Patent Application
20160237642
The current disclosure relates to an implement of a machine, and more particularly to a system and a method for controlling a position of an implement of the machine.
In general, machines such as a motor grader may be used to perform earth moving operations such as, levelling a surface of the ground. The machine may typically employ an implement such as a blade to perform one or more earth moving operations. A position of the implement may be controlled either manually or using one or more actuators such as hydraulic cylinders. The actuators may control the position of the implement based on a target position indicated by an operator.
Conventionally, the operator may set a target position for the implement by increasing or decreasing a starting position value. In some cases, the starting position value may change during an operation of the machine or other applications. As such, an operator may not be able to set a desired target position value for the implement. In such cases, the position of the implement may have to be changed manually to reset the starting position value. However, manual operations may be prone to errors and are less efficient.
U.S. Pat. No. 6,766,600 (the '600 patent) relates to a display unit for a construction machine. The display unit of '600 patent allows for an operator to easily set a target plane or area in works to be performed under automatic control. The display unit of '600 patent also allows for an operator to freely change the contents to be displayed regardless of whether the machine is under the automatic control, so that information which the operator wants to see can be promptly displayed.
In one aspect of the current disclosure, a method of controlling a position of an implement of a machine relative to a frame of the machine is provided. The method includes receiving a target position value for the implement and determining if the target position value falls within a set of whole numbers. The method also includes receiving, via a control element of a user interface, an instruction to reset the target position value to a nearest whole number. The method further includes moving the implement to reset the target position value to the nearest whole number based on the instruction.
In another aspect of the current disclosure, a system for controlling a position of an implement of a machine relative to a frame of the machine is provided. The system includes an actuating system configured to move the implement relative to the frame of the machine. The system also includes a user interface comprising a control element. The system further includes a controller communicably coupled to the actuating member and the user interface. The controller is configured to receive a target position value for the implement and determine if the target position value falls within a set of whole numbers. The controller is also configured to receive an instruction, via the control element, to reset the target position value to a nearest whole number. The controller is further configured to communicate with the actuating system to move the implement to a position corresponding to the target position value that is reset to the nearest whole number based on the instruction.
In yet another aspect of the current disclosure, a machine is provided. The machine includes a frame and an implement operatively coupled to the frame. The machine also includes an actuating system configured to move the implement relative to the frame of the machine. The machine includes a user interface comprising a control element. The machine further includes a controller communicably coupled to the actuating member and the user interface. The controller is configured to receive a target position value for the implement and determine if the target position value falls within a set of whole numbers. The controller is also configured to receive an instruction, via the control element, to reset the target position value to a nearest whole number. The controller is further configured to communicate with the actuating system to move the implement to a position corresponding to the target position value that is reset to the nearest whole number based on the instruction.
Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.
Reference will now be made in detail to specific aspects or features, examples of which are illustrated in the accompanying drawings. Wherever possible, corresponding or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts.
In the illustrated embodiment, the machine 100 includes a front frame 102 and a rear frame 104. The front frame 102 may be movably coupled with the rear frame 104 such that the front frame 102 may rotate relative to the rear frame 104. In an example, an articulation joint, and/or a pivotal connection may be used to couple the front frame 102 to the rear frame 104. Alternatively, the machine 100 may include a single frame.
The front frame 102 and the rear frame 104 may be supported on a set of ground engaging members 106. The set of ground engaging members 106 may be adapted for steering and maneuvering the machine 100, and for propelling the machine 100 in forward and reverse directions. In the illustrated embodiment, the set of ground engaging members 106 includes a pair of front wheels and two pairs of rear wheels. However, it may be noted that the machine 100 may include any number of wheels. Alternatively, the set of ground engaging members 106 may be tracks.
The machine 100 further includes an implement 108 for performing various earth moving operations, such as ground levelling. The implement 108 may be disposed on the front frame 102. In the illustrated embodiment, the implement 108 is a blade that may be movably mounted to the front frame 102. The machine 100 may further include an operator station or cab 110 containing controls or input devices for operating the machine 100. In the illustrated embodiment, the cab 110 is mounted on the front frame 102.
The machine 100 may further include a power source (not shown) to supply power to various components including, but not limited to, the set of ground engaging members 106 and the implement 108. In an example, the power source may be an engine. The engine may embody, for example, a diesel engine, a gasoline engine, a gaseous fuel-powered engine, or any other type of combustion engine known in the art. The engine may be mounted on the rear frame 104. It is contemplated that the power source may alternatively embody a non-combustion source of power (not shown) such as, for example, a fuel cell, a power storage device, or another suitable source of power. The engine may drive the set of ground engaging members 106 via a transmission (not shown). The transmission may produce multiple output speed ratios or a continuously variable speed ratio between the engine and the set of ground engaging members 106.
Referring to
In an example, the actuating system 202 may include a drawbar/moldboard/circle (DMC) assembly (not shown), which includes a drawbar, a moldboard, and a circle. Each of the drawbar, the moldboard and the circle may be coupled to the implement 108 to permit movement of the implement 108 in different degrees of freedom. Further, the actuating system 202 may also include one or more actuators that are connected between the front frame 102 and the implement 108. The actuators may be configured to control a movement and/or position of the implement 108 in or more degrees of freedom relative to the front frame 102 of the machine 100. The actuators may be hydraulic motors, lift cylinders, shift cylinders or a combination thereof.
The actuating system 202 may also be configured to rotate the implement 108, which may result in a change in a rotation angle of the implement 108 relative to a direction of travel of the machine 100. In addition to the rotating movement, the actuating system 202 may also be configured to tilt the implement 108 in forward and backward directions. In an example, the implement 108 may be hingedly coupled to the circle, which allows the implement 108 to be moveable forward and backward.
Further, the implement 108 may be slidably coupled to the circle to permit movement of the implement 108 from side to side relative to the circle. Such a side movement may be controlled by a side shift cylinder of the actuating system 202. The implement 108 may be raised or lowered to adjust a height of the implement 108 relative to the surface of the ground. In an example, the height of the implement 108 may be controlled by lift cylinders.
Referring to
The controller 212 may be an electronic controller that operates in a logical fashion to perform operations, execute control algorithms, store and retrieve data and other desired operations. The controller 212 may include or access memory, secondary storage devices, processors, and any other components for running an application. The memory and secondary storage devices may be in the form of read-only memory (ROM) or random access memory (RAM) or integrated circuitry that is accessible by the controller 212. Various other circuits may be associated with the controller 212 such as power supply circuitry, signal conditioning circuitry, driver circuitry, and other types of circuitry.
The controller 212 may be a single controller or may include more than one controller disposed to control various functions and/or features of the machine 100. The term “controller 212” is meant to be used in its broadest sense to include one or more controllers and/or microprocessors that may be associated with the machine 100 and that may cooperate in controlling various functions and operations of the machine 100. The functionality of the controller 212 may be implemented in hardware and/or software without regard to the functionality employed. The controller 212 may also use one or more data maps relating to the operating conditions of the machine 100 that may be stored in the memory of the controller 212. The system 200 may also include one or more sensors (not shown) to provide data and other input signals representative of various operating parameters of the machine 100.
Referring to
In the illustrated embodiment, the user interface 204 includes a left input device 206 and a right input device 208 for controlling a movement of the implement 108. The left and right input devices 206, 208 are embodied as joysticks. A movement of the implement 108, and/or the machine 100 may be controlled using the left and right input devices 206, 208. For example, a forward movement of the left and right input devices 206, 208 may cause respective actuators to lower or lift the implement 108 based on the configuration. The left and right input devices 206, 208 may also include one or more control elements associated with functions related to movement of the implement 108, the machine 100 or the like.
In an embodiment, the user interface 204 may include a display screen 210 configured to display one or more inputs provided via the user interface 204. The display screen 210 may be associated with various control elements such as, decision buttons, value entry buttons, selection buttons, menu buttons for providing various to the display screen 210 and the like. Alternatively, the display screen 210 may be a touch-sensitive screen wherein inputs to the display screen 210 may be provided by touching on the display screen 210.
The controller 212 is communicably coupled to the user interface 204. The controller 212 may receive operator input command signals via the user interface 204 to control the operation of the actuating system 202 that moves the implement 108. Further, the controller 212 may also be configured to update various outputs displayed on the display screen 210 of the user interface 204.
The controller 212 is configured to receive a target position value ‘Pt’ of the implement 108. In one embodiment, the controller 212 may receive the target position value ‘Pt’ via the user interface 204. Referring to
In another embodiment, an operator may set the target position value ‘Pt’ by moving the implement 108 to a desired orientation and subsequently engaging an input device of the user interface 204 such as by pressing a button (not shown). In yet another embodiment, an operator may select the target position value ‘Pt’ from a set of target position values via the user interface 204. Alternatively, the controller 212 may receive the current position value of the implement 108 as the target position value ‘Pt’.
In one embodiment of the current disclosure, the target position value ‘Pt’ is a cross-slope angle of the implement 108. Specifically, the target position value ‘Pt’ may be expressed as a percentage of cross-slope angle for the implement 108. The cross-slope angle may be determined with respect to a horizontal axis of the surface of ground. In general, the target position value ‘Pt’ may be determined by the equation (1):
Target position value ‘Pt’ (%)=(Rise/Run)*100 (1)
In various other embodiments, the target position value ‘Pt’ may be indicative of other representations for the position of the implement 108 relative to the surface of ground. As shown in
Referring to
In the illustrated embodiment, the second control element 216 is a switch. Moreover, the user interface 204 may include two second control elements 216A, 216B (also collectively referred to as “the second control element 216”). As shown, the second control elements 216A, 216B may be disposed on the left input device 206 and the right input device 208 respectively. The second control elements 216A, 216B may be configured to be activated to a first control position and a second control position.
The second control elements 216A, 216B may be configured to allow a user to provide the instruction indicative of increasing the target position value ‘Pt’ by the offset adjust value ‘O’ when activated to the second control position. The second control elements 216A, 216B may be further configured to allow a user to provide the instruction indicative of decreasing the target position value ‘Pt’ by the offset adjust value ‘O’ when activated to the second control position.
In another embodiment, the user interface 204 may include two pairs of the second control elements 216 disposed on each of the left and right input devices 206, 208. As such, one pair of second control elements 216 may provide a functionality similar to the second control element 216 that is actuated to the first control position whereas another pair of second control elements 216 may provide a functionality similar to the second control element 216 that is actuated to the second control position operate. For example, each of pair of second control elements 216 may be buttons. In such a case, when one pair of second control elements 216 are actuated, a corresponding instruction to either decrease or increase the target position value ‘Pt’ by the offset adjust value ‘O’ may be received.
The user interface 204 may also include one or more control elements configured to allow a user to input the offset adjust value ‘O’. Referring to
The controller 212 is also configured to determine if the received target position value ‘Pt’ falls within a set of whole numbers. The controller 212 is further configured to receive an instruction, via a control element of the user interface 204, to reset the target position value ‘Pt’ to a nearest whole number. The resetting of the target position value ‘Pt’ to the nearest whole number is also referred to as a second action hereinafter.
In the illustrated embodiment, the second control element 216 is configured to allow a user to provide an instruction to reset the target position value ‘Pt’ to the nearest whole number. The second control elements 216A, 216B may be configured to allow a user to provide an instruction indicative of the second action when each of the second control elements 216A, 216B are retained in the first or second control positions for at least a predetermined duration ‘T0’. In an example, the predetermined duration ‘T0’ may be two seconds.
Further, the controller 212 may receive the instruction to perform the second action if the second control element 216 is retained in the first or second control positions for at least the predetermined duration ‘T0’. The controller 212 may be configured to receive the instruction to reset the target position to the nearest whole number that is greater than the target position value ‘Pt’ if the second control element 216 is retained in the first control positions for at least the predetermined duration ‘T0’. The controller 212 may also be configured to receive the instruction to reset the target position to the nearest whole number that is less than the target position value ‘Pt’ if the second control element 216 is retained in the second control positions for at least the predetermined duration ‘T0’.
In various other embodiments, the second control element 216 may be a lever, a graphic control element controlled by a mouse, a pointer or a user touch and the like. For example, the second control elements 216 may be provided on a touch sensitive screen and configured with long press functionality. Further, it may be noted that the first control position and the second position as illustrated is exemplary in nature and hence non-limiting of this disclosure. Moreover, the first and second control positions may embody any of the control positions so as to provide different functionalities relative to each other based on the type of the second control element 216.
Alternatively, the control element configured to allow the user to provide the instruction to perform the second action may be different from the second control element 216.
In an embodiment, the controller 212 may be configured to automatically move the implement 108 to a position corresponding to the target position value ‘Pt’ that is reset to the nearest whole number based on the instruction received via the second control element 216. The controller 212 may communicate with the actuating system 202 to move the implement 108 to a position indicative of the reset target position value ‘Pt’. Further, the controller 212 may be configured to update the target position value ‘Pt’ on the display screen 210 for display to the user.
In another embodiment, the controller 212 may determine the nearest whole number for the target position value ‘Pt’ upon receiving the instruction via the second control element 216 and subsequently update the target position value ‘Pt’ on the display screen 210. Subsequently, the controller 212 may communicate with the actuating system 202 to move the implement 108 to a position corresponding to the reset target position value ‘Pt’ upon receiving an instruction via the user interface 204. In an embodiment, the instruction to move may be provided by changing a mode of operation of the machine 100 for example to an automatic mode. For example, the user interface 204 may include a third control element 224 that may allow a user to change a mode of the machine 100 between an automatic mode and a manual mode. In an example, the third control element 224 may be a button. Further, upon enabling the automatic mode for the machine 100, the controller 212 may move the implement 108 to a position indicative of the target position value ‘Pt’ displayed on the display screen 210.
Additionally, the controller 212 may be configured to further modify the target position value ‘Pt’ if the corresponding instruction is received via the second control element 216. In such a case, the controller 212 may modify the reset target position value ‘Pt’ based on the offset adjust value ‘O’ as described above. Subsequently, the controller 212 may communicate with the actuating system 202 to move the implement 108 to a position indicative of the modified target position value ‘Pt’. The controller 212 may also be configured to update the target position value ‘Pt’ on the display screen 210 at each stage. As such, the controller 212 may move the implement 108 to a position based on the target position value ‘Pt’ displayed on the display screen 210.
Although, various control elements and input devices of the user interface 204 are described as hardware elements, it may be contemplated that the control elements capable of touch-screen actuation may be provided on a touch sensitive screen.
Referring to
At step 602, the method 600 includes receiving the target position value ‘Pt’ for the implement 108. The controller 212 may be configured to receive the target position value ‘Pt’ for the implement 108 as described above. For example, the target position value ‘Pt’ may be received via the first control element 214 of the user interface 204. Further, the controller 212 may be configured to display the received target position value ‘Pt’ on the display screen 210. At step 604, the method 600 includes determining if the target position value ‘Pt’ falls within a set of whole numbers.
At step 606, the method 600 includes receiving, via a control element of the user interface 204, an instruction to reset the target position value ‘Pt’ to the nearest whole number. In an embodiment, the controller 212 may be configured to receive the instruction to perform the second action via the second control element 216. Specifically, a retention of the second control element 216 in the first or the second control position for at least the predetermined duration ‘T0’ is indicative of the instruction to reset the target position value ‘Pt’.
At step 606, the method 600 further includes resetting the target position value ‘Pt’ to the nearest whole number. In one case, the controller 212 may reset the target position value ‘Pt’ to the nearest whole number that is greater than the target position value ‘Pt’ if the instruction is indicated by retention of the second control element 216 in the first control position. In another case, the controller 212 may reset the target position value ‘Pt’ to the nearest whole number that is less than the target position value ‘Pt’ if the instruction is indicated by retention of the second control element 216 in the second control position.
In at least one of steps, 602, 604, and 606, the method 600 may further include receiving, via the user interface 204, the input indicative of the offset adjust value ‘O’. The controller 212 may be configured to receive the offset adjust value ‘O’ via one or more control elements of the user interface 204. In an example, the offset adjust value ‘O’ may be set using the menu button 218, the selection button 220 and the decision button 222 as described above.
At step 606, the method 600 may further include receiving, via the user interface 204, the instruction to modify the target position value ‘Pt’ based on the offset adjust value ‘O’. The modification may be one of increasing or decreasing the target position value ‘Pt’ by the offset adjust value ‘O’. In an embodiment, the controller 212 may be configured to receive the instruction via the second control element 216. A retention of the second control element 216 in the first control position or the second control position for less than the predetermined duration ‘T0’ may be indicative of the instruction to modify the target position value ‘Pt’ based on the offset adjust value ‘O’. In one case, the controller 212 may increase the target position value ‘Pt’ by the offset adjust value ‘O’ if the instruction is indicated by the second control element 216 in the first control position for less than the predetermined duration ‘T0’. In another case, the controller 212 may decrease the target position value ‘Pt’ by the offset adjust value ‘O’ if the instruction is indicated by the second control element 216 in the second control position for less than the predetermined duration ‘T0’.
At step 608, the method 600 includes moving the implement 108 to reset the target position value ‘Pt’ to the nearest whole number based on the instruction. The controller 212 may be configured to communicate with the actuating system 202 to move the implement 108 to reset the target position value ‘Pt’ to the nearest whole number. In an alternative embodiment, at step 608, the method 600 may include moving the implement 108 to a position indicative of the modified target position value ‘Pt’. In such a case, the controller 212 may communicate with the actuating system 202 to move the implement 108 to a position corresponding to the modified target position value ‘Pt’ upon receiving an instruction via the user interface 204. In an example, the controller 212 may move the implement 108 upon receiving changing a mode of operation via the third control element 224.
The current disclosure relates to the system 200 and the method 600 for controlling a position of the implement 108 of the machine 100 relative to the front frame 102. Referring to
At step 702, the exemplary output 215 of the display screen 210 shows the offset adjust value ‘O’ as 0.2% and the target position value ‘Pt’ as 0.9%. The controller 212 may receive the offset adjust value ‘O’ and the target position value ‘Pt’ and displays the output 215 on the display screen 210. At step 702, an operator may provide an instruction to reset the target position value ‘Pt’ to a whole number via the second control element 216. Specifically, the operator may retain both the second control elements 216A, 216B in the first or second control positions (first control position shown in
Further, at step 704, the controller 212 may reset the target position value ‘Pt’ to the nearest whole number. Additionally or optionally, the controller 212 may communicate with the actuating system 202 to move the implement 108 to a position corresponding to the reset target position value ‘Pt’. In the illustrated example, the instruction is provided by retaining the second control element 216 in the first control position for at least the predetermined duration ‘T0’. As such, the controller 212 may reset the target position value ‘Pt’ to the nearest whole number that is greater than the target position value. Further, the controller 212 may update the output 215 on the display screen 210 with the reset target position value ‘Pt’. As shown, the display screen 210 shows the target position value ‘Pt’ as 1.0%.
At step 706, an operator may provide an instruction, via the second control element 216, to increase the target position value ‘Pt’ by the offset adjust value ‘O’. In the illustrated example, the instruction is provided by activating the second control element 216 to the first control position and released within a time less than the predetermined duration ‘T0’. The controller 212 may receive the instruction, via the second control element 216 and consequently increases the target position value ‘Pt’. Further, the controller 212 may update the output 215 on the display screen 210 with the increased target position value ‘Pt’. As shown, the display screen 210 shows the target position value ‘Pt’ as 1.2%.
Moreover, the step 706 may be performed multiple times as needed to obtain the desired target position value ‘Pt’. For example, the desired target position value ‘Pt’ is set to be as 1.8%. At step 708, the controller 212 may receive the target position value ‘Pt’ and communicate with the actuating system 202 to move the implement 108 to a position indicative of the target position value ‘Pt’. Similarly, an operator may also implement the steps of process 700 for decreasing the target position value ‘Pt’ as needed to set a desired target position value ‘Pt’.
With such an implementation, an operator may easily set the target position value ‘Pt’ for the implement 108 to any value. Moreover, by providing a whole number feature to reset the target value ‘Pt’ to the nearest whole number, an operator may choose a higher offset adjust value ‘O’ by which target position value ‘Pt’ may be increased or decreased. As such, a number of iteration required to set the target position value ‘Pt’ may be reduced.
Further, the instruction to reset the target value ‘Pt’ to the nearest whole number may be provided via the second control element 216 that is also used to increase or decrease the target position value ‘Pt’. Such a configuration of the system 200 provides a convenient way to implement the method 600 or the process 700. Moreover, the functionality of the second control element 216 may also be easily configured in existing controllers associated with machines.
While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.
