Work vehicle magnetorheological fluid joystick systems operable in modified joystick stiffness modes

Patent metadata

Field	Value
Publication number	US-11499294-B2
Application number	US-202017002052-A
Country	US
Kind code	B2
Filing date	Aug 25, 2020
Priority date	May 1, 2020
Publication date	Nov 15, 2022
Grant date	Nov 15, 2022

Abstract

Embodiments of a work vehicle magnetorheological fluid (MRF) joystick system include a joystick device having a base housing, a joystick movably mounted to the base housing, and a joystick position sensor configured to monitor joystick movement. An MRF joystick resistance mechanism is controllable to vary a joystick stiffness resisting movement of the joystick relative to the base housing, while a controller architecture is coupled to the joystick position sensor and to the MRF joystick resistance mechanism. The controller architecture is configured to: (i) selectively place the work vehicle MRF joystick system in a modified joystick stiffness mode during operation of the work vehicle; and (ii) when the work vehicle MRF joystick system is placed in the modified joystick stiffness mode, command the MRF joystick resistance mechanism to vary the joystick stiffness based, at least in part, on the movement of the joystick relative to the base housing.

First claim

What is claimed is:

1. A work vehicle magnetorheological fluid (MRF) joystick system for usage onboard a work vehicle, the work vehicle MRF joystick system comprising:
a joystick device, comprising:
a base housing;
a joystick movably mounted to the base housing; and
a joystick position sensor configured to monitor movement of the joystick relative to the base housing;

an MRF joystick resistance mechanism controllable to vary a joystick stiffness resisting movement of the joystick relative to the base housing in at least one degree of freedom; and
a controller architecture coupled to the joystick position sensor and to the MRF joystick resistance mechanism, the controller architecture configured to:
selectively place the work vehicle MRF joystick system in a modified joystick stiffness mode during operation of the work vehicle; and
when the work vehicle MRF joystick system is placed in the modified joystick stiffness mode, command the MRF joystick resistance mechanism to vary the joystick stiffness based, at least in part, on the movement of the joystick relative to the base housing;
wherein the controller architecture commands the MRF joystick resistance mechanism to generate one or more MRF detents at one or more predetermined joystick positions when the work vehicle MRF joystick system operates in a default joystick stiffness mode.

2. The work vehicle MRF joystick system of claim 1 , wherein the controller architecture is configured to selectively place the work vehicle MRF joystick system in the modified joystick stiffness mode based, at least in part, on a type of work implement attached to the work vehicle.

3. The work vehicle MRF joystick system of claim 2 , wherein the type of work implement comprises a multi-function implement having first and second functions; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to restrict joystick movement to first and second substantially linear tracks when the work vehicle MRF joystick system is placed in the modified joystick stiffness mode, the joystick movement along the first and second substantially linear tracks controlling the first and second functions of the multi-function implement, respectively.

4. The work vehicle MRF joystick system of claim 1 , wherein the joystick device comprises at least one resilient element biasing the joystick to return to a center position when the joystick is moved therefrom; and
wherein the modified joystick stiffness mode comprises a joystick position hold mode in which the controller architecture commands the MRF joystick resistance mechanism to selectively increase the joystick stiffness in a manner preventing return of the joystick to the center position when the joystick is moved therefrom.

5. The work vehicle MRF joystick system of claim 4 , wherein the controller architecture is further configured to place the work vehicle MRF joystick system in the modified joystick stiffness mode in response to operator input transitioning the work vehicle from a velocity-based joystick steering scheme to a position-based joystick steering scheme.

6. The work vehicle MRF joystick system of claim 1 , wherein the work vehicle is operable in multiple performance modes; and
wherein the controller architecture is configured to selectively place the work vehicle MRF joystick system in the modified joystick stiffness mode based, at least in part, on operator input data placing the work vehicle in a selected one of the multiple performance modes.

7. The work vehicle MRF joystick system of claim 1 , wherein the work vehicle is operable in a creep mode in which the joystick device can be utilized to control movement of the work vehicle in at least forward and rearward directions; and
wherein the controller architecture is configured to selectively place the work vehicle MRF joystick system in the modified joystick stiffness mode when the work vehicle is placed in the creep mode.

8. The work vehicle MRF joystick system of claim 1 , wherein the controller architecture is further configured to:
command the MRF joystick resistance mechanism to generate the one or more MRF detents at a first force level when the work vehicle MRF joystick system operates in the default joystick stiffness mode; and
command the MRF joystick resistance mechanism to generate the one or more MRF detents at a second force level different than the first force level when the work vehicle MRF joystick system operates in the default joystick stiffness mode.

9. The work vehicle MRF joystick system of claim 1 , wherein the controller architecture is configured to control the MRF joystick resistance mechanism to suppress generation of the one or more MRF detents when the work vehicle MRF joystick system operates in the default joystick stiffness mode.

10. The work vehicle MRF joystick system of claim 1 , wherein a current speed of the work vehicle can be varied utilizing the joystick device; and
wherein the controller architecture is further configured to:
establish a target speed for the work vehicle based upon at least one performance parameter when the work vehicle MRF joystick system operates in the modified joystick stiffness mode; and
command the MRF joystick resistance mechanism to vary the MRF joystick stiffness to provide tactile feedback through the joystick device indicating when the current speed of the work vehicle matches the target speed of the work vehicle.

11. The work vehicle MRF joystick system of claim 1 , wherein the work vehicle comprises a grade control system and a blade positioned utilizing the joystick device; and
wherein the controller architecture is configured to place the work vehicle MRF joystick system in the modified joystick stiffness mode when an operator controls the blade during a grading task carried-out utilizing the grade control system.

12. The work vehicle MRF joystick system of claim 1 , further including a resilient element exerting a bias force on the joystick urging return of the joystick to a center position when displaced therefrom;
wherein the controller architecture is configured to command the MRF joystick stiffness mechanism to:
permit return of the joystick to the center position solely under the influence of the bias force when the work vehicle MRF joystick system operates in a first joystick stiffness mode; and
prevent return of the joystick to the center position solely under the influence of the bias force when the work vehicle MRF joystick system operates in a second joystick stiffness mode.

13. A work vehicle magnetorheological fluid (MRF) joystick system for usage onboard a work vehicle, the work vehicle MRF joystick system comprising:
a joystick device, comprising:
a base housing;
a joystick movably mounted to the base housing; and
a joystick position sensor configured to monitor movement of the joystick relative to the base housing;

an MRF joystick resistance mechanism controllable to vary a joystick stiffness resisting movement of the joystick relative to the base housing in at least one degree of freedom; and
a controller architecture coupled to the joystick position sensor and to the MRF joystick resistance mechanism, the controller architecture configured to:
selectively place the work vehicle MRF joystick system in a modified joystick stiffness mode during operation of the work vehicle; and
when the work vehicle MRF joystick system is placed in the modified joystick stiffness mode, command the MRF joystick resistance mechanism to vary the joystick stiffness based, at least in part, on the movement of the joystick relative to the base housing;

wherein the joystick is r

Assignees

• Deere & Co

Inventors

• Vandegrift Alex R
• Christofferson Craig
• Jones Amy K
• Kraft Anthony K
• Graham Brett S
• Benson Christopher R
• Meyer Christopher J
• Franck Kenneth
• Anderson Mark D
• Velde Todd F

Classifications

• 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 · CPC title

• G05G2009/04751

  Position sensor for linear movement · CPC title

• E02F9/2004 Primary

  Control mechanisms, e.g. control levers (control levers per se G05G) · CPC title

• F16F9/535

  Magnetorheological [MR] fluid dampers (springs comprising magnetorheological [MR] elastomers F16F1/361) · CPC title

• G05G5/03

  Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015) · CPC title