Open loop electrohydraulic bucket position control method and system

Patent metadata

Field	Value
Publication number	US-10738439-B2
Application number	US-201815875017-A
Country	US
Kind code	B2
Filing date	Jan 19, 2018
Priority date	Jan 19, 2018
Publication date	Aug 11, 2020
Grant date	Aug 11, 2020

Abstract

An open loop electrohydraulic bucket position control system for a work vehicle having a positionable bucket coupled to a movable boom. The bucket control system maintains a position of the bucket with respect to a frame of the vehicle as the movable boom is raised or lowered. A bucket command, determined by an operator of the vehicle, is modified based on a pre-determined relationship of the work vehicle's hardware and known and constant properties of a linkage design of the work machine. The control system includes a processor and one or more look-up tables that include data identifying implement velocities with respect to boom commands and implement velocities with respect to bucket commands. Bucket commands are modified based on a relationship between the commanded velocity of the boom and a level orientation of the bucket during the commanded heights of the boom. Modified bucket commands and boom commands adjust the position of a bucket hydraulic cylinder and a boom hydraulic cylinder.

First claim

The invention claimed is:

1. An electrohydraulic bucket position control system for a work vehicle having a boom operator control configured to transmit an operator boom command to adjust a position of a boom and a bucket operator control configured to transmit an operator bucket command to adjust a position of a bucket, the control system comprising:
a boom hydraulic actuator operatively connected to the boom operator control;
a bucket tilt hydraulic actuator operatively connected to the bucket operator control;
a controller operatively connected, to the boom operator control and to the bucket Operator control, the controller including a processor and a memory, wherein the memory is configured to store program instructions, bucket data, boom data, and boom and bucket relational data, wherein the memory includes at least one stored lookup table, wherein the stored lookup table includes one of the stored bucket data, stored boom data, and the boom and bucket relational velocity data including at least one velocity ratio, wherein the at least one velocity ratio is representative of a velocity of the bucket with respect to a velocity the boom, and the processor is configured to execute the stored program instructions to:
determine a boom velocity of the boom based, on the operator boom command;
determine a bucket velocity of the bucket based on the operator bucket command; and
determine a combined bucket command based on the boom velocity and bucket velocity to arrive at the combined bucket command, wherein the bucket velocity is at least one of an angular and linear velocity, and wherein the combined bucket command determines a velocity of the bucket based on the determined boom velocity and the at least one velocity ratio.

2. The control system of claim 1 wherein the stored bucket data includes a plurality of bucket commands, wherein each of the bucket commands is configured to maintain the bucket substantially level.

3. The control system of claim 1 wherein the stored boom data includes a plurality of boom commands, wherein each of the boom commands is associated with a specific boom velocity.

4. The control system of claim 1 wherein the stored boom data includes a plurality of boom commands, wherein each of the boom commands is associated with a height of the boom with respect to a frame of the work vehicle.

5. The control system of claim 1 wherein the at least one ratio includes a single ratio representative of the boom being both raised and lowered.

6. The control system of claim 1 wherein the at least one ratio includes a first ratio representative of the boom as the boom is raised and a second ratio representative of the boom as the boom is lowered.

7. A front end loader including a frame comprising;
a ground engaging traction member operatively connected to the frame;
a cab operatively connected to the frame, the cab being configured to be occupied by an operator;
a boom operatively connected to the frame;
a bucket rotationally coupled to the boom;
a bucket tilt hydraulic actuator operatively connected to a bucket operator control providing a bucket tilt command;
a boom hydraulic actuator operatively connected to a boom operator control providing a boom command;
a controller operatively connected to the boom operator control and to the bucket operator control, the controller including a processor and a memory, wherein the memory is configured to store program instructions and the processor is configured to execute the stored program instructions to:
determine a velocity of the boom based on the boom command generated by the boom operator control;
determine a velocity of the bucket based on the bucket command generated by the bucket operator control;
determine a commanded boom and bucket velocity ratio based on the boom command;
determine a required boom and bucket ratio for a level lift;
determine a combined bucket command based on the commanded boom and bucket velocity ratio and the requited boom and bucket ratio; and
adjust the bucket hydraulic actuator with the combined bucket command.

8. The front end loader of claim 7 wherein the determine a commanded boom and bucket velocity ratio includes determine the commanded boom and bucket velocity ratio based on a plurality of the boom commands each associated with a boom velocity and a plurality of the bucket commands each associated with the bucket velocity.

9. The front end loader of claim 8 wherein the memory is further configured to store a first lookup table arranged to include the plurality of boom commands each associated with the boom velocity and a second lookup table arranged to include the plurality of bucket commands each associated with a bucket velocity.

10. The front end loader of claim 9 wherein the memory is further configured to a store the required boom and bucket velocity ratio for a level lift.

11. The front end loader of claim 10 wherein the processor is configured to execute the stored program instructions to: determine the combined bucket command by accessing the first and second lookup tables to generate the commanded boom and bucket velocity ratio.

12. The front end loader of claim 11 wherein the processor is configured to execute the stored program instructions to: determine the combined bucket command by accessing the stored required boom and bucket ratio for a level lift to generate the commanded boom and bucket velocity ratio.

13. The front end loader of claim 12 wherein the processor is figured to execute the stored program instructions to: adjust the bucket hydraulic actuator based on the combined bucket tilt command.

14. The front end loader of claim 7 wherein the determine the combined bucket command includes determine the combined bucket command in the absence of a sensor signal generated by a sensor located at one of the boom or at the bucket.

15. A method of adjusting a position of an implement operatively connected to a boom of a front end loader wherein a position of the implement is made in response to a boom command and the position of the implement is made in response to an implement command, the method comprising:
identifying a first velocity of the boom based on the boom command;
identifying a second velocity of the implement based on the implement command;
determining a commanded velocity ratio based on the identified first velocity and the identified second velocity; and
determining a modified implement command based on the commanded velocity ratio, wherein the modified implement command adjusts the position of the implement with respect to the boom.

16. The method of claim 15 further comprising determining relational data representative of the physical or operational relationship between a plurality or positions of the implement and an associated implement position at each of the plurality of positions of the implement to generate a boom/implement ratio for a level lift of the implement at each of the plurality of positions of the boom.

17. The method of claim 16 wherein the determining a modified implement command includes determining the modified implement command based on the generated boom/implement ratio for a level lift.

Assignees

• Deere & Co

Inventors

• Mairet Sean A
• Velde Todd F
• Laws Nathan H
• Rausch Bryan

Classifications

• E02F3/3414 Primary

  the arms being pivoted at the rear of the vehicle chassis, e.g. skid steer loader · CPC title

• E02F9/22

  Hydraulic or pneumatic drives {(for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22)} · CPC title

• E02F3/432

  for keeping the bucket in a predetermined position or attitude · CPC title

• E02F3/431 Primary

  for bucket-arms, front-end loaders, dumpers or the like · CPC title

• E02F3/422

  Drive systems for bucket-arms, front-end loaders, dumpers or the like · CPC title