Patent Application
20230134217
N/A
Proper coupling of implements to work vehicle are critical to precision applications such as grade control. Conventional methods of verifying attachment require an operator to visually inspect for an identifying red flag through openings in a coupling assembly cover; and manually pressing the implement down to confirm attachment. This common practice may become problematic if the operator running the vehicle remotely, the work vehicle is running autonomously, or if debris clogs the opening in the coupling assembly thereby impacting visibility of the flags. Therein lies an opportunity for confirming the coupling between the implement and the work vehicle with ease when operated, remotely, autonomously or with an operator present.
A method and a work vehicle with a non-transitory computer readable medium is disclosed. The work vehicle comprises a frame, a lift system with a movable arm secured to the frame and a coupling assembly. The coupling assembly is coupled to the movable arm operable via a linear actuator and attachable to a work implement. A proximity sensor is operatively coupled to the lift system and configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement. The linear actuator sensor is operatively coupled to the coupling assembly and configured to send an extension signal indicative of the linear actuator is extended. A monitoring system includes a controller having a non-transitory computer readable medium with program instructions. The program instructions are configured to receive the proximity signal from the proximity sensor which indicates a position of a first surface on the coupling assembly with the second surface on the work implement. The instructions then determine a first condition of the first coupling step based on the proximity signal received. The first coupling step includes a proximity sensor status change when the distance between the first surface and the second surface cross a threshold. The non-transitory computer readable medium is then configured to perform a curling operation with the lift system to latch a top portion of the work implement with the coupling assembly to fully engage the first surface and the second surface when the proximity sensor status changes. Next, the linear actuator on the coupling assembly retracts in a second coupling step. The retraction moves at least one protrusion on the coupling assembly towards engagement with a catch on the work implement. The controller on the work vehicle receives an extension signal from the linear actuator indicating a length the linear actuator is extended. The non-transitory computer readable medium determines a second condition of the coupling step based on the extension signal received. The second coupling step includes a coupling status change upon reaching an extension threshold.
The non-transitory computer readable medium may further instruct reversing movement of the linear actuator if the linear actuator fails to full extend.
The non-transitory computer readable medium may further comprise outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change.
The non-transitory computer readable medium may send a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change. The proximity sensor may be one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor.
The curling operation may engage the coupling assembly with the work implement at a first and a second contact area. Retracting the linear actuator of the coupling assembly creates a third contact area with the work implement.
The method of indicating coupling of a work implement to a work vehicle comprises receiving proximity signals from a proximity sensor indicative of a position of first surface on the coupling assembly with a second surface on the work implement. In a next step, the method includes determining a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold. Next, the method performs a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes. Then the method includes retracting the linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement; and receiving an extension signal from the linear actuator sensor indicative of the length the linear actuator is extended. Finally, the method includes determining a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.
Other features and aspects of the disclosure will become apparent by consideration of the following detailed description and accompanying drawings.
Before any embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.
As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of” or “at least one of” indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).
As used herein, the term “controller” is a computing device including a processor and a memory. The “controller” may be a single device or alternatively multiple devices. The controller may further refer to any hardware, software, firmware, electronic control component, processing logic, processing device, individually or in any combination, including without limitation: application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.
The term “processor” is described and shown as a single processor. However, two or more processors can be used according to particular needs, desires, or particular implementations of the controller and the described functionality. The processor may be a component of the controller, a portion of the object detector, or alternatively a part of another device. Generally, the processor can execute instructions and can manipulate data to perform the operations of the controller, including operations using algorithms, methods, functions, processes, flows, and procedures as described in the present disclosure.
The lift system 113 serves to manipulate the implement 116, described and illustrated herein as a bucket. Other exemplary implements 116 may include a grapple, a scraper, a pallet fork, a snowplow, or the like for performing a specific task.
In operation, a work vehicle operator may wish to exchange a first implement 116 in use with the work vehicle 100 for a second implement 116.
A proximity sensor is 310 operatively coupled to a portion of the lift system 113 and configured to send a proximity signal 315 representative of a position of a first surface 320 on the coupling assembly 118 with a second surface on 330 the implement 116. That is, the proximity sensor 310 verifies if the gap between the implement 116 and the surface 320 of the coupling assembly 118 falls within the range to enable coupling at the first attachment area 305. In the exemplary embodiment shown, the first surface 320 is a forward surface of the coupling assembly 118, and the second surface 330 is a rear surface on the implement 116. The proximity sensor 310 may be one or more of a magnetic sensor, an ultrasonic sensor, a lidar, an image sensor, or any other means of detection not requiring contact. This advantageously eliminates the physical requirement of contact such as compression of a button, or the visual verification by the operator sitting in an operator cab, for coupling at this first area of attachment 305.
Now turning to
Furthermore, in operation, an implement 116 may be disconnected from the coupling assembly 118 on the work vehicle 100. To do so, the work vehicle positions the implement 116 on the ground. The locking arms 610 are then moved to the retracted position by actuating the linear actuator 605 to a retracted state 635, thereby moving the locking arms 610 clear of the latch on the implement 116. Once the locking arms 610 are retracted, the work vehicle may manipulate the coupling assembly 118 relative to the frame by actuating the tilt actuator assemblies 120 to pivot the coupling assembly 118 relative to the implement 116.
In step 740, the monitoring system 700 further comprises reversing movement of the linear actuator 605 of the coupling assembly 118 if the coupling status fails to change when the linear actuator fails to fully extend. The processor sends a request signal to repeat a cycle through the program instructions if one or more of the proximity sensor 310 status and the coupling status fail to change.
However, in step 745, if the processor receives a coupling status change, indicating the linear actuator 605 is fully extended, the processor outputs a signal indicating completion of the attachment of the work implement 116 to the work vehicle 100.
The reversal is true as well. The controller 104 continuously receives data/signals from the proximity sensor 310 and the linear actuator sensor 607 during and/or after detachment. If the controller 176 determines through the first and the second conditions have changed, the controller 104 identifies as in the ‘unattached and retracted’ configuration.
Although the given example begins with the controller 104 identifying the coupling of the implement 116 using the monitoring system 700 in the ‘attached and connected’ configuration C1, the controller 104 may execute program instruction when the monitoring system 700 is in either of attachment or detachment process. For instance, rather than a work vehicle operator wishing to exchange a first implement 116 for a second implement 116, a work vehicle operator may bring the work vehicle 100 out of storage, in which case the work vehicle 100 may not have an implement 116 securely coupled or attached to the coupling assembly 118. In this instance, with the linear actuator 605 may be in the retracted position, and the controller 104 may cycle through the program instructions from the beginning.
Various features of the disclosure are set forth in the following claims.
