Work vehicle with constant velocity implement actuation

Patent metadata

Field	Value
Publication number	US-11047111-B2
Application number	US-201816106424-A
Country	US
Kind code	B2
Filing date	Aug 21, 2018
Priority date	Aug 21, 2018
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

A work vehicle includes a frame; an implement; a linkage assembly mounting the implement to the frame; a linkage actuator coupled to the linkage assembly and the frame and configured to reposition the linkage assembly relative to the frame; a sensor configured to generate sensor position data associated with at least one of the linkage assembly and the linkage actuator representing a linkage position; an operator interface configured to receive operator input from an operator associated with the linkage actuator representing a velocity request; and an electronic control system having processing and memory architecture operatively coupled to the sensor, operator interface, and linkage actuator. The electronic control system is configured to generate an actuator command for the linkage actuator based on the velocity request and the linkage position that, upon execution, results in a constant velocity of the implement for the operator input regardless of the linkage position.

First claim

What is claimed is:

1. A work vehicle, comprising:
a frame;
an implement;
a linkage assembly mounting the implement to the frame;
a linkage actuator coupled to the linkage assembly and configured to reposition the linkage assembly relative to the frame;
a sensor configured to generate sensor position data associated with one or more of the linkage assembly and the linkage actuator representing a linkage position;
an operator interface configured to receive operator input from an operator associated with the linkage actuator representing a velocity request; and
an electronic control system having processing and memory architecture operatively coupled to the sensor, the operator interface, and the linkage actuator and configured to generate an actuator command for the linkage actuator based on the velocity request and the linkage position that, upon execution, results in a constant velocity of the implement for the operator input regardless of the linkage position.

2. The work vehicle of claim 1 , wherein the control system includes an implement controller comprising:
an operator input module configured to receive operator input data from the operator interface based on the operator input and to determine the velocity request based on the operator input data;
a position module configured to receive the sensor position data and to determine the linkage position based on the sensor position data; and
a constant velocity module coupled to receive the velocity request from the operator input module and the linkage position from the position module and to generate the actuator command for the linkage actuator.

3. The work vehicle of claim 2 , wherein, upon execution of the actuator command, the operator input module is configured to receive updated operator input data to determine an updated velocity request, the position module is configured to receive updated sensor position data and to determine an updated linkage position; and the constant velocity module is configured to receive the updated velocity request and the updated linkage position and to generate an updated actuator command according to open loop logic.

4. The work vehicle of claim 1 , wherein the sensor is arranged to measure a position of the linkage actuator as the sensor position data.

5. The work vehicle of claim 1 , wherein the linkage actuator is a hydraulic actuator with a rod partially arranged within a cylinder, and wherein the sensor is a linear sensor configured to generate the sensor position data as representing a position of the rod relative to the cylinder.

6. The work vehicle of claim 1 , wherein the sensor is arranged to measure a position of the linkage assembly as the sensor position data.

7. The work vehicle of claim 1 , wherein the constant velocity module is configured to generate the actuator command by implementing one or more maps or look-up tables that represent a relationship between a plurality of the linkage positions and a plurality of the actuator commands for a respective one of a plurality of the velocity requests.

8. The work vehicle of claim 7 , wherein the relationship represented in the one or more maps or look-up tables is based on a mechanical advantage of the linkage assembly through an actuation cycle of the plurality of the linkage positions.

9. The work vehicle of claim 7 , wherein the relationship represented in the one or more maps or look-up tables is based on a ratio of cylinder velocity of the linkage actuator to implement velocity through an actuation cycle of the plurality of the linkage positions.

10. A method of controlling a linkage actuator on a work vehicle for manipulating an implement coupled to a frame of the work vehicle with a linkage assembly, the method comprising:
receiving operator input at an operator interface as operator input data;
determining a velocity request based on the operator input data;
collecting sensor position data with a sensor associated with one or more of the linkage assembly and the linkage actuator;
determining a linkage position of the one or more of the linkage assembly and the linkage actuator based on the sensor position data;
generating an actuator command for the linkage actuator based on the velocity request and the linkage position that, upon execution, results in a constant velocity of the implement for the operator input regardless of the linkage position; and
executing the actuator command at the linkage actuator to reposition the implement.

11. The method of claim 10 , wherein, upon the executing of the actuator command, the method further comprises: collecting updated sensor position data; determining an updated linkage position; generating an updated actuator command based on the updated linkage position according to open loop logic; and executing the updated actuator command.

12. The method of claim 10 , wherein the linkage actuator is a hydraulic actuator with a rod partially arranged within a cylinder and the sensor is a linear sensor associated with the linkage actuator, and
wherein the collecting the sensor position data includes collecting the sensor position data as representing a position of the rod relative to the cylinder.

13. The method of claim 10 , wherein the generating the actuator command includes implementing one or more maps or look-up tables that represent a relationship between a plurality of the linkage positions and a plurality of the actuator commands for a respective one of a plurality of the velocity requests.

14. The method of claim 13 , wherein the relationship represented in the one or more maps or look-up tables is based on a mechanical advantage of the linkage assembly through an actuation cycle of the plurality of linkage positions.

15. The method of claim 13 , wherein the relationship represented in the one or more maps or look-up tables is based on a ratio of cylinder velocity of the linkage actuator to implement velocity through an actuation cycle of the plurality of linkage positions.

16. A control system in a work vehicle for controlling a linkage actuator for manipulating an implement coupled to a frame of the work vehicle with a linkage assembly, the control system comprising:
one or more electronic controllers having processing and memory architecture including:
an operator input module configured to receive operator input data associated with operator input at a vehicle operator interface, the operator input module configured to determine a velocity request based on the operator input data;
a position module configured to receive sensor position data associated with one or more of the linkage assembly and the linkage actuator and to determine a linkage position of the one or more of the linkage assembly and the linkage actuator based on the sensor position data; and
a constant velocity module coupled to receive the velocity request from the operator input module and the linkage position from the position module and configured to generate an actuator command for the linkage actuator that, upon execution, results in a constant velocity of the implement for the operator input regardless of the linkage position.

17. The control system of claim 16 , wherein the constant velocity module is configured to generate the actuator command by implementing one or more maps or look-up tables that represent a relationship between a plurality of the linkage positions and a plurality of the actuator commands for a respective one of a plurality of the velocity requests.

18. The control system of claim 17 , wherein the relationship represented in the one or more ma

Assignees

• Deere & Co

Inventors

• Mairet Sean A
• Rausch Bryan

Classifications

• A01B63/10

  operated by hydraulic or pneumatic means · CPC title

• E02F3/3414 Primary

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

• E02F9/2203

  Arrangements for controlling the attitude of actuators, e.g. speed, floating function · CPC title

• E02F9/2029 Primary

  Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence) · CPC title

• E02F3/431 Primary

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