Work vehicle with improved implement position control and self-leveling functionality

Patent metadata

Field	Value
Publication number	US-9796571-B2
Application number	US-201514819736-A
Country	US
Kind code	B2
Filing date	Aug 6, 2015
Priority date	Aug 6, 2015
Publication date	Oct 24, 2017
Grant date	Oct 24, 2017

Abstract

A method for automatically adjusting the position of an implement for a work vehicle may generally include receiving an input associated with a flow-related parameter of the work vehicle as loader arms of the work vehicle are being moved and determining a speed control signal for the implement based at least in part on the flow-related parameter, wherein the speed control signal is associated with an implement speed at which the implement is to be moved in order to maintain the implement at a fixed orientation relative to a given reference point. In addition, the method may include generating a valve command signal based at least in part on the speed control signal and transmitting the valve command signal to a valve associated with the implement in order to maintain the implement at the fixed orientation as the loader arms are being moved.

First claim

What is claimed is:

1. A method for automatically adjusting the position of an implement of a lift assembly for a work vehicle, the lift assembly comprising a loader arm coupled to the implement, the method comprising:
monitoring, with a computing device, at least one of a fluid pressure or a flow rate of hydraulic fluid supplied to or within a cylinder for controlling the movement of the implement, as the loader arm is being moved;
determining, with the computing device, a speed control signal for the implement as a function of an angular velocity of the loader arms calculated using the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid, the speed control signal being associated with an implement speed at which the implement is to be moved in order to maintain the implement at a fixed orientation relative to a given reference point:
generating, with the computing device, a valve command signal based at least in part on the speed control signal; and
transmitting, with the computing device, the valve command signal to a valve associated with the implement in order to maintain the implement at the fixed orientation as the loader arm is are being moved.

2. The method of claim 1 , further comprising receiving an operator input signal associated with a selection of the fixed orientation for the implement.

3. The method of claim 1 , further comprising generating a second control signal based on the difference between a desired implement position and an actual implement position for the implement.

4. The method of claim 3 , wherein generating the valve command signal based at least in part on the speed control signal comprises generating the valve command signal based on the speed control signal and the second control signal.

5. The method of claim 4 , wherein the second control signal corresponds to a speed correction factor, further comprising adjusting the implement speed associated with the speed control signal based on the speed correction factor associated with the second speed control signal in order to generate an adjusted implement speed for maintaining the implement at the fixed orientation as the loader arm is being moved.

6. The method of claim 5 , wherein the valve command signal is generated such that the valve is controlled in a manner so as to cause the implement to be moved at the adjusted implement speed.

7. The method of claim 3 , further comprising:
monitoring a position of the loader arm as the loader arm is being moved; and
determining the desired implement position based on at least one of the monitored position of the loader arm or a loader geometry associated with the loader arm.

8. The method of claim 1 , wherein the reference point corresponds to a driving surface for the work vehicle.

9. The method of claim 1 , further comprising monitoring a loader position of the loader arm as the loader arm is being moved.

10. The method of claim 9 , wherein determining the speed control signal for the implement as a function of the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid comprises determining the speed control signal as a function of the monitored loader position and the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid.

11. The method of claim 10 , wherein determining the speed control signal for the implement as a function of the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid comprises determining the speed control signal as a function of the monitored loader position, the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid, and kinematic information associated with a loader geometry of the loader arm.

12. A system for controlling the operation of a work vehicle, the system comprising:
a lift assembly including an Implement and a loader arm coupled to the implement;
a tilt valve in fluid communication with a corresponding tilt cylinder, the tilt valve being configured to control a supply of hydraulic fluid to the tilt cylinder in order to adjust the position of the implement relative to the loader arm; and
a controller communicatively coupled to the tilt valve, the controller including at least one processor and associated memory, the memory storing instructions that, when implemented by the at least one processor, configure the controller to:
monitor at least one of a fluid pressure or a flow-rate of the hydraulic fluid supplied to or within the tilt cylinder as the loader arm is being moved;
determine a speed control signal for the implement as a function of an angular velocity of the loader arms calculated using the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid, the speed control signal being associated with an implement speed at which the implement is to be moved in order to maintain the implement at a fixed orientation relative to a given reference point;
generate a valve command signal based at least in part on the speed control signal; and
transmit the valve command signal to the tilt valve in order to maintain the implement at the fixed orientation as the loader arms is being moved.

13. The system of claim 12 , wherein the controller is further configured to receive an operator input signal associated with a selection of the fixed orientation for the implement.

14. The system of claim 12 , wherein the controller is further configured to generate a second control signal based on the difference between a desired implement position and an actual implement position for the implement.

15. The system of claim 14 , wherein the controller is configured to generate the valve command signal based on the speed control signal and the second control signal.

16. The system of claim 14 , wherein the second control signal corresponds to a speed correction factor, wherein the controller is configured to adjust the implement speed associated with the speed control signal based on the speed correction factor associated with the second speed control signal in order to generate an adjusted implement speed for maintaining the implement at the fixed orientation as the loader arm is being moved.

17. The system of claim 16 , wherein the valve command signal is generated such that the valve is controlled in a manner so as to cause the implement to be moved at the adjusted implement speed.

18. The system of claim 12 , wherein the controller is further configured to monitor a loader position of the loader arm via at least one position sensor communicatively coupled to the controller.

19. The system of claim 18 , wherein the speed control signal is determined as a function of the monitored loader position and the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid.

20. The system of claim 19 , wherein the controller is configured to determine the speed control signal as is function of the monitored loader position, the at least one of the monitored fluid pressure or the monitored flow rate of the hydraulic fluid, and kinematic information associated with a loader geometry of the loader arm.

Assignees

• Cnh Ind America Llc
• Cnh Ind America Llc

Inventors

• Singh Aditya
• Wu Duqiang
• Gulati Navneet

Classifications

• E02F9/2041

  Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence) · CPC title

• E02F3/433 Primary

  horizontal, e.g. self-levelling · CPC title

• E02F3/437 Primary

  providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant · CPC title

• B66F9/22 Primary

  Hydraulic devices or systems · CPC title

• E02F3/432

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