Selectable control parameters on power machine

• US 6,863,144 B2
• Filed: 12/08/2000
• Issued: 03/08/2005
• Est. Priority Date: 12/08/2000
• Status: Expired due to Term

• Current Assignee: Clark Equipment Company (Doosan Enerbility Company Limited)
• Original Assignee: Clark Equipment Company (Doosan Enerbility Company Limited)
• Inventors: Brandt, Kenneth A., Rossow, Scott R.
• Primary Examiner(s): Dickson, Paul N.
• Assistant Examiner(s): Sliteris, Joselynn Y.
• Application Number:
  US09/733,622
• Publication Number:
  US 20020074179A1
• Time in Patent Office: 1,551 Days
• Field of Search: 180/333, 180/315, 744/71.XY
• US Class Current: 180/333
• CPC Class Codes: B62D 7/1509 with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: E02F 9/225 Control of steering, e.g. for hydraulic motors driving the vehicle tracks steering in general B62D
• CPC Class Codes: E02F 9/2253 Controlling the travelling speed of vehicles, e.g. adjusting travelling speed according to implement loads, control of hydrostatic transmission
• CPC Class Codes: G05G 2009/04774 with additional switches or sensors on the handle
• CPC Class Codes: G05G 9/047 the controlling member being movable by hand about orthogonal axes, e.g. joysticks for switches H01H25/04
• CPC Class Codes: Y10T 74/20201 Control moves in two planes

Abstract

A control system in accordance with one feature of the present invention includes one or more user inputs, movable by a user in an operator compartment of a power machine. The user inputs can be used to set values for a plurality of settable operating parameters to direction of movement of the power machine, as well as travel speed.

Claims

1. A control system for a power machine having independently steerable and rotatable wheels, the control system comprising:

a user input device including a plurality of user actuable inputs providing user actuation signals; and

an electronic controller coupled to the user input device and configured to receive a plurality of user selectable operating parameters, based on user actuation of the user actuable inputs, and provide a steering control signal to control steering of the wheels and a speed control signal to control speed of the wheels based on the operating parameters received.

2. The control system of claim 1 wherein the power machine is steerable in a plurality of different steering modes and wherein the user actuable inputs include:

a drive mode select input providing a selection signal indicative of a selected one of the plurality of steering modes, the controller being configured to provide the steering control signal based on the selection signal received.

3. The control system of claim 1 wherein the user input device comprises:

at least one joystick movable relative to a neutral position.

4. The control system of claim 3 wherein the user actuable inputs include:

a dead band input providing a dead band signal indicative of a desired range of movement of the joystick relative to the neutral position through which the joystick is to move before invoking a controller responsive output.

5. The control system of claim 1 wherein the controller provides the control signals to accelerate the wheels according to an acceleration control parameter and wherein the user actuable inputs comprise:

a drive acceleration input providing an acceleration signal indicative of a desired acceleration control response; and

wherein the controller is configured to modify the acceleration control parameter based on the acceleration signal.

6. The control system of claim 5 wherein the acceleration control parameter comprises an acceleration control curve.

7. The control system of claim 1 wherein the controller controls a speed at which the wheels are steered based on a steering control parameter and wherein the user actuable inputs comprise:

a steering control input providing a steering control signal indicative of a desired steering control response; and

wherein the controller is configured to modify the steering control parameter based on the steering control signal.

8. The control system of claim 7 and further comprising:

a steering angle sensor coupled to the controller and providing a steer angle signal indicative of an angle at which an associated wheel is disposed relative to a predetermined wheel angle.

9. The control system of claim 8 wherein the controller controls wheel speed based, at least in part, on a maximum speed value indicative of a maximum drive speed, and wherein the user actuable inputs comprise:

a steering maximum speed input providing a maximum steering speed signal indicative of a maximum speed when the steer angle signal indicates that the wheels exceed a predetermined steer angle threshold value.

10. The control system of claim 9 wherein the controller is configured to adjust the maximum drive speed to the maximum speed indicated by the maximum steering speed signal when the steer angle signal indicates that the wheels exceed the predetermined steer angle threshold.

11. The control system of claim 1 and further comprising:

a wheel speed sensor coupled to the controller and providing a speed signal indicative of wheel speed.

12. The control system of claim 1 and further comprising:

a user actuable momentary steering mode input, coupled to the controller, providing a momentary steering mode signal indicative of a desired momentary steering mode; and

wherein the controller is configured to receive momentary steering mode signal and provide the steering control signal to control the power machine in the momentary steering mode until the momentary steering mode signal is de-actuated.

13. The control system of claim 12 wherein the controller is further configured to provide the steering control signal to control the power machine in a previously selected steering mode when the momentary steering mode signal is de-actuated.

14. The control system of claim 13 wherein the momentary steering mode comprises a skid steer mode and wherein the controller is configured to provide the steering control signal to move all the wheels to a straight ahead direction prior to controlling the power machine in the skid steer mode.

15. The control system of claim 1 and further comprising:

a user actuable trim input, coupled to the controller, providing a trim input signal, the controller being configured to receive the trim input signal and provide the steering control signal to trim at least one of the wheels by steering it to a positive or negative angle relative to a straight ahead direction.

16. The control system of claim 15 wherein the trim input includes:

a trim on/off switch providing an enable signal to enable and disable the trim; and

a trim select switch providing a trim value indicative of a degree of steering angle by which to trim the wheels.

17. The control system of claim 15 wherein the controller is configured to trim a predetermined set of the plurality of wheels based on a currently selected steering mode and the trim input signal.

24. The control system of claim 1 wherein the power machine is operable in a plurality of different speed modes and wherein the user actuable inputs include:

a maximum speed mode select input providing a selection signal indicative of a selective one of the plurality of maximum speed modes, the controller being configured to provide the speed control signal based on the selection signal received.

25. The user actuable input of claim 24 wherein the maximum speed mode select input is a selection device configured to selectively switch between one maximum speed mode and at least one other of the plurality of maximum speed modes.

26. The user actuable input of claim 25 wherein the selection device comprises a plurality of push buttons;

each of the plurality of push buttons being configured to select one of the plurality of speed modes.

27. The user actuable input of claim 25 wherein the selection device comprises a push button to select between two different maximum speed modes.

28. The user actuable input of claim 25 wherein the selection device selects between two different maximum speed modes.

29. The user actuable input of claim 25 wherein the selection device is a continuous actuator to vary maximum speed linearly from a higher speed to a lower speed.

30. The control system of claim 1 wherein the power machine is operable in a plurality of different acceleration modes and wherein the user actuable inputs include:

an acceleration mode select input providing a selection signal indicative of a selected one of the plurality of acceleration modes, the controller being configured to provide an acceleration control signal based on the selection signal received.

31. The user actuable input of claim 30 wherein the acceleration mode select input is a selection device for selectively switching between one acceleration mode and at least one other of the plurality of acceleration modes.

32. The user actuable input of claim 31 wherein the selection device is a plurality of push buttons;

each of the plurality of push buttons being configured to select one of the plurality of acceleration modes.

33. The user actuable inputs of claim 31 wherein the selection device is a push button to select between one of two acceleration control modes.

18. A control system for a power machine having independently steerable and rotatable wheels, steerable in a plurality of different modes, the control system comprising:

a user input device including a plurality of user actuable inputs providing user actuation signals including a drive mode select input providing a selection signal indicative of a selected one of the plurality of steering modes;

an electronic controller coupled to the user input device and configured to receive a plurality of user selectable operating parameters, based on user actuation of the user actuable inputs, and provide a steering control signal to control steering of the wheels and a speed control signal to control speed of the wheels based on the operating parameters received; and

a user actuable momentary steering mode input, coupled to the controller, providing a momentary steering mode signal indicative of a desired momentary steering mode; and

wherein the controller is configured to receive the momentary steering mode signal and provide the steering control signal to control the power machine in the momentary steering mode until the momentary steering mode signal is de-actuated.

19. The control system of claim 18 wherein the controller is further configured to provide the steering control signal to control the power machine in a previously selected steering mode when the momentary steering mode signal is de-actuated.

20. The control system of claim 19 wherein the momentary steering mode comprises a skid steer mode and wherein the controller is configured to provide the steering control signal to move all the wheels to a straight ahead direction prior to controlling the power machine in the skid steer mode.

21. A control system for a power machine having independently steerable and rotatable wheels, steerable in a plurality of different modes, the control system comprising;

a user input device including a plurality of user actuable inputs providing user actuation signals including a drive mode select input providing a selection signal indicative of a selected one of the plurality of steering modes;

an electronic controller coupled to the user input device and configured to receive a plurality of user selectable operating parameters, based on user actuation of the user actuable inputs, and provide a steering control signal to control steering of the wheels and a speed control signal to control speed of the wheels based on the operating parameters received; and

a user actuable trim input, coupled to the controller, providing a trim input signal, the controller being configured to receive the trim input signal and provide the steering control signal to trim at least one of the wheels by steering it to a trim position comprising a positive or negative angle relative to a straight ahead direction and to maintain the at least one wheel in the trim position during subsequent steering of the wheels.

22. The control system of claim 21 wherein the trim input includes:

a trim on/off switch providing an enable signal to enable and disable the trim; and

a trim select switch providing a trim value indicative of a degree of steering angle by which to trim the wheels.

23. The control system of claim 21 wherein the at least one wheel comprises a predetermined set of the plurality of wheels, trimmed by the controller based on a currently selected steering mode and the trim input signal.