g., a telehandler, an electric boom lift, a towable boom lift, a lift device, a fully electric boom lift, etc.), shown as lift device10includes a base assembly12(e.g., a base, a support assembly, a drivable support assembly, a support structure, a chassis, etc.), a platform assembly16(e.g., a platform, a terrace, etc.), and a lift assembly14(e.g., a boom, a boom lift assembly, a lifting apparatus, an articulated arm, a scissors lift, etc.). The lift device10includes a front end (e.g., a forward-facing end, a front portion, a front, etc.), shown as front62, and a rear end (e.g., a rearward facing end, a back portion, a back, a rear, etc.) shown as rear60. The lift assembly14is configured to elevate the platform assembly16in an upward direction46(e.g., an upward vertical direction) relative to the base assembly12. The lift assembly14is also configured to translate the platform assembly16in a downward direction48(e.g., a downward vertical direction). The lift assembly14is also configured to translate the platform assembly16in either a forward direction50(e.g., a forward longitudinal direction) or a rearward direction51(e.g., a rearward longitudinal direction). The lift assembly14generally facilitates performing a lifting function to raise and lower the platform assembly16, as well as movement of the platform assembly16in various directions.

With additional reference toFIG.4, the platform assembly16is shown in further detail. The platform assembly16is configured to provide a work area for an operator of the lift device10to stand/rest upon. The platform assembly16can be pivotally coupled to an upper end of the lift assembly14. The lift device10is configured to facilitate the operator accessing various elevated areas (e.g., lights, platforms, the sides of buildings, building scaffolding, trees, power lines, etc.). The lift device10may use various electrically-powered motors and electrically-powered linear actuators or hydraulic cylinders to facilitate elevation and/or horizontal movement (e.g., lateral movement, longitudinal movement) of the platform assembly16(e.g., relative to the base assembly12, or to a ground surface that the base assembly12rests upon). In some embodiments, the lift device10uses internal combustion engines, hydraulics, a hydraulic system, pneumatic cylinders, etc.

The platform assembly16includes a base member, a base portion, a platform, a standing surface, a shelf, a work platform, a floor, a deck, etc., shown as a deck18. The deck18provides a space (e.g., a floor surface) for a worker to stand upon as the platform assembly16is raised and lowered.

The platform assembly16includes a railing assembly including various members, beams, bars, guard rails, rails, railings, etc., shown as rails22. The rails22extend along substantially an entire perimeter of the deck18. The rails22provide one or more members for the operator of the lift device10to grasp while using the lift device10(e.g., to grasp while operating the lift device10to elevate the platform assembly16). The rails22can include members that are substantially horizontal to the deck18. The rails22can also include vertical structural members that couple with the substantially horizontal members. The vertical structural members can extend upwards from the deck18.

The platform assembly16can include a human machine interface (HMI) (e.g., a user interface, an operator interface, etc.), shown as the user interface20. The user interface20is configured to receive user inputs from the operator at or upon the platform assembly16to facilitate operation of the lift device10. The user interface20can include any number of buttons, levers, switches, keys, etc., or any other user input device configured to receive a user input to operate the lift device10. The user interface20may also provide information to the user (e.g., through one or more displays, lights, speakers, haptic feedback devices, etc.). The user interface20can be supported by one or more of the rails22.

Referring toFIG.1, the platform assembly16includes a frame24(e.g., structural members, support beams, a body, a structure, etc.) that extends at least partially below the deck18. The frame24can be integrally formed with the deck18. The frame24is configured to provide structural support for the deck18of the platform assembly16. The frame24can include any number of structural members (e.g., beams, bars, I-beams, etc.) to support the deck18. The frame24couples the platform assembly16with the lift assembly14. The frame24may be rotatably or pivotally coupled with the lift assembly14to facilitate rotation of the platform assembly16about an axis28(e.g., a vertical axis). The frame24can also rotatably/pivotally couple with the lift assembly14such that the frame24and the platform assembly16can pivot about an axis25(e.g., a horizontal axis).

The lift assembly14includes one or more beams, articulated arms, bars, booms, arms, support members, boom sections, cantilever beams, etc., shown as lift arms32a,32b, and32c. The lift arms are hingedly or rotatably coupled with each other at their ends. The lift arms can be hingedly or rotatably coupled to facilitate articulation of the lift assembly14and raising/lowering and/or horizontal movement of the platform assembly16. The lift device10includes a lower lift arm32a, a central or medial lift arm32b, and an upper lift arm32c. The lower lift arm32ais configured to hingedly or rotatably couple at one end with the base assembly12to facilitate lifting (e.g., elevation) of the platform assembly16. The lower lift arm32ais configured to hingedly or rotatably couple at an opposite end with the medial lift arm32b. Likewise, the medial lift arm32bis configured to hingedly or rotatably couple with the upper lift arm32c. The upper lift arm32ccan be configured to hingedly interface/couple and/or telescope with an intermediate lift arm32d. The upper lift arm32ccan be referred to as “the jib” of the lift device10. The intermediate lift arm32dmay extend into an inner volume of the upper lift arm32cand extend and/or retract. The lower lift arm32aand the medial lift arm32bmay be referred to as “the boom” of the overall lift device10assembly. The intermediate lift arm32dcan be configured to couple (e.g., rotatably, hingedly, etc.), with the platform assembly16to facilitate levelling of the platform assembly16.

The lift arms32are driven to hinge or rotate relative to each other by actuators34a,34b,34c, and34d(e.g., electric linear actuators, linear electric arm actuators, hydraulic cylinders, etc.). The actuators34a,34b,34c, and34dcan be mounted between adjacent lift arms to drive adjacent lift arms to hinge or pivot (e.g., rotate some angular amount) relative to each other about pivot points84. The actuators34a,34b,34c, and34dcan be mounted between adjacent lift arms using any of a foot bracket, a flange bracket, a clevis bracket, a trunnion bracket, etc. The actuators34a,34b,34c, and34dmay be configured to extend or retract (e.g., increase in overall length, or decrease in overall length) to facilitate pivoting adjacent lift arms to pivot/hinge relative to each other, thereby articulating the lift arms and raising or lowering the platform assembly16.

The actuators34a,34b,34c, and34dcan be configured to extend (e.g., increase in length) to increase a value of an angle formed between adjacent lift arms32. The angle can be defined between centerlines of adjacent lift arms32(e.g., centerlines that extend substantially through a center of the lift arms32). For example, the actuator34ais configured to extend/retract to increase/decrease the angle75adefined between a centerline of the lower lift arm32aand the longitudinal axis78(angle75acan also be defined between the centerline of the lower lift arm32aand a plane defined by the longitudinal axis78and lateral axis80) and facilitate lifting of the platform assembly16(e.g., moving the platform assembly16at least partially along the upward direction46). Likewise, the actuator34bcan be configured to retract to decrease the angle75ato facilitate lowering of the platform assembly16(e.g., moving the platform assembly16at least partially along the downward direction48). Similarly, the actuator34bis configured to extend to increase the angle75bdefined between centerlines of the lower lift arm32aand the medial lift arm32band facilitate elevating of the platform assembly16. Similarly, the actuator34bis configured to retract to decrease the angle75bto facilitate lowering of the platform assembly16. The electric actuator34cis similarly configured to extend/retract to increase/decrease the angle75c, respectively, to raise/lower the platform assembly16. The actuators34may be hydraulic actuators, electric actuators, pneumatic actuators, etc.

The actuators34a,34b,34c, and34dcan be mounted (e.g., rotatably coupled, pivotally coupled, etc.) to adjacent lift arms at mounts40(e.g., mounting members, mounting portions, attachment members, attachment portions, etc.). The mounts40can be positioned at any position along a length of each lift arm. For example, the mounts40can be positioned at a midpoint of each lift arm, and a lower end of each lift arm.

The intermediate lift arm32dand the frame24are configured to pivotally interface/couple at a platform rotator30(e.g., a rotary actuator, a rotational electric actuator, a gear box, etc.). The platform rotator30facilitates rotation of the platform assembly16about the axis28relative to the intermediate lift arm32d. In some embodiments, the platform rotator30is positioned between the frame24and the upper lift arm32cand facilitates pivoting of the platform assembly16relative to the upper lift arm32c. The axis28extends through a central pivot point of the platform rotator30. The intermediate lift arm32dcan also be configured to articulate or bend such that a distal portion of the intermediate lift arm32dpivots/rotates about the axis25. The intermediate lift arm32dcan be driven to rotate/pivot about axis25by extension and retraction of the actuator34d.

The intermediate lift arm32dis also configured to extend/retract (e.g., telescope) along the upper lift arm32c. In some embodiments, the lift assembly14includes a linear actuator (e.g., a hydraulic cylinder, an electric linear actuator, etc.), shown as extension actuator35, that controls extension and retraction of the intermediate lift arm32drelative to the upper lift arm32c. In other embodiments, one more of the other arms of the lift assembly14include multiple telescoping sections that are configured to extend/retract relative to one another.

The platform assembly16is configured to be driven to pivot about the axis28(e.g., rotate about axis28in either a clockwise or a counter-clockwise direction) by an electric or hydraulic motor26(e.g., a rotary electric actuator, a stepper motor, a platform rotator, a platform electric motor, an electric platform rotator motor, etc.). The motor26(e.g., the pivot motor26) can be configured to drive the frame24to pivot about the axis28relative to the upper lift arm32c(or relative to the intermediate lift arm32d). The motor26can be configured to drive a gear train to pivot the platform assembly16about the axis28.

Referring toFIGS.1and2, the lift assembly14is configured to pivotally or rotatably couple with the base assembly12. The base assembly12includes a rotatable base member, a rotatable platform member, a fully electric turntable, etc., shown as a turntable70. The lift assembly14is configured to rotatably/pivotally couple with the base assembly12. The turntable70is rotatably coupled with a base, frame, structural support member, carriage, etc., of base assembly12, shown as base36. The turntable70is configured to rotate or pivot relative to the base36. The turntable70can pivot/rotate about the central axis42relative to base36, about a slew bearing71(e.g., the slew bearing71pivotally couples the turntable70to the base36). The turntable70facilitates accessing various elevated and angularly offset locations at the platform assembly16. The turntable70is configured to be driven to rotate or pivot relative to base36and about the slew bearing71by an electric motor, an electric turntable motor, an electric rotary actuator, a hydraulic motor, etc., shown as the turntable motor44. The turntable motor44can be configured to drive a geared outer surface73of the slew bearing71that is rotatably coupled to the base36about the slew bearing71to rotate the turntable70relative to the base36. The lower lift arm32ais pivotally coupled with the turntable70(or with a turntable member72of the turntable70) such that the lift assembly14and the platform assembly16rotate as the turntable70rotates about the central axis42. In some embodiments, the turntable70is configured to rotate a complete 360 degrees about the central axis42relative to the base36. In other embodiments, the turntable70is configured to rotate an angular amount less than 360 degrees about the central axis42relative to the base36(e.g., 270 degrees, 120 degrees, etc.).

The base assembly12includes one or more energy storage devices or power sources (e.g., capacitors, batteries, Lithium-Ion batteries, Nickel Cadmium batteries, fuel tanks, etc.), shown as batteries64. The batteries64are configured to store energy in a form (e.g., in the form of chemical energy) that can be converted into electrical energy for the various electric motors and actuators of the lift device10. The batteries64can be stored within the base36. The lift device10includes a controller38that is configured to operate any of the motors, actuators, etc., of the lift device10. The controller38can be configured to receive sensory input information from various sensors of the lift device10, user inputs from the user interface20(or any other user input device such as a key-start or a push-button start), etc. The controller38can be configured to generate control signals for the various motors, actuators, etc., of the lift device10to operate any of the motors, actuators, electrically powered movers, etc., of the lift device10. The batteries64are configured to power any of the motors, sensors, actuators, electric linear actuators, electrical devices, electrical movers, stepper motors, etc., of the lift device10. The base assembly12can include a power circuit including any necessary transformers, resistors, transistors, thermistors, capacitors, etc., to provide appropriate power (e.g., electrical energy with appropriate current and/or appropriate voltage) to any of the motors, electric actuators, sensors, electrical devices, etc., of the lift device10.

The batteries64are configured to deliver power to the motors52to drive the tractive elements82. A rear set of tractive elements82can be configured to pivot to steer the lift device10. In other embodiments, a front set of tractive elements82are configured to pivot to steer the lift device10. In still other embodiments, both the front and the rear set of tractive elements82are configured to pivot (e.g., independently) to steer the lift device10. In some examples, the base assembly12includes a steering system150. The steering system150is configured to drive tractive elements82to pivot for a turn of the lift device10. The steering system150can be configured to pivot the tractive elements82in pairs (e.g., to pivot a front pair of tractive elements82), or can be configured to pivot tractive elements82independently (e.g., four-wheel steering for tight-turns).

It should be understood that while the lift device10as described herein is described with reference to batteries, electric motors, etc., the lift device10can be powered (e.g., for transportation and/or lifting the platform assembly16) using one or more internal combustion engines, electric motors or actuators, hydraulic motors or actuators, pneumatic actuators, or any combination thereof.

In some embodiments, the base assembly12also includes a user interface21(e.g., a HMI, a user interface, a user input device, a display screen, etc.). In some embodiments, the user interface21is coupled to the base36. In other embodiments, the user interface21is positioned on the turntable70. The user interface21can be positioned on any side or surface of the base assembly12(e.g., on the front62of the base36, on the rear60of the base36, etc.).

Referring now toFIGS.2and3, the base assembly12includes a longitudinally extending frame member54(e.g., a rigid member, a structural support member, an axle, a base, a frame, a carriage, a chassis, etc.). The longitudinally extending frame member54provides structural support for the turntable70as well as the tractive elements82. The longitudinally extending frame member54is pivotally coupled with lateral frame members110(e.g., axles, frame members, beams, bars, etc.) at opposite longitudinal ends of the longitudinally extending frame member54. For example, the lateral frame members110may be pivotally coupled with the longitudinally extending frame member54at a front end and a rear end of the longitudinally extending frame member54. The lateral frame members110can each be configured to pivot about a pivot joint58(e.g., about a longitudinal axis). The pivot joint58can include a pin and a receiving portion (e.g., a bore, an aperture, etc.). The pin of the pivot joint58is coupled to one of the lateral frame members110(e.g., a front lateral frame member110or a rear lateral frame member110) or the longitudinally extending frame member54and the receiving portion is coupled to the other of the longitudinally extending frame member54and the lateral frame member110. For example, the pin may be coupled with longitudinally extending frame member54and the receiving portion can be coupled with one of the lateral frame members110(e.g., integrally formed with the front lateral frame member110).

In some embodiments, the longitudinally extending frame member54and the lateral frame members110are integrally formed or coupled (e.g., fastened, welded, riveted, etc.) to define the base36. In still other embodiments, the base36is integrally formed with the longitudinally extending frame member54and/or the lateral frame members110. In still other embodiments, the base36is coupled with the longitudinally extending frame member54and/or the lateral frame members110.

The base assembly12includes one or more axle actuators56(e.g., electric linear actuators, electric axle actuators, electric levelling actuators, hydraulic cylinders, etc.). The axle actuators56can be linear actuators configured to receive power from the batteries64, for example. The axle actuators56can be configured to extend or retract to contact a top surface of a corresponding one of the lateral frame members110. When the axle actuators56extend, an end of a rod of the levelling actuators can contact the surface of lateral frame member110and prevent relative rotation between lateral frame member110and longitudinally extending frame member54. In this way, the relative rotation/pivoting between the lateral frame member110and the longitudinally extending frame member54can be locked (e.g., to prevent rolling of the longitudinally extending frame member54relative to the lateral frame members110during operation of the lift assembly14). The axle actuators56can receive power from the batteries64, which can allow the axle actuators56to extend or retract. The axle actuators56receive control signals from controller38.

Platform Travel Replay

During operation of the lift device10, the platform assembly16may be moved to various locations so that an operator can perform a job at a work site. Moving the platform assembly16from an initial position to a work site (e.g., a positioning event) may be facilitated by one or more of the pivot motor26, the platform rotator30, the actuators34a,34b,34c,34d, the extension actuator35, the turntable motor44, and/or the electric motors42. In general, an operator may interface with the user interface20to control operation of the pivot motor26, the platform rotator30, the actuators34a,34b,34c,34d, the extension actuator35, the turntable motor44, and/or the electric motors42, which results in movement of the platform assembly16.

FIG.5shows an example of the lift device10with the platform assembly16at a work site90amongst a steel structure or building frame92. In general, moving the platform assembly16from an initial position to a work site can be a difficult and time consuming process for an operator to perform manually. For example, a positioning event may include two or more steps, or three or more steps, or five or more steps, or ten or more steps that are input to the user interface20and perform the individual movements of the platform assembly16that result in travel to a work site90.

FIG.6schematically illustrates a positioning event94for the platform assembly16, where the platform assembly16is moved from an initial position96to a work site98(e.g., the work site90within the building frame92). In general, the platform assembly16is moved relative to a ground plane G, for example, by an operator interfacing with the user interface20or in an automated fashioned by a control system or controller as described herein. In some embodiments, the positioning event94may initiate, at step1, with the platform assembly16being driven to a pre-lift position by the electric motors52driving the tractive elements82, which moves the base assembly12, and the platform assembly16coupled thereto, in a predefined direction (e.g., a first drive direction, the forward direction50, or the rearward direction51). At step2, the turntable motor44may rotate the turntable70and the platform assembly16coupled thereto (e.g., in a first rotation direction). Once the platform assembly16is rotated at step2, the platform assembly16is lifted (e.g., in a first lift direction or the upward direction46), at step3, by one or more of the actuators34a,34b,34c,34d. With the platform assembly16lifted, the extension actuator35may extend the platform assembly16at step4and the platform assembly16may be lifted again by one or more of the actuators34a,34b,34c,34dat step5. The turntable motor44may again rotate the turntable70and the platform assembly16coupled thereto at step6, and the extension actuator35may further extend the platform assembly16at step7. One or more of the actuators34a,34b,34c,34dmay again lift the platform assembly at step8, and the platform assembly16may be rotated by the platform rotator30or pivoted by the pivot motor26at step9to reach the work site98. It should be appreciated that although the exemplary positioning event94inFIG.6includes nine steps, the systems and methods of the present disclosure are applicable to positioning events with more or fewer than nine steps and that include any order or number of positional movements of the platform assembly16.

Referring toFIG.7, the lift device10includes a control system100that includes a controller102(e.g., the controller38). The controller102includes a processing circuitry104, a processor106, and a memory108. Processing circuitry104can be communicably connected to a communications interface such that the processing circuitry104and the various components thereof can send and receive data via the communications interface. The processor106can be implemented as a general purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components.

The memory108(e.g., memory, memory unit, storage device, etc.) can include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage, etc.) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present application. The memory108can be or include volatile memory or non-volatile memory. The memory108can include database components, object code components, script components, or any other type of information structure for supporting the various activities and information structures described in the present application. According to some embodiments, the memory108is communicably connected to the processor106via the processing circuitry104and includes computer code for executing (e.g., by the processing circuitry104and/or the processor106) one or more processes described herein.

In some embodiments, the controller102is implemented within a single computer (e.g., one server, one housing, etc.). In various other embodiments, the controller102can be distributed across multiple servers or computers (e.g., that can exist in distributed locations).

In the illustrated embodiment, the controller102is in communication with the user interface20, the pivot motor26, the platform rotator30, the actuators34a,34b,34c,34d, the extension actuator35, the turntable motor44, the electric motors42, and one or more object detection sensors126. In some embodiments, the controller102is in communication with a user device112(e.g., a cell phone, a tablet, a computer, etc.). In some embodiments, the controller102is in communication with a cloud platform114, for example, via a wireless connection. In the illustrated embodiment, the memory108stores instructions for a travel replay procedure116.

In some embodiments, the controller102is in communication with an initiate input118that is configured to trigger the controller102to initiate a recording process in the travel replay procedure116. In some embodiments, the initiate input118is on the user interface20in the form of a button, a switch, a graphical button, or a soft key on a display. In some embodiments, the initiate input118is in the form of a button or a switch arranged on the platform assembly16in a location remote from the user interface20, which separates the travel replay procedure116from the standard operational controls on the user interface20. In some embodiments, the initiate input118is in the form of a graphical button, a digital button, or soft key on the user device112.

In some embodiments, the controller102is in communication with a replay execute input120that is configured to execute a forward replay or a reverse replay of the travel replay procedure116. In some embodiments, the replay execute input120is on the user interface20in the form of reverse/forward buttons, reverse/forward switches, reverse/forward graphical/digital buttons, or reverse/forward soft keys on a display. In some embodiments, the initiate input118is in the form of reverse/forward buttons or reverse/forward switches arranged on the platform assembly16in a location remote from the user interface20, which separates the replay execute input120from the standard operational controls on the user interface20. In some embodiments, the replay execute input120is in the form of reverse/forward soft keys on the user device112.

In some embodiments, the controller102is in communication with one or more length sensors122, one or more rotary angle sensors124, and one or more object detection sensors126. The one or more length sensors122may be in the form of ultrasonic, optical (e.g., laser, LIDAR, etc.), or hall effect sensors that are configured to detect an extension or retraction length of each of the lift arms32a,32b,32c,32dand/or extension or retraction length of each of the actuators34a,34b,34c,34dand the extension actuator35. The one or more rotary angle sensors124may be in the form of rotary encoders or a rotary limit switch that measures, for example, the angles75a,75b,75c, the rotation about the axis28, and/or the pivot about the axis25. The object detection sensors126may be in the form of radar sensors, scanning laser sensors, light detection and ranging (LIDAR) sensors, and image processing sensors, such as cameras. The object detection sensors126may be mounted to the base assembly12, the lift arms32a,32b,32c,32d, and/or the platform assembly16. In general, the object detection sensors126are configured to detect objects adjacent to the base assembly12, the lift arms32a,32b,32c,32d, and/or the platform assembly16. In response to the object detection sensors126detecting an object within a predefined vicinity (e.g., within a predetermined distance) of the base assembly12, the lift arms32a,32b,32c,32d, and/or the platform assembly16, the controller102is configured to cease or override the travel replay procedure116. For example, the object detection sensors126are configured to detect if an object or obstruction is present along the travel path of the platform assembly16. With several components of the lift device10potentially moving as the platform assembly16travels to/from a work site, the object detection sensors126may be arranged on each moving component of the lift device10and define a field of view that encompasses the entire range of motion defined by each component.

In general, the controller102is configured to record the individual steps during a positioning event, for example, in response to receiving an initiate signal from the initiate input118(e.g., a user interfacing or engaging with the initiate input118), or in response to the controller102or the cloud platform114automatically identifying that a positioning event is occurring based on previously stored data that is stored in the cloud platform114and analyzed using a machine learning algorithm. The travel replay procedure116may enable the controller102to automate the recorded positioning event, either in the order it was recorded (e.g., forward) or in reverse, to move the platform assembly16without operator interaction.

In some embodiments, in response to receiving the initiate signal (e.g., start recording) from the initiate input118(e.g., when the platform assembly16is at an initial position), the controller102begins to record each of the inputs (e.g., steps) to the user interface20that result in a movement of the platform assembly16(e.g., a positioning event). For example, the controller102may record a plurality of input steps that are applied by an operator to the user interface20, with each of the input steps resulting in movement of the platform assembly16by at least one of the plurality of actuators/motors on the lift device10(e.g., the pivot motor26, the platform rotator30, the actuators34a,34b,34c,34d, the extension actuator35, the turntable motor44, and/or the electric motors42). The controller102may record a direction and magnitude (e.g., an extension/retraction distance, degrees of rotation, etc.) for each of the input steps performed during the positioning event. In some embodiments, the controller102and/or the cloud platform114may record the input steps that are applied by the user device112, and the user device112may be used to remotely control operation of the lift device10and the platform assembly16. In some embodiments, an operator engages the initiate input118to output the initiate signal to the controller102that triggers the travel replay procedure116to begin recording the steps in a positioning event, and engages the initiate input118again to output a stop signal to the controller102that triggers the controller102to stop recording the steps in the positioning event (e.g., at a work site). In some embodiments, the controller102stops recording the steps in a position event in response to the platform assembly16being stationary for a predefined amount of time (e.g., at a work site).

Once the controller102records the steps in a positioning event, the execute replay input120may be activated based on the current position of the platform assembly16. That is, if the controller102detects that a positioning event finished recording (e.g., either via the subsequent engagement of the initiate input118or the platform assembly16being stationary for the predefined amount of time), the controller102may inhibit the forward replay functionality of the execute replay input120in the travel replay procedure116. That is, once a position event is recorded by the controller102, the controller102only allows the reverse replay to occur in the travel replay procedure116. In other words, the execute replay input120is only allowed to output an execute reverse replay signal to the controller102after initially recording the steps in the positioning event, and is prevented from outputting an execute forward replay signal to the controller102.

During the reverse replay of the travel replay procedure116(e.g., in response to receiving the execute reverse replay signal from the execute replay input120), the controller102is configured to repeat each step in the recorded positioning event in a reverse order in which the events were recorded and with a movement direction and magnitude that is opposite to the direction in which the step was recorded. For example, with reference to the exemplary positioning event inFIG.6, the platform assembly16may be moved at step1(e.g., via the actuators34a,34b,34c,34d, the extension actuator35, or the electric motors52) in a first direction. The amount that the platform assembly16moves during step1may be measured by one or more of the sensors (e.g., the length sensors122and/or the rotary sensors124). The platform assembly16may then be rotated/pivoted (e.g., via the pivot motor26, the platform rotator30, or the turntable motor44) in a first rotation/pivoting direction at step2. The rotary/pivotal movement of the platform assembly16during step2may be measured by the rotary angle sensors124.

In an exemplary embodiment where steps1and2conclude the positioning event, the reverse replay of the travel replay procedure116is configured to initially perform recorded step2with the platform assembly16rotating/pivoting an amount that is the same that was measured when step2was recorded and in a second rotation/pivoting direction opposite to the first rotation/pivoting direction. Then perform recorded step1with the platform assembly16moving in an amount that is the same that was measured when step1was recorded and in a second direction opposite to the first direction. In an exemplary embodiment where a positioning event includes steps1-9ofFIG.6, the reverse replay of the travel replay procedure116would perform step9through step1in reverse order (e.g., recorded in1through9and replayed in reverse,9through1). With the magnitude of the movements being the same as they were recorded and in an opposite direction to which they were recorded.

Once the travel replay procedure116completes the reverse replay, the platform assembly16is returned, without operator input, to the initial position where the travel replay procedure116was instructed to begin recording. The forward replay of the travel replay procedure116may be enabled once the reverse replay of the travel replay procedure116is completed. That is, the execute replay input120is allowed to output the execute forward replay signal to the controller102, and prevented from outputting the execute reverse replay signal. The forward replay of the travel replay procedure116is configured to perform the steps of the positioning event in the same order in which they were recorded. For example, if steps1and2represent a positioning event, steps1and2may be replayed in the same order and in the same movement direction that they were recorded, which moves the platform assembly16from the initial position to the work site without operator input.

If at any point during the travel replay procedure116(e.g., either the forward replay or the reverse replay) the object detection sensors126detect an object within a predefined range or distance of the base assembly12, the lift arms32a,32b,32c,32d, and/or the platform assembly16, the controller102is configured to stop movement of the platform assembly16and overrides the travel replay procedure116. In some embodiments, the controller102is configured to provide an indication on the user interface20or the user device112upon detecting an object with one of the object detection sensors126, and an operator is required to address the indication prior to the travel replay procedure116being activated or reenabled. In some embodiments, the controller102may be configured to receive an initial or first indication that an object is detected by one or more of the object detection sensors126and then take read a subsequent or second measurement, at a predetermined time interval after the first indication, from the same of the one or more object detection sensors126to determine if the detected object is moving closer to (e.g., in the travel path) or further away from the corresponding object detection sensor(s)126. If the second measurement is less than the value at the first indication, then the controller102may cease or override the travel replay procedure116and stop movement of the lift device10. In some embodiments, when the controller102overrides the travel replay procedure116, the travel replay procedure116becomes inactive and the memory108is cleared of the previously-recorded steps in a positioning event. As such, the travel replay procedure116is not reactivated until a new positioning event is recorded.

FIG.8shows a method200for controlling a platform assembly (e.g., the platform assembly16) of a lift device (e.g., the lift device10) and performing the travel replay procedure. In some embodiments, the steps in the method200are carried out by the controller102or another controller in communication with the controller102(e.g., the cloud platform114). The method200begins at step202by receiving an initiate input (e.g., the initiate input118). Once the initiate input is received at step202, a travel replay procedure (e.g., the travel replay procedure116) records each step during a positioning event at step204. In some embodiments, each step in a positioning event imparts movement on the platform assembly16, and each movement (e.g., direction and magnitude) is recorded at step204. After each step is recorded at step204(e.g., the platform assembly16has reached a work site), a reverse replay procedure of the travel replay procedure may be enabled at step206. In some embodiments, the reverse replay is not enabled if a weight (e.g., as measured by a weight sensor) on the platform assembly16has increased or decreased a predefine amount from a value that was measured at the end of the positioning event.

In response to the reverse replay procedure being enabled at step206, the recorded steps in the positioning event may be carried out in a reverse order and in an opposite direction in which they were recorded at step208. In other words, the platform assembly16is moved from the work site to an initial position by following the recorded steps in a reverse order and in an opposite movement direction.

For example, in the exemplary positioning event ofFIG.6, the controller102may be instructed to record steps1-9in the positioning event94and, in response to an instruction to carry out a reverse replay of the travel replay procedure116, the controller102may provide instructions to one or more of the pivot motor26, the platform rotator30, the actuators34a,34b,34c,34d, the extension actuator35, the turntable motor44, and/or the electric motors42to automate the reverse of the positioning event94to move the platform assembly back to the initial position96by performing step9to step1(i.e., reverse order) with an opposite movement direction. For example, step9may be performed first in the reverse replay by rotating/pivoting the platform assembly16in a direction opposite to the rotation/pivoting direction that was recorded during the positioning event. Then step8may be performed with one or more of the actuators34a,34b,34c,34dlowering the lift platform16(e.g., in the downward direction48, and then step7may be performed with the extension actuator35retracting the platform assembly16, and so on until step1is performed in an opposite direction than it was recorded. This brings the platform assembly16from the work site to the initial position without the operator input.

With the reverse replay procedure completed at step208, the forward replay of the travel replay procedure may be enabled at step210. Once the forward replay is enabled at step210, the forward steps (i.e., the same steps that were recorded during the positioning event) may be performed to again move the platform assembly16from the initial position to the work site, without operator input.

As utilized herein with respect to numerical ranges, the terms “approximately,” “about,” “substantially,” and similar terms generally mean +/−10% of the disclosed values. When the terms “approximately,” “about,” “substantially,” and similar terms are applied to a structural feature (e.g., to describe its shape, size, orientation, direction, etc.), these terms are meant to cover minor variations in structure that may result from, for example, the manufacturing or assembly process and are intended to have a broad meaning in harmony with the common and accepted usage by those of ordinary skill in the art to which the subject matter of this disclosure pertains. Accordingly, these terms should be interpreted as indicating that insubstantial or inconsequential modifications or alterations of the subject matter described and claimed are considered to be within the scope of the disclosure as recited in the appended claims.

Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure.

Although the figures and description may illustrate a specific order of method steps, the order of such steps may differ from what is depicted and described, unless specified differently above. Also, two or more steps may be performed concurrently or with partial concurrence, unless specified differently above. Such variation may depend, for example, on the software and hardware systems chosen and on designer choice. All such variations are within the scope of the disclosure.