N/A
The present disclosure relates to an attachment configurable system for a work machine.
Work machines, including crawler dozers, loaders, excavators, utility vehicles, tractors, and road pavers, to name a few, are generally vehicles comprising a boom that can be manipulated to perform a variety of functions. One of the challenges in the use of work machines are the large number of different work machines with their respective functions, control systems, user input parameters, standardized attachments, and their respective dependencies. Another challenge is the fact that typically a plurality of different attachments catered towards different functionalities may be coupled with several work machines.
Various issues may exist. Operators of skid steers, crawler dozers, loaders and track loaders, for example, perform a myriad of functions using different attachments, using hand and/or foot controls on the user input interface. Typically control features include forward and reverse travel, turning/steering, travel speed, boom actuation through actuation of one or more hydraulic cylinders, and attachment actuation through one more hydraulic cylinders and, or motors. For example, using a user input interface, such as a joystick, a common joystick movement command configuration on a compact track loader comprises the “ISO pattern”. Alternatively, a common joystick movement command configuration on a crawler dozer comprises the “dozer pattern”. Both compact track loaders and crawler dozers have the ability to couple to a variety of attachments wherein some attachments may be of standardized use on one work machine, and another attachment may be of standardized use on another work machine. Furthermore, both work machines differ in size and maneuverability thereby impacting the work environments each respective machine is capable of accessing, and functioning in. When an attachment, such as a blade commonly found on a crawler dozer, is coupled to a compact track loader, the user input interface maintains the movement command configuration of a compact track loader, thereby creating inefficiencies in use when coupling the attachment to the work machine. For example, controlling the function of the blade becomes confusing and difficult because of the unconventional use of the blade attachment generally found on a different type of work machine. Therein lies a need to facilitate quick adaptation of movement command configurations for various work machines based on the attachment type, wherein the user input interface, such as the joystick, for the operator becomes simplified. The following disclosure addresses this issue.
This summary is provided to introduce a selection of concepts that are further described below in the detailed description and accompanying drawings. This summary is not intended to identify key or essential features of the appended claims, nor is it intended to be used as an aid in determining the scope of the appended claims.
The present disclosure includes an attachment-configurable control system, method, and apparatus for a work machine.
The attachment-configurable control system may comprise a work machine. The work machine may comprise a frame and a ground-engaging mechanism, the ground-engaging mechanism configured to support the frame on a surface, a boom assembly coupled to the frame, the boom assembly having a pair of boom arms pivotally coupled to the frame and moveable relative to the frame by a pair of first hydraulic cylinders, and an attachment coupler coupled to a distal section of the boom arms. The attachment coupler may be moveable relative to the frame by a pair of second hydraulic cylinders. The work machine may further comprise a hydraulic system communicatively coupled to a controller. The hydraulic system may comprise a hydraulic pump coupled to one or more of the pair of first hydraulic cylinders, the second pair of hydraulic cylinders, and an auxiliary hydraulic cylinder. The auxiliary hydraulic cylinder may actuate an attachment. The hydraulic pump delivers fluid through a plurality of flow paths wherein the plurality of flow paths are coupled to one or more of the first hydraulic cylinder, the second hydraulic cylinder, and the auxiliary hydraulic cylinder. The work machine may further comprise an operator cab coupled to the frame. The operator cab may comprise a user input interface which may further comprise a joystick. The joystick may be configured to move in at least a first direction wherein the first direction is the fore-aft direction, and at least a second direction wherein the second direction is transverse to the fore-aft direction. The work machine may also comprise a controller communicatively coupled to the user input interface. The user input interface may enable an operator to command movement of the attachment coupled to the boom assembly using a first movement command configuration based on coupling of a first attachment to the boom assembly, and a second movement command configuration based on coupling of a second attachment to the boom assembly. The first movement command configuration may comprise moving a joystick in the first direction actuating the pair of first hydraulic cylinders in a raising or a lowering of the boom assembly and in the second direction actuating the pair of second hydraulic cylinders in pitching the first attachment upwards or downwards. The second movement command configuration may comprise moving the joystick in the first direction actuating the pair of second hydraulic cylinders in pitching the second attachment upwards or downwards and in the second direction actuating the auxiliary hydraulic cylinders in tilting the second attachment relative to the work machine in a radial direction about a forward portion of the boom assembly. The second movement command configuration may further comprise actuating the auxiliary hydraulic cylinder to angle the second attachment relative to the work machine in the direction of yaw.
The user input interface further comprises a switch, the switch enabling the operator to toggle between the first movement command configuration and the second movement command configuration.
The controller may transmit a boom lower signal to the hydraulic system configured to lower the boom assembly to the frame one or more of immediately before, immediately after, and when switching to the second movement command configuration from the first movement command configuration.
The controller may then transmit a soft boom lock signal to inactivate a portion of the hydraulic system related to movement of the boom arms in one or more of the raising and the lowering of the boom assembly.
The controller may also transmit a hard boom lock signal to an actuator coupled to a boom lock. The boom lock may be configured to move from an unlocked position where the boom assembly is moveable to a locked position where the boom assembly is locked to the frame in the lowered position.
The system may further comprise an identification device emitting an identification signal, the identification device coupled to the attachment and communicatively coupled to the controller, wherein the controller configures to one of the first movement command configuration and the second movement command configuration based on the identification signal.
Furthermore, the first movement command configuration comprises moving a joystick in the first direction actuating the pair of first hydraulic cylinders in a raising or a lowering of the boom assembly and in the second direction actuating the pair of second hydraulic cylinders in pitching the first attachment upwards or downwards.
The present disclosure further comprises a method for configuring a controller for a work machine based on an attachment coupled to the work machine, wherein the work machine extends in a fore-aft direction. The method includes coupling one of a first attachment or a second attachment to the boom assembly, identifying the attachment coupled to the boom assembly by a controller of the work machine; and enabling, by the controller of the work machine, an operator to command movement of the attachment coupled to the boom assembly using a user input interface in a first movement command configuration based on identifying the first attachment coupled to the boom assembly, and a second movement command configuration based on identifying the second attachment coupled to the boom assembly.
Finally, the system may further comprise a startup movement command configuration at startup of the work machine wherein the movement command configuration is the one of most recent use and stored in memory. In the embodiment disclosed herein, the first attachment may be bucket, and the second attachment may be a blade.
These and other features will become apparent from the following detailed description and accompanying drawings, wherein various features are shown and described by way of illustration. The present disclosure is capable of other and different configurations and its several details are capable of modification in various other respects, all without departing from the scope of the present disclosure. Accordingly, the detailed description and accompanying drawings are to be regarded as illustrative in nature and not as restrictive or limiting.
The detailed description of the drawings refers to the accompanying figures in which:
Like reference numerals are used to indicate like elements throughout the several figures.
The embodiments disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the disclosure to these embodiments. Rather, there are several variations and modifications which may be made without departing from the scope of the present disclosure.
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, “based on” means “based at least in part on” and does not mean “based solely on,” such that it neither excludes nor requires additional factors.
The engine 165 (shown in
The work machine 100 comprises a boom assembly 170 coupled to the frame 110. An attachment 105, or work tool, may be pivotally coupled at a forward portion 175 of the boom assembly 170, while a rear portion 180 of the boom assembly 170 is pivotally coupled to the frame 110. The frame 110 comprises a mainframe 112 and a track frame 114 (in other work machines the track frame may alternatively be referred to a frame for a ground-engaging mechanism). The attachment 105 is illustrated as a bucket, but may be any number of work tools such as a blade, forks, an auger, a drill, or a hammer, just to name a few possibilities. The attachment 105 may be coupled to the boom assembly 170 through an attachment coupler 185 (shown in
The boom assembly 170 comprises a first pair of boom arms 190 pivotally coupled to the frame 110 (one each on a left side and a right side of the operator cab 160) and moveable relative to the frame 110 by a pair of first hydraulic cylinders 200, wherein the pair of first hydraulic cylinders 200 may also conventionally be referred to as a pair of lift cylinders (one coupled to each boom arm) for a compact track loader. The attachment coupler 185 may be coupled to a forward section 193, or portion, of the pair of boom arms 190, being moveable relative to the frame 110 by a pair of second hydraulic cylinders 205, conventionally referred to as tilt cylinders for a compact track loader. The frame 110 of the work machine 100 further comprises a hydraulic coupler 210 on the front-end portion 120 of the work machine 100 to couple one or more auxiliary hydraulic cylinders 215 (shown in
Each of the pair of first hydraulic cylinders 200, the pair of second hydraulic cylinders 205, and the auxiliary cylinders 215 (if applicable when found on the attachment 105) are double acting hydraulic cylinders. One end of each cylinder may be referred to as a head end, and the end of each cylinder opposite the head end may be referred to as a rod end. Each of the head end and the rod end may be fixedly coupled to another component, such as a pin-bushing or pin-bearing coupling, to name but two examples of pivotal connections. As a double acting hydraulic cylinder, each may exert a force in the extending or retracting direction. Directing pressurized hydraulic fluid 235 (shown in
Controller 240, which may be referred to as a vehicle control unit (VCU), is in communication with a number of components on the work machine, including the hydraulic system 220, electrical components such as operator inputs from within the operator cab 160, and other components. Controller 240 is electrically coupled to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between controller 240 and the remainder of the work machine 100. Controller 240 may be coupled to other controllers, such as the engine control unit (ECU), through a controller area network (CAN), or a sub-controller 242 (if applicable) of an attachment 105 wherein the sub-controller 242 interprets command signals from the controller 240 to control movement auxiliary hydraulic cylinders 215 located on an attachment. Controller may then send and receive messages over the CAN to communicate with other components of the CAN. The controller 240 may send command signals to actuate the attachment 105 by sending a command signal to actuate an input from the user input interface 245 from the operator cab 160. For example, an operator may use a joystick 250 to issue command to actuate an attachment 105, and the joystick 250 may generate hydraulic pressure signals communicated to hydraulic control valve 225 to cause actuation of the attachment 105. In such a configuration, controller 240 may be in communication with electrical devices (solenoids, motors) which may be actuated by a joystick 250 in operator cab 160. Other alternative inputs on a user input interface 245 with electric, or hydraulic pressure signals may include switches, buttons, roller tabs, sliding tabs, infinity switches, touchscreens, foot pedals, virtual operative signaling, to name a few.
The hydraulic system 220, communicatively coupled to the controller 240, is configured to operate the work machine 100 and operate the attachment 105 coupled to the work machine 100, including, without limitation, the attachment's lift mechanism, tilt mechanism, roll mechanism, pitch mechanism and auxiliary mechanisms, for example. This may also include moving the work machine in forward and reverse directions, moving the work machine left and right, and controlling the speed of the work machine's travel. Summarily, the hydraulic pump 230 may be coupled to one or more of the pair of first hydraulic cylinders 200, the pair of second hydraulic cylinders 205, and auxiliary hydraulic cylinder(s) 215. The auxiliary hydraulic cylinder(s) 215 may actuate an attachment 105. The hydraulic pump 230 may deliver fluid through the plurality of flow paths, the plurality of flow paths coupled to one or more of the pair of first hydraulic cylinders 200, the pair of second hydraulic cylinder 205, and the auxiliary hydraulic cylinder(s) 215.
Now turning to
Now turning to
According to the ISO standard, the left-hand joystick 252 controls operation of the ground engaging mechanism 155 to translate and turn the machine (i.e. the compact track loader) over the surface 135 (e.g. to move in the fore-aft direction 115 or turn in a yaw direction 140). According to the ISO standard, the right-hand joystick 251 controls operation of the pair of boom arms 190 and the attachment 105 in a first movement command configuration 275 (shown in
The control members 255 (e.g. joystick 250) are communicatively coupled to the controller 240 such that the control members 255 are capable of sending a signal to the controller 240 indicative of the position of the control members 255 correlating to a degree and direction of movement for a respective hydraulic cylinder (200, 205, or 215). The controller 240 may comprise of a plurality of alternate movement command configurations 310 and is capable of sending signals to the hydraulic system 220 to control the operations of the work machine 100, boom assembly 170 of the work machine 100, and the attachment 105. The movement command configurations may be defined as maps that coordinate the position of the control members to the signals being sent to the hydraulic system 220, wherein the hydraulic system redirects the flow path of the fluid 235 and respective pressures through each respective flow path, in addition to modifying other work machine settings, described further below. The controller 240 may be programmed with a plurality of alternate movement command configurations 310, such as the second movement command configuration 295, discussed below, through a direct link from memory 280 or storage medium (shown in
With continued reference to the present embodiment, as described in
The second movement command configuration 295, further comprises moving the joystick 251 in the second direction 265 tilts blade relative to the work machine 100, which may also be referred to as moving blade 320 in the direction of roll 130. That is, actuating the auxiliary hydraulic cylinder(s) 215 to actuate the attachment 105 tilts blade in a radial motion about the forward portion of the boom assembly 175 (shown by dotted line 282). An actuator, or type of switch 305 exemplified as a thumbwheel (not shown), and located on joystick 251, allows for the blade 320 to move in the direction of yaw 140, or angle attachment relative to the work machine 100 in the direction of yaw 140 (shown as dotted line 278). The adaptation of the compact track loader in the present embodiment to function as a crawler dozer when using a blade in conjunction with the second movement command configuration 295 of the joystick 250, provides several advantages because the compact track loader mimics a crawler dozer on a smaller scale, providing the 6-way blade movement, or three degrees of freedom. These advantages include a reduction in the number of work machines on a worksite because of increased versatility; reduction in work machine transport costs to a worksite because of the reduced need in the number of work machines and work machine size, an improved confined space grading because the compact track loader is significantly smaller than a crawler dozer; reduction in the required spend by an equipment lessee or equipment company owner; reduction in labor training because the movement command configurations adapt based on the function of the attachment (e.g. joystick controls mimics a crawler dozer when using a dozer blade attachment; joystick controls function like a standard compact track loader when using a standard bucket attachment); optimized machine asset utilization; and increased work versatility because a worksite manager may take on more renovation type work in confined spaces where efficiently shaping the ground surface in narrow areas without affecting surrounding buildings now becomes possible because of the adaptation of a smaller powerful work machine to function with blade 320 (an ability a crawler dozer would find nearly impossible to do because of scale). Furthermore, Deere's compact track loader utilizes a Smart Grade system wherein the controller automatically controls the elevation of the attachment 105 according to the grade command or grade set by the operator. Use of the crawler blade on a compact track loader advantageously allows for use of this feature, furthering easing operator control of the work machine. The user input interface 245 may enable the operator to activate the grade control system 287 (shown in
One the other hand, a bucket 315 is commonly used to move volumes of material from one area to another, or load material into another work machine such as an articulated dump truck. The blade 320 is an attachment which may engage the ground or material to move or shape it. Blade 320 may be used to move material from one location to another and to create features on the ground, including flat area, grades, hills, roads, or more complexly shaped features. The blade 320 may be referred to as a six-way blade as shown in the embodiment herein, six-way adjustable blade, or pitch-angle-tilt (PAT) blade. Blade may be hydraulically actuated to pitch upwards or downwards 273, roll left or roll right 282 (which may be referred to tilt left and tilt right), and angle left or angle right 278 (which may be referred to as blade angle, or yaw left or yaw right). Alternative embodiments may utilize a blade 320 with fewer hydraulically controlled degrees of freedom, such as a 4-way blade that may not be angled, or actuated in the direction of yaw 140.
Immediately before or after, or when the controller 240 switches from a first movement configuration 275 to a second movement command configuration 295, the controller 240 may transmit a boom lower signal (not shown) to the hydraulic system 220 configured to lower the boom assembly 170 to the frame 110, in anticipation of use of an attachment 105 in the form of a blade 320. In the present embodiment, for example, the pair of first hydraulic cylinders 200 may move in a retracting direction and the boom assembly 170 is lowered towards the frame 110 until the boom assembly 170 rests on a portion of the frame 110 of the work machine 100 comprising mounting pad(s) 340 as shown in the detailed view
The controller 240 may further transmit a soft boom lock signal (not shown) to inactivate the portion of the hydraulic system 220 related to movement of the pair of boom arms 190 in one or more of the lifting and the lowering of the boom arms 190. In the present embodiment, for example, flow to or from the flow path of the pair of first hydraulic cylinders 200 may be inactivated wherein the pair of the first hydraulic cylinders 200 are neither extended nor retracted, such that the boom assembly 170 rests on the mounting pads 340. The pair of boom arms 190, in other words, would be hydraulically locked.
Now turning to
Referring to
Additionally, in block 630, the controller may request acknowledgment, as a confirmation of previous step 620. The operator will select or confirm the attachment from the display screen.
In block 640, the method may further include the controller 240 automatically adjusting specific vehicle settings based on the type of attachment 105 coupled to the work machine 100. The machine settings may be stored in memory 280, and comprise default setting configurations based on the attachment type. The work machine settings may include, and are not limited to, movement command configurations for the joystick, hydraulic flow, rim-pull, machine mode, idle speed, display, etc. For example, an attachment identified as a high-flow attachment will turn high flow on. In another example, if an attachment is a slow-moving attachment, creep will be turned on. If the attachment is a dozer blade, dozer mode will be turned on. Furthermore, in step 650, the controller 240 may communicate work settings to the operator via the display. The controller 240 may provide visual representation of the settings that may have been previously modified from the attachment's default settings from memory. In block 660, the controller may prompt the operator for desired changes in the machine settings. In one embodiment, the control system shall provide the opportunity for the operator to change specific work machine settings based on the coupled attachment. That is the control system will provide limited customization of the machine settings based on the attachment to ensure safety, functionality, and efficacy of the work machine. Finally, in block 670, the controller may then save the customized machine settings to memory. This customized setting may be the default setting a next time the attachment is coupled to the work machine. The method outlined above, allows the attachment-configurable control system 201 for a work machine 100 using an identification device 605 coupled to the attachment, wherein the identification device 605 emits an identification signal 607 identifying the attachment type, to automatically switch to one of the first movement command configuration 275 and the second movement command configuration 295 based on the identification signal 607. Accordingly, the start movement command configuration at startup of the work machine may be the movement command configuration most recently used and stored in memory 280.
Referring to
In block 710, the operator couples one of a first attachment 290 or a second attachment 300 to the work machine 100. As previously mentioned, the first attachment 290 may also be referred to as the default attachment the work machine 100 is customarily used with. The second attachment 300, may also be referred to as the alternate attachment (i.e. an attachment typically found another work machine, or an attachment generally sold as an accessory wherein use of a first movement command configuration 275 (or default) may not be intuitive to the operator with the alternate attachment).
In block 720, the controller 240 of the work machine 100 identifies the attachment 105 coupled to the work machine 100, or more specifically the boom assembly 170. The identification may occur through the operator manually picking the type of attachment from a drop-down menu shown on a screen of the user input interface 245 wherein the menu discloses local identification signals, or toggling a switch until it displays the appropriate attachment mode. Alternatively, the attachment 105 may be coupled to an identification device 605 that emits a wireless identification signal 607 to the controller 240 on the work machine 100. In another instance, a sub-controller 242 may be located on attachment 105 and be communicatively coupled to the controller 240 of the work machine 100 the moment the attachment is coupled with the hydraulic coupler 210, a pin connection, or some other physical means. Furthermore, although steps 710 and 720 are shown in the present order, the occurrence of one does not necessarily precede the other. Step 720 may also come before step 710.
In block 730, the controller transmits a boom lower signal to the hydraulic system 220, whereby the controller 340 may switch to the second movement command configuration 295 from the first command configuration 275 either immediately before, immediately after, or when the boom lower signal is sent to the hydraulic system. Once the lowering of the pair of boom arms 190 occurs, a soft boom lock signal is sent by the controller 240 to inactivate a portion of the hydraulic system related to movement of the boom arms in one or more of raising and lowering of the boom arms. The inactivation of the portion of the hydraulic system is dependent on placement of the relative hydraulics and associated actuators, solenoids, etc. that result in inactivation of the pair of boom arms 190 once the boom arms are lowered. The same may be true in reverse, wherein the controller sends a soft boom unlock signal to activate a portion of the hydraulic system related to movement of the boom arms when switching from a second movement command configuration 295 to a first movement command configuration 275.
In block 740, the controller may transmit a hard boom lock signal to an actuator coupled to a boom lock where the boom lock 345 is configured to move from an unlocked position where the boom assembly 170 is moveable to a locked position where the boom assembly 170 is locked to the frame in the lowered position. In this configuration, the pair of second hydraulic cylinders 205 may still be actuated.
In block 750, the controller 240 enables the operator to command movement of the attachment 105 coupled to the boom assembly 190 using a user input interface 245 in a first movement command configuration 275 based on identifying the first attachment 290 coupled to the boom assembly 170, and a second movement command configuration 295 based on identifying the second attachment 300 coupled to the boom assembly 190. The user input interface 245 of the present embodiment is a right joystick 251 in the operator cab 160 of a compact track loader (or a skid steer) wherein the first attachment 290 is a bucket 315, and the second attachment 300 is a blade 320.
Finally, upon turning off the work machine, a next time, the controller 240 initiates in a startup movement command configuration at the following startup of the work machine wherein the movement command configuration is the one most recently used and stored in memory, thereby allowing the operator to proceed from where they paused.
The terminology used herein is for the purpose of describing particular embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the any use of the terms “has,” “have,” “having,” “include,” “includes,” “including,” “comprise,” “comprises,” “comprising,” or the like, in this specification, identifies the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The references “A” and “B” used with reference numerals herein are merely for clarification when describing the movement command configuration associated with the movement of work machine of the embodiment disclosed.
One or more of the steps or operations in any of the methods, processes, or systems discussed herein may be omitted, repeated, or re-ordered and are within the scope of the present disclosure.
While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.