Systems and methods to improve work machine stability based on operating values

Patent metadata

Field	Value
Publication number	US-11512447-B2
Application number	US-201816182106-A
Country	US
Kind code	B2
Filing date	Nov 6, 2018
Priority date	Nov 6, 2018
Publication date	Nov 29, 2022
Grant date	Nov 29, 2022

Abstract

A work machine includes systems and methods for stability control based on operating values. The work machine includes a control system having a sensor system with a load sensor, an arm position sensor, and an articulation angle sensor. A controller is in communication with the sensor system. The controller is configured to receive a movement command and to receive a set of values from the sensor system. The controller is configured to determine an operational window for normal operation of the work vehicle based on the received set of values, determine a movement limit based on the received set of values, and limit movement of a component beyond the movement limit.

First claim

What is claimed:

1. A work machine comprising:
a rear body section;
a front body section pivotally coupled to the rear body section, wherein an articulation angle is defined by the relative angle between the front body section and the rear body section;
an articulation actuator coupled to the rear body section and the front body section, the articulation actuator configured to pivot the front body section relative to the rear body section through an articulation angle range;
a mechanical arm coupled to the front body section;
a work implement coupled to the mechanical arm, the work implement configured to receive a load;
an arm actuator coupled to the mechanical arm to move the mechanical arm between a lower position and an upper position, wherein a distance between the lower position and the upper position is a travel distance of the mechanical arm;
a sensor system including a load sensor, an arm position sensor, and an articulation angle sensor; and
a controller in communication with the sensor system,
wherein the controller is configured to receive a movement command and to receive a set of values from the sensor system including a load value, an arm position value, and an articulation angle value, wherein the controller is configured to determine an operational window for normal operation of the work vehicle based on the received set of values, determine a movement limit based on the received set of values, limit movement of a component beyond the movement limit, and derate movement of the component between the operational window and the movement limit a continuously increasing amount between the operational window and the movement limit.

2. The work machine of claim 1 , wherein the controller is in communication with a valve that supplies fluid to the component.

3. The work machine of claim 2 , wherein derating movement of the component includes decreasing a flow from the valve to an actuator connected to the component.

4. The work machine of claim 1 , wherein the movement command is a boom raise command and the movement limit is a boom height limit.

5. The work machine of claim 4 , wherein the operational window and the boom height limit are determined based on the load value and the articulation angle value.

6. The work machine of claim 5 , wherein the controller is configured to determine an articulation angle limit of the front body section based on the load and the mechanical arm position, and configured to limit the front body section from pivoting past the articulation angle limit.

7. The work machine of claim 1 , wherein the movement command is a steering command and the movement limit is an articulation angle limit.

8. The work machine of claim 7 , wherein the operational window and the articulation angle limit are determined based on the load value and the arm height value.

9. The work machine of claim 1 , wherein the sensor system includes an inertial measurement unit configured to measure a pitch and a roll of the front body section, and wherein the controller is configured to further determine the operational window and the movement limit based on an amount of pitch and roll.

10. The work machine of claim 1 , wherein the arm actuator is a hydraulic actuator and the controller is in communication with a valve that supplies fluid to the arm actuator.

11. The work machine of claim 1 , wherein the articulation actuator is a hydraulic actuator and the controller is in communication with a valve that supplies fluid to the articulation actuator.

12. A method of controlling stability during operation of a work vehicle, the method comprising:
receiving an operator command for movement of a work vehicle actuator;
receiving a set of values from a sensor unit, wherein the set of values represents at least two of a load value, a height value, and an articulation angle value;
determining an operational window for normal operation of the work vehicle based on the received set of values;
determining a movement limit based on the received set of values;
limiting movement of the work vehicle actuator beyond the movement limit; and
derating the actuator movement a continuously increasing amount between the operational window and the movement limit.

13. The method of claim 12 , wherein the operator command is a boom raise command and the movement limit is a boom height limit.

14. The method of claim 13 , wherein the operational window and the boom height limit are determined based on the load value and the articulation angle value.

15. The method of claim 12 , wherein the movement command is a steering command and the movement limit is an articulation angle limit.

16. The method of claim 15 , wherein the operational window and the articulation angle limit are determined based on the load value and the height value.

17. The method of claim 12 , wherein the set of values includes an inertial measurement value, and wherein the controller is configured to further determine the operational window and the movement limit based on the inertial measurement value.

18. The method of claim 12 , wherein the work vehicle actuator is a hydraulic actuator and the controller is in communication with a valve that supplies fluid to the work vehicle actuator.

19. A work machine comprising:
a rear body section;
a front body section pivotally coupled to the rear body section, wherein an articulation angle is defined by the relative angle between the front body section and the rear body section;
an articulation actuator coupled to the rear body section and the front body section, the articulation actuator configured to pivot the front body section relative to the rear body section through an articulation angle range;
a mechanical arm coupled to the front body section;
a work implement coupled to the mechanical arm, the work implement configured to receive a load;
an arm actuator coupled to the mechanical arm to move the mechanical arm between a lower position and an upper position, wherein a distance between the lower position and the upper position is a travel distance of the mechanical arm;
a sensor system including a load sensor, an arm position sensor, and an articulation angle sensor; and
a controller in communication with the sensor system,
wherein the controller is configured to receive a first movement command for the articulation actuator, and to receive a set of values from the sensor system including a load value, an arm position value, and an articulation angle value, and wherein the controller is configured to determine a first operational window for normal operation of the articulation actuator based on the received set of values, determine an articulation movement limit based on the received set of values, limit movement of the articulation actuator beyond the articulation movement limit, and derate movement of the articulation actuator between the first operational window and the articulation movement limit a continuously increasing amount between the operational window and the movement limit.

20. The work machine of claim 19 , wherein the controller is further configured to determine a second operational window for normal operation of the arm actuator based on the received set of values, determine an arm movement limit based on the received set of values, limit movement of the arm actuator beyond the arm movement limit, and derate movement of the arm actuator between the second operational window and the arm movement limit a variable amount, and wherein the variable amount increases approaching the arm

Assignees

• Deere & Co

Inventors

• Myers David
• Lehmann Doug

Classifications

• E02F3/422

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

• E02F9/0841

  Articulated frame, i.e. having at least one pivot point between two travelling gear units (tractor-trailer combinations B62D53/00) · CPC title

• E02F3/3411

  of the Z-type · CPC title

• E02F3/283

  with a single arm pivoted directly on the chassis (linkage mechanism for it E02F3/3405) · CPC title

• E02F3/431

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