US20220186469A1

US20220186469A1 - System and method for controlling implement operation of a work vehicle using a speed-based parameter

Info

Publication number: US20220186469A1
Application number: US17/120,948
Authority: US
Inventors: Duqiang Wu
Original assignee: CNH Industrial America LLC
Current assignee: CNH Industrial America LLC
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2022-06-16

Abstract

A system for controlling implement operation of a work vehicle includes the computing system is configured to receive an input associated with a target position of an implement of the vehicle. Furthermore, the computing system is configured to monitor the current position of the implement of the vehicle. Additionally, the computing system is configured to control the operation of an actuator of the vehicle such that the implement is moved toward the target position based on the monitored current position. Moreover, the computing system is configured to determine a speed-based parameter associated with a speed at which the implement is being moved across a time period. In addition, after the time period has elapsed, the computing system is configured to control the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.

Description

FIELD OF THE INVENTION

The present disclosure generally relates to work vehicles and, more particularly, to systems and methods for controlling implement operation of a work vehicle using a speed-based parameter associated with the implement.

BACKGROUND OF THE INVENTION

Work vehicles having loader arms, such as wheel loaders, skid steer loaders, backhoe loaders, compact track loaders, and the like, are a mainstay of construction work and industry. For example, wheel loaders typically include a pair of loader arms pivotably coupled to the vehicle's chassis that can be raised and lowered at the operator's command. As such, wheel loaders may include one or more hydraulic cylinders to raise and lower the loader arms. Moreover, the loader arms typically have an implement attached to their end, thereby allowing the implement to be moved relative to the ground as the loader arms are raised and lowered. For example, a bucket is often coupled to the loader arms, which allows the wheel loader to be used to carry supplies or particulate matter, such as gravel, sand, or dirt, around a worksite.
Many wheel loaders include systems that are capable of automatically moving the implement to one or more preset or target positions. For example, in some configurations, wheel loaders include a return-to-dig function. In such configurations, upon receipt a return-to-dig command from the operator, the system moves the bucket to a position at which the height and orientation of the bucket are suitable for obtaining a quantity of particulate matter from a pile.
These systems typically monitor the position of the implement and control the movement of the implement solely based on this monitored position. However, due to the cracking pressure tolerance associated with the valve(s) controlling the hydraulic cylinder(s) that move the implement, position-based control may result in the implement stopping short of the target position. In this respect, some systems move the implement at a greater speed to overcome this issue. However, such systems generally require an abrupt deceleration of the implement upon reaching the target position, which is uncomfortable to the operator.
Accordingly, an improved system and method for controlling implement operation of a work vehicle would be welcomed in the technology.

SUMMARY OF THE INVENTION

Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.
In one aspect, the present subject matter is directed to a system for controlling implement operation of a work vehicle. The system includes a vehicle chassis, a loader arm pivotably coupled to the vehicle chassis, and an implement pivotably coupled to the loader arm. Furthermore, the system includes a fluid-driven actuator configured to adjust a position of the implement relative to the vehicle chassis. Additionally, the system includes a sensor configured to capture data indicative of the position of the implement relative to the vehicle chassis and a computing system communicatively coupled to the sensor. In this respect, the computing system configured to receive an input associated with a target position of the implement. Moreover, the computing system is configured to monitor a current position of the implement based on the data captured by the sensor. In addition, the computing system is configured to control an operation of the actuator such that the implement is moved toward the target position based on the monitored current position. Furthermore, the computing system is configured to determine a speed-based parameter associated with a speed at which the implement is being moved across a time period. Additionally, after the time period has elapsed, the computing system is configured to control the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.
In another aspect, the present subject matter is directed to a method for controlling implement operation of a work vehicle. The work vehicle, in turn, includes an implement and a fluid-driven actuator configured to adjust a position of the implement relative to a chassis of the vehicle. The method includes receiving, with a computing system, an input associated with a target position of the implement. Moreover, the method includes monitoring, with the computing system, a current position of the implement based on received sensor data. In addition, the method includes controlling, with the computing system, an operation of the actuator such that the implement is moved toward the target position based on the monitored current position. Furthermore, the method includes determining, with the computing system, a speed-based parameter associated with a speed at which the implement is being moved across a time period. Additionally, after the time period has elapsed, the method includes controlling, with the computing system, the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.
These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:

FIG. 1 illustrates a side view of one embodiment of a work vehicle in accordance with aspects of the present subject matter;

FIG. 2 illustrates a schematic view of one embodiment of a system for controlling implement operation of a work vehicle in accordance with aspects of the present subject matter;

FIG. 3 illustrates a flow diagram of one embodiment of a method for controlling implement operation of a work vehicle in accordance with aspects of the present subject matter; and

FIG. 4 illustrates a graphical view of an example dataset charting the speed at which an implement of a work vehicle is being moved to a target position relative to the position of the implement.

Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.

DETAILED DESCRIPTION OF THE DRAWINGS

Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
In general, the present subject matter is directed to a system for controlling implement operation of a work vehicle. As will be described below, the work vehicle may include a chassis, one or more loader arms pivotably coupled to the vehicle chassis, and an implement (e.g., a bucket) pivotably coupled to the loader arm(s). Moreover, the work vehicle may include one or more fluid-driven actuators (e.g., a hydraulic cylinder(s)) configured to adjust a position of the implement relative to the vehicle chassis.
In accordance with aspects of the present subject matter, a computing system may be configured to control the operation of the fluid-driven actuator(s) to move the implement from its current position to a target position. Specifically, in several embodiments, the computing system may receive an input associated with a target position of the implement (e.g., from the operator via a suitable user interface of the vehicle). Furthermore, the computing system may monitor the current position of the implement based received sensor data. Additionally, the computing system may control the operation of the actuator(s) such that the implement is moved toward the target position based on the monitored current position. Moreover, during a time period across which the implement is being moved toward the target position, the computing system may determine a speed-based parameter associated with a speed at which the implement is being moved. For example, in some embodiments, the speed-based parameter may be an acceleration associated with the implement, such as the angular acceleration of the loader arm(s) relative to the vehicle chassis. After the time period has elapsed, the computing system may control the operation of the actuator(s) such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.
Controlling the operation of the actuator(s) based on the monitored current position and the determined speed-based parameter may provide one or more technical advantages. As mentioned above, moving an implement to a target position based on monitored position alone may result in the implement stopping short of the target position or the need for a large and uncomfortable deceleration of the implement to not overshoot the target position. However, determining the speed-based parameter during a time period across which the implement is being moved toward the target position and then subsequently using this parameter in addition to the monitored position to control the remaining movement of the implement to target position allows for adjustment of the speed at which the implement is being moved. Such speed adjustments allow the implement to reach the target position (i.e., the implement does not stop short) without a large and uncomfortable deceleration of the implement.
Referring now to the drawings, FIG. 1 illustrates a side view of one embodiment of a work vehicle 10. As shown, the work vehicle 10 is configured as a wheel loader. However, in other embodiments, the work vehicle 10 may be configured as any other suitable work vehicle known in the art, such as any other work vehicle including movable loader arms (e.g., any other type of front loader, such as skid steer loaders, backhoe loaders, compact track loaders, and/or the like).
As shown in FIG. 1, the work vehicle 10 includes a pair of front wheels 12, a pair or rear wheels 14, and a frame or chassis 16 coupled to and supported by the wheels 12, 14. An operator's cab 18 may be supported by a portion of the chassis 16 and may house various control or input devices (e.g., levers, pedals, control panels, buttons and/or the like) for permitting an operator to control the operation of the work vehicle 10. For instance, as shown in FIG. 1, the work vehicle 10 includes one or more control levers 20 for controlling the operation of one or more components of a lift assembly 22 of the work vehicle 10.
As shown in FIG. 1, the lift assembly 22 includes a pair of loader arms 24 (one of which is shown) extending lengthwise between a first end 26 and a second end 28. In this respect, the first ends 26 of the loader arms 24 may be pivotably coupled to the chassis 16 at pivot joints 30. Similarly, the second ends 28 of the loader arms 24 may be pivotably coupled to a suitable implement 32 of the work vehicle 10 (e.g., a bucket, fork, blade, and/or the like) at pivot joints 34. In addition, the lift assembly 22 also includes a plurality of fluid-driven actuators for controlling the movement of the loader arms 24 and the implement 30. For instance, the lift assembly 22 may include a pair of hydraulic lift cylinders 36 (one of which is shown) coupled between the chassis 16 and the loader arms 24 for raising and lowering the loader arms 24 relative to the ground. Moreover, the lift assembly 22 may include a pair of hydraulic tilt cylinders 38 (one of which is shown) for tilting or pivoting the implement 32 relative to the loader arms 24.
Furthermore, in several embodiments, the work vehicle 10 may include a lift position sensor 40. In general, the lift position sensor 40 may be configured to capture data indicative of the angle or orientation of the loader arms 24 relative to the chassis 16. For example, in such an embodiment, the lift position sensor 40 may correspond to a potentiometer positioned between the loader arms 24 and the chassis 16, such as within one of the pivot joints 30. In this respect, as the loader arms 24 and the implement 32 are raised and lowered relative to the ground, the voltage output by the lift position sensor 40 may vary, with such voltage being indicative of the angle of the loader arms 24 relative to the chassis 16. However, in other embodiments, the lift position sensor 40 may correspond to any other suitable sensor(s) and/or sensing device(s) configured to capture data associated with the angle or orientation of the loader arms 24 relative to the chassis 16.
Moreover, in some embodiments, the work vehicle 10 may include a tilt position sensor 42. In general, the tilt position sensor 42 may be configured to capture data indicative of the angle or orientation of the implement 32 relative to the loader arms 24. For example, in such an embodiment, the tilt position sensor 42 may correspond to a potentiometer positioned between the implement 32 and the second ends 28 of the loader arms 24 and the chassis 16, such as within one of the pivot joints 34. In this respect, as the implement 32 is pivoted relative to the loader arms 24, the voltage output by the tilt position sensor 42 may vary, with such voltage being indicative of the angle orientation of the implement 32 relative to the loader arms 24. However, in other embodiments, the tilt position sensor 42 may correspond to any other suitable sensor(s) and/or sensing device(s) configured to capture data associated with the angle or orientation of the implement 32 relative to the loader arms 24. For example, in some embodiments, the tilt position sensor 42 may be positioned at or within a pivot joint 44 about which a bell crank 46 coupled to the implement 32 rotates.
It should be appreciated that the configuration of the work vehicle 10 described above and shown in FIG. 1 is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of work vehicle configuration. For example, the work vehicle 10 was described above as including a pair of lift cylinders 36 and a pair of tilt cylinders 38. However, in other embodiments, the work vehicle 10 may, instead, include any number of lift cylinders 36 and/or tilt cylinders 38, such as by only including a single lift cylinder 36 for controlling the movement of the loader arms 24 and/or a single tilt cylinder 38 for controlling the movement of the implement 32.
Referring now to FIG. 2, a schematic view of one embodiment of a system 100 for controlling implement operation of a work vehicle is illustrated in accordance with aspects of the present subject matter. In general, the system 100 will be described herein with reference to the work vehicle 10 described above with reference to FIG. 1. However, it should be appreciated by those of ordinary skill in the art that the disclosed system 100 may generally be utilized with work vehicles having any other suitable vehicle configuration. It should also be appreciated that, for purposes of illustration, hydraulic connections between components of the system 100 are shown in solid lines while electrical connection between components of the system 100 are shown in dashed lines.
In several embodiments, as shown in FIG. 2, the system 100 may include one or more hydraulic actuators of the work vehicle 10. In this respect, as will be described below, the system 100 may be configured to regulate or otherwise control the hydraulic fluid flow within the work vehicle 10 such that the hydraulic fluid is supplied to the actuator(s) of the vehicle 10 in a manner that allows the implement 32 to be moved to a target position (e.g., a target height relative to the ground and/or target orientation relative to the load arms 24). For example, in the illustrated embodiment, the system 100 includes the lift cylinders 36 and the tilt cylinders 38 of the work vehicle 10. However, in alternative embodiments, the system 100 may include any other suitable hydraulic actuators of the work vehicle 10 in addition to or lieu of the lift and tilt cylinders 36, 38, such as hydraulic actuators associated with other implements (e.g., a backhoe assembly), stabilizer legs, and/or the like and/or hydraulic motors. Additionally, in some embodiments, the system 100 may include one or more electric actuators in addition to or lieu of the hydraulic actuators.
As shown in FIG. 2, the system 100 may include a pump 102 configured to supply hydraulic fluid to the hydraulic load (s) of the vehicle 10. Specifically, in several embodiments, the pump 102 may be configured to supply hydraulic fluid to the lift cylinders 36 of the vehicle 10 via a first fluid supply conduit 104 and the tilt cylinders 38 of the vehicle 10 via a second fluid supply conduit 106. However, in alternative embodiments, the pump 102 may be configured to supply hydraulic fluid to any other suitable hydraulic loads of the vehicle 10. Additionally, the pump 102 may be in fluid communication with a fluid tank or reservoir 108 via a pump conduit 110 to allow hydraulic fluid stored within the reservoir 108 to be pressurized and supplied to the lift and tilt cylinders 36, 38.
In several embodiments, the pump 102 may be a variable displacement pump configured to discharge hydraulic fluid across a given pressure range. Specifically, the pump 102 may supply pressurized hydraulic fluid within a range bounded by a minimum pressure and a maximum pressure capability of the variable displacement pump. In this respect, a swash plash plate 112 may be configured to be controlled mechanically via a load sense conduit 114 to adjust the position of the swash plate 112 of the pump 102, as necessary, based on the load applied to the hydraulic system of the vehicle 10. However, in other embodiments, the pump 102 may correspond to any other suitable pressurized fluid source. Moreover, the operation of the pump 102 may be controlled in any other suitable manner, such as by an electronically controlled actuator (e.g., a solenoid).
Furthermore, the system 100 may include one or more flow control valves. In general, the flow control valve(s) may be fluidly coupled to a fluid supply conduit(s) upstream of the corresponding hydraulic actuator such that the flow control valve(s) is configured to control the flow rate of the hydraulic fluid to the actuator(s). Specifically, in several embodiments, the system 100 may include a first flow control valve 116 fluidly coupled to the first fluid supply conduit 104 upstream of the lift cylinders 36. The first flow control valve 116 may, in turn, define an adjustable orifice (not shown). In this respect, by adjusting the cross-sectional area of the orifice, the first flow control valve 116 is able to control the flow rate of the hydraulic fluid to the lift cylinders 36 and, thus, the movement of the loader arms 24 relative to the vehicle frame 16. Moreover, in such embodiments, the system 100 may include a second flow control valve 118 fluidly coupled to the second fluid supply conduit 106 upstream of the tilt cylinders 38. The second flow control valve 118 may, in turn, define an adjustable orifice. As such, by adjusting the cross-sectional area of the orifice, the second flow control valve 118 is able to control the flow rate of the hydraulic fluid to the tilt cylinders 38 and, thus, the movement of the implement 32 relative to the loader arms 24.
The first and second flow control valves 116, 118 may be configured as any suitable valves defining adjustable orifices. For example, in one embodiment, first and second flow control valves 116, 118 may be proportional directional valves. Such valves 116, 118 may include actuators (e.g., solenoid actuators) configured to adjust the cross-sectional areas of the orifices in response to receiving control signals, such as from a computing system 120.
Additionally, as indicated above, the system 100 may include a load sense conduit 114. In general, the load sense conduit 114 may receive hydraulic fluid bled from the first or second fluid supply conduit 104, 106 having the greater pressure therein. More specifically, the system 100 may include a first bleed conduit 122 fluidly coupled to the first fluid supply conduit 104 downstream of the first flow control valve 116. Furthermore, the system 100 may include a second bleed conduit 124 fluidly coupled to the second fluid supply conduit 106 downstream of the second flow control valve 118. Thus, the first bleed conduit 122 may receive hydraulic fluid bled from the first fluid supply conduit 104 and the second bleed conduit 124 may receive hydraulic fluid bled from the second fluid supply conduit 106. Furthermore, the system 100 may include a shuttle valve 126 fluidly coupled to the first and second bleed conduits 122, 124 and the load sense conduit 114. The shuttle valve 126 may, in turn, be configured to supply hydraulic fluid from the first or second bleed conduit 122, 124 having the greater pressure therein to the load sense conduit 114. In this respect, the hydraulic fluid supplied to the load sense conduit 114 may have the same pressure as the fluid supply conduit 104, 106 having the greater pressures therein.
The hydraulic fluid within the load sense conduit 114 may be indicative of the load on the hydraulic system of the vehicle 10 and, thus, may be used to control the operation of the pump 102. More specifically, the load sense conduit 114 may supply the hydraulic fluid therein to a pump compensator 128. The pump compensator 128 may also receive hydraulic fluid bled from the first and/or second fluid supply conduits 104, 106 upstream of the flow control valves 116, 118 via a bleed conduit 130. Additionally, the pump compensator 128 may have an associated a pump margin. In this respect, the pump compensator 128 may control the operation of the pump 102 such that the pump 102 discharges hydraulic fluid at a pressure that is equal to the sum of the pump margin and the pressure of the hydraulic fluid received from the load sense conduit 114.
In this illustrated embodiment, the pump compensator 128 corresponds to a mechanical device. For instance, the pump compensator 128 may correspond to a passive hydraulic cylinder coupled to the swash plate 112 of the pump 102. In such an embodiment, hydraulic fluid from the load sense conduit 114 is supplied to one chamber of the cylinder and hydraulic fluid from a bleed conduit 130 is supplied to the other chamber of the cylinder. Moreover, the pump compensator 128 may include a biasing element, such as a spring, in association within the cylinder to set the pump margin. In this respect, when the sum of the pressure received from the load sense conduit 114 and the pump margin exceeds the pressure within the bleed conduit 130, the pump compensator 128 may move the swash plate 112 to increase the pressure of the hydraulic fluid discharged by the pump 102. Conversely, when the sum of the pressure received from the load sense conduit 114 and the pump margin falls below the pressure within the bleed conduit 130, the pump compensator 128 may move the swashplate 112 to decrease the pressure of the hydraulic fluid discharged by the pump 102. However, as will be described below, in other embodiments, the pump compensator 128 may be configured as any other suitable device for controlling the operation of the pump 102.
In accordance with aspects of the present subject matter, the system 100 may include a computing system 120 communicatively coupled to one or more components of the work vehicle 10 and/or the system 100 to allow the operation of such components to be electronically or automatically controlled by the computing system 120. For instance, the computing system 120 may be communicatively coupled to the first flow control valve 116 via a communicative link 132. As such, the computing system 120 may be configured to control the operation of the valve 116 to regulate the flow of the hydraulic fluid to the lift cylinders 36 such that the lift cylinders 36 raise and lower the loader arms 24 relative to the field surface. Furthermore, the computing system 120 may be communicatively coupled to the second flow control valve 118 via the communicative link 132. In this respect, the computing system 120 may be configured to control the operation of the valve 118 to regulate the flow of the hydraulic fluid to the tilt cylinders 38 such that the tilt cylinders 38 adjust the tilt of the implement 32 relative to the loader arms 24. Moreover, the computing system 120 may be communicatively coupled to the lift and tilt position sensors 40, 42 via the communicative link 132. Thus, the computing system 120 may be configured to receive data from these sensors 40, 42 indicative of the position of the implement 32, namely the angular position of the loader arms 24 relative to the vehicle frame 16 and the angular position of the implement 32 relative to the loader arms 24.
In general, the computing system 120 may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system 120 may include one or more processor(s) 134 and associated memory device(s) 136 configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 136 of the computing system 120 may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) 136 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 134, configure the computing system 120 to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system 120 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.
The various functions of the computing system 120 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system 120. For instance, the functions of the computing system 120 may be distributed across multiple application-specific controllers or computing devices, such as an implement controller, a navigation controller, an engine controller, and/or the like.
Furthermore, in some embodiment, the system 100 may also include a user interface 138. More specifically, the user interface 138 may be configured to receive inputs (e.g., inputs associated with a target position of the implement 32) from the operator. As such, the user interface 138 may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator. For example, in one embodiment, the user interface 138 may include the joystick(s) 20. The user interface 138 may, in turn, be communicatively coupled to the computing system 120 via the communicative link 132 to permit the received inputs to be transmitted from the user interface 138 to the computing system 120. In addition, some embodiments of the user interface 138 may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the computing system 120 to the operator. In one embodiment, the user interface 138 may be mounted or otherwise positioned within the cab 18 of the vehicle 10. However, in alternative embodiments, the user interface 138 may mounted at any other suitable location.
Referring now to FIG. 3, a flow diagram of one embodiment of a method 200 for controlling implement operation of a work vehicle is illustrated in accordance with aspects of the present subject matter. In general, the method 200 will be described herein with reference to the work vehicle 10 and the system 100 described above with reference to FIGS. 1 and 2. However, it should be appreciated by those of ordinary skill in the art that the disclosed method 200 may generally be implemented with any work vehicle having any suitable vehicle configuration and/or within any system having any suitable system configuration. In addition, although FIG. 3 depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.
As shown in FIG. 3, at (202), the method 200 may include receiving, with a computing system, an input associated with a target position of an implement of a work vehicle. Specifically, in several embodiments, the operator of the work vehicle 10 may provide an input to the user interface 138 (e.g., via the control lever(s) 20) associated with a target position of the implement 32, such as before beginning a work operation. For example, in one embodiment, the target position may be a return-to-dig position at which the height of the implement 32 relative to the ground and the orientation of the implement 32 relative to the loader arms 24 are suitable for obtaining a quantity of particulate matter (e.g., dirt, sand, gravel, and/or the like) from a pile. However, in alternative embodiments, the target position of the implement 32 may be any other suitable position to which the implement 32 can be moved. Moreover, in alternative embodiments, the target position may be preprogrammed into the computing system 120, such as during manufacturing of the work vehicle 10. The input from the operator may then be transmitted from the user interface 138 to the computing system 120 via the communicative link 132. This target position may then be saved within the memory device(s) 136 of the computing system 120. At any time during the work operation, the operator may provide an input to the user interface 138 indicating that he/she would like the implement 32 to move to the stored target position. After receiving such an input, the computing system 120 may access the stored target position within its memory device(s) 136 and, as will be described below, initiate movement of the implement 32 toward the stored target position.
Additionally, at (204), the method 200 may include monitoring, with the computing system, a current position of the implement based on received sensor data. More specifically, during operation of the work vehicle 10, the computing system 120 may receive data associated with the current position of the implement 32. For example, in some embodiments, the computing system 120 may receive data associated with angular position of the loader arms 24 relative to the vehicle frame 16 from the lift position sensor 40 (e.g., via the communicative link 132). Such data may, in turn, be indicative of the height of the implement 32 relative to the ground. Furthermore, in some embodiments, the computing system 120 may receive data associated with angular position of the implement 32 relative to the loader arms 24 from the tilt position sensor 42 (e.g., via the communicative link 132). Such data may, in turn, be indicative of the orientation of the of the implement 32 relative to the loader arms 24 (and, indirectly, the ground). In this respect, the computing system 120 may be configured to process or analyze the data received from the sensors 40, 42 to determine or estimate the current position of the implement 32, namely the height and orientation of the implement 32 relative to the ground. For instance, the computing system 120 may include a look-up table(s), suitable mathematical formula, and/or an algorithm(s) stored within its memory device(s) 136 that correlates the received sensor data to the corresponding implement position parameter.
Moreover, as shown in FIG. 3, at (206), the method 200 may include controlling, with the computing system, the operation of an actuator of the work vehicle such that the implement is moved toward the target position based on the monitored current position. In several embodiments, the computing system 120 may be configured to control the operation of the first flow control valve 116 and/or the second flow control valve 118 such that hydraulic fluid is supplied to the lift cylinders 36 and/or the tilt cylinders 38, respectively, in a manner that moves the implement 32 from its current position toward the target position. Specifically, in such embodiments, the computing system 120 may initially control the operation of the valves 116 and/or 118 based on the monitored position of the implement 32 via closed-loop feedback. As will be described below, as the implement 32 nears the target position, the valves 116 and/or 118 may be controlled based on the monitored position and a speed-based parameter.
In some embodiments, at (206), the method 200 may include controlling the operation of the actuator such that the speed at which the implement is moved toward the target is initially increased and then subsequently decreased. For example, in some embodiments, the computing system 120 may be configured to initiate an increase in a speed at which the implement 32 is being moved (e.g., by controlling the operation of the valves 116 and/or 118) as the implement 32 is moved from an initial position (e.g., its current position upon receipt of the input at (202)) to an intermediate position. Thereafter, the computing system 120 may subsequently initiate a decrease in the speed at which the implement 32 is being moved (e.g., by controlling the operation of the valves 116 and/or 118) from the intermediate position to the target position.
Additionally, at (206), in one embodiment, the computing system 120 may be configured to control the operation of the valves 116 and/or 118 such that the implement 32 gradually accelerated from the initial position to the intermediate position. Specifically, in such an embodiment, the computing system 120 may control the valves 116 and/or 118 such that the implement 32 is accelerated at a first acceleration rate from the initial position to a position between the initial and intermediate positions and at a second acceleration rate from this position to the intermediate position, with the second acceleration rate being greater than the first acceleration rate. Such a gradual acceleration of the implement 32 from the initial position may reduce accelerations felt by the operator and make the operation of the work vehicle 10 more comfortable.
FIG. 4 illustrates a graphical view of an example dataset charting the speed (plotted on the horizontal axis) at which the implement 32 is moved relative to the position (plotted on the vertical axis) of the implement 32. More specifically, in the illustrated dataset, the implement 32 is being moved from an initial position indicated by point 300 to a target position indicated by point 302 at varying speeds as indicated by line 304. In this respect, the speed of the implement 32 is increased from zero at the initial position 300 to a maximum speed at an intermediate position 306. Moreover, as shown, the acceleration of the implement from the initial position 300 to a position indicated by point 308 (with the point 308 being before the intermediate point) is less than the acceleration of the implement 32 from the point 308 to the intermediate point 306.
Referring again to FIG. 3, at (208), the method 200 may include determining, with the computing system, a speed-based parameter associated with the speed at which the implement is being moved across a time period. In several embodiments, the computing system 120 may be configured to determine a speed-based parameter associated with the speed at which the implement 32 is being moved toward the target position. In general, the speed-based parameter is determined across a time period occurring during the movement of the implement 32 from its initial position to the target position. For example, in some embodiments, the computing system 120 may determine the speed-based parameter while the speed at which the implement 32 is moving decreases, such as after the implement 32 has reached the intermediate position.
The speed-based parameter may be any suitable parameter associated with the speed at which the implement 32 is being moved. For example, in several embodiments, the speed-based parameter may be an acceleration associated with the implement 32. In one such embodiment, the speed-based parameter may be the angular acceleration at which the implement 32 relative to the vehicle frame 16. However, in alternative embodiments, the speed-based parameter may be any other suitable parameter associated with the speed at which the implement 32 is being moved, such as the angular speed of the implement 32.
In some embodiments, at (208), the computing system 120 may be configured to determine a correction factor based on the speed-based parameter. As will be described below, the correction factor may be used in addition to the monitored speed to control the movement of the implement 32 such that the movement of the implement 32 is halted when the implement 32 reaches the target position. More specifically, in one embodiment, the computing system 120 may determine a first position of the implement 32 at a first time corresponding to the start of the time period and a second position of the implement 32 at a second time corresponding to the end of the time period. Such position determinations may be made based on the data received from the lift and/or tilt position sensors 40, 42 as described above. Based on these position measurements and the relevant times at which the position measurements were captured, the computing system 120 may determine the average acceleration of the implement 32. In this respect, the computing system 120 may determine or estimate a projected speed of the implement 32 at the target position based the determined acceleration of the implement 32. Thereafter, the computing system 120 may determine the correction factor based on the projected speed of the implement 32. For instance, the computing system 120 may include a look-up table(s), suitable mathematical formula, and/or an algorithm(s) stored within its memory device(s) 136 that correlates the received sensor data to the correction factor.
Referring to FIG. 4, as mentioned above, the speed at which the implement 32 is moved decreases from the intermediate position 306 to the target position 302. In this respect, the computing system 120 may determine the positions of the implement 32 at the start and end of a time period t occurring after the implement 32 has passed the intermediate position 306 and begun to decelerate. Specifically, as shown, at the start of the time period t, the implement 32 is a position indicated by point 310. At the end of the time period t, the implement 32 is at a position indicated by point 312. Thus, the computing system 120 may determine the first and second positions 310, 312 of the implement 32 at the start of the time period t and the end of the time period t, respectively. Based on these positions 310, 312 and the times at which the implement 32 was at such positions 310, 312, the computing system 120 can determine the average acceleration of the implement 32 during the time period t, the projected speed of the implement 32 at the target position 302 based on the average acceleration, and the correction factor based on the difference between the projected speed and the residual speed requirement at the target position 302.
In addition, as shown in FIG. 3, at (210), after the time period has elapsed, the method 200 may include controlling, with the computing system, the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter. In several embodiments, after the time period across which the speed-based parameter was determined has elapsed, the computing system 120 may be configured to control the operation of the valves 116 and/or 118 such that the implement 32 is moved to the target position based on the monitored current position and the determined speed-based parameter. For example, in such embodiments, the computing system 120 may control the valves 116 and/or 118 based on the monitored current position and the determined correction factor such that the implement 32 is moving at a selected speed when flow of fluid to the valves 116 and/or 118 is halted. Thus, by ensuring the implement 32 is moving at a selected speed when the flow of fluid to the valves 116 and/or 118 is halted, the implement 32 will reach the target position (i.e., the implement 32 does not stop short) and stop at the target position without a large and uncomfortable deceleration of the implement 32.
Referring to FIG. 4, as described above, the speed-based parameter and the correction factor are determined as the implement 32 is moved from the position 310 to the position 312. Thus, the movement of the implement 32 from the position 312 to the target position 302 is controlled based on both the monitored position of the implement 32 as detected by the sensors 40 and/or 42 as well as the correction factor. Such control allows the implement 32 to reach and stop at the target position without a large and uncomfortable deceleration. In this respect, the deceleration of the implement 32 may be adjusted after reaching the position 312 based on the correction factor. For example, as shown in FIG. 4, the deceleration rate of the implement 32 from position 310 to position 312 would result in the implement 32 overshooting the target position such that a large and abrupt deceleration would be required to stop the implement 32 upon reaching the target position. Thus, the deceleration rate from position 312 to the target position 302 is increased based on the correction factor such that implement 32 stops at the target position without an abrupt stop.
It is to be understood that the steps of the method 200 are performed by the computing system 120 upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system 120 described herein, such as the method 200, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system 120 loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system 120, the computing system 120 may perform any of the functionality of the computing system 120 described herein, including any steps of the method 200 described herein.
The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller.
This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

1. A system for controlling implement operation of a work vehicle, the system comprising:

a vehicle chassis;

a loader arm pivotably coupled to the vehicle chassis;

an implement pivotably coupled to the loader arm;

a fluid-driven actuator configured to adjust a position of the implement relative to the vehicle chassis;

a sensor configured to capture data indicative of the position of the implement relative to the vehicle chassis; and

a computing system communicatively coupled to the sensor, the computing system configured to:

receive an input associated with a target position of the implement;

monitor a current position of the implement based on the data captured by the sensor;

control an operation of the actuator such that the implement is moved toward the target position based on the monitored current position;

determine a speed-based parameter associated with a speed at which the implement is being moved across a time period; and

after the time period has elapsed, control the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.

2. The system of claim 1, wherein the speed-based parameter is an acceleration associated with the implement.

3. The system of claim 2, wherein the speed-based parameter is an angular acceleration of the loader arm relative to the vehicle chassis.

4. The system of claim 2, wherein, when determining the speed-based parameter, the computing device is configured to:

determine a first position of the implement at a first time corresponding to a start of the time period;

determine a second position of the implement at a second time corresponding to an end of the time period;

determine an average acceleration of the implement based on the first and second positions; and

determine a projected speed of the implement at the target position.

5. The system of claim 4, wherein, when determining the speed-based parameter, the computing device is further configured to determine a correction factor based on the projected speed.

6. The system of claim 5, wherein, when controlling the operation of the actuator based on the monitored current position and the determined speed-based parameter, the computing system is configured to control the operation of the actuator based on the monitored position and the determined correction factor such that the implement is moving at a selected speed when flow of fluid to the fluid-driven actuator is halted.

7. The system of claim 1, wherein, when controlling the operation of the actuator such that the implement is moved toward the target position, the computing system is further configured to:

initiate an increase in a speed at which the implement is being moved as the implement is moved from an initial position to an intermediate position; and

subsequently initiate a decrease in the speed at which the implement is being moved from the intermediate position toward the target position.

8. The system of claim 7, wherein the computing system is configured to determine the speed-based parameter when the speed at which the implement is being moved is decreased.

9. The system of claim 7, wherein, when initiating the increase in the speed at which the implement is being moved as the implement is moved from the initial position to the intermediate position, the computing system is configured to control the operation of the fluid-driven actuator such that the implement is accelerated at a first acceleration rate from the initial position to a first position and a second acceleration rate from the first position to the intermediate position, the second acceleration rate being greater than the first acceleration rate.

10. The system of claim 1, wherein the sensor is configured to monitor an angular position of the loader arm relative to the vehicle chassis.

11. A method for controlling implement operation of a work vehicle, the work vehicle including an implement and a fluid-driven actuator configured to adjust a position of the implement relative to a chassis of the vehicle, the method comprising:

receiving, with a computing system, an input associated with a target position of the implement;

monitoring, with the computing system, a current position of the implement based on received sensor data;

controlling, with the computing system, an operation of the actuator such that the implement is moved toward the target position based on the monitored current position;

determining, with the computing system, a speed-based parameter associated with a speed at which the implement is being moved across a time period; and

after the time period has elapsed, controlling, with the computing system, the operation of the actuator such that the implement is moved to the target position based on the monitored current position and the determined speed-based parameter.

12. The method of claim 11, wherein the speed-based parameter is an acceleration associated with the implement.

13. The method of claim 12, wherein the speed-based parameter is an angular acceleration of a loader arm of the work vehicle relative to the chassis.

14. The method of claim 12, wherein determining the speed-based parameter comprises:

determining, with the computing system, a first position of the implement at a first time corresponding to a start of the time period;

determining, with the computing system, a second position of the implement at a second time corresponding to an end of the time period;

determining, with the computing system, an average acceleration of the implement based on the first and second positions; and

determining, with the computing system, a projected speed of the implement at the target position.

15. The method of claim 14, wherein determining the speed-based parameter speed correction value comprises determining, with the computing system, a correction factor based on the projected speed.

16. The method of claim 15, wherein controlling the operation of the actuator based on the monitored current position and the determined speed-based parameter further comprises controlling, with the computing system, the operation of the actuator based on the monitored position and the determined correction factor such that the implement is moving at a selected speed when flow of fluid to the fluid-driven actuator is halted.

17. The method of claim 11, wherein controlling the operation of the actuator such that the implement is moved toward the target position comprises:

initiating, with the computing system, an increase in a speed at which the implement is being moved as the implement is moved from an initial position to an intermediate position; and

subsequently initiating, with the computing system, a decrease in the speed at which the implement is being moved from the intermediate position toward the target position.

18. The method of claim 17, wherein determining the speed-based parameter comprises determining, with the computing system, the speed-based parameter across the time period when the speed at which the implement is being moved from the intermediate position toward the target position is decreased.

19. The method of claim 17, wherein initiating the increase in the speed at which the implement is being moved as the implement is moved from the initial position to the intermediate position comprises controlling, with the computing system, the operation of the fluid-driven actuator such that the implement is accelerated at a first acceleration rate from the initial position to a first position and a second acceleration rate from the first position to the intermediate position, the second acceleration rate being greater than the first acceleration rate.

20. The method of claim 11, wherein monitoring the current position of the implement based on received sensor data comprises monitoring, with the computing system, an angular position of the loader arm relative to the chassis.