Interface for retrofitting a manually controlled machine for automatic control

An operator controllable machine which has been retrofitted to be operator controlled or to be automatically controlled, comprising:

• a manually actuated joystick control, including a joystick, for providing an electrical joystick output in response to a position of the joystick,
• an external source for providing an electrical automatic control output, at least one optical isolation circuit, responsive to said electrical joystick output, for isolating said electrical joystick output, and providing an isolated electrical joystick output,
• at least one optical isolation circuit for isolating an electrical automatic control output from said external source, and providing an isolated electrical automatic control output,
• a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output,
• at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output, said at least one optical isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output comprising an optical isolation circuit, responsive to said microprocessor output, for providing an isolated pulse width modulated microprocessor output, and an optical isolation circuit, responsive to said microprocessor output, for providing an isolated analog microprocessor output,
• a machine control, responsive to said isolated microprocessor output, for providing valve control signals, hydraulic cylinders for moving a machine element, and
• hydraulic valves, responsive to said valve control signals, for controlling the application of hydraulic fluid to said hydraulic cylinders,
• said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, whereby the application of hydraulic fluid to said hydraulic cylinders may be controlled by either said joystick control output or said automatic control output.

An interface for retrofitting for automatic control a machine of the type having a manually actuated joystick control, including a joystick, for providing an electrical joystick output in response to a position of the joystick;

• a machine control, responsive to the electrical joystick output, for providing valve control signals;
• hydraulic cylinders for moving a machine element;
• and hydraulic valves, responsive to said valve control signals, for controlling a application of hydraulic fluid to said hydraulic cylinders;
• comprising:
• at least one isolation circuit for isolating said electrical joystick output, and providing an isolated electrical joystick output,
• at least one isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, said at least one isolation circuit including an isolation circuit for receiving pulse width modulated outputs, and an isolation circuit for receiving digital serial inputs,
• a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output, said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, and
• at least one isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control, said isolated microprocessor output being available as both a pulse width modulated isolated microprocessor output and an analog isolated microprocessor output, as needed by the machine being retrofitted, whereby the application of hydraulic fluid to said hydraulic
• position of the joystick;
• a machine control, responsive to the electrical joystick output, for providing valve control signals;
• hydraulic cylinders for moving a machine element;
• and hydraulic valves, responsive to said valve control signals, for controlling the application of hydraulic fluid to said hydraulic cylinders;
• comprising:
• at least one isolation circuit for isolating said electrical joystick output, and providing an isolated electrical joystick output,
• at least one isolation circuit for isolating an electrical automatic control output from an external source, and providing an isolated electrical automatic control output, said at least one isolation circuit including an isolation circuit for receiving pulse width modulated outputs, and an isolation circuit for receiving digital serial inputs,
• a microprocessor, responsive to said isolated electrical joystick output and to said isolated electrical automatic control output, for providing a microprocessor output, said microprocessor being switchable between at least two modes of operation, a first mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by said joystick control output, and a second, automatic mode in which the application of hydraulic fluid to said hydraulic cylinders is controlled by both said joystick control output and said automatic control output, and
• at least one isolation circuit, responsive to said microprocessor output, for providing an isolated microprocessor output to said machine control, said isolated microprocessor output being available as both a pulse width modulated isolated microprocessor output and an analog isolated microprocessor output, as needed by the machine being retrofitted, whereby the application of hydraulic fluid to said hydraulic cylinders may be controlled by either said joystick control output or said automatic control output.