AUTOMATED CONTROL OF BOOM AND ATTACHMENT FOR WORK VEHICLE

• US 20090018729A1
• Filed: 07/26/2007
• Published: 01/15/2009
• Est. Priority Date: 02/21/2007
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Sahlin, Mark Peter, Anderson, Eric Richard, Meredith, Jason, Johnson, David August, Samuelson, Jerry Anthony
• Granted Patent: US 8,200,398 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/847 using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams

Abstract

A first sensor detects a boom position of a boom based on a first linear position of a first movable member of a first hydraulic cylinder. A second sensor detects an attachment position of an attachment based on a second linear position of a second movable member of a second hydraulic cylinder. An accelerometer detects an acceleration or deceleration of the boom. A switch accepts a command to enter a ready position state from another position state. A controller controls the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the ready position state in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.

Claims

1. A system for automated operation of a work vehicle, the system comprising:

a boom having a first end and a second end opposite the first end;

a first hydraulic cylinder associated with the boom;

a first sensor for detecting a boom position based on a first linear position of a first movable member of the first hydraulic cylinder;

an attachment coupled to the second end of the boom;

a second hydraulic cylinder associated with the attachment;

a second sensor for detecting an attachment position of attachment based on a second linear position of a second movable member of the second hydraulic cylinder;

an accelerometer for detecting an acceleration or deceleration of the boom;

a switch for accepting a command to enter a ready position state from another position state; and

a controller for controlling the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the ready position state in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.

2. The system according to claim 1 wherein a target boom height is associated with the target boom position, and wherein the target boom height is greater than a minimum boom height or a ground level.

3. The system according to claim 1 wherein the target attachment position is associated with an attachment angle greater than a minimum angle or zero degrees.

4. The system according to claim 1 wherein the controller controls the first hydraulic cylinder and the second hydraulic cylinder to move the boom and the attachment simultaneously.

5. The system according to claim 1 wherein the controller controls the first hydraulic cylinder to move the boom to achieve a desired boom motion curve consistent with the detected deceleration of the boom.

6. The system according to claim 5 wherein the boom does not exceed a maximum deceleration in accordance with the desired boom motion curve.

7. The system according to claim 1 wherein the controller controls the second hydraulic cylinder to move the attachment to achieve a desired attachment motion curve consistent with the detected deceleration of the boom.

8. The system according to claim 7 wherein the attachment does not exceed a maximum deceleration in accordance with the desired attachment motion curve.

9. The system according to claim 1 wherein the attachment comprises one of the following:

a bucket, a loader, a grapper, jaws, claws, a cutter, a grapple, an asphalt cutter, an auger, compactor, a crusher, a feller buncher, a fork, a grinder, a hammer, a magnet, a coupler, a rake, a ripper, a drill, shears, a tree boom, a trencher, and a winch.

10. The system according to claim 1 wherein the boom position is selected based on a desired ready height of the attachment defined by an operator.

11. The system according to claim 10 further comprising:

a limiter for limiting the desired ready height to an upper height limit.

12. The system according to claim 10 further comprising:

a limiter for limiting the desired ready height to a range between an upper height limit and a lower height limit.

13. The system according to claim 1 wherein the first sensor and the second sensor each comprise one of the following:

a position sensor, an angular position sensor, a magnetostrictive sensor, a resistance sensor, a potentiometer, a rheostat, an ultrasonic sensor, a magnetic sensor, and an optical sensor.

14. The system according to claim 1 wherein the attachment comprises a bucket and wherein the target attachment position and a target boom position is consistent with a respective ready state associated with completion of a corresponding return-to-dig procedure.

15. A method for automated operation of a work vehicle, the method comprising:

establishing a ready position associated with at least one of a target boom position and a target attachment position;

detecting a boom position of the boom based on a linear position of a movable member associated with a first hydraulic cylinder;

detecting an attachment position of the attachment based on a linear position of a movable member associated with a second hydraulic cylinder;

detecting an acceleration of the boom;

facilitating a command to enter a ready position state from another position state;

controlling the first hydraulic cylinder associated with the boom to attain the target boom position by reducing the detected acceleration when the boom falls within a predetermined range of the target boom position; and

controlling the second hydraulic cylinder associated with the attachment to attain the target attachment position associated with the ready position state in response to the command.

16. The method according to claim 15 wherein a target boom height is associated with the target boom position, and wherein the target boom height is greater than a minimum boom height.

17. The method according to claim 15 wherein the target attachment position is associated with an attachment angle greater than a minimum angle or zero degrees.

18. The method according to claim 15 wherein the controlling comprises controlling the first hydraulic cylinder and the second hydraulic cylinder to move the boom and the attachment simultaneously.

19. The method according to claim 15 wherein the controlling comprises controlling the first hydraulic cylinder to move the boom to achieve a desired boom motion curve consistent with the detected deceleration of the boom.

20. The system according to claim 19 wherein the boom does not exceed a maximum deceleration in accordance with the desired boom motion curve.

21. The method according to claim 15 wherein the controlling comprises controlling the second hydraulic cylinder to move the attachment to achieve a desired attachment motion curve consistent with the detected deceleration of the boom.

22. The system according to claim 21 wherein the attachment does not exceed a maximum deceleration in accordance with the desired attachment motion curve.

23. The method according to claim 15 wherein the boom angle is selected based on a desired ready height of the attachment defined by an operator.

24. The method according to claim 23 further comprising:

limiting the desired ready height to an upper height limit.

25. The method according to claim 23 further comprising

limiting the desired ready height to a range between an upper height limit and a lower height limit.

26. The method according to claim 15 wherein the attachment comprises a bucket and wherein the target attachment position and a target boom position is consistent with a respective ready state associated with completion of a corresponding return-to-dig procedure.