Patent Application
20140196558
The present disclosure relates to a control system of a work machine, and in particular, to a foot control operational pattern for controlling the machine.
Work machines, such as those in the construction and forestry industries, include different control inputs for performing multiple functions. For instance, a machine may include one or more work implements for performing a specific task. The machine may have different controls for performing the specific task. Conventional machines, for example, may include a steering wheel, joystick, foot pedal, push buttons, dials, switches, levers, and the like for controlling the machine This includes steering the machine as well as using the work implement.
A machine operator is often using two or more of the controls for operating the machine. This requires the operator to be well-trained and cognizant of his or her surroundings. With so many different controls, the operator must operate the machine in a safe manner. Moreover, most machines only have a single operator to control all of the functions thereof. In some instances, the machine operator may be using both hands to control joysticks, levers, etc. Here, if a machine operator wants to adjust throttle, trigger a switch, or readjust a machine setting, the operator would have to release one hand from a joystick or other control to complete the desired task. This can cause the machine to operate at less than optimal performance and with lower productivity. Depending on the circumstances, it may also be inconvenient to the operator to release or stop one machine control in order to change or adjust a second machine control.
A need therefore exists to provide a machine control pattern which offers greater freedom and flexibility to the machine operator to make desired changes to machine control. In addition, there is a need for the machine operator to be able to make changes to machine control instantaneously and without sacrificing machine performance or productivity.
In an exemplary embodiment of the present disclosure, a foot control pattern is provided for operably controlling an electrohydraulic machine. The machine includes a cab, ground engaging mechanisms, a boom, and a bucket. The foot control pattern includes a machine controller having a plurality of inputs. A first foot control is electrically coupled to a first of the plurality of inputs, where the first foot control is adapted to control the boom. A second foot control is electrically coupled to a second of the plurality of inputs, where the second foot control is adapted to control the bucket. A first hand control is electrically coupled to a third of the plurality of inputs, where the first hand control is adapted to propel and steer the machine.
In one aspect, a second hand control is electrically coupled to a fourth of the plurality of inputs, where the second hand control is operably disabled from performing any machine function. Related thereto, the second hand control is movable in a plurality of directions, where a movement in any one of the plurality of directions does not correspond to any movement of the machine, boom, or bucket. In another aspect, the first foot control is movable in a first direction and a second direction. Here, a movement in the first direction corresponds to a downward movement of the boom and a movement in the second direction corresponds to an upward movement of the boom.
In a different aspect, the second foot control is movable in a first direction and a second direction, where a movement in the first direction corresponds to a downward movement of the bucket and a movement in the second direction corresponds to an upward movement of the bucket. Similarly, the first hand control is movable in at least eight directions, where a movement in a first direction corresponds to a forward movement of the machine, a movement in a second direction corresponds to a reverse movement of the machine, a movement in a third direction corresponds to a clockwise rotation of the machine, and a movement in a fourth direction corresponds to a counterclockwise rotation of the machine.
In another exemplary embodiment, a method is provided for controlling a machine. The machine includes a controller, a first foot control, a second foot control, a first hand control, a second hand control, a boom, a work tool, a control valve electrically coupled to the controller, and a pump electrically coupled to the controller. The method includes the steps of (a) enabling the controller to receive an input signal from only the first foot control, the second foot control, and the first hand control; (b) receiving an input signal from one of the first foot control, the second foot control, and the first hand control, where the input signal corresponds to a desired machine function; (c) sending an output signal to the control valve or pump based on the input signal; and (d) operably controlling the machine in accordance with the output signal.
In one aspect, the method can include determining which of the first foot control, second foot control, and first hand control sent the input signal. Here, the input signal can correspond to a movement of one of the first foot control, the second foot control, and the first hand control in a desired direction. In another aspect, the method can include controllably moving the boom to a down position when the movement of the first foot control is in a first direction and controllably moving the boom to a raised position when the movement of the first foot control is in a second direction. In an alternative aspect, the method can include controllably moving the work tool to a down position when the movement of the second foot control is in a first direction and controllably moving the work tool to a raised position when the movement of the second foot control is in a second direction.
In a different aspect, the method can include the steps of (a) propelling the machine in a forward direction when the movement of the first hand control is in a first direction; (b) propelling the machine in a reverse direction when the movement of the first hand control is in a second direction; (c) steering the machine in a counterclockwise direction when the movement of the first hand control is in a third direction; and (d) steering the machine in a clockwise direction when the movement of the first hand control is in a fourth direction. As such, the first direction is substantially opposite the second direction and the third direction is substantially opposite the fourth direction.
In a further aspect, the method can include the steps of (a) simultaneously propelling the machine in a forward direction and steering the machine in a counterclockwise direction when the movement of the first hand control is in a fifth direction, the fifth direction being angularly disposed between the first direction and third direction; (b) simultaneously propelling the machine in a forward direction and steering the machine in a clockwise direction when the movement of the first hand control is in a sixth direction, the sixth direction being angularly disposed between the first direction and fourth direction; (c) simultaneously propelling the machine in a reverse direction and steering the machine in a clockwise direction when the movement of the first hand control is in a seventh direction, the seventh direction being angularly disposed between the second direction and third direction; and (d) simultaneously propelling the machine in a reverse direction and steering the machine in a counterclockwise direction when the movement of the first hand control is in an eighth direction, the eighth direction being angularly disposed between the second direction and fourth direction. Here, the fifth direction is substantially opposite the eighth direction and the sixth direction is substantially opposite the seventh direction.
In yet another aspect, the method can include sending an electrical signal to the control valve and regulating fluid flow to a first hydraulic cylinder or a second hydraulic cylinder. The first hydraulic cylinder is fluidly coupled to the boom and the second hydraulic cylinder is fluidly coupled to the work tool. The method can also include sending an electrical signal to the pump, regulating fluid pressure and flow to a drive motor, and operably driving a ground-engaging mechanism.
In a different embodiment, a work machine includes a cab, a ground-engaging mechanism for moving the machine along a ground surface, a controller, a boom and a work tool. The work tool is operably coupled to the boom. The machine also includes a control valve electrically coupled to the controller, where the control valve is in fluid communication with the boom and work tool. A pump is electrically coupled to the controller, where the pump is in fluid communication with the ground-engaging mechanism. The machine further includes a first foot control and a second foot control disposed in the cab and being electrically coupled to the controller. Each of the first foot control and second foot control is movable in a first direction and a second direction. Also, a hand control is disposed in the cab and is electrically coupled to the controller. The hand control is movable in at least one of eight different positions, a movement of the first foot control corresponds to a controllable movement of the boom, a movement of the second foot control corresponds to a controllable movement of the work tool, and a movement of the hand control corresponds to a propel or rotational movement of the machine.
In one aspect of this embodiment, a second hand control is disposed in the cab and electrically coupled to the controller, where a movement of the second hand control does not correspond to any function or movement of the machine. In another aspect, a movement of the first foot control in the first direction corresponds to a downward movement of the boom and a movement in the second direction corresponds to an upward movement of the boom. Related thereto, a movement of the second foot control in the first direction corresponds to a downward movement of the work tool and a movement in the second direction corresponds to an upward movement of the work tool. In a different aspect, a movement of the hand control in a first direction corresponds to a forward movement of the machine and a movement of the hand control in a second direction corresponds to a reverse movement of the machine. Moreover, a movement of the hand control in a third direction corresponds to a clockwise rotation of the machine and a movement of the hand control in a fourth direction corresponds to a counterclockwise rotation of the machine.
The above-mentioned aspects of the present disclosure and the manner of obtaining them will become more apparent and the disclosure itself will be better understood by reference to the following description of the embodiments of the disclosure, taken in conjunction with the accompanying drawings, wherein:
Corresponding reference numerals are used to indicate corresponding parts throughout the several views.
The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present disclosure.
Referring to
The loader bucket 106 is pivotally coupled to a forward portion of the boom arms 108, and a bucket tilt hydraulic cylinder 114 extends between the bucket 106 and the boom arms 108 for controlling the tilted orientation of the bucket 106 with respect to the boom arms 108. By actuating the tilt cylinder 114, the operator can tilt the bucket 106 for dumping the contents therefrom. The boom arms 108 and linkage mechanism 110, which couples the boom arms 108 to the machine 100, can be substantially the same on both the left and right sides of the machine 100. To control the machine 100, boom arms 108 and bucket 106, the machine can include a cab assembly 112 which can have a seat for the machine operator to sit and a plurality of different controls for operating the machine 100.
In conventional control patterns, the machine 100 can be controlled according to the arrangement shown in
For instance, the first joystick 202 can control both the steer and propel functions for both of the leftside and rightside of the machine 100. The first joystick 202 can be controlled in a forward direction 206 to propel the machine 100 forward and a reverse direction 208 to propel the machine 100 in reverse. In addition, the machine 100 can be steered in a counterclockwise direction by controllably moving the first joystick 202 in a left direction 210. Similarly, the machine 100 can be steered in a clockwise direction by moving the first joystick 202 in a right direction 212.
The machine 100 can be propelled in a forward direction and turn in a counterclockwise direction by moving the first joystick 202 in a forward-left direction 214. Similarly, the machine 100 can be propelled in a forward direction and turn in a clockwise direction by moving the first joystick 202 in a forward-right direction 218. To propel the machine 100 in reverse and rotate in a counterclockwise direction, the first joystick 202 is moved in a reverse-right direction 220, whereas the machine 100 moves in reverse and rotates clockwise by moving the first joystick 202 in a reverse-right direction 216.
If an operator is controlling the steer and propel functions of the machine 100 via the first joystick 202 with one hand, the operator controls the boom arms 108 and bucket 106 with the other hand. For example, the boom arms 108 can be lowered by moving the second joystick 204 in a forward direction 222. The boom arms 108 can be raised by moving the second joystick 204 in a reverse direction 224. As for the bucket 106, it can be raised to a curl position by moving the second joystick 204 in a left direction 226. If the operator wants to dump the contents from the bucket 106, the operator can do so by moving the second joystick 204 in a right direction 228.
As previously described, the first conventional pattern 200 requires the operator to use both hands to control the different functions of the machine via the first joystick 202 and second joystick 204. Referring to
In the second conventional pattern 300, the operator controls the steer and propel functions of the machine 100 with a first joystick 306 and a second joystick 308. The first joystick 306 controls the steer and propel functions of the leftside of the machine 100 and the second joystick 308 controls the steer and propel functions of the rightside of the machine 100. The leftside of the machine 100 can be propelled forward by moving the first joystick 306 in a forward direction 318 and the leftside of the machine 100 can be propelled in reverse by moving the first joystick 306 in a reverse direction 320. Similarly, the rightside of the machine 100 can be propelled forward by controlling the second joystick 308 in a forward direction 322. The rightside of the machine 100 can be propelled in reverse by moving the second joystick 308 in a reverse direction 324.
In
In the first conventional control platform 200 and the second conventional control platform 300, the operator is required to use both hands to control different functions of the machine 100. If the operator desires to adjust a machine setting, i.e., change throttle, or perform a different function, the operator would have to release one of the joysticks before the desired task can be completed. In other words, the operator would need a free hand to make the required adjustment, and with both hands controlling the first and second joysticks, the desired task could not be completed until the operator controls and positions the machine 100 such that the operator can safely release one of the joysticks.
Referring to
The machine 500 can include a main controller 502 that can receive, store, and implement downloadable software for controlling the machine 500. The software can include different algorithms and programs which can be executable by the controller 502. The controller can be electrically coupled to a plurality of operator control inputs 538. Some, if not most, of the plurality of operator control inputs 538 can be disposed in a cab or operator's station of the machine 500. The plurality of operator control inputs 538 can include a first foot control 522, a second foot control 524, a first hand control 526, and a second hand control 528. The first and second foot controls can be foot pedals and the first and second hand controls can be joysticks or levers, for example. The first and second foot controls can be any type of control mechanism in addition to a foot pedal that is disposed in the interior of the cab or operator's station and is operably controlled by an operator's foot. Similarly, the first and second hand controls can be any type of control mechanism in addition to a joystick or lever that is disposed in the interior of the cab or operator's station and can be operably controlled by an operator's hand.
As shown in
The controller 502 can receive these electrical input signals and send corresponding output signals through a plurality of outputs 540. For instance, if the operator desires to propel or steer the machine 500, the controller 502 receives the input signal via the appropriate inputs 538 and then sends an output signal via output port E to a first electrohydraulic pump 530. The first pump 530 is coupled to and can hydraulically drive a first drive motor 532. In turn, the first drive motor 532 can operably power the left front wheel 508 and left rear wheel 510. Similarly, the controller 502 can send an output signal via output port F to a second electrohydraulic pump 534. The second electrohydraulic pump 534 can be coupled to and hydraulically drive a second drive motor 536. The second drive motor 536 therefore can operably power the right front wheel 512 and right rear wheel 514.
In addition, the controller 502 can be electrically coupled to a control valve 516. The control valve 516 can be any type of valve. In one aspect, the valve 516 is an electrohydraulic control valve 516. In this instance, the controller 502 can actuate the control valve 516 by sending an electrical signal via output G. The control valve 516 can be in fluid communication with a first hydraulic cylinder 518 and a second hydraulic cylinder 520. The first hydraulic cylinder 518 can be actuated to control the movement of the boom 504. Moreover, the second hydraulic cylinder 520 can be actuated to control the movement of the work tool 506.
In an alternative aspect, the control valve 516 may be in fluid communication with the first electrohydraulic pump 530 and the second electrohydraulic pump 534. In this manner, the controller 502 receives electrical signals via the plurality of inputs 538 and in turn sends an electrical signal via the output G to the control valve 516. Based on the type of output signal from the controller 502, the control valve 516 can fluidly control the propel and steer functions of the machine 500 and the operation of the boom 504 and work tool 506. In this way, the controller 502 may not be electrically coupled to either the first pump 530 or second pump 534.
The machine 500 can implement a foot control pattern that provides an electrical signal as an input that is converted into a hydraulic output to control the machine 500. In
The first foot control 402 can be operably actuated in a first direction 410 or a second direction 412. In the first direction 410, the first foot control 402 can operably control the boom in a down direction or position. Moreover, the first foot control 402 can operably raise the boom 504 when the control 402 is actuated in the second direction 412. The second foot control 404 can operably control the work tool 506. In the event the work tool 506 is a bucket, the second foot control 404 can be actuated in a first direction 414 to move the bucket towards a dump position or in a second direction 416 to raise the bucket towards a curl position.
Unlike conventional foot control platforms, the first hand control 406 of the foot control platform 400 can operably control both steer and propel functions of the machine 500. Here, the first hand control 406 can be actuated in at least one of eight directions for controlling the movement of the machine 500. For example, the first hand control 406 can be moved in a forward direction 418 to propel the machine 500 forward and in a reverse direction 420 to propel the machine 500 in reverse. The machine 500 can be steered in either a clockwise or counterclockwise direction by controllably moving the first hand control 406 in a left direction 422 (i.e., for counterclockwise rotation) or a right direction 424 (i.e., for clockwise rotation).
The machine can move in a forward direction and turn in a counterclockwise direction (i.e., left) by controllably moving the first hand control 406 in a first direction 426. Alternatively, the machine 500 can move in a forward direction and turn in a clockwise direction (i.e., right) by controllably moving the first hand control 406 in a second direction 430. Similarly, the machine 500 can move in reverse and turn in a clockwise direction (i.e., left) by controllably moving the first hand control 406 in a third direction 428. Likewise, to move the machine 500 in reverse and turn in a counterclockwise direction (i.e., right), the first hand control 406 can be controllably moved in a fourth direction 432.
The foot control pattern 400 does not utilize the second hand control 408 for steer or propel functions, and therefore forms a single hand control operation of an electrohydraulic skid steer or other construction or forestry machine. As a result, the controller 502 does not receive any electrical signal from the second hand control 408, thereby allowing the operator a free hand to adjust machine settings, change throttle, or perform other tasks inside the cab or operator's station. In this manner, the second hand control 408 is disabled and inoperable for purposes of steer, propel, boom, and work tool functionality. As described above, this type of control is not available with conventional foot control patterns which often require both hands to control the steer and propel functions of the machine (or at least one hand to control steer and propel functions and the other hand to control the operation of the boom and work tool). In other aspects, the second hand control 408 may be used for other machine control based on the needs and desires of the machine operator.
Another advantage of the foot control pattern 400 of
The control valve 516, for example, can receive the output signal from the controller 502 and regulate flow to one or both of the hydraulic cylinders 518, 520 for controlling the boom 504 or work tool 506. Similarly, the controller 502 can send output signals to the hydraulic pumps 530, 534, which regulate pressure and flow for controlling the output power provided by one or both of the first drive motor 532 and second drive motor 536. Based on the output power from either drive motor, the machine 500 can be propelled and steered at desired speeds and directions.
In a different aspect, the machine may be a tracked machine rather than a wheeled machine. In
In
In accordance with the description related to
In step 606, the controller 502 can send an output signal to the control valve 516 or pumps 530, 534 based on the input signal. For instance, if the input signal received by the controller 502 from the first hand control 406 corresponds to a movement in the forward direction 418, the controller 502 can send an output signal to the pumps 530, 534 for controlling the drive motors 532, 536 and wheels or drive tracks. Alternatively, if the input signal is from the second foot control 404 and corresponds to a movement in the second direction 416, the controller 502 can send an output signal to the control valve 516 for raising the bucket 506, for example, to a curl position.
In step 608, the machine 500 can be operably controlled in accordance with the output signal sent by the controller 502. This can include controlling machine speed, direction, boom movement, and work tool operation. The control valve 516 can operably control the boom 504 and bucket 506, for example, by regulating flow to the hydraulic cylinders. Moreover, the electrohydraulic pumps 530, 534 can regulate pressure and flow for operably controlling the drive motors 532, 536 and wheels or tracks.
The method 600 of
While exemplary embodiments incorporating the principles of the present disclosure have been described hereinabove, the present disclosure is not limited to the described embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the disclosure using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this disclosure pertains and which fall within the limits of the appended claims.
