Magnetorheological fluid joystick systems providing detent-triggered work vehicle functions

Patent metadata

Field	Value
Publication number	US-11512446-B2
Application number	US-202016922321-A
Country	US
Kind code	B2
Filing date	Jul 7, 2020
Priority date	May 1, 2020
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

Embodiments of a work vehicle magnetorheological fluid (MRF) joystick system includes a joystick device having a base housing, a joystick movably mounted to the base housing, and a joystick position sensor monitoring movement of the joystick relative to the base housing. An MRF joystick resistance mechanism is controllable to vary a joystick stiffness resisting movement of the joystick relative to the base housing in at least one degree of freedom. A controller architecture is coupled to the joystick position sensor and to the MRF joystick resistance mechanism. The controller architecture is configured to: (i) command the MRF joystick resistance mechanism to increase the joystick stiffness when the joystick is moved into a first predetermined detent position to generate a first MRF detent; and (ii) selectively activate a first detent-triggered function of the work vehicle based, at least in part, on joystick movement relative to the first MRF detent.

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:
command the MRF joystick resistance mechanism to increase the joystick stiffness when the joystick is moved into a first predetermined detent position to generate a first MRF detent; and
selectively activate a first detent-triggered function of the work vehicle based, at least in part, on joystick movement relative to the first MRF detent.

2. The work vehicle MRF joystick system of claim 1 , wherein the first detent-triggered function comprises an automated movement routine of the work vehicle.

3. The work vehicle MRF joystick system of claim 2 , wherein the work vehicle comprises an excavator; and
wherein the automated movement routine comprises a jump turn sequence.

4. The work vehicle MRF joystick system of claim 3 , wherein the excavator is operable in a travel mode in which the joystick device is utilized to steer the excavator; and
wherein the controller architecture is configured to command the MRF resistance mechanism to generate the first MRF detent when the excavator operates in the travel mode.

5. The work vehicle MRF joystick system of claim 2 , wherein the work vehicle comprises a tracked undercarriage; and
wherein the automated movement routine comprises counter-rotation of the tracked undercarriage.

6. The work vehicle MRF joystick system of claim 2 , wherein the work vehicle includes a boom assembly having a terminal end to which an implement is attached; and
wherein the automated movement routine comprises automated movement of the boom assembly to bring raise or lower the implement into a preset position.

7. The work vehicle MRF joystick system of claim 1 , wherein the first detent-triggered function of the work vehicle comprises entry of the work vehicle into an operator-selected control mode.

8. The work vehicle MRF joystick system of claim 7 , wherein the operator-selected control mode comprises a travel mode in which the joystick device can be utilized to steer the work vehicle.

9. The work vehicle MRF joystick system of claim 7 , wherein the work vehicle comprises an electrohydraulic (EH) actuation system; and
wherein the operator-selected control mode comprises a pressure boost mode in which a circuit pressure within the EH actuation system is temporarily increased.

10. The work vehicle MRF joystick system of claim 9 , wherein the work vehicle includes a boom assembly terminating in an implement and moved utilizing the EH actuation system; and
wherein the controller architecture is configured to:
detect when the boom assembly encounters a stall condition; and
generate the first MRF detent enabling activation of the pressure boost mode in response to detection of a stall condition.

11. The work vehicle MRF joystick system of claim 9 , wherein the operator-selected control mode comprises a hydraulic flow priority mode in which the EH actuation system varies a routing scheme by which pressurized hydraulic fluid is delivered to hydraulic cylinders contained in the EH actuation system.

12. The work vehicle MRF joystick system of claim 9 , wherein the operator-selected control mode comprises a lift mode in which the controller architecture increases a pressure limit of the EH actuation system, while decreasing a maximum pump flow thereof.

13. The work vehicle MRF joystick system of claim 7 , wherein the work vehicle comprises a work vehicle engine; and
wherein the operator-selected control mode comprises a travel speed boost mode in which the controller architecture temporarily increases a power output of the work vehicle engine.

14. The work vehicle MRF joystick system of claim 1 , wherein the first detent-triggered function is activated by movement of the joystick beyond the first predetermined detent position in a direction opposite a neutral position of the joystick; and
wherein the controller architecture is further configured to vary a speed at which the first detent-triggered function is performed based on a displacement of the joystick beyond the first predetermined detent position.

15. The work vehicle MRF joystick system of claim 1 , further comprising an operator interface coupled to the controller architecture; and
wherein the controller architecture is configured to enable an operator to select the first detent-triggered function from a plurality of work vehicle functions utilizing the operator interface.

16. The work vehicle MRF joystick system of claim 1 , further comprising an operator interface coupled to the controller architecture; and
wherein the controller architecture is configured to enable an operator to adjust a location of the first predetermined detent position within a range of motion of the joystick, a stiffness intensity setting for the first MRF detent, or both.

17. The work vehicle MRF joystick system of claim 1 , wherein the joystick is rotatable relative to the base housing about an axis and is biased toward a neutral position;
wherein the first predetermined detent position is encountered when rotating the joystick from the neutral position about the axis in a first rotational direction; and
wherein the controller architecture is further configured to:
command the MRF joystick resistance mechanism to increase the MRF resistance force when the joystick is moved into a second predetermined detent position to generate a second MRF detent encountered when rotating the joystick from the neutral position about the axis in a second rotational direction opposite the first rotational direction; and
selectively activate a second detent-triggered function of the work vehicle based, at least in part, on joystick movement following generation of the second MRF detent.

18. The work vehicle MRF joystick system of claim 17 , wherein the first detent-triggered function of the work vehicle comprises movement of the work vehicle or a portion of the work vehicle in a first direction; and
wherein the second detent-triggered function of the work vehicle comprises movement of the work vehicle or the portion of the work vehicle in a second direction opposite the first direction.

19. 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:
command the MRF joystick resistance mechanism to increase the joystick stiffness when the joystick is moved int

Assignees

• Deere & Co

Inventors

• Breutzman Mark E
• Jones Amy K
• Oglesby Madeline T
• Mcwethy Erik W

Classifications

• 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

• 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

• 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

• G05G5/02

  Means preventing undesired movements of a controlling member which can be moved in two or more separate steps or ways, e.g. restricting to a stepwise movement or to a particular sequence of movements (G05G5/28 takes precedence) · CPC title