Patent Application
20210010240
The present disclosure generally relates to work vehicles and, more particularly, to systems and methods for controlling the operation of a work vehicle such that the work vehicle is moved along a travel path having a desired turning radius, thereby allowing the work vehicle executes a constant radius turn.
Work vehicles typically include an operator control device, such as a joystick, a steering wheel, and/or the like, for controlling the direction of travel of the vehicle. In this regard, the operator of the work vehicle may adjust the direction of travel of the work vehicle by providing a steering input to the operator control device. Thereafter, one or components (e.g., a hydraulic motor(s), a steering actuator(s), and/or the like) of the work vehicle are controlled such that the direction of travel of the vehicle is changed based on the steering input.
In certain instances, it may be necessary for the work vehicle to move along a travel path having a generally constant turning radius. However, it may be difficult for the operator of the work vehicle to provide a constant steering input such that the vehicle executes a constant radius turn. Moreover, it is particularly difficult for the operator to provide such a steering input when the surface across which the work vehicle is traveling is rough and/or the duration of the constant radius turn is long.
Accordingly, an improved system and method for controlling the operation of a work vehicle such that the vehicle is able to execute turns having a generally constant radius would be welcomed in the technology.
Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.
In one aspect, the present subject matter is directed to a system for controlling the operation of a work vehicle. The system may include first and second traction devices, with one of the first traction device or the second traction device corresponding to an inner traction device of the work vehicle and the other of the first traction device or the second traction device corresponding to an outer traction device of the work vehicle when the work vehicle is being turned. The system may also include a first motor configured to rotationally drive the first traction device and a second motor configured to rotationally drive the second traction device. Furthermore, the system may include a user interface configured to display a turning radius of the work vehicle. Additionally, the system may include a controller communicatively coupled to the user interface. As such, the controller may be configured to provide for display on the user interface the turning radius of the work vehicle and receive an input associated with an operator selection of the displayed turning radius as a desired turning radius. Moreover, the controller may be configured to determine a first rotational speed for the first traction device and a second rotational speed for the second traction device based on the desired turning radius, with the first rotational speed differing from the second rotational speed by a rotational speed differential associated with the desired turning radius. In addition, the controller may be configured to control the operation of the first and second motors to rotationally drive the first and second traction devices at the first and second rotational speeds, respectively, such that the work vehicle is moved along a travel path having the desired turning radius.
In another aspect, the present subject matter is directed to a method for controlling the operation of a work vehicle. The work vehicle may include first and second traction devices, a first motor configured to rotationally drive the first traction device, and a second motor configured to rotationally drive the second traction device. The method may include providing, with one or more computing devices, a turning radius of the work vehicle for display on a user interface of the work vehicle. The user interface may, in turn, be configured to display the turning radius of the work vehicle. Moreover, the method may include receiving, with the one or more computing devices, an input associated with an operator selection of the displayed turning radius as a desired turning radius. Furthermore, the method may include determining, with the one or more computing devices, a first rotational speed for the first traction device and a second rotational speed for the second traction device based on the desired turning radius, with the first rotational speed differing from the second rotational speed by a rotational speed differential associated with the desired turning radius. Additionally, the method may include controlling, with the one or more computing devices, the operation of the first and second motors to rotationally drive the first and second traction devices at the first and second rotational speeds, respectively, such that the work vehicle is moved along a travel path having the desired turning radius.
These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.
A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.
Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
In general, the present subject matter is directed to systems and methods for controlling the operation of a work vehicle. Specifically, in several embodiments, the system may include a user interface configured to display a turning radius of the work vehicle. As such, the user interface may include a suitable graphical user interface (e.g., a screen, display, and/or the like) for displaying the turning radius to the operator of the work vehicle. Additionally, the user interface may be configured to receive an operator selection of the displayed turning radius as the desired turning radius of the work vehicle. For example, in one embodiment, the graphical user interface may display a single turning radius. In such an embodiment, the user interface may include a first interface element(s) (e.g., a button(s), a knob(s), and/or the like) configured to adjust the value of the displayed turning radius. Moreover, the user interface may include a second interface element (e.g., a button, a knob, and/or the like) configured to receive an operator selection of the currently displayed turning radius as the desired turning radius of the work vehicle. In another embodiment, the graphical user interface may display a plurality of different turning radii options. In such an embodiment, the graphical user interface may include a plurality of interface elements (e.g., touch screen buttons), with each interface element corresponding to one of the plurality of different turning radii. Furthermore, each interface element may be configured to receive the operator selection. In this regard, when one of the interface elements receives the operation selection, the corresponding turning radius is selected as the desired turning radius of the work vehicle.
In accordance with aspects of the present subject matter, the system may control the operation of the work vehicle such that the vehicle is moved along a travel path having the desired turning radius. Specifically, a controller of the disclosed system may be configured to receive an input associated with the desired turning radius of the work vehicle from the user interface. Furthermore, the controller may be configured to determine a first rotational speed for a first traction device (e.g., one of an inner or outer wheel or track) of the work vehicle based on the desired turning radius. Similarly, the controller may be configured to determine a second rotational speed for a second traction device (e.g., the other of the inner or outer wheel or track) of the work vehicle based on the desired turning radius. The first and second rotational speeds may, in turn, differ by a rotational speed differential associated with the desired turning radius. Thereafter, the controller may be configured to control the operation of first and second motors of the work vehicle to rotationally drive the first and second traction devices at the first and second rotational speeds, respectively, such that the work vehicle is moved along the travel path having the desired turning radius. Additionally, in one embodiment, the work vehicle is moved along the travel path having the desired turning radius until an operator control device (e.g., a joystick, steering wheel, and/or the like) of the work vehicle receives a manual steering input, thereby overriding the desired turning radius.
Referring now to the drawings,
As shown in
Additionally, in several embodiment, the work vehicle 10 may include a plurality of traction devices coupled to the chassis 24. As shown, in one embodiment, a first track 30 may be coupled to the chassis 24 on the first side 20 of the work vehicle 10. Similarly, a second track 32 may be coupled to the chassis 24 on the second side 22 of the work vehicle 10 opposite the first track 30. As such, the tracks 30, 32 may be configured to move the work vehicle 10 in a forward direction (e.g., as indicated by arrow 34 in
It should be appreciated that, when the work vehicle 10 is turned, one of the tracks 30, 32 may correspond to an inner track (i.e., relative to the direction of the turn) and the other the tracks 30, 32 may correspond to the outer track (i.e., relative to the direction of the turn). For example, when the work vehicle 10 is turned to the left, the first track 30 (i.e., the track on the left side of the vehicle 10) corresponds to the inner track and the second track 32 (i.e., the track on the right side of the vehicle 10) corresponds to the outer track. However, when the work vehicle 10 is turned to the right, the second track 32 (i.e., the track on the right side of the vehicle 10) corresponds to the inner track and the first track 30 (i.e., the track on the left side of the vehicle 10) corresponds to the outer track.
Additionally, it should be appreciated that, when the work vehicle 10 is being turned, the outer track may generally rotate faster than the inner track. More specifically, the outer track must travel a greater distance than the inner track over the duration of the turn. As such, a rotational speed differential may exist between the inner and outer tracks when the work vehicle 10 is being turned. In general, the magnitude of the rotational speed differential may be determined by or may otherwise be indicative of the turning radius of the work vehicle 10. For example, the turning radius of the work vehicle may be smaller (i.e., the turn is “sharper”) when the rotational speed differential is greater. Conversely, the turning radius of the work vehicle may be greater (i.e., the turn is “wider”) when the rotational speed differential is smaller.
Referring now to
In general, the hydrostatic transmission 38 may be configured to transmit power generated by the engine 29 to the tracks 30, 32. More specifically, the engine 29 may be configured to combust or otherwise burn a mixture of air and fuel to rotationally drive the drive shaft 42. The driveshaft 42 may, in turn, rotationally drive the first and second pumps 39, 40 in a manner that generates a pressurized flow of a fluid (e.g., hydraulic oil) within the first and second conduits 52, 54, respectively. In this regard, the first fluid conduit 52 may deliver a pressurized fluid flow generated by the first pump 39 to the first hydraulic motor 44, thereby rotationally driving the first hydraulic motor 44 and the associated first track 30. Similarly, the second fluid conduit 54 may deliver a pressurized fluid flow generated by the second pump 40 to the second hydraulic motor 46, thereby rotationally driving the second hydraulic motor 46 and the associated second track 32. As will be described below, the flow to each hydraulic motor 44, 46 may be adjusted (e.g., by controlling the operation of pumps 39, 40 and/or valves provided in association with the conduits 52, 54) when the work vehicle 10 is being turned to create the rotational speed differential between the first and second tracks 30, 32 associated with the desired turning radius of the work vehicle 10. However, in alternative embodiments, the first and second tracks 30, 32 may be rotationally driven in any outer suitable manner. For example, in one alternative embodiment, the first and second tracks 30, 32 may be rotationally driven by first and second electric motors (not shown), respectively.
It should be further appreciated that the configuration of the work vehicle 10 described above and shown in
Referring now to
As shown in
The operator control device(s) 102 may correspond to any suitable device(s) or structure(s) configured to receive operator inputs for controlling one or more operating parameters of the work vehicle 10. In general, the operator control device(s) 102 may be configured to convert the operator input(s) (e.g., the movement of the operator control device(s) 102) into a signal(s) (e.g., an electric or wireless signal(s)) or other suitable type of data that a controller can interpret. Thereafter, the operator control device(s) 102 may be configured to transmit the signal(s) to the controller for controlling the corresponding operating parameter(s) of the work vehicle 10. For example, in one embodiment, the first operator control device may be configured as a throttle lever and the second operator control device may be configured as a joystick. However, in alternative embodiments, the operator control device(s) 102 may be configured as any other suitable device(s) for receiving operator input(s) for controlling the operating parameter(s) of the work vehicle 10, such as a lever(s), a joystick(s), a steering wheel(s), a pedal(s), and/or the like.
Furthermore, as shown, the system 100 may also include a user interface 104. In general, the user interface 104 may be configured to display a turning radius of the work vehicle 10 and receive an operator selection of the displayed turning radius as a desired turning radius of the vehicle 10. In this regard, and as will be described below, the user interface 104 may include various interface elements that allow the operator of the work vehicle 10 to select the desired turning radius of the vehicle 10. After the operator has selected the desired turning radius, the user interface 104 may be configured to transmit data to the controller for controlling the operation of one or more components of the work vehicle 10 such that the vehicle 10 is moved along a travel path having the desired turning radius. Moreover, in several embodiments, the user interface 104 may be installed or otherwise positioned within the cab 28 (
Referring now to
In this regard, the operator of the work vehicle 10 may interact with or otherwise utilize the user interface 104 to provide a desired turning radius to a controller of the system 100. More specifically, as shown, the graphical user interface 107 may display a turning radius value (e.g., forty feet in the embodiment illustrated in
Referring now to
Referring again to
In addition, the controller 116 may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like, to allow controller 116 to be communicatively coupled to any of the various other system components described herein (e.g., the first hydraulic motor 44, the second hydraulic motor 46, the operator control device(s) 102, and/or the user interface 104). For instance, as shown in
It should be appreciated that the controller 116 may correspond to an existing controller(s) of the work vehicle 10 itself, or the controller 116 may correspond to a separate processing device. For instance, in one embodiment, the controller 116 may form all or part of a separate plug-in module that may be installed in association with the work vehicle 10 to allow for the disclosed systems to be implemented without requiring additional software to be uploaded onto existing control devices of the vehicle 10. It should also be appreciated that the functions of the controller 116 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the controller 116. For instance, the functions of the controller 108 may be distributed across multiple application-specific controllers, such as a navigation controller, an engine controller, a transmission controller, and/or the like.
In several embodiments, the controller 116 may be configured to provide for display on the user interface 104 one or more turning radii of the work vehicle 10. Specifically, as described above, in one embodiment, the user interface 104 may be configured to display a single adjustable turning radius value (e.g., on the graphical user interface 107 on the display 106) to the operator of the work vehicle 10. In such an embodiment, the controller 116 may be configured to transmit instructions to the user interface 104 (e.g., the communicative link 122) instructing the user interface 104 to display such a single, adjustable turning radius value (e.g., via the graphical user interface 107 on the display 106). Furthermore, as described above, in another embodiment, the user interface 104 may be configured to display a plurality of turning radii for the work vehicle 10. In such an embodiment, the user interface 104 may include a plurality of interface elements (e.g., via the first interface elements 114 of the graphical user interface 113), with each interface element corresponding to one of the plurality of turning radii. As such, the controller 116 may be configured to transmit instructions to the user interface 104 (e.g., the communicative link 122) instructing the user interface 104 to display the plurality of turning radii for the work vehicle to the operator.
Furthermore, in several embodiments, the controller 116 may be configured to receive an input associated with an operator selection of one of the displayed turning radii as the desired turning radius for the work vehicle 10. Specifically, in embodiments in which a single, adjustable turning radius value is displayed, the operator may adjust the displayed value (e.g., via the first interface element(s) 108) until the user interface 104 displays the desired turning radius of the vehicle 10. The operator may also provide an operator selection (e.g., via the second interface elements 109) of a selected direction (e.g., right or left) for the desired turning radius. Thereafter, the operator may provide the operator selection (e.g., via the third interface element 110) to the user interface 104, thereby selecting the turning radius currently displayed by the user interface 104 as the desired turning radius of the work vehicle 10. Alternatively, in embodiments in which a plurality of turning radii are displayed, the operator may provide the operator selection (e.g., via one of the first interface elements 114) to the user interface 104, thereby selecting one of the plurality of displayed turning radii as the desired turning radius of the work vehicle 10. Furthermore, the operator may also provide an operator selection (e.g., via the second interface elements 109) of a selected direction (e.g., right or left) for the desired turning radius. Upon receipt of the operator selection of the desired turning radius of the work vehicle 10, the user interface 104 may transmit data indicative of such operator selections to the controller 116 (e.g., via the communicative link 122).
Furthermore, the controller 116 may be configured to determine rotational speeds for a plurality of traction devices of the work vehicle 10 based on the desired turning radius and selected direction for the turn. As described above, when the work vehicle 10 is being turned, the outer traction device may generally rotate at a greater rotational speed than the inner traction device such that a rotational speed differential exists between the inner and outer traction devices. Moreover, the magnitude of such rotational speed differential may generally be indicative of the turning radius of the work vehicle 10. As such, the controller 116 may be configured to determine a first rotational speed for a first traction device (e.g., the first track 30) of the work vehicle 10 based on the desired turning radius. Moreover, the controller 116 may be configured to determine a second rotational speed for the second traction device (e.g., the second track 32) based on the desired turning radius, with second rotational speed differing from the first rotational speed by a rotational speed differential associated with the desired turning radius. For instance, the controller 116 may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory 120 that correlates the desired turning radius to the first and second rotational speeds of the first and second traction devices, respectively.
Additionally, the controller 116 may be configured to receive an operator selection of either a forward direction of travel or a reverse direction of travel for the work vehicle 10. As described above, the work vehicle 10 may be moved in either the forward direction 34 (
In accordance with aspects of the present subject matter, the controller 116 may be configured to control the operation of the work vehicle 10 such that the vehicle 10 is moved along a travel path having the desired turning radius and turning direction. Specifically, in several embodiments, upon receipt of the selected direction, the controller 116 may be configured to control the operation of first and second motors of the work vehicle 10 such that the first and second traction devices are rotationally driven at the determined first and second rotational speeds, respectively. When the first and second traction devices rotate at first and second rotational speeds, respectively, the work vehicle 10 may be moved along a travel path having the desired turning radius in the selected direction such that the vehicle 10 is able to execute a turn having a generally constant radius.
In several embodiments, the controller 116 may be configured to control the operation of the hydrostatic transmission 38 of the work vehicle 10 such that the vehicle 10 is moved along a travel path having the desired turning radius. Specifically, as described above, the hydrostatic transmission 38 may include first and second hydraulic motors 44, 46 configured to rotationally drive the first and second tracks 30, 32 of the work vehicle 10, respectively. Furthermore, the hydrostatic transmission 38 may include a first pump 39 configured to supply a pressurized fluid flow to the first hydraulic motor 44 and a second pump 40 configured to supply a pressurized fluid flow to the second hydraulic motor 46. As such, upon receipt of the selected direction from the operator control device 102, the controller 116 may be configured to transmit instructions to controllers (not shown) of the first and second pumps 39, 40 (e.g., via the communicative link 122). Such instructions may, in turn, instruct the first pump 39 to generate a pressurized fluid flow such that the first hydraulic motor 44 rotationally drives the first track 30 at the determined first rotational speed. Furthermore, the instructions may instruct the second pump 40 to generate a pressurized fluid flow such that the second hydraulic motor 46 rotationally drives the second track 32 at the determined second rotational speed. However, in alternative embodiments, the hydrostatic transmission 38 may be controlled in any other suitable manner to rotationally drive the first and second tracks 30, 32 at the determined first and second rotational speeds, respectively. For example, in embodiments in which the hydrostatic transmission 38 includes a single pump, the controller 116 may be configured to transmit the instructions to one or more valves (not shown) provided in operative association with the first and second fluid conduits 52, 54. Such instructions may, in turn, instruct the valve(s) to divide the flow generated by the pump between the first and second hydraulic motors 44, 46 in a manner that rotationally drives the first and second tracks 30, 32 at the determined first and second rotational speeds, respectively.
Moreover, as the work vehicle 10 is moved along the travel path, the controller 116 may be configured to adjust the first and second rotational speeds of the first and second traction devices of based on the desired ground speed of the vehicle. As described above, an operator control device 102 of the work vehicle 10 may be configured to receive an operator input associated with a desired ground speed of the vehicle 10. In this regard, as the work vehicle 10 is moved along the travel path, the operator may provide an operator input to the operator control device 102 indicative of the desired ground speed of the vehicle 10. The operator control device 102 may, in turn, be configured to transmit data indicative of such desired ground speed to the controller 116 (e.g., via the communicative link 122). When the desired ground speed differs from the current ground speed, the controller 116 may be configured to update or adjust the first and second rotational speeds determined for the first and second traction devices. Specifically, the first and second rotational speeds are adjusted such that the work vehicle 10 is moved along the travel path at the desired ground speed, while still maintaining the desired turning radius. As such, the adjusted first and second rotational speeds may differ by the rotational speed differential associated with the desired turning radius. Thereafter, the controller 116 may control the operation of the first and second motors (e.g., the first and second hydraulic motors 44, 46) such that first and second traction devices (e.g., the first and second tracks 30, 32) are rotationally driven at the first and second adjusted rotational speeds, respectively. In this regard, the operator is able to adjust the ground speed of the work vehicle 10 as the vehicle 10 is moved along the travel path without affecting the desired turning radius.
Furthermore, as the work vehicle 10 is moved along the travel path, the controller 116 may be configured to override the desired turning radius of the vehicle upon receipt of a manual steering input. As described above, an operator control device 102 of the work vehicle 10 may be configured to receive a manual steering input from the operator. In this regard, as the work vehicle 10 is moved along the travel path, the operator may override the desired turning radius of the vehicle 10 by providing a manual steering input to the operator control device 102. The operator control device 102 may, in turn, be configured to transmit data indicative of such manual steering input to the controller 116 (e.g., via the communicative link 122). Upon receipt of the manual steering input data, the controller 116 may override the desired steering input provided to the user interface 104. In such instances, the controller 116 may control the operation of the first and second motors (e.g., the first and second hydraulic motors 44, 46) such that the first and second traction devices (e.g., the first and second tracks 30, 32) are rotationally driven at first and second rotational speeds associated with the manual steering input. As such, the operator may be able to cease movement of the work vehicle 10 along the travel path having the desired turning radius when an obstacle is present in the travel path or the vehicle 10 has completed the constant radius turn.
Referring now to
As shown in
Additionally, at (204), the method 200 may include receiving, with the one or more computing devices, an input associated with an operator selection of the displayed turning radius as a desired turning radius of the work vehicle. For instance, as described above, the controller 116 may be configured to receive an input associated with an operator selection of the turning radius currently displayed by the user interface 104 as a desired turning radius of the work vehicle 10.
Moreover, as shown in
Furthermore, at (208), the method 200 may include controlling, with the one or more computing devices, the operation of the first and second motors to rotationally drive the first and second traction devices at the first and second rotational speeds, respectively, such that the work vehicle is moved along a travel path having the desired turning radius. For instance, as described above, the controller 116 may be configured to control the operation of first and second hydraulic motors 44, 46 to rotationally drive the first and second tracks 30, 32 at the first and second rotational speeds, respectively, such that the work vehicle 10 is moved along a travel path having the desired turning radius.
It is to be understood that the steps of the method 200 are performed by the controller 116 upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller 116 described herein, such as the method 200, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller 116 loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller 116, the controller 116 may perform any of the functionality of the controller 116 described herein, including any steps of the method 200 described herein.
The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller.
This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.
