Method for controlling a work machine during operation in a repeated work cycle

• US 8,467,943 B2
• Filed: 05/10/2007
• Issued: 06/18/2013
• Est. Priority Date: 05/10/2007
• Status: Active Grant

• Current Assignee: Volvo Construction Equipment AB (AB Volvo)
• Original Assignee: Volvo Construction Equipment AB (AB Volvo)
• Inventors: Dersj, Jan, Brattberg, Bjrn
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US12/597,524
• Publication Number:
  US 20100131122A1
• Time in Patent Office: 2,231 Days
• Field of Search: None
• US Class Current: 701/50
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 10/12 including control of differentials
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• 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

Abstract

A method is provided for controlling a work machine during operation in a repeated work cycle including the steps of establishing a control strategy on the basis of at least one condition that varies in the course of the work cycle, and controlling at least one device in a work machine power transmission system in response to the established control strategy.

Claims

1. A method for controlling a work machine during operation in a repeated work cycle when the work machine travels along a work cycle travel path between a loading position and an unloading position, comprising

controlling the work machine in response to a predetermined control strategy that is based on at least one condition that varies in the course of the work cycle travel path, wherein the control strategy comprises information regarding selection of a gear mode from a plurality of gear modes based on the work cycle travel path condition,

controlling a transmission in accordance with the selected gear mode, and

using a satellite based system for establishing a travel path of the work cycle and establishing the control strategy accordingly.

2. A method according to claim 1, wherein the method comprises the step of controlling at least one device in a work machine power transmission system in response to the predetermined control strategy during operation of the work machine in the work cycle.

3. A method according to claim 1 , wherein the control strategy comprises work machine powertrain operating information and the method comprising the step of controlling a powertrain component.

4. A method according to claim 1. wherein the control strategy comprises information regarding a differential gear operation and the method comprising the step of controlling the differential gear.

5. A method according to claim 1, wherein the control strategy comprises information regarding engagement of a differential gear lock and the method comprising the step of controlling the differential gear lock.

6. A method according to claim 1, comprising, the step of establishing the control strategy on the basis of the at least one condition that varies in the course of the work cycle.

7. A method according to claim 1, wherein the condition variation comprises a change in the work cycle travel path.

8. A method according to claim 1, wherein the condition variation comprises a change of direction of the work cycle travel path in a horizontal plane.

9. A method according to claim 1, wherein the condition variation comprises a change of ground inclination of the work cycle travel path.

10. A method according to claim 1, comprising the step of detecting least one operational parameter during operation of a work machine in the work cycle in question, and establishing at least part of the control strategy on the basis of a magnitude of the detected operational parameter.

11. A method according to claim 10, comprising the step of repeatedly detecting the at least one operational parameter.

12. A method according to claim 10, comprising the step of detecting an operational parameter indicative of the work machine weight.

13. A method according to claim 10, comprising the step of detecting at least one operational parameter indicative of an end position of the work cycle.

14. A method according to claim 13, wherein the end position is indicative of a source of material to be transported and/or a final destination of the material.

15. A method according to claim 10, comprising the step of detecting an operational parameter indicative of a work machine inclination.

16. A method according to claim 10, comprising the step of detecting an operational parameter indicative of the speed of the work machine.

17. A method according to claim 1, comprising the step of predicting at least part of the condition variation on the basis of preavailable information of the work cycle in question.

18. A method according to claim 17, wherein the preavailable information of the work cycle comprises a geographical map.

19. A method according to claim 1, wherein the control strategy comprises a plurality of control steps, wherein each step is established on the basis of a specific condition variation.

20. A method according to claim 1, wherein the travel path of the work cycle comprises a plurality of positions, wherein each position is established on the basis of a specific condition variation.

21. A method according to claim 20, wherein the work cycle travel path comprises a plurality of positions between a loading position and an unloading position.

22. A method according to claim 1, comprising the step of determining a present position, speed and direction of a work machine in operation, determining whether it follows an existing work cycle path and thereafter controlling the work machine according to the control strategy provided the work machine follows the existing work cycle travel path.

23. A method according:

to claim 22, comprising the step of determining an acceleration of the work machine.

24. A method according to claim 22, comprising the step of determining a derivative of the direction of the work machine.

25. A method according to claim 1, comprising the step of establishing the control strategy based on a plurality of performed work cycles.

26. A. method according to claim 1, comprising the step of sharing information regarding the control strategy between different work machines for operation in the work cycle in question.

27. A method according to claim 1, comprising the step of sending information with regard to the control strategy from a work machine to a remote position.

28. A method according to claim 1, comprising the step of receiving information with regard to the control strategy from at least one work machine at a remote position, establishing, the control strategy at the remote position, and distributing the established control strategy to at least one work machine.

29. A method according to claim 1, comprising the step of monitoring a position of a work machine while performing the work cycle, and adjusting the control strategy for controlling the specific work machine in response to a deviation of the work machine'"'"'s position from the established work cycle travel path.

30. A non-transitory computer readable medium comprising a computer program comprising computer program segments for implementing, the method as claimed in claim 1.

31. A computer comprising a computer program for implementing the method as claimed in claim 1.

32. A method for controlling a work machine during operation in a repeated work cycle when the work machine travels along a work cycle travel path between a loading position and an unloading position, comprising

controlling the work machine in response to a predetermined control strategy that is based on at least one condition that varies in the course of the work cycle travel path, wherein the control strategy comprises information regarding selection of a gear mode from a plurality of gear modes based on the work cycle travel path condition,

controlling a transmission in accordance with the selected gear mode, and

detecting at least one operational parameter during operation of a work machine in the work cycle in question,

establishing at least part of the control strategy on the basis of a magnitude of the detected operational parameter, and

detecting an operational parameter indicative of a rolling resistance.

33. A method for controlling a work machine during operation in a repeated work cycle when the work machine travels along a work cycle travel path between a loading position and an unloading position, comprising

controlling the work machine in response to a predetermined control strategy that is based on at least one condition that varies in the course of the work cycle travel path, wherein the control strategy comprises information regarding selection of a gear mode from a plurality of gear modes based on the work cycle travel path condition,

controlling a transmission in accordance with the selected gear mode, and

detecting at least one operational parameter during operation of a work machine in the work cycle in question,

establishing at least part of the control strategy on the basis of a magnitude of the detected operational parameter, and

detecting an operational parameter indicative of a resistance due to ground inclination.