Patent Application
20220136204
The present disclosure relates generally to an implement control system and, for example, to mode selection for an operator control.
Compact construction machines (for example, skid steer loaders or compact track loaders) are commonly used where working space is limited. These machines may include a bucket attachment for applications ranging from asphalt milling to earth moving. For certain applications, the bucket attachment of a machine may be replaced with another work implement, such as a dozer blade attachment. While operator controls for the machine may be suitable for controlling the bucket attachment, in some applications, it may be difficult to control the dozer blade attachment using the operator controls. For example, it may be difficult to control the dozer blade attachment for applications such as spreading piles, rough grading, or fine grading.
U.S. Pat. No. 5,799,737 (the '737 patent) to Kamikawa et al. discloses a blade apparatus and a control method in a bulldozer such that the blade can be operated in lift, tilt, and pitch modes. The '737 patent indicates that a knob of a control lever is provided with a tilt/pitch changeover switch for changing over from a tilt mode to a pitch mode or vice versa, and a pitch speed changeover switch. The '737 patent also indicates that any of three working postures, i.e., a digging posture, an earth-moving posture, and an earth-dumping posture, can be selected in accordance with a combination of the position of the control lever and the positions of the two changeover switches, so that an operator can vary the working posture during operation.
While the '737 patent provides for operation of a blade using different modes, the '737 patent does not address the difficulty associated with controlling a dozer blade attachment using the operator controls of a compact construction machine. In particular, it may be advantageous to selectively operate different actuators of a machine using the same set of joystick patterns to thereby simplify control of the dozer blade attachment.
The implement control system of the present disclosure solves one or more of the problems set forth above and/or other problems in the art.
An implement control system may include one or more first actuators configured to selectively raise or lower a work implement of a machine; one or more second actuators configured to tilt the work implement; an operator control configured for manipulation in one or more motions; and a controller configured to, based on a particular motion of the one or more motions, selectively cause actuation of the one or more first actuators in a first mode or the one or more second actuators in a second mode.
A machine may include a lift arm for a work implement; one or more first actuators configured to provide movement of the lift arm; one or more second actuators configured to provide movement of the work implement; and an operator control configured for manipulation in one or more motions, a particular motion of the one or more motions selectively controlling actuation of the one or more first actuators or the one or more second actuators.
A method may include receiving, by a controller and from an operator control of a machine, a movement command associated with a motion of the operator control; determining, by the controller, whether to cause actuation of one or more first actuators of the machine or one or more second actuators of the machine in response to the movement command; and selectively causing, by the controller, actuation of the one or more first actuators or the one or more second actuators in response to the movement command.
Machine frame 12 extends from front end 22 to rear end 24 of machine 10. Machine frame 12 is supported on ground surface 26 by undercarriage 14, which is used to propel machine 10 in a forward or rearward direction (e.g., along arrow A). A suspension system (not shown) may be disposed between machine frame 12 and undercarriage 14. The suspension system includes, for example, one or more of springs, dampers, shock absorbers, or other suspension components.
Undercarriage 14 is configured to engage ground surface 26, such as a road or another type of terrain. Undercarriage 14 includes a pair of endless tracks 28 (only one track shown in
Work tool assembly 16 may include lift arms 36, work implement 38, lift actuators 40, and tilt actuators 42. Lift arms 36 may extend from adjacent rear end 24 toward front end 22 of machine frame 12. Lift arms 36 may be pivotably connected to machine frame 12 at loader joints adjacent rear end 24 of machine frame 12. Work tool assembly 16 may be connected to and supported by machine frame 12. One or more linkages (not shown) may be disposed between lift arms 36 and machine frame 12, and the one or more linkages may connect lift arms 36 to machine frame 12. Work implement 38 may be pivotably attached to lift arms 36 at tool joints adjacent front end 22. One or more linkages (not shown) may be disposed between work implement 38 and lift arms 36, and the one or more linkages may connect work implement 38 to lift arms 36. Loader joints and tool joints may be pin joints that respectively allow lift arms 36 and work implement 38 to pivot, thereby permitting control of lift and tilt (e.g., fore and aft tilt) of the work implement 38. Although two lift arms 36 have been illustrated in
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Lift actuators 40 and tilt actuators 42 may be hydraulic actuators (e.g., hydraulic cylinders, such as piston-cylinder units). In some examples, lift actuators 40 and tilt actuators 42 may be pneumatic actuators or other types of actuators. Lift actuators 40 and tilt actuators 42 may be controlled via separate supply lines (e.g., separate hydraulic or pneumatic supply lines), such that actuation of the lift actuators 40 and the tilt actuators 42 is separately controlled. Although two lift actuators 40 and two tilt actuators 42 are illustrated in
Engine 18 is supported by machine frame 12 and is configured to generate a power output that can be directed through sprockets 34 and tracks 28 to propel machine 10 in a forward or rearward direction (e.g., along arrow A). Engine 18 may be any suitable type of internal combustion engine, such as a compression-ignition engine, a spark-ignition engine, a natural gas or alternative fuel engine, or a hybrid-powered engine, among other examples. In some implementations, engine 18 may be driven by electrical power.
Engine 18 is configured to deliver power output to sprockets 34. Additionally, or alternatively, engine 18 may be configured to deliver power output to a generator, which in turn drives one or more electric motors coupled to sprockets 34. Additionally, or alternatively, engine 18 may be configured to deliver power output to a hydraulic motor fluidly coupled to a hydraulic pump and configured to convert a fluid pressurized by the hydraulic pump into a torque output, which is directed to sprockets 34. Engine 18 also is configured to provide power to move work tool assembly 16. For example, engine 18 may provide power to one or more hydraulic pumps that provide pressurized fluid to one or more of lift actuators 40 and/or tilt actuators 42 to move work implement 38.
Operator station 20 is supported on machine frame 12. Operator station 20 may be an open or an enclosed compartment. Operator station 20 includes operator control 50. Operator control 50 includes an input device for operating and/or driving machine 10. Operator control 50 is configured for manipulation (e.g., by an operator) in one or more motions (e.g., a forward motion, a rearward motion, a leftward motion, a rightward motion, and/or motions therebetween). A particular motion performed by operator control 50 may selectively control actuation of the lift actuators 40 or the tilt actuators 42, as described below. Operator control 50 may be a joystick (e.g., a single-axis joystick or a multiple-axis joystick), a lever, or a knob, among other examples. Operator station 20 may include one or more additional operator controls for performing other operations of machine 10.
Furthermore, operator station 20 may include one or more additional controls for selecting operations and/or operating modes of the machine 10. For example, operator station 20 may include a selector input (shown in
In some implementations, one or more of the controls of operator station 20, described above, may be remotely located from machine 10 (e.g., machine 10 may not include operator station 20). For example, operator control 50 and/or the selector input may be remotely located from machine 10 and may provide remote control of machine 10 via a wired or wireless connection.
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Controller 52 may determine an operating mode for implement control system 200 (e.g., for machine 10). The operating mode may be the lift mode or the tilt mode. In the lift mode, motions of operator control 50 control actuation of lift actuators 40, and in the tilt mode, the same motions of operator control 50 control actuation of tilt actuators 42. For example, in the lift mode, a forward motion of a joystick used for operator control 50 may control actuation of lift actuators 40 to lower work implement 38, and a rearward motion of the joystick may control actuation of lift actuators 40 to raise work implement 38. Continuing with the previous example, in the tilt mode, the same forward motion of the joystick may control actuation of tilt actuators 42 to pitch forward work implement 38, and the same rearward motion of the joystick may control actuation of tilt actuators 42 to pitch rearward work implement 38.
Implement control system 200 may include one or more input devices for controlling tilt operations in the lift mode or for controlling lift operations in the tilt mode. For example, the joystick may include (e.g., at a thumb control portion of the joystick) a first button that controls forward pitch of work implement 38, and a second button that controls rearward pitch of work implement 38, in the lift mode. Continuing with the previous example, the first button controls lowering work implement 38, and the second button controls raising work implement 38, in the tilt mode. Thus, a set of controls of machine 10 may perform first functions in the lift mode, and the same set of controls may perform second functions in the tilt mode.
Controller 52 may autonomously determine the operating mode for implement control system 200. That is, controller 52 may determine a selection of the lift mode or the tilt mode for implement control system 200. Controller 52 may determine the operating mode based on information associated with ground surface 26 (e.g., a detected, or a configured, terrain type of ground surface 26), information associated with movements and/or operation of work implement 38 (e.g., a distance between work implement 38 and ground surface 26, and/or a load on work implement 38, among other examples), information associated with a type of task being performed, and/or information associated with a work plan for a task being performed, among other examples. For example, controller 52 may determine the operating mode based on information received from one or more sensors on machine 10.
Controller 52 may determine to switch from lift mode to tilt mode based on detecting that lift actuators 40 are fully actuated (e.g., fully extended or fully retracted) in connection with moving work implement 38 in a direction (e.g., raising or lowering) and based on a command to move work implement 38 further in the direction. For example, controller 52 may determine to switch from lift mode to tilt mode when lift arms 36 are at a lowest allowable position (e.g., the lift arms 36 are abutting lift arm stops and/or lift actuators 40 are fully retracted) and an operator is commanding further lowering of work implement 38. Controller 52 may determine to switch from tilt mode to lift mode based on detecting that tilt actuators 42 are fully actuated (e.g., fully extended or fully retracted) in connection with moving a bottom edge of work implement 38 in a direction (e.g., raising or lowering) and based on a command to move work implement 38 further in the direction. For example, controller 52 may determine to switch from tilt mode to lift mode when work implement 38 is fully pitched rearward and an operator is commanding further raising of work implement 38.
Controller 52 may determine the operating mode for implement control system 200 based on a user selection. For example, an operator may select between the lift mode and the tilt mode using selector input 54. Accordingly, controller 52 may receive the user selection of the lift mode or the tilt mode from the selector input 54.
Controller 52 may receive a movement command (e.g., an electrical signal) from operator control 50. The movement command may be associated with a particular motion of operator control 50. For example, controller 52 may receive a first movement command associated with a forward motion of the joystick or a second movement command associated with a rearward motion of the joystick. Accordingly, the movement command may indicate a direction of the particular motion of operator control 50, a degree (e.g., a percentage) of the particular motion of operator control 50 in the direction, or the like.
Controller 52 may determine whether to cause actuation of lift actuators 40 or tilt actuators 42 in response to the movement command. Controller 52 may determine whether to cause actuation of lift actuators 40 or tilt actuators 42 based on the operating mode (e.g., autonomously determined by the controller 52 or indicated by a user selection). For example, controller 52 may determine to cause actuation of lift actuators 40 when the operating mode is the lift mode. As another example, controller 52 may determine to cause actuation of tilt actuators 42 when the operating mode is the tilt mode.
Controller 52 may selectively cause actuation of lift actuators 40 or tilt actuators 42 based on determining whether to cause actuation of lift actuators 40 or tilt actuators 42. That is, controller 52 may selectively cause actuation of lift actuators 40 or tilt actuators 42 in response to the movement command and based on the operating mode. In the lift mode, controller 52 may cause actuation of lift actuators 40, and may extend or retract lift actuators 40 based on the movement command (e.g., associated with the particular motion of operator control 50). In the tilt mode, controller 52 may cause actuation of tilt actuators 42, and may extend or retract tilt actuators 42 based on the movement command (e.g., associated with the particular motion of operator control 50). For example, an operator may move the joystick in a particular motion, and the controller 52 may cause actuation of lift actuators 40 in the lift mode. As another example, the operator may move the joystick in the same particular motion, and the controller 52 may cause actuation of tilt actuators 42 in the tilt mode.
Lift actuators 40 may be associated with one or more lift actuator control valves, and tilt actuators 42 may be associated with one or more tilt actuator control valves. Accordingly, controller 52 may cause actuation of lift actuators 40 by controlling (e.g., via electrical signals) the one or more lift actuator control valves to adjust the flow of, for example, hydraulic fluid to control the rate and direction of movement of lift actuators 40. Similarly, controller 52 may cause actuation of tilt actuators 42 by controlling the one or more tilt actuator control valves.
In some implementations, controller 52 may cause actuation of both lift actuators 40 and tilt actuators 42 in unison (e.g., in tandem). For example, in the lift mode (or a separate tandem operating mode), lift actuators 40 may provide primary actuation and tilt actuators 42 may provide secondary actuation. Accordingly, in response to a particular motion of operator control 50 (e.g., in response to a particular movement command), controller 52 may cause, in tandem, actuation of lift actuators 40, as described above, and actuation of tilt actuators 42 to provide additional precision to the movement commanded for lift actuators 40. Similarly, in the tilt mode (or a separate tandem operating mode), tilt actuators 42 may provide primary actuation and lift actuators 40 may provide secondary actuation. Accordingly, in response to a particular motion of operator control 50 (e.g., in response to a particular movement command), controller 52 may cause, in tandem, actuation of tilt actuators 42, as described above, and actuation of lift actuators 40 to provide additional precision to the movement commanded for tilt actuators 42. Tandem operation of lift actuators 40 and tilt actuators 42 may provide control of the speed at which an angle of attack of a cutting edge of implement 38 changes (e.g., primary actuation of tilt actuators 42 may provide a faster change in the angle of attack relative to primary actuation of lift actuators 40).
As indicated above,
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Determining whether to cause actuation of the one or more first actuators or the one or more second actuators may be based on whether the machine is operating in a first mode or a second mode. Process 300 may include receiving a user selection of a first mode for the machine or a second mode for the machine, and determining whether to cause actuation of the one or more first actuators or the one or more second actuators is based on the user selection. Process 300 may include determining a selection of a first mode for the machine or a second mode for the machine, and determining whether to cause actuation of the one or more first actuators or the one or more second actuators is based on the selection.
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The disclosed implement control system 200 may be used with any machine 10 where mode selection for an operator control 50 is desired. In particular, implement control system 200 may provide selective control of lift actuators 40 and tilt actuators 42. Lift actuators 40 and tilt actuators 42 may be selectively controlled by the same operator control 50, such as a joystick, based on whether machine 10 is operating in a lift mode or a tilt mode. In this way, the same motion of operator control 50 may control different functions based on whether machine 10 is operating in a lift mode or a tilt mode.
Moreover, lift actuators 40 may control raising and lowering of work implement 38 via lift arms 36, and tilt actuators 42 may control raising and lowering of a bottom edge of work implement 38 by controlling the pitch of work implement 38. That is, both of lift actuators 40 and tilt actuators 42 may provide for vertical movement of work implement relative to ground surface 26. Accordingly, an operator may use the same motion (e.g., a forward motion or a rearward motion) of a joystick for controlling a distance between a bottom edge of work implement 38 and ground surface 26, regardless of whether the machine 10 is operating in the lift mode or the tilt mode. This provides more intuitive joystick patterns, and thereby facilitates improved control of work implement 38.
The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementations to the precise form disclosed. Modifications and variations may be made in light of the above disclosure or may be acquired from practice of the implementations. Furthermore, any of the implementations described herein may be combined unless the foregoing disclosure expressly provides a reason that one or more implementations cannot be combined. Even though particular combinations of features are recited in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of various implementations. Although each dependent claim listed below may directly depend on only one claim, the disclosure of various implementations includes each dependent claim in combination with every other claim in the claim set.
As used herein, “a,” “an,” and a “set” are intended to include one or more items, and may be used interchangeably with “one or more.” Further, as used herein, the article “the” is intended to include one or more items referenced in connection with the article “the” and may be used interchangeably with “the one or more.” Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise. Also, as used herein, the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and/or,” unless explicitly stated otherwise (e.g., if used in combination with “either” or “only one of”).
