EP4234817A1 - Verbessertes system und verfahren zur steuerung einer rückgabefunktion in einem arbeitsfahrzeug - Google Patents

Verbessertes system und verfahren zur steuerung einer rückgabefunktion in einem arbeitsfahrzeug Download PDF

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Publication number
EP4234817A1
EP4234817A1 EP23153783.8A EP23153783A EP4234817A1 EP 4234817 A1 EP4234817 A1 EP 4234817A1 EP 23153783 A EP23153783 A EP 23153783A EP 4234817 A1 EP4234817 A1 EP 4234817A1
Authority
EP
European Patent Office
Prior art keywords
joystick
work vehicle
rtd
functionality
implement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23153783.8A
Other languages
English (en)
French (fr)
Inventor
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP4234817A1 publication Critical patent/EP4234817A1/de
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/434—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/082—Servomotor systems incorporating electrically operated control means with different modes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/31—Directional control characterised by the positions of the valve element
    • F15B2211/3105—Neutral or centre positions
    • F15B2211/3116—Neutral or centre positions the pump port being open in the centre position, e.g. so-called open centre
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6336—Electronic controllers using input signals representing a state of the output member, e.g. position, speed or acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6346—Electronic controllers using input signals representing a state of input means, e.g. joystick position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6658—Control using different modes, e.g. four-quadrant-operation, working mode and transportation mode
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/85—Control during special operating conditions

Definitions

  • the present invention concerns a system and method for controlling a return functionality of a work vehicle.
  • the present invention finds its preferred, although not exclusive, application in a system and a method for controlling an earth-moving machine such as a wheel loader.
  • Earth-moving vehicles such as wheel loaders comprise an implement such as a bucket carried by a boom for moving the earth.
  • the boom and the bucket are carried by respective hydraulic actuators that moves the bucket and the boom with respect to their hinge points.
  • Such hydraulic actuators are controlled by a joystick that is hand operated by the user to move the boom and bucket thereby moving the earth.
  • Work vehicles may be provided with a so-called return functionality, RTF, configured to automatically control the actuators of the boom and the bucket to move these latter to a predefined position according to the specific functionality.
  • RTF return functionality
  • RTD return to dig
  • the user usually active a command, such as by pressing a bottom or selecting a display icon, to activate the RTF.
  • a command such as by pressing a bottom or selecting a display icon.
  • Such activation of command provides suitable input signals to boom and/or bucket actuators that move the boom and/or bucket to their target position.
  • Another function of which the work vehicles are provided is the so-called soft stop function.
  • an implement controlled by a joystick by the driver is controlled to smooth return to a standard position if the joystick is suddenly released by the user.
  • An aim of the present invention is to satisfy the above mentioned needs in a cost effective and optimized way.
  • Figure 1 discloses a control system 1 of a work vehicle provided with an implement (not shown) that preferably comprises a bucket (not shown) carried by a boom (not shown) and may advantageously be configured as a wheel loader.
  • the work vehicle comprises a hydraulic circuit 2 configured to control the operation of the implement of the work vehicle, in particular comprising at least a bucket actuator 3.
  • the hydraulic circuit controls the passage of fluid between a source 4 of fluid in pressure and a tank 5 of the work vehicle.
  • the hydraulic circuit 5 comprises a valve arrangement 6 that may be designed as an open center distribution system provided with an electric valve 7 respectively voted to control the actuator 3 in function of control signals acting on respective sides of the valve 7 itself.
  • the actuator 3 is a double effect hydraulic cylinders.
  • valve 6 may be a proportional six ways - three position valve fluidly connected, respectively two of them to tank 5, two of them to source 5, two of them to two sides of the actuator 3.
  • the valve 6 may therefore assume at least the following limit positions: a first position wherein fluid may flow from source 4 to a first side of the actuator 3 and the opposite side of the latter is fluidly connected to tank 5, a second position operatively opposite with respect to the preceding and a third position wherein the source 4 is directly connected to tank 5 (the one represented in figure 1 ).
  • the control system 1 further comprises a joystick 8 configured to be handled to the user to impart a control signal for controlling bucket actuators 3 via valve arrangement 6.
  • the control system 1 further comprises an electronic control unit 10 that is electronically connected to joystick and comprising elaboration means configured to retrieve data related to joystick position and data related to the speed of the engine of the work vehicle, to elaborate this latter to provide control signals to control valve arrangement 6, i.e. in the disclosed arrangement valve 7.
  • Work vehicle further comprises sensor means 11 configured to detect the position of bucket.
  • sensor means 11 may be position sensors carried by actuator means 3.
  • sensor means 11 may be of any typology, e.g. radar means or image acquisition means carried or rotation position sensor carried in the hinges connection of the work vehicle.
  • Work vehicle may further comprises other sensor means, such as pressure sensor means, configured to allow the electronic control unit 10 to control the boom/bucket movements.
  • sensor means such as pressure sensor means, configured to allow the electronic control unit 10 to control the boom/bucket movements.
  • the work vehicle further comprises return to function, RTF, command mean 12, in particular a return to dig, RTD, function, electrically connected to the control unit 10.
  • the elaboration means of this latter are configured to execute the aforementioned RTD operation if the RTF command means 12 is controlled by the driver to activate the RTF function.
  • the RTF command 12 comprises:
  • the work vehicle further comprises a main hydraulic switch 13 configured to enable the operation of the hydraulic systems of the vehicle.
  • the data related to joystick position may comprise at least the following parameters:
  • the electronic control unit 10 controls the operation of the implement providing control signals to hydraulic arrangement 1, taking into account the data related by joystick 8, by engine speed 9 of the work vehicle and by sensor means 11 as per se known, e.g. according to the method disclosed in EP3719217 A1 .
  • electronic control unit 10 is configured to detect the position of the joystick 8 to determine a release of this latter.
  • the release of the joystick may be determined by detecting a passage from a [Xi, Yi] position to a [0, 0] position into the reference Cartesian plane.
  • the release of the joystick may be detected by retrieving the speed of such passage in 0, 0 position from the [Xi, Yi] position and/or the permanence of the joystick into the [0, 0] position for a preset time.
  • a smoot transition of the bucket to a preset stop position is controlled by the electronic control unit 10 by providing specific control signals to valve arrangement 6, i.e. to actuator 3.
  • the data related to the preset stop position are stored in the elaboration means of the electronic control unit 10 that control accordingly the actuator 3.
  • the driver control a RTD command
  • the RTD function is enabled and executed according to specific control by the user, e.g. by moving the joystick or pushing a specific button 12''.
  • the data related to typology of enabled RTD operation are stored in the elaboration means that control accordingly this latter.
  • the electronic control unit detect a joystick release as defined above, then the soft stop function is inhibited and the electronic control unit 10 control the actuator 3 to move according to RTD functionality.
  • the RTD functionality is predominant with respect to the soft stop function.
  • the invention is furthermore related to a method for controlling a RTD functionality in presence of a soft stop functionality of the described work vehicle comprising the following steps:
  • the data related to joystick 8 position comprise:
  • the data related to operational status of the vehicle comprises at least the speed 9 of the engine.
  • the data related to command of a RTD functionality of the work vehicle comprises:
  • the efficiency and comfort of the operation is increased because there is no need to manually alternatively activate the soft stop function and/or the RTD function.
  • the proposed system is substantially compact and indeed may be integrated or provided into already existing systems, without substantial modification of existing systems.
  • the work operation speed is increased, thereby increasing the productivity of the overall vehicle operation.
  • the provided valve arrangement may vary, such as the composition of implement or the control of its actuators may comprise different data coming from other operational data of the work vehicle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)
EP23153783.8A 2022-02-23 2023-01-27 Verbessertes system und verfahren zur steuerung einer rückgabefunktion in einem arbeitsfahrzeug Pending EP4234817A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102022000003371A IT202200003371A1 (it) 2022-02-23 2022-02-23 Sistema e metodo migliorato per controllare una funzionalita' di ritorno in un veicolo da lavoro

Publications (1)

Publication Number Publication Date
EP4234817A1 true EP4234817A1 (de) 2023-08-30

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ID=81392807

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23153783.8A Pending EP4234817A1 (de) 2022-02-23 2023-01-27 Verbessertes system und verfahren zur steuerung einer rückgabefunktion in einem arbeitsfahrzeug

Country Status (2)

Country Link
EP (1) EP4234817A1 (de)
IT (1) IT202200003371A1 (de)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3114284B1 (de) * 2014-03-03 2018-10-31 CNH Industrial Italia S.p.A. Arbeitsmaschine mit rückkehr-in-ladeposition-funktionalität
EP3719217A1 (de) 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Steuerverfahren zum auslösen einer rückkehrbewegung zum graben eines arbeitsgeräts wie einer schaufel in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3114284B1 (de) * 2014-03-03 2018-10-31 CNH Industrial Italia S.p.A. Arbeitsmaschine mit rückkehr-in-ladeposition-funktionalität
EP3719217A1 (de) 2019-04-05 2020-10-07 CNH Industrial Italia S.p.A. Steuerverfahren zum auslösen einer rückkehrbewegung zum graben eines arbeitsgeräts wie einer schaufel in einem arbeitsfahrzeug, entsprechendes steuersystem und arbeitsfahrzeug mit einem solchen steuersystem

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Publication number Publication date
IT202200003371A1 (it) 2023-08-23

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