Patent Publication Number: US-2023142225-A1

Title: Implement position tracking for a lift device

Description:
CROSS-REFERENCE TO RELATED PATENT APPLICATION 
     This application is a continuation of U.S. patent application Ser. No. 17/720,922, filed Apr. 14, 2022, which claims the benefit of and priority to U.S. Provisional Patent Application No. 63/176,574, filed Apr. 19, 2021, both of which are incorporated herein by reference in their entireties. 
    
    
     BACKGROUND 
     The present disclosure relates generally to the field of lift devices. More specifically, the present disclosure relates to tracking a position of an implement supported by a lift device. Lift devices can be configured to support implements for performing various functions. For example, a lift device can include a platform that supports a user and/or a fork assembly for engaging and lifting materials. Such implements are often supported by a boom assembly that facilitates vertical and/or horizontal movement of the implements. 
     SUMMARY 
     One embodiment relates to a machine system. The machine system includes a first wireless transceiver, a plurality of second wireless transceivers, and a processing circuit. The first wireless transceiver is configured to couple to a portion or a component of a lift assembly of a machine. The first wireless transceiver is configured to transmit a first wireless signal. The plurality of second wireless transceivers are configured to couple to a base of the machine. The plurality of second wireless transceivers are configured to detect the first wireless signal and transmit a plurality of second wireless signals in response to detecting the first wireless signal. The first wireless transceiver is configured to detect the plurality of second wireless signals. The processing circuit is communicably coupled to the first wireless transceiver. The processing circuit is configured to determine a position of the portion or the component of the lift assembly based on a time delay determined based on an amount of time between (i) a first time when the first wireless signal is transmitted by the first wireless transceiver and a second time at which each of the plurality of second wireless signals is detected by the first wireless transceiver or (ii) a timestamp included with each of the plurality of second wireless signals and a receipt time that each of the plurality of second wireless signals is detected by the first wireless transceiver. 
     Another embodiment relates to a machine system. The machine system includes a first wireless transceiver, a plurality of second wireless transceivers, and a processing circuit. The first wireless transceiver is configured to couple to a portion or a component of a lift assembly of a machine. The first wireless transceiver configured to transmit a first wireless signal. The plurality of second wireless transceivers are configured to couple to a base of the machine. The plurality of second wireless transceivers are configured to detect the first wireless signal and transmit a plurality of second wireless signals in response to detecting the first wireless signal. The first wireless transceiver is configured to detect the plurality of second wireless signals. The processing circuit is communicably coupled to the first wireless transceiver. The processing circuit is configured to determine a position of the portion or the component of the lift assembly based on information acquired from the first wireless transceiver, store a log of the position over time, and generate a heat map identifying various positions of the portion or the component and varying degrees of time spent at each of the various positions based on the log. 
     Still another embodiment relates to a machine system. The machine system includes a first wireless transceiver, a plurality of second wireless transceivers, and a processing circuit. The first wireless transceiver is configured to couple to a portion or a component of a lift assembly of a machine. The first wireless transceiver is configured to transmit a first wireless signal. The plurality of second wireless transceivers are configured to couple to a base of the machine. The plurality of second wireless transceivers are configured to detect the first wireless signal and transmit a plurality of second wireless signals in response to detecting the first wireless signal. The first wireless transceiver is configured to detect the plurality of second wireless signals. The processing circuit is configured to determine a position of the portion or the component of the lift assembly based on information acquired from the first wireless transceiver, and identify unintentional movement of the portion or the component of the lift assembly while the lift assembly is at a set position. 
     This summary is illustrative only and is not intended to be in any way limiting. Other aspects, inventive features, and advantages of the devices or processes described herein will become apparent in the detailed description set forth herein, taken in conjunction with the accompanying figures, wherein like reference numerals refer to like elements. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG.  1 A  is a front perspective view of a lift device, according to some embodiments. 
         FIG.  1 B  is a front perspective view of a platform that can be coupled to the lift device of  FIG.  1   , according to some embodiments. 
         FIGS.  2 A and  2 B  are side perspective views of the lift device of  FIG.  1   , according to some embodiments. 
         FIG.  3    is a block diagram of a system for detecting a position of an implement of the lift device of  FIG.  1   , according to some embodiments. 
         FIG.  4    is a block diagram of a controller utilized in the system of  FIG.  3   , according to some embodiments. 
         FIGS.  5 A and  5 B  are block diagrams of tags and anchors utilized in the system of  FIG.  3   , according to some embodiments. 
         FIGS.  6 A- 6 C  are diagrams illustrating position detection for the implement of the lift device of  FIG.  1   , according to some embodiments. 
         FIG.  7    is a flow diagram of a process for tracking a position of the implement of the lift device of  FIG.  1   , according to some embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Before turning to the figures, which illustrate certain exemplary embodiments in detail, it should be understood that the present disclosure is not limited to the details or methodology set forth in the description or illustrated in the figures. It should also be understood that the terminology used herein is for the purpose of description only and should not be regarded as limiting. 
     Referring generally to the figures, a lift device is configured to support an implement (e.g., a platform (e.g., for carrying an operator, tools, etc.), a fork assembly, a bucket (e.g., for carrying a person, for a construction machine, etc.), a basket, a plow, a grabber mechanism (e.g., for grabbing residential refuse containers, a claw for use in junk yards, etc.), a water deluge turret (e.g., for a fire apparatus, etc.), etc.) and includes a chassis and a lift assembly coupling the implement to the chassis. An operator may control the lift assembly to raise, lower, or otherwise move the implement or, in some cases, movement of the lift assembly and/or the lift device may be at least partially automated. In some embodiments, one or more transceivers may be coupled to the implement and/or to the lift assembly, and a plurality of additional transceivers may be coupled to various points on the chassis or body of the lift device. The transceivers coupled to the implement and/or to the lift assembly may be configured as “tags” for determining a position of the implement and/or to the lift assembly, while the additional transceivers coupled to various other points of the lift device may be configured as “anchors” with known positions. In this manner, the tag(s) may communicate short-range wireless signals with the anchors and, based on a time delay between broadcasting (i.e., transmitting) and receiving these short-range wireless signals, a position of the implement and/or to the lift assembly can be determined. 
     Lift Device 
     Turning first to  FIG.  1 A , a machine, a lifting apparatus, lift device, or mobile elevating work platform (MEWP) (e.g., a telehandler, a boom lift, a towable boom lift, a lift device, an electric boom lift, etc.), shown as lift device  10 , includes a base (e.g., a support assembly, a drivable support assembly, a support structure, a chassis, etc.), shown as base assembly  12 , an implement (e.g., a platform, a terrace, a fork assembly, a bucket, a basket, a grabber arm/mechanism, a water deluge turret, a plow, etc.), shown as implement  16 , and a lift system (e.g., a boom, a boom lift assembly, a lifting apparatus, an articulated arm, a scissors lift, lift arms, an aerial ladder, etc.), shown as lift assembly  14 . Lift device  10  includes a front end (e.g., a forward facing end, a front portion, a front, etc.), shown as front  62 , and a rear end (e.g., a rearward facing end, a back portion, a back, a rear, etc.,) shown as rear  60 . Lift assembly  14  is configured to elevate implement  16  in an upwards direction  46  (e.g., an upward vertical direction) relative to base assembly  12 . Lift assembly  14  is also configured to translate implement  16  in a downwards direction  48  (e.g., a downward vertical direction). Lift assembly  14  is also configured to translate implement  16  in either a forwards direction  50  (e.g., a forward longitudinal direction) or a rearwards direction  51  (e.g., a rearward longitudinal direction). Lift assembly  14  generally facilitates performing a lifting function to raise and lower implement  16 , as well as movement of implement  16  in various directions. 
     Base assembly  12  defines a longitudinal axis  78  and a lateral axis  80 . Longitudinal axis  78  defines forward direction  50  of lift device  10  and rearward direction  51 . Lift device  10  is configured to translate in forward direction  50  and to translate backwards in rearward direction  51 . Base assembly  12  includes one or more wheels, tires, wheel assemblies, tracks, rotary elements, treads, etc., shown as tractive elements  82 . Tractive elements  82  are configured to rotate to drive (e.g., propel, translate, steer, move, etc.) lift device  10 . Tractive elements  82  can each include an electric motor  52  (e.g., electric wheel motors) configured to drive tractive elements  82  (e.g., to rotate tractive elements  82  to facilitation motion of lift device  10 ). In other embodiments, tractive elements  82  are configured to receive power (e.g., rotational mechanical energy) from electric motors  52  or through a drive train (e.g., a combination of any number and configuration of a shaft, an axle, a gear reduction, a gear train, a transmission, etc.). In some embodiments, one or more tractive elements  82  are driven by a prime mover  41  (e.g., electric motor, internal combustion engine, etc.) through a transmission. In some embodiments, a hydraulic system (e.g., one or more pumps, hydraulic motors, conduits, valves, etc.) transfer power (e.g., mechanical energy) from one or more electric motors  52  and/or prime mover  41  to tractive elements  82 . Tractive elements  82  and electric motors  52  (or prime mover  41 ) can facilitate a driving and/or steering function of lift device  10 . 
     With additional reference to  FIG.  1 B , implement  16  is shown in further detail. As described herein, implement  16  may be any device or component configured to be coupled to an upper end of lift assembly  14 . For example, implement  16  may be a platform for supporting an operator or may include a fork assembly for engaging and lifting materials (e.g., pallets).  FIGS.  1 A and  1 B , in particular, show a configuration of implement  16  as an elevated work platform. In this example, implement  16  is configured to provide a work area for an operator of lift device  10  to stand/rest upon. Implement  16  can be pivotably coupled to an upper end of lift assembly  14 . Lift device  10  is configured to facilitate the operator accessing various elevated areas (e.g., lights, platforms, the sides of buildings, building scaffolding, trees, power lines, etc.). Lift device  10  uses 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 implement  16  (e.g., relative to base assembly  12 , or to a ground surface that base assembly  12  rests upon). 
     As shown in  FIGS.  1 A and  1 B , configured as a platform, implement  16  includes a base member, a base portion, a platform, a standing surface, a shelf, a work platform, a floor, a deck, etc., shown as deck  18 . Deck  18  provides a space (e.g., a floor surface) for a worker to stand upon as implement  16  is raised and lowered. Implement  16  also includes a railing assembly including various members, beams, bars, guard rails, rails, railings, etc., shown as rails  22 . Rails  22  extend along substantially an entire perimeter of deck  18 . Rails  22  provide one or more members for the operator of lift device  10  to grasp while using lift device  10  (e.g., to grasp while operating lift device  10  to elevate implement  16 ). Rails  22  can include members that are substantially horizontal to deck  18 . Rails  22  can also include vertical structural members that couple with the substantially horizontal members. The vertical structural members can extend upwards from deck  18 . 
     As shown in  FIGS.  1 A and  1 B , implement  16  can also include a human machine interface (HMI) (e.g., a user interface, an operator interface, etc.), shown as user interface  20 . User interface  20  is configured to receive user inputs from the operator at or upon implement  16  to facilitate operation of lift device  10 . User interface  20  can include any number of buttons, levers, switches, keys, etc., or any other user input device configured to receive a user input to operate lift device  10 . User interface  20  may also provide information to the user (e.g., through one or more displays, lights, speakers, haptic feedback devices, etc.). User interface  20  can be supported by one or more of rails  22 . 
     As shown in  FIG.  1 A , implement  16  includes a frame  24  (e.g., structural members, support beams, a body, a structure, etc.) that extends at least partially below deck  18 . Frame  24  can be integrally formed with deck  18 . Frame  24  is configured to provide structural support for deck  18  of implement  16 . Frame  24  can include any number of structural members (e.g., beams, bars, I-beams, etc.) to support deck  18 . Frame  24  couples implement  16  with lift assembly  14 . Frame  24  may be rotatably or pivotably coupled with lift assembly  14  to facilitate rotation of implement  16  about an axis  28  (e.g., a vertical axis). Frame  24  can also rotatably/pivotably couple with lift assembly  14  such that frame  24  and implement  16  can pivot about an axis  25  (e.g., a horizontal axis). 
     In some embodiments, implement  16  can also include one or more transceiver devices  100 . Transceiver devices  100  may be fixedly or removably coupled to any point on implement  16 . For example, transceiver devices  100  may be coupled to frame  24 , deck  18 , rails  22 , etc. In some embodiments, transceiver devices  100  may also be integrated with user interface  20 . Additionally, in some embodiments, implement  16  can include one or more sensor arrays  102 . Sensors arrays  102  may include a variety of different sensors for measuring height, movement, angle, etc., of implement  16 . Like transceiver devices  100 , sensor arrays  102  can also be coupled to frame  24 , deck  18 , rails  22 , etc., and/or integrated with user interface  20 . However, it will also be appreciated that transceiver devices  100  and/or sensor arrays  102  can be coupled to any other point on implement  16  or lift device  10 . Both transceiver devices  100  and sensor arrays  102  are described in greater detail below. 
     Lift assembly  14  includes one or more beams, articulated arms, bars, booms, arms, support members, boom sections, cantilever beams, etc., shown as lift arms  32 . Lift arms  32  are hingedly or rotatably coupled with each other at their ends. Lift arms  32  can be hingedly or rotatably coupled to facilitate articulation of lift assembly  14  and raising/lowering and/or horizontal movement of implement  16 . Lift device  10  includes a lower lift arm  32   a , a central or medial lift arm  32   b , and an upper lift arm  32   c . Lower lift arm  32   a  is configured to hingedly or rotatably couple at one end with base assembly  12  to facilitate lifting (e.g., elevation) of implement  16 . Lower lift arm  32   a  is configured to hingedly or rotatably couple at an opposite end with the medial lift arm  32   b.    
     Likewise, medial lift arm  32   b  is configured to hingedly or rotatably couple with upper lift arm  32   c . Upper lift arm  32   c  can be configured to hingedly interface/couple and/or telescope with an intermediate lift arm  32   d . Upper lift arm  32   c  can be referred to as “the jib” of lift device  10 . Intermediate lift arm  32   d  may extend into an inner volume of upper lift arm  32   c  and extend and/or retract. Lower lift arm  32   a  and medial lift arm  32   b  may be referred to as “the boom” of the overall lift device  10  assembly. Intermediate lift arm  32   d  can be configured to couple (e.g., rotatably, hingedly, etc.), with implement  16  to facilitate leveling of implement  16 . In other embodiments, lift assembly  14  includes a different number of lift arms (e.g., one, two, three, etc. lift arms.) 
     Lift arms  32  are driven to hinge or rotate relative to each other by actuators  34  (e.g., electric linear actuators, linear electric arm actuators, hydraulic cylinders, etc.). Actuators  34  can be mounted between adjacent lift arms  32  to drive adjacent lift arms  32  to hinge or pivot (e.g., rotate some angular amount) relative to each other about pivot points  84 . Actuators  34  can be mounted between adjacent lift arms  32  using any of a foot bracket, a flange bracket, a clevis bracket, a trunnion bracket, etc. Actuators  34  are configured to extend or retract (e.g., increase in overall length, or decrease in overall length) to facilitate pivoting adjacent lift arms  32  to pivot/hinge relative to each other, thereby articulating lift arms  32  and raising or lowering implement  16 . 
     Actuators  34  can be configured to extend (e.g., increase in length) to increase a value of an angle  74  formed between adjacent lift arms  32 . Angle  74  can be defined between centerlines of adjacent lift arms  32  (e.g., centerlines that extend substantially through a center of lift arms  32 ). For example, actuator  34   a  is configured to extend/retract to increase/decrease angle  74   a  defined between a centerline of lower lift arm  32   a  and longitudinal axis  78  (angle  74   a  can also be defined between the centerline of lower lift arm  32   a  and a plane defined by longitudinal axis  78  and lateral axis  80 ) and facilitate lifting of implement  16  (e.g., moving implement  16  at least partially along upward direction  46 ). Likewise, actuator  34   b  can be configured to retract to decrease angle  74   a  to facilitate lowering of implement  16  (e.g., moving implement  16  at least partially along downward direction  48 ). Similarly, actuator  34   b  is configured to extend to increase angle  74   b  defined between centerlines of lower lift arm  32   a  and medial lift arm  32   b  and facilitate elevating of implement  16 . Similarly, actuator  34   b  is configured to retract to decrease angle  74   b  to facilitate lowering of implement  16 . Electric actuator  34   c  is similarly configured to extend/retract to increase/decrease angle  74   c , respectively, to raise/lower implement  16 . 
     Actuators  34  can be mounted (e.g., rotatably coupled, pivotably coupled, etc.) to adjacent lift arms  32  at mounts  40  (e.g., mounting members, mounting portions, attachment members, attachment portions, etc.). Mounts  40  can be positioned at any position along a length of each lift arm  32 . For example, mounts  40  can be positioned at a midpoint of each lift arm  32 , and a lower end of each lift arm  32 . 
     Intermediate lift arm  32   d  and frame  24  are configured to pivotably interface/couple at a implement rotator  30  (e.g., a rotary actuator, a rotational electric actuator, a gear box, etc.). Implement rotator  30  facilitates rotation of implement  16  about axis  28  relative to intermediate lift arm  32   d . In some embodiments, implement rotator  30  is positioned between frame  24  and upper lift arm  32   c  and facilitates pivoting of implement  16  relative to upper lift arm  32   c . Axis  28  extends through a central pivot point of implement rotator  30 . Intermediate lift arm  32   d  can also be configured to articulate or bend such that a distal portion of intermediate lift arm  32   d  pivots/rotates about axis  25 . Intermediate lift arm  32   d  can be driven to rotate/pivot about axis  25  by extension and retraction of actuator  34   d.    
     Intermediate lift arm  32   d  is also configured to extend/retract (e.g., telescope) along upper lift arm  32   c . In some embodiments, lift assembly  14  includes a linear actuator (e.g., a hydraulic cylinder, an electric linear actuator, etc.), shown as extension actuator  35 , that controls extension and retraction of intermediate lift arm  32   d  relative to upper lift arm  32   c . In other embodiments, one more of the other arms of lift assembly  14  include multiple telescoping sections that are configured to extend/retract relative to one another. 
     Implement  16  is configured to be driven to pivot about axis  28  (e.g., rotate about axis  28  in either a clockwise or a counter-clockwise direction) by an electric or hydraulic motor  26  (e.g., a rotary electric actuator, a stepper motor, a platform rotator, a platform electric motor, an electric platform rotator motor, etc.). Motor  26  can be configured to drive frame  24  to pivot about axis  28  relative to upper lift arm  32   c  (or relative to intermediate lift arm  32   d ). Motor  26  can be configured to drive a gear train to pivot implement  16  about axis  28 . 
     Lift assembly  14  is configured to pivotably or rotatably couple with base assembly  12 . Base assembly  12  includes a rotatable base member, a rotatable platform member, a fully electric turntable, etc., shown as a turntable  70 . Lift assembly  14  is configured to rotatably/pivotably couple with base assembly  12 . Turntable  70  is rotatably coupled with a base, frame, structural support member, carriage, etc., of base assembly  12 , shown as base  36 . Turntable  70  is configured to rotate or pivot relative to base  36 . Turntable  70  can pivot/rotate about central axis  42  relative to base  36 , about a slew bearing  71  (e.g., slew bearing  71  pivotably couples turntable  70  to base  36 ). Turntable  70  facilitates accessing various elevated and angularly offset locations at implement  16 . Turntable  70  is configured to be driven to rotate or pivot relative to base  36  and about slew bearing  71  by an electric motor, an electric turntable motor, an electric rotary actuator, a hydraulic motor, etc., shown as turntable motor  44 . Turntable motor  44  can be configured to drive a geared outer surface  73  of slew bearing  71  that is rotatably coupled to base  36  about slew bearing  71  to rotate turntable  70  relative to base  36 . Lower lift arm  32   a  is pivotably coupled with turntable  70  (or with a turntable member  72  of turntable  70 ) such that lift assembly  14  and implement  16  rotate as turntable  70  rotates about central axis  42 . In some embodiments, turntable  70  is configured to rotate a complete 360 degrees about central axis  42  relative to base  36 . In other embodiments, turntable  70  is configured to rotate an angular amount less than 360 degrees about central axis  42  relative to base  36  (e.g., 270 degrees, 120 degrees, etc.). 
     In some embodiments, base assembly  12  can include one or more energy storage devices or power sources (e.g., capacitors, batteries, Lithium-Ion batteries, Nickel Cadmium batteries, fuel tanks, etc.), shown as batteries  64 . Batteries  64  are 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 lift device  10 . Batteries  64  can be stored within base  36 . Lift device  10  includes a controller  38  that is configured to operate any of the motors, actuators, etc., of lift device  10 . Controller  38  can be configured to receive sensory input information from various sensors of lift device  10 , user inputs from user interface  20  (or any other user input device such as a key-start or a push-button start), etc. Controller  38  can be configured to generate control signals for the various motors, actuators, etc., of lift device  10  to operate any of motors, actuators, electrically powered movers, etc., of lift device  10 . Batteries  64  are configured to power any of the motors, sensors, actuators, electric linear actuators, electrical devices, electrical movers, stepper motors, etc., of lift device  10 . Base assembly  12  can 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 lift device  10 . 
     Batteries  64  are configured to deliver power to motors  52  to drive tractive elements  82 . A rear set of tractive elements  82  can be configured to pivot to steer lift device  10 . In other embodiments, a front set of tractive elements  82  are configured to pivot to steer lift device  10 . In still other embodiments, both the front and the rear set of tractive elements  82  are configured to pivot (e.g., independently) to steer lift device  10 . In some examples, base assembly  12  includes a steering system  150 . Steering system  150  is configured to drive tractive elements  82  to pivot for a turn of lift device  10 . Steering system  150  can be configured to pivot tractive elements  82  in pairs (e.g., to pivot a front pair of tractive elements  82 ), or can be configured to pivot tractive elements  82  independently (e.g., four-wheel steering for tight-turns). 
     In some embodiments, base assembly  12  also includes a user interface  21  (e.g., a HMI, a user input device, a display screen, etc.). In some embodiments, user interface  21  is coupled to base  36 . In other embodiments, user interface  21  is positioned on turntable  70 . User interface  21  can be positioned on any side or surface of base assembly  12  (e.g., on the front  62  of base  36 , on the rear  60  of base  36 , etc.) 
     Referring now to  FIGS.  2 A and  2 B , side perspective views of lift device  10  are shown, according to some embodiments. As shown, lift device  10  is configured to support a platform (e.g., implement  16 ), although it will be appreciated that the examples shown are not intended to be limiting. For example, in other configurations, implement  16  may be a fork assembly or other type of implement that may be supported by lift device  10 , as discussed above. 
     In some embodiments, lift device  10  includes at least one first transceiver device (e.g., transceiver device  100 ) coupled to implement  16  (e.g., fixedly or removably). The at least one first transceiver device may be generally referred to herein as tag  202 . Tag  202  may be configured to transmit and receive wireless signals and, in some embodiments, can include a memory and/or a processor for analyzing received wireless signals. In particular, tag  202  may be configured to transmit and receive short-range wireless signals, such as signals in the ultra-wideband (UWB) spectrum, which is generally between 3.1 and 10.6 GHz. Accordingly, tag  202  may also be generally referred to as an “UWB transceiver.” In some embodiments, lift device  10  includes a plurality of tags  202 . For example, a first tag  202  may be coupled to implement  16 , as shown, while one or more additional tags  202  (e.g., multiple tags  202 ) may be positioned at various points along lift assembly  14 . In such embodiments, a tag (e.g., tag  202 ) may be positioned on each arm of lift assembly  14  (e.g., lower lift arm  32   a , middle lift arm  32   b , upper lift arm  32   c , and/or intermediate lift arm  32   d ). In some embodiments, tags (e.g., multiple tags  202 ) may be positioned on one or more outriggers or leveling devices of lift device  10  to facilitate determining a position of each outrigger for leveling lift device  10  on a surface. Accordingly, it will be appreciated that any number of tags  202  may be utilized. 
     In some embodiments, lift device  10  also includes one or more additional or second transceiver devices (e.g., transceiver devices  100 ) positioned (e.g., fixedly or removably coupled) at various points on base assembly  12 . These additional or second transceiver devices may be generally referred to herein as anchors  204 . Like tags  202 , anchors  204  may be configured to transmit and receive wireless signals, and in some embodiments can include a memory and/or a processor for analyzing received wireless signals. Accordingly, anchors  204  may also be configured to transmit and receive short-range wireless signals in the UWB spectrum (e.g., 3.1 to 10.6 GHz) and may, therefore, be referred to as UWB transceivers. As shown in  FIGS.  2 A and  2 B , and in some embodiments, lift device  10  includes at least three anchors  204  positioned at different points on base assembly  12 . In some embodiments, lift device  10  includes a different number of anchors  204  (e.g., one, two, four, five, six, eight, ten, twelve, etc.). 
     As shown in  FIGS.  2 A and  2 B , tag  202  may communicate with anchors  204  via short-range wireless signals. In particular, tag  202  may be configured to broadcast (i.e., transmit) a first wireless signal, which is subsequently detected by one or more of anchors  204 . In response to receiving the first wireless signal, each of anchors  204  may broadcast (i.e., transmit) a second wireless signal. These second wireless signals may, in turn, be detected by tag  202  and utilized to determine a position of implement  16  with respect to base assembly  12 . In some other embodiments, however, one or more of anchors  204  may broadcast the first wireless signal. Accordingly, in some such embodiments, the second wireless signal may be transmitted by tag  202  and detected by anchors  204 . In any case, a time delay (i.e., loopback time) between when tag  202  broadcasts the first wireless signal and when tag  202  receives the second wireless signals (or a time delay between when anchors  204  broadcast the first wireless signal and when anchors  204  receive the second wireless signals) may be utilized to determine a distance between tag(s)  202  and each of anchors  204 . Thus, if the position of each of anchors  204  is known, the position of implement  16  with respect to base assembly  12  can be determined. Additionally, based on the determined positioned of implement  16 , the position of lift assembly  14  may also be determined (or the position of lift assembly  14  may be independently determined using tags  202  thereon). 
     Advantageously, determining a position of lift assembly  14  and/or implement  16  utilizing wireless signals communicated between tag(s)  202  and anchor(s)  204  can require far fewer sensors that other position detection methods. For example, some lift devices may include a plurality of angle sensors, limit switches, and other sensors for determining the angle and/or position of each arm of lift assembly  14 . Therefore, the number of additional sensors can be greatly reduced for a lift device (e.g., lift device  10 ) utilizing tag(s)  202  and anchor(s)  204 , which can reduce costs and maintenance (e.g., due to faulty sensors). Additionally, communicating in the UWB spectrum (e.g., 3.1 to 10.6 GHz) can provide a number of advantages over other position detection systems. For example, as shown in  FIG.  2 B , UWB signals may propagate through various materials, such as concrete, brick, wood, etc. Accordingly, the position of implement  16  can be tracked through and around obstacles that may impede other types of wireless signals. Additionally features and advantages to position tracking via tag(s)  202  and anchor(s)  204  are described in greater detail below. 
     Lift Assembly Position Tracking 
     Referring now to  FIG.  3   , a block diagram of a system  300  (e.g., an implement/lift arm tracking system) for detecting a position of an implement (e.g., implement  16 ) supported by lift device  10  is shown, according to some embodiments. As described briefly above, system  300  may include one or more tags  202  and one or more anchors  204  configured to communicate via short-range wireless signals. In some embodiments, tags  202  and anchors  204  communicate in the UWB spectrum, between 3.1 and 10.6 GHz. However, it will be appreciated that, in some other embodiments, tags  202  and anchors  204  may be configured to communicate in other frequency ranges. For example, tags  202  and anchors  204  may be radio-frequency identification (RFID) tags (e.g., either passive or active), and thus may operate in any corresponding frequency bands (e.g., ultra-high frequency (UHF) RDIF operates around 433 MHZ). In any case, system  300  may be configured to determine a position of tags  202 , and thereby any component of lift device  10  that tags  202  are coupled to (e.g., implement  16 ). 
     It will be also that, as described herein, system  300  may be implemented on various other types of equipment in addition to a lift device such as lift device  10 . In particular, system  300  may be implemented on any equipment or device where the position of a component is tracked or determined. In some such embodiments, system  300  can be implemented on a concrete mixing vehicle, a ladder fire truck or apparatus, a crane (e.g., wrecker, IMT, etc.), a scissor lift, a front or side-loading refuse vehicle, a plow truck, a telehandler, a bucket truck, and/or a construction machine (e.g., a skid-loader, an excavator, a backhoe, a bulldozer, a feller buncher, etc.), among other suitable machines or vehicles. For example, tag  202  may be coupled to a far end of a ladder on a fire truck while anchors  204  are coupled to various points on a body of the fire truck to track a position of the ladder during operation. In another example, tag  202  may be coupled to a lift device (e.g., a fork assembly) of a refuse collection vehicle and anchors  204  may be coupled to various points on a body of the refuse vehicle to track a position of the lift device while engaging and lifting a refuse container. In this manner, system  300  may advantageously improve position tracking for a number of different types of equipment contemplated herein, and thus the examples provided (e.g., relating to lift device  10 ) are not intended to be limiting. 
     In the example shown in  FIG.  3   , system  300  includes four of anchors  204  and one tag  202 . However, it should be understood that system  300  may include any suitable number of tags  202  and anchors  204 . As described briefly above, tag  202  may be configured to broadcast (i.e., transmit) a first wireless signal, generally between 3.1 and 10.6 GHz. Each anchor  204  may detect (i.e., receive) the first wireless signal and may, in turn, broadcast (i.e., transmit) a second wireless signal (or vice versa). In some embodiments, the first and/or second wireless signals can include a variety of metadata associated with the broadcasting device. For example, the first wireless signal broadcast by tag  202  may include metadata associated with tag  202 , such as an identifier (e.g., a string) for tag  202  and/or a time stamp that the first wireless signal was broadcast. Likewise, the second wireless signals broadcast by anchors  204  may include identifiers for each of anchors  204  and/or time stamps that the respective second wireless signals were broadcast. 
     In some embodiments, tag  202  detects (i.e., receives) the second wireless signals from anchors  204  and determines a time delay, either between the transmission of the first wireless signal and the receipt (e.g., by tag  202 ) of the second wireless signal or based on a time stamp associated with the second wireless signal. For example, tag  202  may record a time when the first wireless signal is broadcast and may compare this time to a time that a second wireless signal is received back from each of anchors  204  to determine the time delay (i.e., loopback time). In another example, tag  202  may simply calculate a time delay by determining an amount of time between a timestamp included as metadata in the second wireless signal and the time of receipt by tag  202 . 
     In either case, the time delay may be utilized, in combination with a propagation speed of the wireless signals, to calculate a distance between tag  202  and each of anchors  204 . Accordingly, the propagation speed of each of the first and second wireless signals may be fixed and/or known, such as based on the particular wavelength (e.g., within the UWB spectrum) that tag  202  and anchors  204  are configured to transmit. For example, distance may be calculated as: 
     
       
      
       d=t×v  
      
     
     where d is a distance between tag  202  and one of anchors  204 , t is the time delay, and v is the velocity (i.e., speed) of the wireless signal, which can be determined based on the frequency of the wireless signal. 
     In the example shown, there is (i) a 3 nanosecond (ns) delay between “Anchor 1” and tag  202  and (ii) a 4 ns delay between “Anchor 2” and tag  202 . Thus, it can be determined that “Anchor 1” is closer to tag  202  than “Anchor 2.” Based on the time delay and a known propagation speed of the wireless signals (e.g., the speed of light through air), the distance between (i) tag  202  and “Anchor 1” and (ii) tag  202  and “Anchor 2” can be determined. For example, at 3.1 GHz (e.g., the lower end of the UWB spectrum), a 3 ns delay would indicate that “Anchor 1” is approximately 0.899 meters from tag  202 , while a 4 ns delay would indicate that “Anchor 2” is approximately 1.199 meters from tag  202 . 
     As discussed briefly above, in some embodiments, a position of each of anchors  204  may be fixed and known. For example, the exactly position of each of anchors  204  on lift device  10  may be recorded when anchors  204  are coupled to lift device  10 . Thus, based on the distance between tag  202  and each of anchors  204 , and the known positions of anchors  204 , a position of tag  202  can be determined. In particular, system  300  may include at least three of anchors  204  in order to triangulate the position of tag  202  based on the positions of anchors  204 . For example, the position of each anchor  204  may be recorded as x, y, and z coordinates in a 3-dimensional (3D) space, with respect to a reference coordinate (e.g., 0, 0, 0), and thus the position of tag  202  may be expressed as a position (x, y, z) in the same 3D space. 
     Referring now to  FIG.  4   , a block diagram of a controller  400  utilized in system  300  is shown, according to some embodiments. Accordingly, in some embodiments, controller  400  may be similar to or the same as controller  38 , described above. In other embodiments, controller  400  is a secondary and/or separate controller from controller  38 . For example, controller  38  may be configured to generate control signals for the various motors, actuators, etc., of lift device  10 , while controller  400  may be configured to determine a position of an implement (e.g., implement  16 ) supported by lift device  10 . In some other embodiments, controller  400  may be implemented within a tag  202  and/or anchor  204  of system  300 , as described above. In any case, controller  400  may also be configured to determine the position of an implement (e.g., implement  16 ) supported by lift device  10 . 
     Controller  400  is shown to include a processing circuit or unit  402 , which includes a processor  404  and memory  410 . It will be appreciated that these components can be implemented using a variety of different types and quantities of processors and memory. For example, processor  404  can be 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. Processor  404  can be communicatively coupled to memory  410 . While processing unit  402  is shown as including one processor  404  and one memory  410 , it should be understood that, as discussed herein, a processing unit and/or memory may be implemented using multiple processors and/or memories in various embodiments. All such implementations are contemplated within the scope of the present disclosure. 
     Memory  410  can include one or more devices (e.g., memory units, memory devices, storage devices, etc.) for storing data and/or computer code for completing and/or facilitating the various processes described in the present disclosure. Memory  410  can include random access memory (RAM), read-only memory (ROM), hard drive storage, temporary storage, non-volatile memory, flash memory, optical memory, or any other suitable memory for storing software objects and/or computer instructions. Memory  410  can 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 disclosure. Memory  410  can be communicably connected to processor  404  via processing unit  402  and can include computer code for executing (e.g., by processor  404 ) one or more processes described herein. 
     Memory  410  is shown to include an anchor manager  412  configured to manage registration of one or more anchors, such as anchors  436  (e.g., anchors  204 ) described in detail below. In particular, anchor manager  412  may be configured to record, store, and/or retrieve position data and other metadata (e.g., a broadcast ID) associated with anchors  436 . In some embodiments, anchor manager  412  can store position information in an anchor/tag database  420 . For example, anchors  436  may be registered with controller  400  during installation on lift device  10  (e.g., when being coupled to lift device  10 ) by recording, via a user interface (e.g., user interface  442 ), a position of each anchor. In another example, each of anchors  436  may be scanned (e.g., wirelessly) via controller  400  or another device, and anchor manager  412  may record relevant metadata and position data. 
     In some embodiments, controller  400  can act as a reference point (e.g., coordinate 0, 0, 0 in a 3D space) with respect to anchors  436 . In such embodiments, anchor manager  412  may be configured to broadcast a first wireless signal to anchors  436 , causing anchors  436  to respond with a second wireless signal. Thus, the position of each of anchors  436  with respect to controller  400  may be automatically determined based on the time delay in receiving the second wireless signals. However, it will be appreciated that any other method of determining an initial position of anchors  436  may be utilized. 
     Memory  410  is also shown to include a position detection engine  414  configured to determine a position of an implement (e.g., implement  16 ) and/or a lift assembly (e.g., lift assembly  14 ) of lift device  10 . In other words, position detection engine  414  may be configured to analyze signal data received from tags  434  (e.g., tags  202 ), described in greater detail below, and/or anchors  436  in order to track the position of implement  16  and/or a lift assembly  14 . For example, position detection engine  414  may receive data from tags  434  and/or anchors  436  indicating time intervals at which wireless signals were received. Accordingly, position detection engine  414  may be configured to perform various calculations using this wireless signal data to determine a time delay, and therefore a distance, between tags  434  and anchors  436 . 
     In some embodiments, position detection engine  414  is also configured to initiate position detection by causing tags  434  to transmit a signal, and/or by causing anchors  436  to transmit a signal. For example, position detection engine  414  may transmit a first signal to tags  434  and/or anchors  436 , causing tags  434  and/or anchors  436  to broadcast a second wireless signal. In some embodiments, position detection engine  414  may initiate position detection at a regular interval (e.g., every few seconds, every minute, every hour, etc.). In some such embodiments, the regular interval may be predefined or may be defined by a user (e.g., via user interface  442  which may be user interface  20  and/or user interface  21 ). 
     In some embodiments, position detection engine  414  can also record a position of implement  16  and/or lift assembly  14  by storing a detected position in a movement database  422 . In some such embodiments, position detection engine  414  may store a detected position along with a time stamp of when the position was detected, thereby creating a log of implement  16  and/or lift assembly  14  movements over time. As discussed in greater detail below, position logs stored in movement database  422  can subsequently be referenced to identify an amount of time spent at each position (i.e., dwell time), a path taken to reach a working position, an amount of movement at a “fixed” position (e.g., unintentional movement due to external forces acting on lift assembly  14  and/or implement  16 ; due system tolerances, faulty actuators, or other worn parts (i.e., system slack or slop); etc.), and other relevant data. In some embodiments, position detection engine  414  can also detect a type of implement (e.g., implement  16 ) coupled to lift assembly  14 , such as by a broadcast ID of a tag coupled to the implement. For example, position detection engine  414  may detect the broadcast ID of a tag coupled to an implement and may compare it to known broadcast IDs (e.g., stored in a database) to identify a type (e.g., fork assembly, platform, etc.) or other information regarding the implement. 
     Memory  410  is also shown to include a limit manager  416  configured to limit operations of lift device  10  based on the determined position of an implement (e.g., implement  16 ) and/or a lift assembly (e.g., lift assembly  14 ). For example, limit manager  416  may be configured to transmit a control signal to lift device systems  440  (e.g., actuators of lift assembly  14 , prime movers, etc.) and/or a secondary controller (e.g., controller  38 ) causing lift device  10  to limit or prevent movement of various components (e.g., lift assembly  14 , tractive elements  82 , etc.). In particular, limit manager  416  may determine that the position of implement  16  is in an undesirable position, or may determine that implement  16  is at risk of contacting an external structure (e.g., a telephone line, a wall, a tree, etc.), which may cause damage. In some embodiments, limit manager  416  may compare a position of implement  16  with a detected load weight (e.g., detected by other sensors  438 , such as weight sensors) to determine whether implement  16  is outside of a permitted operating zone based on the detected weight, as described in greater detail below with respect to  FIGS.  6 A- 6 C . 
     In some embodiments, limit manager  416  can also detect whether implement  16  and/or lift assembly  14  is properly stowed prior to maneuvering lift device  10 . For example, limit manager  416  may determine whether implement  16  is in a predefined “stow” position and, if implement  16  is not in a stow position, may limit movement speed or prevent movement of lift device  10  altogether. In some embodiments, as mentioned above, a tag (e.g., tag  202 , tag  434 , etc.) may be coupled to an outrigger or other stability system of lift device  10 . In such embodiments, limit manager  416  can be configured to determine a position of each outrigger and can compare the position of each outrigger to a position of the other outriggers and/or body assembly  12 . In this manner, limit manager  416  may not only ensure that lift device  10  is level and/or stable, but may also be configured to determine a topography of the ground underneath lift device  10  to optimize a leveling algorithm or limit use of the lift assembly  14  based on the position of the outriggers or stability system. 
     Memory  410  is also shown to include an interface generator  418  configured to dynamically generate, modify, and/or update graphical user interfaces that present a variety of data. For example, interface generator  418  may be configured to generate graphical user interfaces for presentation on user interface  442 , user interface  20 , and/or user interface  21 . In some embodiments, interface generator  418  may be configured to generate a first set of interfaces for registering anchors  436  (e.g., recording a position and other metadata). In some embodiments, interface generator  418  may generate a limit interface for presentation via user interface  20 , indicating that implement  16  is outside of a permitted working area, is at risk of contacting an external structure, etc. Accordingly, it will be appreciated that any sort of graphical user interface may be generated by interface generator  418 . 
     Still referring to  FIG.  4   , controller  400  may be configured to communicate with various external (i.e., remote) components via a communications interface  430 . Communications interface  430  can be or include wired or wireless communications interfaces (e.g., jacks, antennas, transmitters, receivers, transceivers, wire terminals, etc.) for conducting data communications with sensors  432 , lift device systems  440 , a user interface  442 , external systems  444 , and/or other external systems or devices. In some embodiments, communications via communications interface  430  may be direct (e.g., local wired or wireless communications) or via a communications network (e.g., a WAN, the Internet, a cellular network, etc.). For example, communications interface  430  can include an Ethernet card and port for sending and receiving data via an Ethernet-based communications link or network. In another example, communications interface  430  can include a Wi-Fi transceiver for communicating via a wireless communications network. In another example, communications interface  430  may include cellular or mobile phone communications transceivers. In some embodiment, communications interface  430  includes a wireless transceiver configured to operate in the UWB spectrum, in order to communicate with tags and anchors, as described in greater detail below. 
     As shown, controller  400  may communicate with a plurality of sensors  432  via communications interface  430 . Sensors  432  may include tags  434  (e.g., similar to or the same as tag  202 ), anchors  436  (e.g., similar to or the same as anchors  204 ), and other sensors  438 . Other sensors  438  may include any additional sensors that may be included on lift device  10 . For example, other sensors  438  may include limit switch, angle sensors, speed sensors, motion sensors, etc. In some embodiments, other sensors  438  include load/weight sensors configured to detect a weight of a load carried by lift device  10 . For example, load/weight sensors may detect the weight of implement  16  and/or any persons, equipment, or materials carried by implement  16 . In some embodiments, other sensors  438  include an inertial measurement unit (IMU) configured to detect a movement speed, orientation, etc., of implement  16 . In some such embodiments, the IMU and/or other sensors  438  may include, for example, accelerometers, gyroscopes, and magnetometers. Tags  434  and anchors  438  are described in greater detail below, with respect to  FIGS.  5 A and  5 B . 
     Controller  400  may also communicate with lift device systems  440 , as described briefly above. Lift device systems  440  may include any of the mechanical or electrical systems described above with respect to  FIGS.  1 A- 2 B . For example, lift device systems  440  may include controller  38 , configured to receive sensory input information from various sensors (e.g., other sensors  438 ) of lift device  10 , user inputs from user interface  20  or user interface  442  (or any other user input device such as a key-start or a push-button start), etc., and to generate control signals for the various motors, actuators, etc., of lift device  10  to operate any of motors, actuators, electrically powered movers, etc., of lift device  10 . 
     User interface  442 , as mentioned above, may be include any component(s) that allows a user to interact with controller  400  and/or lift device  10 . In some embodiments, user interface  442  includes a screen for displaying information and/or graphics. In some such embodiments, user interface  442  may be a touchscreen capable of receiving user inputs. In some embodiments, user interface  442  includes a user input device such as a keypad, a keyboard, a mouse, a stylus, etc. Accordingly, in some embodiments, user interface  442  may be an HMI similar to, or the same as, user interface  20  and/or user interface  21  described above. 
     External systems  444  may include any additional systems or device, either part of lift device  10  or external to lift device  10 , which may communicate with controller  400 . In some embodiments, external systems  444  include a computing system (e.g., a server, a computer, etc.) located remotely from lift device  10 , which can track movement data (e.g., implement  16  positions and/or lift device  10  location) for lift device  10 . For example, external systems  444  may be a central computing system for an organization (e.g., a company) that owns and/or operates one or more lift devices  10 , and thus external systems  444  may track movement and operation data for each of the one or more lift devices. In some embodiments, external systems  444  can include a system for controlling a plurality of autonomous vehicles (e.g., drones). Accordingly, position data of lift device  10  and/or implement  16  may be transmitted to external systems  444  and utilized to control the movement (e.g., flight) of an autonomous vehicle to a current position of lift device  10  and/or implement  16 . For example, a drone may be programmed to fly to a position of implement  16  (e.g., a platform) to deliver supplies. 
     Referring now to  FIGS.  5 A and  5 B , detailed block diagrams of tags  434  and anchors  436  are shown, according to some embodiments. As mentioned above, tags  434  and anchors  436  may be the same as, or similar to, tag  202  and anchors  204  described above, respectively. Accordingly, tags  434  and anchors  436  may each be configured to broadcast and receive wireless signals, particularly in the UWB spectrum between 3.1 GHz and 10.6 GHz. As described herein, the structure of tags  434  may also be substantially similar to, or the same as anchors  436 , and vice versa. For example, tags  434  and anchors  436  may be transceiver devices including the same or similar components, and may accordingly be configured as either a tag or an anchor by reprogramming the devices. 
     Turning first to  FIG.  5 A , tag  434  is shown in greater detail. Tag  434  can include a processor  502  and a memory  504 . It will be appreciated that these components can be implemented using a variety of different types and quantities of processors and memory. For example, processor  502  can be 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. Processor  502  can be communicatively coupled to memory  504 , such as via a processing unit (not shown). It should be understood that, as discussed herein, a processing unit and/or memory may be implemented using multiple processors and/or memories in various embodiments. All such implementations are contemplated within the scope of the present disclosure. 
     Memory  504  can include one or more devices (e.g., memory units, memory devices, storage devices, etc.) for storing data and/or computer code for completing and/or facilitating the various processes described in the present disclosure. Memory  504  can include random access memory (RAM), read-only memory (ROM), hard drive storage, temporary storage, non-volatile memory, flash memory, optical memory, or any other suitable memory for storing software objects and/or computer instructions. Memory  504  can 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 disclosure. In some embodiments, memory  504  can include computer code for executing (e.g., by processor  502 ) one or more processes described herein. 
     Tag  434  is also shown to include a power supply  506 , configured to provide energy (e.g., electricity) to the components of tag  434 . In some embodiments, power supply  506  is a battery (e.g., alkaline, zinc, lithium, nickel-cadmium, etc.). For example, power supply  506  may include a removable and/or rechargeable battery or set of batteries. In other embodiments, power supply  506  may be connected to an external power source (e.g., batteries  64 , a generator, a solar panel, etc.). For example, power supply  506  may receive electricity from lift device  10  to power tag  434 . 
     Tag  434  is also shown to include a transceiver  516  configured to broadcast (i.e., transmit) and receive wireless (e.g., radio frequency (RF)) signals. In some embodiments, tag  434  itself is a transceiver, and thus transceiver  516  may not be a separate component. However, transceiver  516  is described separately herein for clarity. Transceiver  516  may be configured to operate between 3.1 and 10.6 GHz (e.g., UWB), in some cases, but may also be configured to operate in other frequency bands. In some embodiments, tag  434  can include multiple transceivers  516 , where each different transceiver  516  can operate in a different frequency band. For example, a first transceiver may operate over the entire UWB spectrum, while a second transceiver may operate in higher or lower spectrums for other types of communication (e.g., 433 MHz for RFID, 26-50 GHz for 5G cellular communications, etc.). Accordingly, tag  434  may be configured to communicate with anchors  436  via short-range, UWB signals, and may communicate with other components (e.g., controller  400 ) via a secondary frequency range (e.g., 4G or 5G cellular signals, Wi-Fi signals, etc.). 
     Turning now to  FIG.  5 B , anchor  436  is shown in greater detail. As discussed above, in some embodiments, anchor  436  may be the same as or similar to tag  434 , and thus may include similar components to tag  434 . Specifically, anchor  436  can include a processor  510  and a memory  512 . It will be appreciated that these components can be implemented using a variety of different types and quantities of processors and memory. For example, processor  510  can be 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. Processor  510  can be communicatively coupled to memory  512 , such as via a processing unit (not shown). It should be understood that, as discussed herein, a processing unit and/or memory may be implemented using multiple processors and/or memories in various embodiments. All such implementations are contemplated within the scope of the present disclosure. 
     Memory  512  can include one or more devices (e.g., memory units, memory devices, storage devices, etc.) for storing data and/or computer code for completing and/or facilitating the various processes described in the present disclosure. Memory  512  can include random access memory (RAM), read-only memory (ROM), hard drive storage, temporary storage, non-volatile memory, flash memory, optical memory, or any other suitable memory for storing software objects and/or computer instructions. Memory  512  can 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 disclosure. In some embodiments, memory  512  can include computer code for executing (e.g., by processor  510 ) one or more processes described herein. Anchor  436  can also include a power supply  514  and a transceiver  516  similar to tag  434 . 
     As mentioned briefly above, in some embodiments, one or both of tag  434  and anchor  436  may include the various functions and components of controller  400 , as described above. For example, anchor  436  may be similar to or the same as controller  400 , while any additional anchors or tags (e.g., of system  300 ) may have comparatively reduced functionality. In this manner, the cost and complexity of developing and implementing a separate controller device (e.g., controller  400 ) may be avoided. Additionally, system  300  may be simplified by configuring one of tag  434  or anchor  436  to operate as controller  400 , without requiring a separate controller device. 
     Referring now to  FIGS.  6 A- 6 C , diagrams illustrating position detection for lift device  10  are shown, according to some embodiments. In particular, each of  FIGS.  6 A- 6 C  includes a diagram showing a range of positions of an implement (e.g., implement  16 ) and/or a lift assembly (e.g., lift assembly  14 ) of lift device  10 . For example,  FIG.  6 A  shows a number of positions that implement  16  can reach when lower lift arm  32   a  is at a 68° angle with respect to ground.  FIGS.  6 A- 6 C  also illustrate a first zone  602  and a second zone  604 , which represent positions that can be reached at various different loads (e.g., 600 pounds and 1000 pounds, respectively). In some embodiments, any of  FIGS.  6 A- 6 C  may also represent user interfaces that can be presented via user interface  442 , user interface  20 , and/or user interface  21 . 
     Turning first to  FIG.  6 A , first zone  602  includes a range of positions that implement  16  can reach when carrying a 600 pound (lb) load. If implement  16  is a platform, for example, this 600 lb load may include the weight of an operator and equipment. If implement  16  is another device, such as a fork assembly, this 600 lb load may include the weight of any materials (e.g., a pallet) being carried by the fork assembly. Likewise, second zone  604  includes a range of positions that implement  16  can reach when carrying a 1000 lb load. As shown, implement  16  may be permitted to reach slightly greater distances from a reference point (e.g., the base of lift device  10 ) when carrying a lighter load. For example, first zone  602  extends to about 75 feet from base assembly  12  of lift device  10  at its farthest point, whereas second zone  604  extends about 69 feet from base assembly  12 . 
     Turning now to  FIG.  6 B , a plurality of specific positions can be represented by points  606 . Points  606  may each represent a point in a 3D space, generally with respect to a reference point (e.g., base assembly  12  at point 0, 0, 0). In some embodiments, a position of implement  16  is detected at a working position (e.g., at only one point  606 ). Accordingly, the working position of implement  16  may be represented as x, y, and z coordinates, although other methods of representing the location or position of implement  16  may also be utilized. Additionally, a path taken to reach a working position (x, y, z) can be represented by one or more points  606 . For example, each point  606  can represent a set of coordinates, and the change between coordinates (Δx, Δy, Δz) can be determined to represent the path and/or movements to reach the working position. Additionally, an amount of time spent at each position may be recorded. 
     In some embodiments, an “infinite” number of points  606  can be used to represent the positions of implement  16 . In such embodiments, as shown in  FIG.  6 C , a map  608  of positions can be generated. Map  608 , similar to a heat map, may utilize varying colors, patterns, or other identifiers to indicate different positions or areas occupied by implement  16 . For example, a first color (e.g., red) or pattern may indicate positions that were occupied for greater amounts of time than other positions represented by a second color (e.g., green) or pattern. In this manner, map  608  may intuitively represent dwell times at any number of positions, and may also indicate an amount of movement at a fixed location. 
     Referring now to  FIG.  7   , a flow diagram of a process  700  for tracking a position of an implement (e.g., implement  16 ) supported by lift device  10  is shown, according to some embodiments. As shown, process  700  may be implemented by one or more of the components of system  300  and/or controller  400 , as described above. For example, certain steps of process  700  may be executed by a tag and/or anchor, while other steps may be executed by controller  400 . In some embodiments, such as where one of a tag or an anchor is configured to operate as controller  400  (i.e., where controller  400  is integrated into a tag or anchor), the steps shown as executed by a controller may instead be executed by a tag or an anchor. Accordingly, it will be appreciated that certain steps of process  700  may be optional and, in some embodiments, process  700  may be implemented using less than all of the steps. 
     At step  702 , a position of one or more anchors coupled to a lift device (e.g., lift device  10 ) is recorded. As described above, the one or more anchors can include a first transceiver or a first set of transceivers figured as anchors (e.g., anchors  436 , anchors  204 , etc.). In this regard, the one or more anchors may be configured to transmit and receive wireless signals. In some embodiments, the anchor(s) are configured to operate in the UWB spectrum, between 3.1 and 10.6 GHz, as also described in detail above. The anchor(s) may be removably or fixedly coupled to one or more points of a base (e.g., base assembly  12 ) of the lift device. In some embodiments, at least three anchors are coupled at three distinct positions of the lift device, to improve position detection accuracy in the following steps of process  700 . 
     In some embodiments, the position of the anchor(s) is recorded as coordinates (x, y, z) in a 3D space. In such embodiments, the initial position of the anchor(s) may be determined with respect to a central or reference point (0,0,0), which may be one or the anchors or another point on lift device  10 . In other embodiments, another method of determining the anchor(s) initial position may be used. For example, the position of each anchor may be recorded as geographical coordinates based on GPS data. In some embodiments, additional metadata associated with each anchor may also be recorded. For example, an identifier (e.g., a broadcast ID) may be recorded for each anchor, and thereby associated with the anchor&#39;s position. In this manner, the anchors and their positions may be easily identified. 
     At step  704 , a position tracking process is initiated. In some embodiments, the position tracking process is initiated by a controller (e.g., controller  400 ). In such embodiments, the controller may transmit a control signal or a command to a second transceiver or set of transceivers configured as a tag (e.g., tags  434 ), causing the tag(s) to initiate the tracking process. In other embodiments, the controller may transmit a control signal or a command to any of the anchors, causing the anchor(s) to initiate the tracking process. 
     In other embodiments, the position tracking process is initiated by the tag(s). As described above, the tag may be configured to transmit and receive wireless signals at a similar frequency to the anchor(s). Accordingly, in some embodiments, the tag is configured to operate in the UWB spectrum, between 3.1 and 10.6 GHz, as described in detail above. The tag may be removably or fixedly coupled to one or more points of the lift device to be tracked. In particular, the tag or tags may be coupled to an implement (e.g., implement  16 ) carried by the lift device, and/or may be positioned at various points along the lift assembly. It will be appreciated that any number of tags may be included and these tags may be positioned at any point of the lift device for tracking. 
     At step  706 , the tag broadcasts a first wireless signal. As described above, the first wireless signal may be a short-range wireless signal. In some embodiments, “short-range” may refer to wireless signals broadcast in the UWB spectrum, as also described above. In some embodiments, the first wireless signal may include metadata associated with the tag, such as a broadcast ID of the tag and/or a time stamp associated with the broadcast of the first wireless signal. Subsequently, at step  708 , the one or more anchors may receive (e.g., detect) the first wireless signal. However, it may be appreciated that, in some embodiments where the position tracking process is initiated by an anchor, steps  706  and  708  may be optionally executed. 
     At step  710 , each of the one or more anchors broadcasts a second wireless signal, in response to receiving and/or analyzing the first wireless signal. Like the first wireless signal broadcast by the tag, the second wireless signals may be a short-range wireless signals (e.g., in the UWB spectrum). In some embodiments, each of the second wireless signals may include metadata associated with a respective anchor, such as a broadcast ID of the anchor and/or a time stamp associated with the broadcast of the second wireless signal. Subsequently, at step  712 , the tag receives (e.g., detects) the second wireless signal. 
     At step  714 , the tag transmits wireless signal metadata to a controller (e.g., controller  400 ). As described above, the wireless signal metadata may include at least a broadcast ID associated with each anchor and a time stamp that a wireless signal was received from each of the anchors. In some embodiments, the wireless metadata may also include a time delay between when the first wireless signal was broadcast (e.g., by the tag) and when a second wireless signal was received (e.g., by the tag) from each anchor. In other embodiments, the time delay may be calculated by the controller at step  716 , described below. 
     At step  716 , a distance between each anchor (e.g., each of the second transceivers) and the tag (e.g., the first transceiver) is calculated based on a time delay associated with the first and/or second wireless signals. As mentioned above, a time delay can indicate an amount of time between when the first wireless signal was broadcast by the tag and when a second wireless signal was received by the tag from each anchor. Accordingly, a time delay may be calculated for each anchor. As described above with respect to  FIG.  3   , the time delays may be utilized in combination with a propagation speed of the wireless signals (e.g., the speed of light), to calculate a distance between the tag and each anchor. For example, a distance may be calculated as a product of the velocity of the wireless signal and the time delay. 
     At step  718 , a position of the implement (e.g., implement  16 ) is determined based on the calculated distances between the tag and the anchors. In some embodiments, the position of the implement may be triangulated based on the distance between the tag and at least three anchors, as described in greater detail above. In some embodiments, process  700  may be continuously or regularly executed to continuously update a position of the implement. For example, after the position of the implement is determined, process  700  may immediately, or after a predetermine time interval, proceed back to step  704  to reinitiate the position tracking process. 
     In some embodiments, additional data may also be utilized to determine a speed, position, angle, etc. of the implement. For example, an IMU may be coupled to the implement, as described above, and velocity or other movement data from the IMU may be analyzed along with the calculated distances (e.g., from step  716 ) to provide a more accurate determination of the implement&#39;s position. Advantageously, determining an implement&#39;s position based by triangulation of UWB signals and/or other motion data may provide a more accurate measurement than other methods that utilize sensors such as limit switches, angle sensors, etc. Additionally, as described above, UWB signals may propagate through solid objects such as walls, providing an advantage over other RF signals operating outside of the UWB spectrum. 
     In some embodiments, the determined position of the implement can be utilized to perform one or more automated actions, such as initiating operation limiting processes. For example, it may be determined that the implement is outside of a permitted position based on a load carried by the implement. Accordingly, once the implement&#39;s position is determined, a controller may initiate limiting measures such as limiting movement of lift device  10 , lift assembly  14 , and/or implement  16 . In some embodiments, the limiting measures may also include presenting, via a user interface, an alert or notification that the implement is outside of a recommended operating zone or range. Thus, an operator can control lift device  10  to bring the implement back into the recommended range. 
     In some embodiments, position data for the implement may be recorded over time, to determine dwell times at various positions, the most frequent positions, etc. Accordingly, in some embodiments, recorded position data may enable autonomous or semi-autonomous operations of lift device  10 . For example, an implement may be automatically maneuvered to a working position and/or a previous position by continuously detecting the implement&#39;s position in space. In some embodiments, position data may also be useful in determining a quickest route (e.g., a set of maneuvers) to a desired position (e.g., a working position). Thus, the implement may be automatically maneuvered to the desired position much more quickly than by manual control. 
     In some embodiments, position data may also be shared (e.g., transmitted) with other external and/or remote systems and devices. For example, position data can be shared with a remote computing system to track lift device  10  usage and/or to ensure that certain measures are being followed. In some embodiments, position data may be shared with a drone delivery system, allowing a drone to determine a location of an implement (e.g., a platform) and subsequently fly to the implement, such as to delivery supplies, tools, etc. In some embodiments, position data is shared with other autonomous devices and/or systems for controlling autonomous devices (e.g., drones, autonomous lift devices, etc.). For example, position data may be shared with an autonomous scissor lift, such that the scissor lift can track and follow lift device  10  (e.g., to act as a “smart” trailer for carrying material). Additionally, position data may be useful in determining the most ideal and/or secure positions for an implement, such as based on a load weight. 
     As utilized herein, the terms “approximately,” “about,” “substantially,” and similar terms 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. It should be understood by those of skill in the art who review this disclosure that these terms are intended to allow a description of certain features described and claimed without restricting the scope of these features to the precise numerical ranges provided. 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. 
     It should be noted that the term “exemplary” and variations thereof, as used herein to describe various embodiments, are intended to indicate that such embodiments are possible examples, representations, or illustrations of possible embodiments (and such terms are not intended to connote that such embodiments are necessarily extraordinary or superlative examples). 
     The term “coupled” and variations thereof, as used herein, means the joining of two members directly or indirectly to one another. Such joining may be stationary (e.g., permanent or fixed) or moveable (e.g., removable or releasable). Such joining may be achieved with the two members coupled directly to each other, with the two members coupled to each other using a separate intervening member and any additional intermediate members coupled with one another, or with the two members coupled to each other using an intervening member that is integrally formed as a single unitary body with one of the two members. If “coupled” or variations thereof are modified by an additional term (e.g., directly coupled), the generic definition of “coupled” provided above is modified by the plain language meaning of the additional term (e.g., “directly coupled” means the joining of two members without any separate intervening member), resulting in a narrower definition than the generic definition of “coupled” provided above. Such coupling may be mechanical, electrical, or fluidic. 
     References herein to the positions of elements (e.g., “top,” “bottom,” “above,” “below”) are merely used to describe the orientation of various elements in the FIGURES. It should be noted that the orientation of various elements may differ according to other exemplary embodiments, and that such variations are intended to be encompassed by the present disclosure. 
     The hardware and data processing components used to implement the various processes, operations, illustrative logics, logical blocks, modules and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose single- or multi-chip processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, or, any conventional processor, controller, microcontroller, or state machine. A processor also may be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In some embodiments, particular processes and methods may be performed by circuitry that is specific to a given function. The memory (e.g., memory, memory unit, storage device) may include one or more devices (e.g., RAM, ROM, Flash memory, hard disk storage) for storing data and/or computer code for completing or facilitating the various processes, layers and modules described in the present disclosure. The memory may be or include volatile memory or non-volatile memory, and may 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 disclosure. According to an exemplary embodiment, the memory is communicably connected to the processor via a processing circuit and includes computer code for executing (e.g., by the processing circuit or the processor) the one or more processes described herein. 
     The present disclosure contemplates methods, systems and program products on any machine-readable media for accomplishing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by a special purpose computer processor for an appropriate system, incorporated for this or another purpose, or by a hardwired system. Embodiments within the scope of the present disclosure include program products comprising machine-readable media for carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable media can be any available media that can be accessed by a general purpose or special purpose computer or other machine with a processor. By way of example, such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store desired program code in the form of machine-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data which cause a general purpose computer, special purpose computer, or special purpose processing machines to perform a certain function or group of functions. 
     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. Likewise, software implementations of the described methods could be accomplished with standard programming techniques with rule-based logic and other logic to accomplish the various connection steps, processing steps, comparison steps, and decision steps. 
     It is important to note that the construction and arrangement of the lift device  10  as shown in the various exemplary embodiments is illustrative only. Additionally, any element disclosed in one embodiment may be incorporated or utilized with any other embodiment disclosed herein. Although only one example of an element from one embodiment that can be incorporated or utilized in another embodiment has been described above, it should be appreciated that other elements of the various embodiments may be incorporated or utilized with any of the other embodiments disclosed herein.