DE102020203545A1 - SELECTABLE SPEED OR POSITION BASED CONTROL SYSTEM FOR A WORK VEHICLE - Google Patents

Abstract

A control system for a work vehicle having one or more actuators is provided. The control system includes an operator input device configured to receive operator input from an operator of the work vehicle and a controller that is operatively connected to the operator input device and to one or more actuators. The controller is configured to: receive a select input for the control mode including a position select input for the control mode or a select input for the speed control mode; receive an actuation request input from the operator input device; determine an operation command corresponding to the operation request input from the operator input device in accordance with the selection input for the control mode; and output the operational command to the one or more actuators based on the position or speed control mode.

Description

INFORMATION ABOUT FEDERALLY SPONSORED RESEARCH AND DEVELOPMENT

Not applicable.

FIELD OF REVELATION

This disclosure relates generally to work vehicles, and more particularly to operator control systems of work vehicles.

BACKGROUND OF THE REVELATION

Heavy equipment operators often operate large work vehicles using an operator control system with various operator control devices. Such devices can include joysticks, dials, buttons, switches, wheels, pedals, and the like. In complex vehicles such as B. motor graders or wheel loaders, the operator may have to operate a large number of controls sequentially or simultaneously to operate numerous independent or interdependent subsystems of the vehicle, including a steering system to control the speed and direction of the vehicle and systems that the Operate tools or attachments carried in the vehicle.

Effective and efficient operation of the vehicle and its attachments may require the operator to make intricate hand and arm movements in order to operate the controls necessary to operate these systems in a timely and precise manner. Such an effective and efficient operation can be made more difficult by operating strategies that differ from vehicle to vehicle and / or from manufacturer to manufacturer.

SUMMARY OF THE DISCLOSURE

The disclosure provides a control system for a work vehicle that enables the operator to selectively operate under a position or speed dependent control strategy to actuate an actuator on the work vehicle.

The disclosure provides a control system for a work vehicle that includes one or more actuators. The control system includes an operator input device configured to receive operator input from an operator of the work vehicle and a controller that is operatively connected to the operator input device and to one or more actuators. The controller is configured to: receive a select input for the control mode including a select input for the position control mode or a select input for the speed control mode; receive an actuation request input from the operator input device; determine an operation command corresponding to the operation request input from the operator input device in accordance with the selection input for the control mode; and outputs the operating command to one or more actuating devices.

In one aspect, the disclosure provides a control system for a work vehicle with one or more actuators. The control system includes an operator input device configured to receive operator input from an operator of the work vehicle and a controller that is operatively connected to the operator input device and to one or more actuators. The controller is configured to: receive a control mode selection input including a mode selection input as a position control mode or a speed control mode; receive an actuation request input from the operator input device; determine an operation command corresponding to the operation request input from the operator input device in accordance with the selection input for the control mode; and output the operating command to the one or more actuating devices. In the position control mode, the operation command includes an instruction to move the one or more operating devices to a position corresponding to a position corresponding to the operation request input from the operation request. In the speed control mode, the operation command includes an instruction to move the one or more operating devices at a rate of change that corresponds to a rate of change of the operating request input from the operator input device.

The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other properties and advantages will appear from the description and the drawings as well as from the claims.

Figure list

• 1A Figure 4 is a perspective view of a work vehicle in the form of a motor grader into which the operator control system of this disclosure may be incorporated;
• 1B Fig. 3 is a perspective view of a work vehicle in the form of a wheel loader that may incorporate the operator control system of this disclosure;
• 2 FIG. 13 is a simplified view inside an operator's cab of the motor grader of FIG 1A or the wheel loader from 1B 14, showing exemplary operator input devices;
• 3 Figure 3 is a functional block diagram illustrating data flows of an operator control system in one embodiment;
• 4th FIG. 13 is a perspective view of an active feedback force joystick device used in the operator control system of FIG 3 is implemented according to one embodiment;
• 5A and 5B 13 are schematic views of a passive feedback force joystick device used in the operator control system of FIG 3 is implemented according to one embodiment;
• 6A-6C FIG. 13 is cross-sectional views of a portion of the joystick device of FIG 5A by line 6-6; and the
• 7A-7C FIG. 13 is cross-sectional views of a portion of the joystick device of FIG 5A by line 7-7.

The same reference symbols in the different drawings indicate the same elements.

DETAILED DESCRIPTION

The following describes one or more exemplary embodiments of the disclosed operating system, as illustrated in the accompanying figures of the drawings briefly described above. Various modifications to the exemplary embodiments can be envisaged by those skilled in the art.

In general, the disclosed operator control systems and methods (and the work vehicles in which they are implemented) provide an improved operator experience in performing steering tasks compared to conventional systems by allowing the operator to switch between a speed-based and a position-based control strategy for steering or can choose for other actuating devices, whereby the steering and / or the operation of the work vehicle is simplified and / or improved for each operator.

Work vehicles used in various industries, such as agriculture, construction, and forestry, may include systems, tools, or attachments that are used to maneuver and perform various functions for which the work vehicle was designed. Typically, this requires that the driver of the vehicle familiarize himself with the vehicle equipment for controlling the direction of travel and speed of the vehicle and for operating the attachment. Certain work vehicles, such as those with multiple implements that have multiple degrees of freedom of movement, can be quite complex to operate and require the operator to have considerable associated skills and experience. Sub-optimal operation of the vehicle or attachments can lead to inefficient or inaccurate performance on the job site or generally discourage potential operators from operating unknown or other vehicles.

A particularly complex work vehicle is the motor grader, which is generally used in the construction industry for setting gradients. Modern motor graders are typically large machines with an elongated articulated undercarriage formed by a front frame with steered wheels that are rotatably connected to a rear frame with drive wheels. Motor graders may also have the ability to tilt the steered wheels. These measures thus result in an improved, i.e. H. shorter turning circle, which means that the large machine can act faster than otherwise possible. Aside from course and speed control, motor graders can have quite complex attachments. The primary tool on motor graders is the leveling plate or share, which is mounted on a turntable known in the industry as a circle.The circle is adjustably attached to the vehicle frame, and the share, in turn, is adjustably attached to the circle, giving the share a wide area possible movements. Other types of vehicles, such as wheel loaders, may have similar operational complexities.

To perform the aforementioned functions and operations, the motor graders and other types of vehicles can be equipped with a relatively large number of joysticks, control levers, buttons, switches, buttons, and other devices, each of which can control the operation of a single, discrete operation or movement. For example, one arrangement includes a dual joystick control system with left and right multi-axis joystick devices that each carry a large number of other input devices in addition to multiple inputs by actuating the joystick handle interfaces. In one example, manipulation of one of the joystick devices along an axis can control the steering system (e.g. turning the steered wheels right and left). This Steering must be performed in conjunction with numerous other possible control functions. While steering control is challenging as it does its many other tasks, steering control problems can be exacerbated by the abundance of control strategies that can vary from vehicle to vehicle. Certain operators may have a control strategy preference and / or unknown operation may lead to inefficiencies. Potential steering control strategies can include both speed-based steering control strategies and position-based steering control strategies. Although the steering system is discussed below, the control strategies may also be applicable to other actuators on the work vehicle, including the actuators of attachments such as B. booms, shovels, shares and the like.

In a speed-based steering (or other actuation) control strategy, an operator control system generates speed-based commands in response to speed-based operator inputs to control the associated controls of the work vehicle. In general, in the speed-based steering control strategy, the position (e.g. the absolute position or the angle relative to the neutral position) of the actuation request entered on the operator input device is interpreted to the effect that a command to move an actuation device at a corresponding change speed is requested. Thus, a relatively small movement of the operator input device in the direction of a certain position can correspond to a relatively slower movement of the associated actuation device, as long as the position of the operator input device is maintained, whereas a larger movement of the operator input device leads to a relatively faster movement of the associated actuation device. Thus, the controller can thus receive speed-based input commands corresponding to a desired movement of the machine or implement, and the controller can resolve the speed-based inputs, possibly in conjunction with inputs from sensors or other position-indicating devices, and command one or more target actuator speeds (e.g. Depending on the number of actuators required to perform the desired end movement). The joystick device additionally provides a feedback force according to the speed-based steering control strategy. With the speed-based steering control strategy in particular, the operator makes the intended control input (e.g. movement of the joystick device) and then allows the control input to return to a neutral position without holding the joystick handle interface any longer until the cycle time for the movement of the actuator has expired is as may be required in a position based steering control strategy. Typically, the speed-based steering control strategy implements a feedback force against the input direction that increases as the joystick handle interface moves away from the neutral position and decreases when the joystick handle interface moves toward the neutral position. As an example, a curve representing the feedback force with respect to the angle of the joystick handle interface according to the speed-based steering control strategy may have a V-shaped appearance centered on the neutral position.

In a position-based control strategy for the steering (or other actuation strategy), an operator system generates position-based commands in response to position-based operator inputs to control the associated actuation devices of the work vehicle. In general, using the example of a joystick, the position of an actuation request on the operator input device relative to a neutral position is interpreted by the control device in such a way that the desired corresponding position (e.g. angle) of the steering system is displayed in the intended direction. In addition, the speed at which the joystick handle interface is moved can be taken into account by the controller so that it represents the desired speed at which the command is implemented. Thus, the controller can receive position-based input commands that correspond to a desired movement of the machine or the attachment, and the controller can resolve the position-based inputs, possibly in conjunction with inputs from sensors or other position-indicating devices, and control one or more positions of the target actuation device (e.g. B. Depending on the number of actuating devices required to perform the desired end movement). The operator input device additionally provides a feedback force according to the position-based steering control strategy. In the position-based scheme in particular, the operator makes the intended control input (e.g., joystick movement) and then the joystick handle interface generally remains in that position until adjusted by the operator, thereby providing a stabilizing feedback force. In addition to this aspect of the feedback force, the position-based steering control strategy typically implements another feedback force against the direction of the input that increases as soon as the joystick moves from an initial position, which may or may not be the neutral position, away. In this case, the feedback force represents overspeed behavior that corresponds to the response of the steering system. In other words, if the joystick handle interface is moved quickly from a neutral position, the feedback force will be relatively high to actually enable the corresponding command to be implemented, while if the joystick is moved slowly from a neutral position, the feedback force will be relatively low because the steering system has time to react appropriately. In the case of position-based steering control strategies, this feedback force function can also be applied to starting positions other than the neutral position. For example, the feedback force angle curve of a position-based steering control strategy can have a V-shaped appearance centered around the current position, which is delayed based on the steering system articulation.

One or more exemplary implementations of the operator control system for use on a work vehicle will now be described with reference to the drawings. While a motor grader is illustrated and described herein as an example of a work vehicle, one skilled in the art will recognize that the principles of the operator control system disclosed herein can readily be adapted to other types of work vehicles including, e.g. B. various bulldozers, loaders, excavators and skid steer loaders used in the construction industry and various other machines used in agriculture and forestry. Therefore, the present disclosure should not be limited to applications associated with graders or the particular exemplary grader that is shown and described. Likewise, the operator control systems are discussed below in relation to the steering system. However, other systems can implement corresponding operator control systems in which speed- and position-based control strategies can be used.

As in 1 includes a motor grader 100 an operator control system 110 , the various functions of the motor grader 100 controls, including a steering function based on manual input from an operator and other inputs, as further explained below. The operating system 110 is with a controller 120 and can also include one or more operator input devices 130 and / or a steering system 140 include. In general, the operator input devices 130 , as further described below, one or more operator control devices 132 , 134 (e.g. as a joystick type or other types of controls) to receive operator input, the various functions of the motor grader 100 control, as well as a steering mode selector switch 136 receiving operator inputs selecting a mode associated with a control strategy. More details on the operator control system 110 become a more general description of the motor grader below 100 provided.

In the example shown, the motor grader is used 100 through a front frame 150 and a rear frame 152 formed over a joint 154 are rotatably connected to each other. The front frame 150 and the rear frame 152 are each from the front wheels 156 and the rear wheels 158 carried. In other embodiments, the motor grader 100 contain other ground engaging devices for propelling the machine, such as B. Track assemblies, as they are known in the art.

The motor grader 100 further comprises a drive system 160 that is for the drive or performance of the motor grader 100 is designed and shared by a motor or other power source 162 and a gearbox 164 is constructed, which in this example by the rear frame 152 is supported. The motor 162 can be any suitable type of engine including a diesel engine, a gasoline engine, a gaseous fuel engine such as e.g. B. a natural gas engine or any other type of engine apparent to a person skilled in the art. As an alternative to this, further energy sources can include a non-burning energy source, such as a fuel cell, an energy storage device, an electric motor or a similar mechanism. Although not shown in detail, the transmission includes 164 a variety of forward and reverse gears as well as a neutral gear and is with a differential axle for driving one or more of the rear wheels 158 depending on the torque of the motor 162 connected. In some embodiments, the motor grader can 100 include an all-wheel drive system in which one or more of the front wheels 156 are also driven.

A driver's cab 170 is on the front frame 150 assembled. The driver's cab 170 can do many controls on the motor grader 100 including the operator input devices described in more detail below 130 that are used to steer and operate the motor grader 100 be used. The driver's cab 170 can also be a display device 172 which is adapted to give the driver information about the operation of the motor grader 100 transmitted. In some examples, the display device 172 Accept operator input (e.g. as a touchscreen display) so that the display device 172 also as one of the operator input devices 130 can be viewed.

As presented above, the motor grader includes 100 the steering system 140 to the motor grader 100 during operation on the basis of signals from the controller 120 and / or the operator input devices 130 to maneuver according to a selected steering control strategy, which is described in more detail below. As is known, the steering system includes 140 various linkages, levers, connections, gears, pins, rods and the like to one or more driven wheels 156 , 158 to position and the motor grader 100 in the desired direction. In an example and as in 1 shown schematically, includes the steering system 140 one or more steering actuators, such as. B. one or more steering cylinders 142 (shown schematically) attached to the front or rear wheels 156 , 158 are coupled and configured so that they can be operated hydraulically to control the wheels 156 , 158 steer or reposition (e.g. rotate about a vertical axis) around the motor grader 100 to control. Additional steering mechanisms can be provided including one or more tilting cylinders 144 (shown schematically) with the front or rear wheels 156 , 158 are coupled and can be hydraulically operated to adjust the position of the wheels 156 , 158 control (e.g. rotate around a horizontal axis). Furthermore, the steering system 140 one or more buckling cylinders 146 (shown schematically) included on one or both frames 150 , 152 are mounted to the front frame 150 relative to the rear frame 152 around the articulation 154 to turn. The components of the steering system presented above 140 are only examples, and any number of additional components or systems can be provided. For example, the steering system 140 further comprise various types of circuitry including a hydraulic circuit and / or an electrical circuit to facilitate and control the operation of the cylinders 142 , 144 , 146 and other actuation devices of the steering system 140 . Although not shown, such a hydraulic circuit can include hoses, pumps, tanks, valves and the like.

The motor grader 100 includes one or more tools 180 , 182 for performing work functions. The motor grader 100 includes, for example, a circle 180 and a share assembly 182 that are on the front frame 150 in front of the driver's cab 170 are mounted. Various types of actuators (as well as brackets, clutches, motors, hydraulic and electrical components, etc.) are provided to make the circuit 180 and / or the share assembly 182 to operate, including lifting, tilting, rotating, sliding, repositioning and the like to perform the functions of the motor grader 100 to meet optimally. Further attachments can be made available.

As noted above, the controller is 120 provided to address various operational aspects of the motor grader 100 to control. In general, the controller can 120 Receive input from a variety of sources including the operator via the operator input devices 130 and from various sensors, units, and systems on or remote from the motor grader; and in response, the controller generates 120 one or more types of commands to be implemented by the various systems of the motor grader 100 are executed. Using the example of the control discussed in more detail below 120 can operate the operator control system 110 are facilitated, in particular with regard to the receipt of steering or other actuation request inputs from the operator via the input devices 130 and the generation of associated steering or other actuation request commands for the steering system 140 based on a selected mode associated with a corresponding control strategy.

By and large, the controller can 120 be configured as a computing device with associated processors and memory architectures, as a hard-wired computing circuit (or circuits), as a programmable circuit, as a hydraulic, electrical or electrohydraulic control or otherwise. Thus, the controller 120 be configured to perform various computing and control functions related to the motor grader 100 (or other machines). In some embodiments, the controller may 120 be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, etc.) and output command signals in various formats (e.g., hydraulic signals, voltage signals, current signals, mechanical movements, etc.). In some embodiments, the controller may 120 (or part of it) can be configured as an assembly of hydraulic components (e.g. valves, flow lines, pistons and cylinders, etc.) so that various devices (e.g. pumps or motors) can be controlled with hydraulic and mechanical or other signals and movements are executed and based on them.

The control 120 may be in electronic, hydraulic, mechanical, or other communication with various other systems or devices of the motor grader 100 (or other machines). For example, the controller can 120 in electronic or hydraulic communication with various actuators, sensors and other devices inside (or outside) the motor grader 100 including various devices associated with pumps, control valves, etc. The control 120 can communicate with other systems or devices (including others) in a number of known ways, including over a CAN bus (not shown) of the motor grader 100 , by wireless or hydraulic communication means or otherwise. An exemplary position for the control 120 is in 1 shown. However, it should be understood that other positions are possible, including other positions on the controller 120 or various distant positions.

In some embodiments, the controller may 120 configured to receive input commands and communicate with an operator through the operator input devices 130 that interacts in a driver's cab 170 of the motor grader 100 can be arranged to allow the operator easy access. The operator input devices 130 can be configured in different ways. In some embodiments, the operator input devices 130 one or more joystick devices, various switches or levers, one or more buttons, a touchscreen interface superimposed on a display, a keyboard, an acoustic device, a microphone connected to a voice recognition system or various other devices for the man-machine interface include. In one example, the one or more switches (e.g., switch 136 ) receive input associated with a choice of steering mode and a joystick (or other) device (e.g., the apparatus) 132 , 136 ) can receive steering requests made with the steering system 140 are connected according to a selected steering mode to implement an associated steering control strategy. More specific examples of operator input devices 130 are given below with reference to FIG 2 .

Different sensors (not shown) can also be provided to identify different states and others with the motor grader 100 monitor related parameters. For example, various sensors can be connected to the steering system 140 , the drive system 160 and / or the attachments 180 , 182 be connected. The example sensors include sensors for measuring the articulation angle at the articulation joint 154 ; Pressure and / or position sensors for evaluating the positions of the various cylinders, pumps and valves; Vehicle speed sensors; Steering angle feedback sensors; and steering speed sensors. One or more sensors can also be included in the operator input devices discussed below 130 to be built in.

As in 1B shown contains a wheel loader 100 ' an operator control system 110 ' that has various functions of the wheel loader 100 ' controls in a similar way to that in 1A discussed motor graders 100 , including steering or other actuation functions based on manual inputs by an operator and other inputs, as explained in more detail below. As described above, the operator control system is 110 ' with one controller 120 ' and can also include one or more operator input devices 130 ' and / or a steering system 140 ' include. In general, the operator input devices 130 ' one or more operator control devices 132 ' , 134 ' (e.g. as a joystick type or other types of controls) to receive operator input, the various functions of the wheel loader 100 ' control, as well as a selector switch for the mode 136 ' to receive operator input selecting a mode associated with a control strategy (e.g., a steering or other actuation control mode). More details about the operator control system 110 ' are below for a more general description of the loader 100 ' listed.

In the example shown is the wheel loader 100 ' by a chassis or a frame 150 ' formed by the front wheels 156 ' and the rear wheels 158 ' will be carried. In other embodiments, the wheel loader 100 ' contain other ground engaging devices for powering the machine, e.g. B. caterpillar assemblies, as they are known in the professional world. The wheel loader 100 ' further comprises a drive system 160 ' that is used to drive or transmit power to the wheel loader 100 ' is suitable and together from a motor or other type of power source 162 ' and a gearbox 164 ' exists, as generally described above.

A driver's cab 170 ' is on the frame 150 ' assembled. The driver's cab 170 ' can handle many controls of the wheel loader 100 ' including the operator input devices described in more detail below 130 ' that are used to steer and operate the wheel loader 100 ' serve. The driver's cab 170 ' can also be a display device 172 ' that is adapted to give the operator information about the operation of the wheel loader 100 ' to submit. In some examples, the display device 172 Accept operator input (e.g. as a touchscreen display) so that the display device 172 also as one of the operator control devices 130 can be viewed.

As presented above, the wheel loader includes 100 ' the steering system 140 ' to the wheel loader 100 ' during operation on the basis of signals from the controller 120 ' and / or the operator input devices 130 ' to maneuver according to a selected steering control strategy, which is described in more detail below as an example. As is well known, the steering system includes 140 ' various linkages, levers, joints, gears, pins, rods and the like to one or more driven wheels 156 ' , 158 ' to position around the wheel loader 100 ' in the desired direction. In an example and as in 1B shown includes the steering system 140 ' one or more steering actuation devices, such as. B. one or more steering cylinders 142 ' (shown schematically) attached to the front or rear wheels 156 ' , 158 ' are coupled and configured so that they can be hydraulically operated to the wheels 156 ' , 158 ' to steer or reposition (e.g. rotate it around a vertical axis) around the wheel loader 100 ' to steer. Additional steering mechanisms can be provided. The components of the steering system presented above 140 ' are only examples, and any number of additional components or systems can be provided. For example, the steering system 140 ' further comprise various types of circuitry including a hydraulic circuit and / or an electrical circuit to facilitate and control the operation of the cylinders 142 ' and other actuation devices of the steering system 140 ' . Although not shown, such a hydraulic circuit can include hoses, pumps, tanks, valves and the like.

The wheel loader 100 ' also includes an attachment, such. B. a shovel 180 ' that is at the front of the wheel loader 100 ' positioned and via one or more connecting arms 182 ' that includes a series of pin joints, structural elements and at least one hydraulic actuator 184 ' include, on the wheel loader 100 ' is attached. This configuration enables the shovel 180 ' to be moved up and down relative to the ground and about a lateral axis of the work vehicle 100 ' to turn. Further attachments can be made available.

In general the control works 120 ' of the wheel loader 100 ' in a manner similar to the control described above 120 of the motor grader 100 to understand various aspects of the operation of the motor grader 100 to control. In particular, the controller 120 ' Receive input from a variety of sources including the operator via the operator input devices 130 ' and from various sensors, units and systems on board or remotely controlled by the wheel loader 100 ' ; and in response, the controller generates 120 ' one or more types of commands issued by the various systems of the wheel loader 100 ' implemented. Using an example that is explained in more detail below, the controller 120 ' the operation of the operator control system 110 ' facilitate, in particular with regard to the receipt of steering request inputs from the operator via the operator input devices 130 ' and generating related commands for the steering actuator of the steering system 140 ' based on a selected mode associated with a corresponding control strategy.

It will shortly open 2 referring to the inside of the driver's cab 170 of the motor grader 100 is shown, although the cabin 170 and the following description also applies to the wheel loader 100 ' can relate. As shown, the driver's cab provides 170 an enclosure that gives the operator access to a variety of different operator input devices 130 has, including steering wheel, accelerator and brake pedals. The driver's cab 170 can also use the display device 172 record, tape. In this example, the operator input devices include 130 the operator control devices 132 , 134 as the left operator control device 132 and a right operator control device 134 attached to each side of the operator's seat.

At the operator control devices 132 , 134 are joystick controls with a handle interface and various types of controls, such as: B. buttons, switches and dials attached to the handle interface. In one example, the left operator control device 132 Input mechanisms for raising, lowering and adjusting the inclination of the share assembly 182 , turning the circle 180 , shifting the transmission 164 and include certain auxiliary functions. As another example, the right operator control device 134 Input mechanisms for moving the circle 180 and the share assembly 182 adjusting the inclination of the wheels 156 , 158 adjusting the articulation of the frame 150 , 152 and locking the differential axle.

According to one embodiment of the operator control system 110 in terms of the steering system 140 contains the left operator control device 132 a joystick handle interface that can be turned left and right as a steering request to the front wheels 156 via the steering system 140 to steer. In particular, the operator specifies manual inputs for steering and control by turning the joystick handle interface 120 generates corresponding commands for the steering actuation device of the steering system upon receipt of the steering inputs 140 . Although the steering function is discussed below in relation to the joystick device, the Steering function also in other operator input devices 130 implemented, such as B. the right operator control device 134 , the steering wheel and / or other buttons, dials and the like. Further details on exemplary implementations of a joystick device are provided below.

As in 2 shown include operator input devices 130 also the steering mode selector switch 136 which is part of the operator control system 110 can form. The steering mode selector switch 136 can take any form. In one example, the steering mode selector switch 136 called, which is a mechanical, physical and / or virtual switch that enables the operator to choose between a speed-based steering control strategy (e.g. as a speed control mode) and a position-based steering control strategy (e.g. as a steering control mode) , as explained in more detail below. In one example, the steering mode selector switch 136 have visual indicators showing the possible strategies of the system 110 reflect so that the operator flicks the switch 136 can position according to the desired strategy. As presented above, the switch can 136 of the motor grader 100 analogous to the switch 136 ' of the wheel loader 100 ' be.

Now is on 3 which is a functional block data flow diagram of portions of the operator control system 110 (and the operator control system 110 ' ) according to one embodiment. As noted earlier, it can be assumed that the operator control system 110 , 110 ' the control 120 , 120 ' , the steering system 140 , 140 ' with one or more actuators 142 , 142 ' and one or more operator input devices 130 , 130 ' includes. In general, the actuating devices discussed below 142 , 142 ' refer to any one or a combination of actuators and associated components used to steer the motor grader 100 or wheel loaders 100 ' can be used. In this example, the operator input devices include 130 , 130 ' a joystick device 350 and the steering mode selector switch 136 , 136 ' (such as the steering mode selector switch 136 , 136 ' of the 1A or 1B . The display device 172 , 172 ' (such as the display device 172 , 172 ' out 1A or 1B) can also be part of the operator control system 110 , 110 ' be.

In one example, the joystick device 350 into a larger operator control device such as B. one of the operator control devices 132 , 132 ' , 134 , 134 ' , can be used with numerous operator input mechanisms. For steering the front wheels of the steering system 140 , 140 ' as part of the operator control system 110 , 110 ' is the joystick device 350 however, a single axis joystick unit that can be rotated left and right by the operator around the motor grader 100 ( 1A) or the wheel loader 100 ' ( 1B) to steer. Generally the joystick device 350 below with reference to 3 can be implemented in any suitable manner; however, more detailed exemplary implementations are discussed below with reference to FIG 4th , 5A , 5B , 6A-6C and 7A-7C described.

As shown, includes the joystick device 350 a joystick handle interface 352 attached to a base or an enclosure 354 is mounted. The joystick handle interface 352 is a lever or shaft member having a first end engageable by an operator and a second end that resides in the housing 354 is attached rotatably about an axis of rotation. The operator operates the joystick handle interface 352 within a range of motion to achieve a desired steering or other actuation function of the motor grader 100 or the wheel loader 100 ' as steering input 370 as described below.

A feedback unit 356 connects to the joystick handle interface 352 or to the base 354 coupled to a feedback force in response to actuation of the joystick handle interface 352 to be transmitted by the operator. As in this case, the term “feedback” refers to a force applied to the joystick handle interface 352 exerted in any form or for any purpose, including a force opposing or counteracting manipulation by the operator or external forces, a force affecting the position of the handle interface 352 in the absence of operator actuation, or a force that maintains the handle interface 352 centered or repositioned if not actuated by the operator (e.g. in a neutral position or otherwise). Generally speaking, the feedback unit applies 356 the haptic feedback force or "feel" in response to operator movements. The feedback force can be linear or non-linear and proportional to the force required to interface the handle 352 to move. As described below, the feedback unit 356 ordered to apply the force with regard to the steering control strategy.

The joystick device 350 also includes at least one control interface sensor 358 , which is configured to receive various types of information related to the steering input 370 recorded by the operator. Especially with regards to the joystick handle interface 352 is the control interface sensor 358 configured so that it collects data associated with the position or the displacement angle relative to a neutral position and the speed or angular velocity of the displacement (or derivatives thereof), and in response the control interface sensor generates 358 a corresponding signal in the form of an actuation request input 382 . The actuation request input 382 becomes the controller 120 , 120 ' made available.

As previously presented, the operator input devices include 130 , 130 ' also the steering mode selector switch 136 , 136 ' . The steering mode selector switch 136 , 136 ' is configured to have an operator mode input 372 receives in which the operator selects between a speed control mode that implements the speed-based steering control strategy and a position control mode that implements the position-based steering control strategy. In response to entering operator mode 372 generates the steering mode selector switch 136 , 136 ' a corresponding signal in the form of a selection input for the control mode 380 . The choice input for the control mode 380 becomes the controller 120 , 120 ' made available.

As such, the controller can 120 , 120 ' the selection input for the control mode 380 and the actuation request input 382 receive. Regarding the operator control system 110 , 110 ' out 3 can control 120 , 120 ' as one or more functional units or modules 310 , 320 and 330 (e.g. software, hardware, or combinations thereof). As can be seen, the modules 310 , 320 , 330 out 3 combined and / or further subdivided to perform functions similar to those described herein. For example, each of the modules 310 , 320 , 330 with a processing architecture such as B. Processor 302 and memory 304 as well as suitable communication interfaces are implemented. For example, the controller 120 , 120 ' the modules 310 , 320 , 330 with the processor 302 based on programs or commands that are in memory 304 are stored, implement. In this example the controller includes 120 , 120 ' a mode module 310 , an actuation module 320 and a feedback module 330 . In some embodiments, the feedback module 330 can be omitted as described below.

As presented above, the control is 120 , 120 ' configured to input the actuation request 382 and the selection input for the control mode 380 receives. In one embodiment, the mode module receives 310 the selection input for the control mode 380 . The mode module 310 evaluates the selection input for the control mode 380 and in response thereto generates a control mode determination 312 that identifies the selected control mode that appears in the control mode selection input 380 is shown. Determining the control mode 312 becomes the actuation module 320 and the feedback module 330 provided.

The actuation module 320 receives the actuation request input 382 and determining the control mode 312 . The actuation module 320 evaluates the actuation request input 382 with a view to determining the control mode 312 . The actuation module 320 can access stored information which the drive request input 382 to an implement operating command 390 according to the current determination of the control mode 312 maps. In particular, an actuation request input 382 in speed control mode to one or more implement operating commands 390 mapped to implement a certain speed; and an actuation request input 382 in position control mode to an implement operating command 390 mapped to implement a specific position. For example, in the speed control mode, the operation request input 382 interpreted as an input from the joystick handle interface, and in response, the actuator module 320 refer to a stored map for a corresponding speed command for one or more of the steering control devices 142 , 142 ' to determine which leads to a steering speed desired by the operator. Such reference maps can contain a collection of data in the form of tables, diagrams and / or equations. Similarly, in the position control mode, the operation request input 382 based on the steering input 370 interpreted by the operator as a position input via the joystick handle interface (or other operator interface), and in response to this, the actuator module 320 refer to a stored map for a corresponding position command for one or more of the steering control devices 142 , 142 ' to determine which leads to a steering position desired by the operator.

The one from the actuation module 320 generated work command 390 is used for the steering system 140 , 140 ' such as B. one or more of the steering actuation devices presented above 142 , 142 ' , provided. For example, the work order 390 correspond to the valve positions to the actuators 142 , 142 ' to a certain position or speed. Accordingly implemented the steering system 140 , 140 ' the implement operating command 390 for determining the control mode 312 and so makes that possible Steering operation via steering inputs 370 according to a desired or preferred steering control strategy.

In some embodiments, the actuator module 320 additional input data (not shown) from various sensors, systems or other modules on board or outside the motor grader 100 or wheel loaders 100 ' receive. Such additional input can be information related to the actuating devices 142 , 142 ' (e.g. cylinder positions, tank volumes, fluid pressures, etc.). The actuation module 320 can the actuation request input 382 with regard to the additional input further evaluate to an appropriate operating command 390 to provide.

In some examples, the mode module 310 also the determination of the control mode 312 for the display device 172 , 172 ' provide. This enables a visual indication to the operator of the present steering control mode.

The mode module 310 represents the feedback module 330 furthermore the determination of the control mode 312 ready. The feedback module 330 also receives the actuation request input 382 . In turn, the feedback module 330 active a corresponding feedback command 392 in response to the actuation request input 382 according to the determination of the control mode 312 for the feedback unit 356 the joystick device 350 produce. In one example, the feedback module 330 access stored information related to the actuation request input 382 with a view to determining the control mode 312 to an associated feedback force response as a feedback command 392 maps. In particular, in the speed control mode, an operation request input is made 382 as one or more feedback commands 392 mapped to implement a particular feedback force response according to a speed-based steering control strategy; and in the position control mode, an operation request input 382 as one or more feedback commands 392 mapped to implement a particular feedback force response according to a position based steering control strategy. Such reference maps can contain a collection of data in the form of tables, diagrams and / or equations.

After receiving it, the feedback unit exercises 356 a force on the joystick handle interface 352 according to the feedback command 392 out. As a result, the steering control mode determines the type of feedback force exerted by the feedback unit 356 on the joystick handle interface 352 is produced.

In some examples, the feedback module 330 be omitted. In these embodiments, the feedback force can be passive on the joystick device 350 be exercised, e.g. B. without active control. Further details regarding the feedback unit 356 , including exemplary mechanisms for applying the feedback force, are provided below.

In this way the operator control system enables 110 , 110 ' the operator the selection of a steering mode and the provision of steering inputs, and in response to this, the controller sets 120 , 120 ' these inputs so that the steering system 140 , 140 ' is appropriately controlled. The control 120 , 120 ' In addition, depending on the mode selected, the corresponding feedback force on the joystick can be 350 produce.

In various embodiments of the operator control system described above 110 , 110 ' For example, the speed and position based steering control strategies can be implemented depending on different types of operator input devices and the associated feedback. For example, the operator input devices can be implemented in an active system in which an engine generates appropriate feedback; into a passive system in which mechanical components generate the feedback; and into a semi-active system that includes the implementation properties of a passive and an active system. Examples are given below with reference to 4th , 5A , 5B , 6A-6C and 7A-7C described. In addition, as mentioned above, corresponding strategies can be used in other operating processes, although the operator control system 110 , 110 ' is primarily described in connection with the steering.

Reference is made to 4th , which is an active (or fully active) feedback force joystick device 400 acts. In one embodiment, the joystick device is 400 an electromechanical joystick device. The joystick device 400 from 4th can be used as one of the operator input devices 130 of the operator control system 110 , 110 'are contemplated above with reference to the 1A , 1B , 2 and 3 were discussed.

The joystick device 400 includes a joystick handle interface (or joystick shaft) 410 extending between a first end 412 configured for operator engagement and extending a second end within a housing or base member. Although not shown, the second end is the Joystick handle interface 410 via any suitable connection arrangement, e.g. B. cardan arm, pivot bearing, bearing bracket, gear assemblies and the like, rotatable with a positioning motor 430 coupled.

A positioning motor 430 such as B. a servo motor is via various mechanisms with the joystick handle interface 410 operatively coupled so that a desired force and / or speed on the control joystick handle interface 410 can be applied, the magnitude of which is a function of the torque and / or the speed of a motor drive shaft (not shown).

One or more electromechanical or optical position sensors 440 (shown schematically) are operational with the joystick handle interface 410 coupled to the position of the joystick handle interface 410 to determine. Examples of such sensors 440 include rotary or linear potentiometers, optical encoders, and linear movement voltage transducers (LDVTs).

In 4th shown, is the joystick handle interface 410 in a neutral or middle position. During operation, a force applied by the operator turns the joystick handle interface 410 relative to the steering axis and thus a connection arrangement that allows rotation of the drive shaft of the motor 430 causes. The amount of rotation transmitted to the drive shaft can be measured by the sensors 440 that output a corresponding signal that identifies actuation request signals (e.g. actuation request input 382 from 3 ).

In addition, the engine is 430 configured to generate a feedback force in response to command signals on the joystick handle interface 410 acts (e.g. feedback command 392 from 3 ). In particular, the engine turns 430 a feedback force to the joystick handle interface 410 to move or to oppose movement. The motor 430 can implement the variable feedback force according to the selected control mode, e.g. B. either the speed-based steering control strategy in the speed control mode or the position-based steering control strategy in the position control mode.

As an example, the feedback force curve will remain in the speed control mode regardless of the position of the joystick handle interface 410 , centered. By having the joystick handle 410 is moved further from the center, the motor exercises 430 an increasing feedback force on the joystick handle interface 410 in the opposite direction, which is usually less than the force required to move the joystick handle interface 410 is required. In addition, the feedback force from the engine works 430 so that the joystick handle interface 410 is re-centered after the operator uses the joystick handle interface 410 lets go. Based on the feedback commands, the feedback force can be linear or non-linear proportional to the force required to move the joystick handle interface 410 is required.

In position control mode, the feedback force curve follows the position of the joystick handle interface 410 . Thus, when executing a movement through the joystick handle interface 410 those from the engine 430 applied feedback force is used to determine the position of the joystick handle interface 410 in conjunction with operator input. As presented above, the engine 430 additionally provide a feedback force with regard to the speed of the operator input according to the reaction time of the steering system (e.g. steering 140 from 1A as well as steering 140 ' from 1B) . Especially when the joystick handle interface 410 is moved quickly, the motor can 430 a relatively strong, resilient feedback force on the joystick handle interface 410 exercise. The resistive feedback force reflects the ability of the steering system to implement the actuation request input. Otherwise the steering system may not be able to use the inputs on the joystick handle interface 410 "Keep up".

In some examples it can be from the engine 430 applied feedback force regardless of the current steering control mode features of both the speed-based steering command strategy and the position-dependent steering command strategy to the function of the joystick device 400 to improve. For example, the engine is working 430 in the speed control mode so that it has a certain stabilizing feedback force on the joystick handle interface when returning to the neutral position 410 exercises. Otherwise, the joystick handle interface 410 vibrate in an undesirable manner once it returns to the neutral position. The engine works in a similar way 430 in position control mode to apply some stabilizing feedback force to the joystick handle interface 410 to deliver even if the joystick handle interface 410 has been released by the operator. Otherwise, the weight of the joystick handle interface 410 cause unwanted movement. Instead, the feedback force of the motor 430 automatically the weight of the joystick handle interface 410 take into account so the interface 410 remains in position when released. The selected mode, however, indicates which Strategy dominates the applicable feedback force.

It is now on the 5A-5B , 6A-6C and 7A-7C Reference, the various views of a passive (or fully passive) feedback force joystick device 500 are. The joystick device 500 can be used as one of the operator input devices 130 , 130 ' of the operator control system 110 , 110 ' be considered previously with reference to the 1A , 1B , 2 and 3 discussed. In this example the joystick device is 500 with a steering mode selector switch 510 equipped with the steering mode selector switch 136 may correspond, also above with reference to FIG 1A , 1B , 2 and 3 discussed.

The joystick device 500 initially refers to 5A and includes a joystick handle interface 530 that is between a first end 532 configured for operator intervention and a second end 534 within a housing or a base element 536 extends. The second ending 534 the joystick handle interface 530 is rotatable with a swivel collar 540 coupled about an axis of rotation 542 to turn.

The joystick device 500 also contains a feedback unit 550 which functions the speed-based feedback force and the position-based feedback force on the joystick handle interface 530 based on the operator's selection on the steering mode selector 510 provide. In particular contains the feedback unit 550 a speed-based feedback package 560 and a position based feedback package 570 as described in more detail below. The feedback packages discussed below 560 , 570 are merely examples of the many types of feedback mechanisms that can be implemented in accordance with the embodiments discussed herein.

The joystick device 500 additionally contains one or more sensors 580 . When rotating the joystick handle interface 530 around the axis of rotation 542 the sensor rises 580 Information related to the position and speed of the joystick handle interface 530 including the position and speed resulting from operator input through the joystick handle interface 530 result in what leads to the input of the actuation request (e.g. input 382 from 3 ). As described in more detail below, the sensor rises 580 additional information related to the selection of the operator mode on the steering mode selector switch 510 . The sensor 580 provides the actuation request input and the operator strategy selection input to an operator system controller (e.g., controller 120 , 120 ' ) ready as described above. In one example, the sensor includes 580 one or more of a rotating hall effect sensor, a reed switch, or a hall effect sensor.

The steering mode selector switch 510 includes an operator intervention interface such as a button 512 attached to a pole 514 is coupled to a cam 516 ends. The cam 516 has a gear meshing with an engagement rod 520 is coupled. As a result of this arrangement, the knob is twisted 512 to the engagement rod 520 along the axis of rotation 542 to move back and forth (i.e. as in 5A shown to the left and right). The engagement bar is factual 520 a connection between the switch 510 and the speed-based feedback package 560 and the position-based feedback package 570 . As mentioned above, the button 512 be surrounded by markings that reflect the button positions according to the respective modes.

The engagement bar 520 has a first ending 522 that with a cam 516 is coupled, a central portion 524 running through the case 536 the joystick device 500 extends, and an end portion 526 , which depends on the position of the steering mode selector switch 510 in one of the speed-based feedback packages 560 or the position-based feedback package 570 is positioned. As described below, the engagement rod 520 Take at least two positions that correspond to the position of the steering mode selector switch 510 , including: a first position (as in 5A shown), in which the end section 526 in the speed-based feedback package 560 is positioned; and a second position (as in 5B shown), in which the end section 526 in the position-based feedback package 570 is positioned.

The engagement bar 520 has a first set of splines (or teeth) 525 attached to the central portion 524 are arranged and through the rotating collar 540 extend. The swivel collar 540 has internal gears or teeth 544 on that into the gears 525 the engagement rod 520 intervention. Regardless of the position of the engagement rod 520 grip the splines 525 the engagement rod 520 into the splines 544 of the swivel collar 540 one. As a result, the engagement rod rotates 520 with the interface 530 provided the interface 530 around the axis of rotation 542 turns. The wedge arrangement enables the engagement rod 520 , relative to the swivel collar 540 to slide while maintaining the rotating engagement.

The engagement bar 520 points at the end section 526 a set of teeth (or serrations) 527 on (as in 6A-6C , 7A-7C shown). The remaining parts of the engagement rod 520 , including the middle section 524 immediately near the end section 526 , may be cylindrical or have other cross-sectional shapes that have smaller cross-sectional areas than the teeth 527 at the end section 526 exhibit. As described below, the teeth engage 527 of the end section 526 the engagement rod 520 optionally in the speed-based feedback package 560 or the position-based feedback package 570 one so that the selected package 560 , 570 about the engagement rod 520 and the swivel collar 540 a force on the joystick handle interface 530 can exercise.

It is now on the 6A-6C referenced, the cross-sectional views of the joystick device 500 through the line 6-6 from 5A , especially through the speed-based feedback package 560 , represent. In 6A is where the joystick handle interface is located 530 in a neutral position; in 6B became the joystick handle interface 530 moved to the left; and in 6C became the joystick handle interface 530 moved to the right.

As shown, this is speed-based feedback package 560 a centering spring package and comprises a centering spring 610 on a rotating mount 630 that can be rotated on a flat rear wall 632 within a housing 602 is mounted, as well as a stationary bracket 670 that are firmly attached to the case 602 is mounted. In this example, the swivel mount includes 630 a first (or cylindrical) wall element 640 and a second (or U-shaped) wall element 650 .

The cylindrical wall element 640 the swivel mount 630 is rotatable with the rear wall 632 coupled and generally cylindrical to a passageway 642 to define which is on a corresponding passage through the rear wall 632 aligns. The cylindrical wall element 640 includes a plurality of internal teeth (or serrations) 644 that define the passage 642 limit. As shown, the teeth engage 527 the engagement rod 520 in the teeth 644 of the cylindrical wall element 640 on, provided the mode selector is 510 is in the position corresponding to the speed control mode, as further explained below.

The U-shaped wall element 650 the swivel mount 630 is rotatable with the rear wall 632 coupled and consists of a curved section 652 , a first wall leg 654 and a second wall leg 656 . The curved section 652 surrounds a portion of the cylindrical wall element 640 , but is spaced from this. The first wall leg 654 extends linearly from one end of the curved portion 652 and the second wall leg 656 extends linearly from the other end of the curved portion 652 . The first and second wall leg 654 , 656 run parallel to each other. The U-shaped wall element 650 is on the cylindrical wall element 640 attached to be able to turn with it.

In this embodiment the stationary bracket extends 670 between side walls 604 , 606 of the housing 602 . The stationary bracket 670 is generally parallel to the back wall 632 and axially from the wall elements 640 , 650 , 660 the swivel mount 630 spaced. The stationary bracket 670 includes pins or stops 672 , 674 extending axially towards the rear wall 632 on both sides of the centering spring 610 extend.

The centering spring 610 consists of a central coil 612 , a first spring leg 614 extending linearly from a first end of the central coil 612 extends out, and a second spring leg 616 extending linearly from a second end of the central coil 612 from extends. As shown, the center coil is located 612 around the cylindrical wall element 640 wrapped around, between the cylindrical wall element 640 and the U-shaped wall element 650 . The feather 610 is in firm engagement with the cylindrical wall member 640 . In the neutral position, the first and second spring legs extend 614 , 616 parallel to one another along the first and second wall legs 654 , 656 .

Accordingly, if the operator wants to implement a steering function in a speed control mode, the operator turns the knob 512 to a position corresponding to the speed control mode. Will the button 512 rotated to the position corresponding to the speed control mode, the engagement rod is 520 through the pole 514 and the cam 516 postponed. When moving or repositioning the engaging rod 520 determines the sensor 580 the position of the engagement rod 520 and sends, as previously described, a selection input for the control mode (e.g. input 380 ) to the controller 120 , 120 ' . When moving the engaging rod linearly 520 in the from the button 512 The position shown for the speed control mode is engaging the teeth 527 at the end section 526 the engagement rod 520 in the teeth 644 in the cylindrical wall element 640 the swivel mount 630 the speed-based feedback package 560 one. In this position the middle section extends 524 ( 5 ) the engagement rod 520 through a pass (discussed below) in the position-based feedback package 570 so that the engagement rod 520 not with the position-based feedback package 570 is engaged.

Because the locking bar 520 with the speed-based feedback package 560 is engaged, the joystick device behaves 500 in a manner familiar to the operator for a speed based steering control strategy, as discussed below. As in 6A shown is the joystick handle 530 vertically aligned in a neutral position, although the neutral position in other embodiments is due to the shape of the handle interface 530 , ergonomics or other considerations may correspond to wider angles relative to the ground plane. As mentioned above, the first and second are spring legs 614 , 616 the feather 610 in the neutral position of the joystick handle interface 530 and thus the speed-dependent feedback package 560 parallel to each other and each grip into the end stops 672 , 674 the stationary bracket 670 one showing the pen 610 and with it the swivel mount 630 , the engaging rod 520 , the swivel collar 540 and the joystick handle interface 530 hold in the generally neutral position according to a centering balance of the spring force.

During an operator steering input to the left, the force exerted by the operator moves the joystick handle interface 530 at an angle offset from the vertical, as in 6B shown. The wedge connection between the rotary collar causes this rotary movement 540 and the engagement rod 520 rotation of the engagement rod 520 . As previously mentioned, the movement of the engagement rod 520 through the sensor 580 recorded in order to provide a corresponding input for the actuation request (e.g. input 382 from 3 ) to the controller 120 to create. In response, and since the speed control mode has been selected, the controller generates 120 an operation command (e.g. command 390 from 3 ) that controls the steering control devices (e.g. devices 142 , 142 ' ) moves at a rate of change that corresponds to a rate of change of the input of the actuation request (e.g. input 370 ) on the joystick device 500 corresponds.

In addition, as mentioned earlier, the movement of the joystick handle interface guides 530 to a corresponding movement within the velocity-based feedback package 560 . In particular, turning the joystick handle interface 530 rotates the swivel mount 630 (e.g. via the swivel collar 540 and the engagement rod 520 ). When rotating the swivel mount 630 presses the first wall leg 654 of the U-shaped wall element 650 the first spring leg 614 the feather 610 in the direction of rotation on the other side of the axis of rotation 542 (e.g. to the right in 6B) , while the first end stop 672 the position of the second spring leg 616 the feather 610 maintains. As a result, the spring 610 is put under pressure, whereby a resistance force is generated against the direction of rotation. The drag force is provided by the rotating bracket 630 , through the spline connection with the engagement rod 520 and through the collar 540 on the joystick handle interface 530 transmitted so that the drag force provides a feedback force for the operator. Usually the feedback force is consistent with the impression of the joystick handle interface 530 in a speed-based steering control strategy.

There is no longer any pressure on the operator on the joystick grip surface 520 exerted, pushes the force of the spring 610 on the first spring leg 614 the feather 610 the first wall leg 654 of the U-shaped wall element 650 such that the swivel mount 630 returns to the neutral position. As a result, the engagement rod rotates 520 which in turn is the joystick handle interface 530 rotates back to the neutral position.

With reference to 6C a similar process occurs in the opposite direction when the operator uses the joystick handle interface 530 moved in the right direction. The movement of the joystick handle interface 530 is interpreted according to the speed control mode, and the spring 610 exerts a corresponding feedback force. Then bring the spring 610 when you let go of the swivel mount 630 and with it the joystick grip surface 530 back to the neutral position.

The configuration of the speed-based feedback package is accordingly 560 with the pen 610 , which offers haptic behavior, is consistent with the speed-based steering control strategy. Except for the coil spring 610 can also include other elements, such as B. gas springs, air springs or similar elements are provided.

It is now on the 7A-7C referenced, the cross-sectional views of the joystick device 500 through the line 7-7 from 5A , especially through the position-based feedback package 570 , represent. In 7A is where the joystick handle interface is located 530 in a neutral position; in 7B became the joystick handle interface 530 to the left and in 7C became the joystick handle interface 530 moved to the right.

As shown, this is the position based feedback package 570 a friction damping package and contains a position maintaining, friction-based damping device made up of one or more solid plates 710 and one or more turntables 720 consists, each on a housing 702 are mounted. The plates 710 , 720 can be stacked and / or adjoining Configuration to be arranged so that adjacent flat surfaces of the panels 710 , 720 butt against each other and frictionally interlock. Any plate 710 , 720 defines a passage 722 (one of which is shown) that are aligned with each other. The passages 722 through the turntables 720 include a plurality of inwardly extending teeth or serrations 724 , and the passages (not shown) through the fixed plates 710 are larger than the passageways 722 through the turntables 720 . Hence the teeth are 527 the engagement rod 520 configured so that they fit into the teeth 724 of the turntables 720 engage for rotational engagement while the engagement rod 520 the solid plates 710 runs unloaded.

Accordingly, whenever the operator wants to implement a steering function in a position control mode, he turns the knob 512 to a position corresponding to the position control mode. Will the button 512 is rotated to the position corresponding to the position control mode, the engagement rod 520 through the pole 514 and the cam 516 translated. When moving or repositioning the engaging rod 520 determines the sensor 580 the position of the engagement rod 520 and sends, as previously described, a selection input for the control mode (e.g. input 380 ) to the controller 120 , 120 ' . At the linear displacement of the engagement rod 520 in the from the button 512 Position reproduced for position control mode engages the teeth 527 at the end of the end section 526 the engagement rod 520 with your teeth 724 of the turntables 720 the position-based feedback package 570 into each other, as in the 7A-7C shown.

As the engagement rod 520 with the position-based feedback package 570 is engaged, the joystick device behaves 500 in a manner familiar to the operator for position-based steering control strategies. As in 7A shown is the joystick handle interface 530 positioned in a neutral position in a vertical orientation, although in other embodiments the neutral position may correspond to other angles relative to the ground plane.

Regardless of the position of the joystick handle interface 530 bump the plates 710 , 720 on each other and exert a mutual frictional force to resist movement. When moving the joystick handle interface 530 (e.g. from the neutral position in 7A to the left as in 7B or to the right as in 7C ) the engagement rod also rotates 520 .

As previously mentioned, the movement of the engagement rod 520 through the sensor 580 recorded in order to provide a corresponding input for the actuation request (e.g. input 382 from 3 ) to the controller 120 to create. In response, and since the position control mode has been selected, the controller generates 120 an operation command (e.g. command 390 out 3 ) that controls the steering control devices (e.g. devices 142 , 142 ' ) is moved to a position corresponding to a position of the operation request input (e.g., input 370 ) on the joystick device 500 corresponds.

Additionally, as discussed above, the joystick handle interface movement guides 530 to a corresponding movement within the position-based feedback package 570 . In particular, rotating the joystick handle interface performs 530 to a force over the engagement of the engagement rod 520 and the turntables 720 on the turntables 720 is transmitted. Apply sufficient force to the joystick grip 530 is exerted, the frictional force between the abutting plates is applied 710 , 720 overcome and the turntables 720 move relative to the fixed plates 710 . The frictional force from the abutting plates 710 , 720 creates a resistance as a feedback force to the operator at the joystick-handle interface 530 (e.g. through the engagement rod 520 and the collar 540 ). Usually the feedback force is consistent with the feel of the joystick gripping surface 530 in a position-based steering control strategy. There is no longer any operator pressure on the joystick handle interface 530 exerted, holds the frictional force between the abutting plates 710 , 720 this position and thus the position of the joystick handle interface 530 upright.

In some examples, a locking arrangement 726 can be implemented to get a haptic indication of a middle or neutral position. For example, a locking arrangement 726 from interacting detents on one or more of the plates 710 , 720 exist so that a "click" or a neutral position can be perceived by the operator. Other mechanisms indicative of the neutral position can be provided including spring assemblies, ball assemblies, and the like.

The configuration of the position-based feedback package is accordingly 570 with the friction plates 710 , 720 that offer haptic behavior, consistent with the position-based steering control strategy. More position retaining elements than the plates 710 , 720 can be provided in other embodiments.

In general, the joystick device 400 out 4th be viewed as an active system in which the engine (e.g. engine 430 ) generates the feedback response, and the Joystick device 500 out 5A , 5B , 6A-6C and 7A-7C can be viewed as a passive system in which passive elements (e.g. the spring 610 and the panels 710 , 720 ) generate the feedback response. In some embodiments, however, a joystick device can be provided as a semi-active system that has the features of both active and passive systems.

In such a semi-active embodiment, the joystick device can comprise a partially electro-mechanical joystick device with a positioning motor and a centering spring, each of which is coupled to a joystick handle interface. For example, the positioning motor can be the motor described above 430 in relation to 4th and the centering spring of the positioning spring described above 610 in relation to 5A , 5B and 6A-6C be similar to. Therefore, the positioning spring can be coupled to a pivot bracket that, as described above, engages an engagement rod coupled to the joystick handle interface, and the pivot bracket can also have teeth that engage a drive shaft of a motor. As described above, a steering mode selector switch can be provided to indicate the desired mode to the controller, and the operation request inputs input from the joystick device are interpreted accordingly.

With regard to the application of a feedback force, typically in such an arrangement after a speed control mode, the motor is not used and the device operates with the device as described above 4th using the feedback force of the coil spring. In fact, the positioning motor can be locked in a central position. In the position control mode, the motor is actively controlled according to the position-related position control strategy in such a way that a feedback force is exerted on the joystick handle interface through the rotary mount or the housing. When the operator releases the joystick handle interface, the motor can maintain the position of the joystick handle interface. In addition, the motor can be actively controlled to withstand excessive movement of the joystick handle interface that would overwhelm the steering system, giving the operator a haptic feeling that the joystick handle interface is being moved too fast.

Accordingly, the operator control system can selectively implement one of two operator control strategies for steering a work vehicle, namely, a speed-based steering control strategy and a position-based steering control strategy. In response to the operator's selection that the speed-based steering control strategy should be used, the joystick device behaves according to the operator's habit to a joystick device operating under the speed-based steering control strategy, and the work vehicle reacts accordingly. In response to the operator's selection that the position-dependent steering control strategy should be used, the joystick device behaves according to the habit of the operator with respect to a joystick device that operates under the position-dependent steering control strategy, and the work vehicle reacts accordingly.

The following examples are also provided, numbered for ease of reference:

Claims 1. A control system for a work vehicle having one or more actuators, the control system comprising: an operator input device configured to receive operator input from an operator of the work vehicle; and a controller operatively connected to the operator input device and to the one or more actuating devices, the controller configured to: receive a selectable control mode input including a selectable position control mode input or a selectable speed control mode input; receive an actuation request input from the operator input device; determine an operation command corresponding to the operation request input from the operator input device in accordance with the selection input for the control mode; and output the operation command to the one or more actuators.

2. The control system of Example 1, wherein in the position control mode, the operation command includes a command to move the one or more operating devices to a position corresponding to a position corresponding to the operating request input from the operator input device; and wherein in the speed control mode, the operating command includes a command to move the one or more actuators at a rate of change that corresponds to the position of the actuation request input from the operator input device.

3. The control system of Example 1, wherein the operator input device comprises a handle interface with a range of motion for transmitting the operator input to the operator input device.

4. The control system of Example 3, wherein the operator input device has a is an electromechanical joystick device having a feedback motor coupled to the handle interface; and wherein the controller is further configured to: determine a feedback command corresponding to movement of the handle interface associated with the actuation request according to the control mode selection input; and outputs the feedback command to the feedback motor.

5. The control system of Example 4, wherein in the position control mode, the feedback command includes a command to the feedback motor to maintain a position of the handle interface associated with at least one of the input of the actuation request and the position of the one or more actuators; and wherein in the speed control mode, the feedback command includes a command to the feedback motor to re-center the handle interface upon input of the actuation request.

6. The control system according to example 5, in which, in the speed control mode, the feedback command contains a command to the feedback motor to generate a counterforce that counteracts the movement of the handle interface that is less than or equal to a force that is required to move the handle interface, wherein the counterforce is linearly or non-linearly proportional to the force required to move the handle interface.

7. The control system of Example 3, wherein the operator input device is a partially electromechanical joystick device having a positioning motor and a centering spring, both of which are coupled to the handle interface; wherein in the position control mode the controller is further configured to determine a position command corresponding to movement of the handle interface associated with the input of the actuation request; and wherein the positioning motor is locked in a center position in the speed mode.

8. The control system of Example 3, wherein the operator input device is a mechanical joystick having a position holding device, a centering device, or both the position holding device and the centering device; wherein the position retaining device is configured to maintain a position of the handle interface after a movement associated with the input of the actuation request; and wherein the centering device is configured to center the handle interface upon movement associated with the input of the actuation request.

9. The control system of Example 8, wherein the position holding device is a friction and damper device; and wherein the centering device is a centering spring.

10. The control system of Example 10, wherein the operator input device includes a selector switch; and further comprising: a sensor configured to detect a position of the selector switch and to provide the control mode selection input to the controller.

11. The control system of example 10, wherein the operator input device comprises a link coupled to the selector switch and to either the position holding device or the centering device.

12. The control system of Example 11, wherein the operator input device includes both the position holding device and the centering device; and wherein movement of the selector switch causes movement of the link to be selectively coupled to either one of the position retaining device and the centering device.

13. A control system for a work vehicle having one or more actuation devices, the control system comprising: an operator input device configured to receive operator input from an operator of the work vehicle, the operator input device having a handle interface with a range of motion for transmitting the operator input the operator input device comprises; a controller operatively connected to the operator input device and to the one or more actuating devices, the controller configured to: receive a selection input for the control mode including a mode selection input as a position control mode or a speed control mode; receive input for an actuation request from the operator input device; determine an operation command corresponding to the input of an operation request from the operator input device in accordance with the selection input for the control mode; and output the operation command to the one or more actuating devices; wherein in the position control mode, the operation command includes an instruction to move the one or more actuators to a position corresponding to a position corresponding to the actuation request input from the operator input device; and wherein, in the speed control mode, the operating command includes an instruction to move the one or more actuators at a rate of change equal to that of the Position corresponds to the actuation request entered by the operator input device.

14. The control system of Example 13, wherein the operator input device is an electromechanical joystick with a feedback motor coupled to the handle interface; and wherein the controller is further configured to: determine a feedback command corresponding to movement of the handle interface associated with the actuation request input in accordance with the control mode selection input; and issue the feedback command to the feedback motor, wherein in the position control mode, the feedback command includes an instruction to the feedback motor to maintain a position of the handle interface associated with the actuation request input; and wherein in the speed control mode, the feedback command includes an instruction to the feedback motor to re-center the handle interface after the actuation request input and to provide a counterforce that opposes movement of the handle interface with a resistance that is less than a force required to operate the handle interface move, the counterforce being linearly or non-linearly proportional to the force required to move the handle interface.

15. The control system of Example 13, wherein the operator input device includes a mode selector switch; and wherein the control system further comprises a sensor configured to sense a position of the mode selector switch and provide the control mode selection input to the controller, the operator input device being a mechanical joystick having a friction damping device and a spring centering device; wherein the friction damping device is configured to maintain a position of the handle interface after movement associated with the actuation request; and wherein the spring centering device is configured to center the handle interface after movement associated with the actuation request, and wherein movement of the mode selector switch causes movement of the link to selectively couple to either the position maintaining device or the centering device .

As used herein, enumerations denote items that are separated by conjunctive expressions (e.g., “and”) and are also preceded by the term “one or more of” or “at least one of” is, any configuration or arrangement that may include any item or combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” denotes the possibilities of just A, only B, only C, or any combination of two or more of A, B and C. (e.g. A and B; B and C; A and C; or A, B and C).

The term "module" as used herein refers to any hardware, software, firmware, electronic control component, processing logic and / or processing device, individually or in any combination, including but not limited to an application specific integrated circuit (ASIC), an electronic circuit, a processor ( shared, dedicated or group processor) and a memory that executes one or more software or firmware programs, a combinational logic circuit and / or other suitable components that offer the functionality described.

Embodiments of the present disclosure may be described herein as functional and / or logical block components and various processing steps. It should be noted that such block components can be constructed from any number of hardware, software and / or firmware components that are configured to perform the required functions. For example, an embodiment of the present disclosure may employ various integrated circuit components, such as memory elements, digital signal processing elements, logic elements, look-up tables, or the like, that can perform multiple functions under the control of one or more microprocessors or other control devices. In addition, those skilled in the art will recognize that the embodiments of the present disclosure can be used in conjunction with any number of systems, and that the loader described herein is merely an exemplary embodiment of the present disclosure.

For the sake of brevity, conventional techniques in connection with signal processing, data transmission, signaling, control, and other functional aspects of the systems (and the individual controls of the systems) may not be described in detail herein. Furthermore, the connecting lines shown in the various figures are intended to represent exemplary functional relationships and / or physical connections between the various elements. It should be noted that there may be many alternative or additional functional relationships or physical connections in an embodiment of the present disclosure.

According to a person skilled in the art, certain aspects of the disclosed subject matter can be implemented as a method, system (e.g. a work vehicle control system contained in a work vehicle) or a computer program product. Accordingly, certain embodiments may be implemented entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or a combination of software and hardware (and other) features. In addition, certain embodiments can be executed in the form of a computer program on a computer-compatible storage medium with a computer-compatible program code in the medium. Any suitable computer-compatible or computer-readable storage or signal medium can be used.

The terminology used herein is used only to describe certain exemplary embodiments and is in no way intended to be limiting. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly excludes this. It is also to be understood that the terms “comprising” and / or “comprising” when used in this specification indicate the presence of specified features, integers, steps, operations, elements and / or components, but not the presence or addition of one or one or more other features, integers, steps, operations, elements, components and / or groups thereof.

The description of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will become apparent to those skilled in the art without departing from the scope and spirit of the disclosure. The embodiments expressly cited herein were chosen and described in order to best explain the principles of the disclosure and its practical application, and to enable others of ordinary skill in the art to understand the disclosure and to perceive many alternatives, changes, and variances from the examples described. Accordingly, various embodiments and implementations than those specifically described are within the scope of the following claims.

Claims (15)

A control system for a work vehicle having one or more actuators, the control system comprising: an operator input device configured to receive operator input from an operator of the work vehicle; and a controller operatively connected to the operator input device and to one or more actuation devices, the controller configured to: receive a control mode selection input including a position control mode selection input or a speed control mode selection input; receive an input for the actuation request from the operator device; determine an operation command corresponding to the input of the operation request from the operator device in accordance with the selection input for the control mode; and issue the operating command to the one or more actuators. Control after Claim 1 wherein, in the position control mode, the operating command includes a command to move the one or more actuators to a position corresponding to a position corresponding to the actuation request input from the operator input device; and wherein, in the speed control mode, the operation command includes an instruction to move the one or more actuators at a rate of change corresponding to the position of the actuation request input from the operator input device. Tax system according to Claim 1 or 2 wherein the operator input device comprises a handle interface with a range of motion for transmitting the operator input to the operator input device. Tax system according to Claim 3 wherein the operator input device is an electromechanical joystick device having a feedback motor coupled to the handle interface; and wherein the controller is further configured to: determine a feedback command corresponding to movement of the handle interface associated with the actuation request in accordance with the selection input for the control mode; and issuing the feedback command to the feedback motor. Tax system according to Claim 4 , where in position control mode the Feedback command includes an instruction to the feedback motor to maintain a position of the handle interface associated with at least one of the input of the actuation request and the position of the one or more actuators; and wherein in the speed control mode, the feedback command includes an instruction to the feedback motor to re-center the handle interface upon input of the actuation request. Tax system according to Claim 5 wherein in the speed control mode the feedback command includes an instruction to the feedback motor to provide a counterforce opposing movement of the handle interface that is less than or equal to a force required to move the handle interface. Tax system according to one of the Claims 3 to 6th wherein the operator input device is a partially electromechanical joystick device having a positioning motor and a centering spring, both of which are coupled to the handle interface; wherein the controller is further configured to determine, in the position control mode, a position command corresponding to movement of the handle interface associated with the actuation request input; and wherein the positioning motor is locked in a central position in the speed mode. Tax system according to one of the Claims 3 to 7th wherein the operator input device is a mechanical joystick having a position holding device, a centering device, or both a position holding device and a centering device; wherein the position retaining device is configured to maintain a position of the handle interface after movement associated with the actuation request input; and wherein the centering device is configured to center the handle interface upon movement associated with the actuation request input. Tax system according to Claim 8 wherein the position holding device is a friction and damper device; and wherein the centering device consists of a centering spring. The control system of any preceding claim, wherein the operator input device includes a selector switch; and furthermore comprehensive: a sensor configured to sense a position of the selection switch and provide the selection input for the control mode to the controller. Tax system according to Claim 10 wherein the operator input device includes a link coupled to the selector switch and to either the position holding device or the centering device. Tax system according to Claim 11 wherein the operator input device includes both the position holding device and the centering device; and wherein movement of the selector switch causes movement of the link to be selectively coupled to either one of the position retaining device and the centering device. A control system for a work vehicle having one or more actuators, the control system comprising: an operator input device configured to receive operator input from an operator of the work vehicle; a controller operatively connected to the operator input device and to one or more actuation devices, the controller configured to: receive a control mode selection input including a mode selection input as a position control mode or a speed control mode; receive an input for the actuation request from the operator device; determine an operation command corresponding to the input of the operation request from the operator device in accordance with the selection input for the control mode; and to issue an operating command to the one or more actuating devices; wherein, in the position control mode, the operation command includes a command to move the one or more actuators to a position corresponding to a position corresponding to the actuation request input from the operator input device; and wherein in the speed control mode, the operation command includes an instruction to move the one or more actuators at a rate of change according to the position of the actuation request input from the operator input device. Tax system according to Claim 13 wherein the operator input device consists of an electromechanical joystick with a feedback motor coupled to the handle interface; and wherein the controller is further configured to: determine a feedback command corresponding to movement of the handle interface associated with the actuation request input corresponding to the control mode selection input; and issuing the feedback command to the feedback motor, wherein in the position control mode the feedback command includes an instruction to the feedback motor, a position of the handle interface associated with the Maintain actuation request input and / or the position of the one or more actuators; and wherein in the speed control mode, the feedback command includes an instruction to the feedback motor to re-center the handle interface upon input of the actuation request. Tax system according to Claim 13 or 14th wherein the operator input device includes a mode selector switch; wherein the sensor system further comprises a sensor that is configured to detect a position of the mode selector switch and provides the selection input for the control mode to the controller, wherein the operator input device is a mechanical joystick with a friction damping device and a spring centering device, the friction damping device being so configured to maintain a position of the handle interface after the movement associated with the actuation request; and wherein the spring centering device is configured to center the handle interface after the movement associated with the actuation request; wherein movement of the mode selector switch causes movement of the link to selectively couple it to either the position retaining device or the centering device.

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