Computer-implemented method of determining that an attachment tool is attached to the arm or boom of a working machine

Abstract

A computer-implemented method for a working machine. A processor device of a computer system is configured to receive movement data from sensors that measure movements of the working machine and movements of an attachment tools. Based on the received movement data, the processor device determines movement patterns for the working machine and the attachment tool. The movement patterns are compared and, upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine, the processor device determines that the attachment tool is attached to an arm or a boom of the working machine.

1 . A computer-implemented method for a working machine, the method comprising:
 receiving, by a processor device of a computer system, first movement data from a first sensor device configured to measure a movement of the working machine, determining, by the processor device, a movement pattern of the working machine based on the received first movement data,   receiving, by the processor device, second movement data from a second sensor device installed on an attachment tool and configured to measure a movement of the attachment tool simultaneously with the measurement performed by the first sensor device,   determining, by the processor device, a movement pattern of the attachment tool based on the received second movement data,   comparing, by the processor device, said movement pattern of the attachment tool with said movement pattern of the working machine, and   upon determination by the processor device that the movement pattern of the attachment tool matches the movement pattern of the working machine,   determining, by the processor device, that the attachment tool is attached to an arm or a boom of the working machine.   
     
     
         2 . The computer system comprising the processor device configured to perform the method of  claim 1 . 
     
     
         3 . The method of  claim 1 , further comprising:
 receiving, by the processor device, identification data from said second sensor device, said identification data providing the identity of the attachment tool or the type of attachment tool on which the second sensor device is installed, and   configuring, by the processor device, operational settings of the working machine and/or settings of a graphical user interface of the working machine based on the received identification data.   
     
     
         4 . The method of  claim 1 , further comprising, subsequent to said determining that the attachment tool is attached to the arm or boom of the working machine, receiving, by the processor device, third movement data from the second sensor device, said third movement data acquired by the second sensor device during a working operation performed by the working machine with the attachment tool attached,
 determining by the processor device, a working operation movement pattern of the attachment tool based on the received third movement data,   identifying, by the processor device, based on the determined working operation movement pattern of the attachment tool, an operation type performed by the attachment tool, and   determining, by the processor device, the geographical position at which said operation type is performed by the attachment tool.   
     
     
         5 . The method of  claim 1 , wherein said attachment tool is an attachment tool in a group of attachment tools, wherein each attachment tool in said group is provided with a respective sensor device for measuring movements of the attachment tool on which it is installed, the method further comprising:
 receiving, by the processor device, respective movement data from at least two of said sensor devices installed on respective attachment tools,   determining, by the processor device, based on said respective movement data, a respective movement pattern of the attachment tools on which said at least two sensor devices are installed.   
     
     
         6 . The method of  claim 5 , wherein the act of comparing of the movement patterns comprises:
 comparing, by the processor device, the respective movement pattern of each attachment tool for which a movement pattern has been determined with said movement pattern of the working machine, and   wherein the act of determining that the attachment tool is attached to the arm or boom of the working machine comprises:   identifying, by the processor device, which one of the movement patterns of the respective attachment tools that matches the movement pattern of the working machine, and determining, by the processor device, that the attachment tool whose determined movement pattern has been identified as matching the movement pattern of the working machine, is attached to the arm or boom of the working machine.   
     
     
         7 . The method of  claim 5 , further comprising:
 recording during a time period, by the processor device, the movement patterns of the working machine as well as respective movement patterns of the attachment tools in said group, and   after said time period, determining, by the processor device, based on the recorded movement patterns, which attachment tool or tools has/have been attached to the arm or boom of the working machine during said time period.   
     
     
         8 . The method of  claim 1 , wherein said second sensor device comprises an accelerometer configured to measure the accelerations of the attachment tool on which it is installed. 
     
     
         9 . The method of  claim 1 , wherein said first sensor device comprises at least one of an accelerometer and GPS-sensor. 
     
     
         10 . The method of  claim 1 , wherein said processor device is a local on-board processor device located on the working machine. 
     
     
         11 . The method of  claim 1 , wherein said processor device is a remote off-board processor device located separately from the working machine. 
     
     
         12 . The method of  claim 1 , wherein said acts of receiving movement data from the sensors, comprises receiving said movement data wirelessly. 
     
     
         13 . A vehicle comprising the processor device to perform the method of  claim 1 . 
     
     
         14 . A computer program product comprising program code for performing, when executed by the processor device, the method of  claim 1 . 
     
     
         15 . A control system comprising one or more control units configured to perform the method according to  claim 1 . 
     
     
         16 . A non-transitory computer-readable storage medium comprising instructions, which when executed by the processor device, cause the processor device to perform the method of  claim 1 .