阅读说明：本技术 智能机械联动性能系统 (Intelligent mechanical linkage performance system ) 是由 安东尼·玛丽亚·托马斯·本尼·迈克尔·拉杰 亚当·艾斯巴赫 于 2020-02-20 设计创作，主要内容包括：一种具有智能机械联动性能系统的作业机械包括：框架；地面接合机构；悬臂组件,其联接至框架,其中,悬臂组件包括：大悬臂和铲斗柄。负载测量装置联接至悬臂组件并且被配置为生成指示有效负载的负载信号。销联接至铲斗柄,该销具有运动包络线,该销能够通过大悬臂和铲斗柄在整个运动包络线内移动。控制器被配置为接收来自第一悬臂位置传感器的第一位置信号,来自第二悬臂位置传感器的第二位置信号以及来自负载测量装置的负载信号。该控制器还被配置计算运动包络线内的液压容量的图。(A work machine having an intelligent mechanical linkage performance system comprising: a frame; a ground engaging mechanism; a boom assembly coupled to the frame, wherein the boom assembly comprises: a large cantilever and a dipper handle. A load measuring device is coupled to the boom assembly and configured to generate a load signal indicative of the payload. A pin is coupled to the dipper stick, the pin having a motion envelope, the pin being movable through the boom and the dipper stick throughout the motion envelope. The controller is configured to receive a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and a load signal from the load measuring device. The controller is also configured to calculate a map of hydraulic capacity within the motion envelope.)

1. A work machine having an intelligent machine linkage performance system, the work machine comprising:

a frame and a ground engaging mechanism configured to support the frame on a surface;

a boom assembly coupled to the frame, wherein the boom assembly comprises

A large boom pivotably coupled to the frame and movable relative to the frame by a first actuator, a first boom position sensor coupled to the large boom, an

A dipper handle pivotably coupled to the large boom and movable relative to the large boom by a second actuator, a second boom position sensor coupled to the dipper handle;

a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of the payload;

a pin coupled to the dipper handle at a location remote from the boom, the pin having a motion envelope, the pin being movable through the boom and the dipper handle throughout the motion envelope; and

a controller configured to receive a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and a load signal from the load measuring device,

wherein the controller is further configured to calculate a map of hydraulic capacity within the motion envelope for one or more of the first actuator and the second actuator based on the first position signal, the second position signal, and the load signal, and generate a motion envelope of motion of the pin through at least a portion of the motion envelope based on the hydraulic capacity, the motion envelope being less than the motion envelope.

2. The work machine of claim 1, wherein the controller is further configured to identify a payload centroid, the payload centroid being based on a third position signal received from a third actuator by which the implement is movable, and the controller modifies the load signal according to the payload centroid.

3. The work machine of claim 1, wherein the map of hydraulic capacity includes a series of nodes representing real-time hydraulic capacity of one or more of the first and second actuators throughout the motion envelope.

4. The work machine of claim 2, wherein a motion envelope comprises a lift path for the pin from a first pin position to a second pin position through a node of sufficient hydraulic capacity.

5. The work machine of claim 1, wherein the motion envelope is displayed on the user input interface by a color code based on the degree of hydraulic capacity.

6. The work machine of claim 1, wherein the load measuring device comprises: a first load measuring sensor coupled to the large cantilever; and a second load measuring sensor coupled to the dipper handle.

7. The work machine of claim 1, wherein when calculating the map of hydraulic capacity, the controller further receives an inclination signal from an inclination sensor coupled to the work machine, the inclination sensor determining an inclination of a horizontal longitudinal axis of the work machine, and the controller modifies the load signal based on the inclination signal.

8. The work machine of claim 1, wherein the controller is configured to inhibit the pin from moving to nodes within the motion envelope that do not have sufficient hydraulic capacity to move a payload.

9. The work machine of claim 4, wherein the controller is further configured to automatically move the pin from a first pin position to a second pin position.

10. The work machine of claim 1, wherein the controller is configured to provide guidance to the operator through one or more of visual feedback or tactile feedback.

Technical Field

The present disclosure relates to a work machine.

Background

For example, in the forestry industry, a grapple type skidder machine may be used to transport a felled stump from one location to another. This transportation usually takes place from the felling site to the processing site. Alternatively, in the construction industry, excavators may be used to transport gravel, earth, or other movable materials. In both work machines, an implement for carrying a payload is coupled to a boom assembly that includes a plurality of pivot devices. An actuator may then be disposed on the boom assembly to pivot the booms relative to each other to move the implement.

When multiple booms are arranged in a boom assembly, controlled movement of the implement may be relatively difficult, requiring a significant investment in operator training. This can be particularly difficult to manipulate where the payload is variable and there are physical limitations to the actuator. For example, under conventional control systems, an operator may move a joystick along one axis to move an actuator that pivots a first portion of the boom and move the joystick along another axis to move an actuator that pivots a second portion of the boom. In theory, the operator can control both booms so that the total movement of all actuators causes the payload-carrying implement to move to the desired position. However, depending on the extent of the payload, the relative center of mass of the payload, and the changing geometry of the two booms as they move relative to each other and relative to the vehicle, the changing geometry can result in a significantly complex relationship between the actuator motion and implement motion described above. More specifically, limitations in actuator load capacity due to variations in payload may affect accurate control of the implement, and accurate control of the implement may be relatively difficult without significant skill and practice.

The movement of the boom may vary significantly based on the position of the components of the boom assembly relative to the frame of the work machine. Further, the movement of the boom assembly may vary significantly based on the inclination of the surface on which the work machine is positioned, as the inclination changes the relative orientation of the downward gravity-type pull of the payload and/or implement with respect to the directional pull of the actuator coupled to the boom assembly. This variability in the orientation of the payload ultimately makes it difficult for the user to accurately control the operation of the boom, especially when traversing over rough terrain. Accordingly, there is a need for a control system having improved boom control to move a payload.

Disclosure of Invention

This summary is provided to introduce a selection of concepts that are further described below in the detailed description and the drawings. This summary is not intended to identify key or essential features of the appended claims, nor is it intended to be used as an aid in determining the scope of the appended claims.

The present disclosure includes a smart mechanical linkage performance system for a work machine during payload shifting operations.

According to one aspect of the present disclosure, a work machine may include a frame, a ground engaging mechanism configured to support the frame on a surface, a boom assembly, a load measuring device, a pin, and a controller. A boom assembly coupled to a frame of a work machine may include: a first portion pivotably coupled to the frame and movable relative to the frame by a first actuator; and a second portion pivotably coupled to the first portion and movable relative to the first portion. The first cantilever position sensor may be coupled to the first portion. A second cantilever position sensor may be coupled to the second portion. A load measuring device may be coupled to the boom assembly and configured to generate a load signal indicative of the payload. The pin may be coupled to the second portion, symbolically at a location remote from the first portion. The pin may have an envelope through which the pin may move through the first and second portions. The controller may be configured to receive a first position signal from the first boom position sensor, a second boom position signal from the second boom position sensor, and a load signal from the load measuring device. The controller may be further configured to calculate a map of hydraulic capacity within the motion envelope for one or more of the first and second actuators based on the first position signal, the second position signal, and the load signal. The controller may also generate a motion envelope of motion of the pin through at least a portion of the motion envelope based on the hydraulic capacity, which may be less than the motion envelope.

The pin may couple the implement to the second portion.

The map of hydraulic capacity may include a series of nodes representing real-time hydraulic capacity of one or more of the first and second actuators within the entire envelope.

The motion envelope may include a lift path for the pin from the first pin position to the second pin position through a node having sufficient hydraulic capacity.

The motion envelope may be displayed on the user input interface by a color code. The color code may be based on the degree of hydraulic capacity.

The load measuring device may include a first load measuring sensor coupled to the first portion and a second load measuring sensor coupled to the second portion.

The controller may also receive an inclination signal from an inclination sensor coupled to the work machine when calculating the map of hydraulic capacity. The inclination sensor may determine an inclination of a horizontal longitudinal axis of the work machine, and the controller may modify the load signal based on the inclination signal.

The controller may be further configured to inhibit movement of the pin to nodes within the motion envelope that do not have sufficient hydraulic capacity for the payload.

These and other features will become apparent from the following detailed description and the accompanying drawings, wherein various features are shown and described by way of illustration. The disclosure is capable of other and different configurations and its several details are capable of modification in various other respects, all without departing from the scope of the present disclosure. The detailed description and drawings are, accordingly, to be regarded as illustrative in nature and not as restrictive or limiting.

Drawings

The detailed description of the drawings refers to the accompanying drawings in which:

FIG. 1 is a side view of a first exemplary embodiment of a work machine having an intelligent mechanical linkage performance system.

FIG. 2 is a detailed side view of the boom assembly associated with a portion of the intelligent performance control module of the first exemplary embodiment shown in FIG. 1.

Fig. 3 shows a line diagram of the first exemplary embodiment shown in fig. 1, in which a motion envelope is shown.

Fig. 4 shows a detailed view of the grapple of the first exemplary embodiment shown in fig. 1.

FIG. 5 illustrates some of the operator controls of the first exemplary embodiment illustrated in FIG. 1.

FIG. 6A is one embodiment of a graph of hydraulic capacity of the boom cylinder of the embodiment of FIG. 1 within a motion envelope.

FIG. 6B is an embodiment of a graph of hydraulic capacity of the arch cylinder of the embodiment of FIG. 1 within a motion envelope.

FIG. 7A is one embodiment of a graph of hydraulic capacity within a motion envelope of the boom cylinder of the embodiment of FIG. 1, including a lift path.

FIG. 7B is an embodiment of a graph of hydraulic capacity of an arch hydraulic cylinder including the motion envelope of the lift path of the embodiment shown in FIG. 1.

FIG. 8 is a line schematic of the first exemplary embodiment illustrating the effect of pitch on the smart mechanical linkage performance system.

FIG. 9 is a detailed schematic of the smart mechanical linkage performance system associated with the first exemplary embodiment of FIG. 1.

FIG. 10 is a side view of a second exemplary embodiment of a work machine having an intelligent mechanical linkage performance system.

Fig. 11 is a line diagram of the second exemplary embodiment shown in fig. 10, in which the motion envelope is shown.

FIG. 12 is a detailed schematic of the smart mechanical linkage performance system associated with the second exemplary embodiment of FIG. 10.

FIG. 13 is a method related to an intelligent mechanical linkage performance system.

Detailed Description

One or more example embodiments of a disclosed system for intelligent control of an implement, as illustrated in the figures, are described below. In general, the disclosed control system (and the work machine on which it is implemented) allows an operator to have improved control over the movement of the implement as compared to conventional systems.

As used herein, unless otherwise limited or modified, a list of elements (elements in the list being separated by a conjunction (e.g., "and") and further preceded by the phrase "one or more" or "at least one") denotes a configuration or arrangement that may include individual elements of the list or any combination of such elements. For example, "at least one of A, B and C" or "one or more of A, B and C" means the possibility of any combination of two or more of A only, B only, C only or A, B and C (e.g., A and B; B and C; A and C; or A, B and C).

Referring now to the drawings and in particular to fig. 1, an implement 105 may be coupled to a work machine 100 by a boom assembly 110, and the boom assembly 110 may be moved by various actuators 120 to accomplish a task with the implement 105. Note that the actuator 120 may be electric or hydraulic. Although hydraulic cylinders are referred to repeatedly throughout, electric actuators may be interchanged with hydraulic actuators. The discussion herein may sometimes focus on an exemplary application for moving an implement 105, wherein in a first exemplary embodiment, the work machine 100 is configured as a bucket loader 200 (shown in fig. 1), and in a second exemplary embodiment, as an excavator 900 (shown in fig. 10), wherein the actuator 120 is generally configured as a hydraulic cylinder 125 for moving the implement 105. In the case of a grapple skidder machine 200 as shown in fig. 1, the grapple 107 is used to move the payload 140. Grapple skidder machine 200 generally uses an implement 105, a grapple 107 to move a payload associated with forestry, such as felled trees and processed logs, wherein the grapple may simulate a jaw-type movement. In the case of the excavator 900, as shown in fig. 10, a bucket 905 is used to move the payload 140. In other applications, other configurations are possible. In some embodiments, for example, forks, logs, or other implements having payload carrying capability may also be configured in other boom assembly configurations. With respect to the present disclosure, in some embodiments, the work machine may be configured as an excavator, a self-loading lumber machine (forwarder), a loader, a feller stacker, a concrete breaker, and the like, or various other embodiments.

As shown in fig. 2-8, with continued reference to fig. 1, the disclosed smart mechanical linkage performance system 300 may be used to: receive a position signal 305 of the implement 105 based on a real-time position of the actuator 120 relative to the frame 130; and receive a load signal 288 for the payload 140 carried by the implement 105 based on the sensed real-time load. In the present disclosure, frame 135 may be shown as a frame of work machine 100. However, frame 130 may also be any point on work machine 100 or any point in digital/electronic space to create one or more points from which the relative position of actuator 120 may be measured. For example, in a hydraulic actuator, the relative position may be the relative position of the cylinder along the length of the rod.

The smart mechanical linkage performance system 300 may then determine position commands for the various actuators 120 such that commanded movement of the actuators 120 provides an optimal path for commanded movement of the implement 105 (hereinafter referred to as a lift path 710) based on the theoretical load capacity of the various actuators 120 along various positions within the motion envelope 400 and based on actual load requirements to move the payload 140 relative to the frame 130 from a first position 720 within the motion envelope 400 to a second position 730 within the motion envelope 400. Note that the first location 720 and the second location 730 are not predetermined locations. Conversely, the first position 720 may be a current or starting position of the boom assembly within or along the perimeter 312 of the motion envelope 400 (shown in phantom) that the grapple 107 may have immediately prior to or at engagement with the payload 140. The second position 730 may be a desired position within the perimeter 312 of the motion envelope 400 or along the perimeter 312. The second position 730 in the grapple type skidder machine may be a transport position where the grapple 107 has lifted the payload 140 (most likely a group of felled trees) sufficiently to lift it off the ground or tow it to a next destination.

The motion envelope 400 may be defined by the range of possible motion of the distal end 115 of the boom assembly 110 to which the implement 105 is coupled. The perimeter 312 of the motion envelope 400 is defined by one or more hydraulic cylinders 125, the hydraulic cylinders 125 being connected to the boom assembly 110 and in a fully extended or retracted position. In this manner, optimized planned motions along a limited path within motion envelope 400 may be converted into position commands for relatively complex motions of the plurality of actuators 120, thereby providing optimal motion to implement 105 with a given payload 140. This advantageously reduces reliance on the perception of an operator, or the expertise of an operator, who may directly indicate a desired movement of payload 140 relative to at least one actuator 120 to second position 730, and smart mechanical linkage performance system 300 maps its proposed lifting path 710 (planned movement along a limited path within the overall motion envelope) relative to frame 130 for subsequent actuators 120 based on payload 140. The available capacity from the hydraulic system 310 may be determined primarily by the remaining rod length in the hydraulic cylinder. However, the volume of hydraulic fluid, actuator pressure, arrangement of valves within the hydraulic system, configuration of the system (e.g., closed loop system or open loop system) are some other possible variables that may affect the available capacity calculation. Each of these variables may individually or generally indicate the position of the actuator 120.

The lifting path 710 defines portions of the motion envelope 400 where each respective actuator 120 has sufficient available capacity to move the measured payload 140. For example, such a situation may occur: retracting one actuator 120 may result in an insufficient rod length so that a subsequent actuator provides the pulling or lifting force required to move the payload 140. With the smart mechanical linkage performance system 300, the operator may cause each respective actuator 120 to perform relatively precise movements using specific guidance within the motion envelope 400 for the movement of the respective actuator 120 and the movement of the implement 105 caused by the actuator 120, or using a mapping of the lift path 710 within the motion envelope 400. Alternatively, the controller may limit the motion of the actuator and/or pin 215 to a motion envelope (motion envelope) that is less than the motion envelope 400. In the semi-automatic control mode 365, the smart mechanical linkage performance system 300 provides guidance to the operator solely through visual and/or tactile feedback.

By applying the above to the grapple bucket loader 200, the smart mechanical linkage performance system 300 may function in an automatic mode 375 in which an operator may move the first portion 112 of the boom assembly 110, and the controller may respond by: automatically moving the corresponding actuator 120 of the second portion 114 of the boom assembly 110 within the motion envelope 400 and automatically moving the implement 105 actuated by the actuator 120, or mapping the lift path 710 from the first position 720 to the second position 730 within the envelope 400.

In general, the cantilever assembly 110 may include at least two portions that may be separately moved by different respective actuators 120. For example, the first portion 112 of the boom assembly 110 may be coupled to the frame 135 of the work machine 100 and may be moved (e.g., pivoted) relative to the frame 135 of the work machine 100 by the first actuator 131. The second portion 114 of the boom assembly 110 may be coupled to the first portion 112 of the boom assembly 110 and may be movable (e.g., by the second actuator 136 relative to the first portion 112). The implement 105 may be coupled to the second portion 114 and, in some embodiments, may be moved (e.g., pivoted) relative to the second portion 114 by a third actuator 945 (e.g., as shown in fig. 10). As such, movement of first actuator 131, second actuator 136, and possibly third actuator 945 may correspond to different movements of first portion 112 of boom assembly 110, second portion 114 of boom assembly 110, and implement 105, respectively. Further, due to the configuration of boom assembly 110, movement of first portion 112 may cause corresponding movement of second portion 114 and implement 105 relative to frame 135 of work machine 100, and movement of second portion 114 may cause corresponding movement of implement 105 relative to first portion 112 and/or frame 135 of work machine 100.

Referring now to fig. 1 and 2, a bucket loader 200 (also referred to herein as a "loader") having an intelligent mechanical linkage performance system 300 (shown in fig. 2 and 8) is shown. The skidder machine 200 may be used to transport harvested trees onto natural ground, such as a forest. It should be noted that while in this first exemplary embodiment, the figures and description may refer to a four-wheel skidder machine, it should be understood that the scope of the present disclosure extends beyond four-wheel skidders as described above, and may include a six-wheel skidder machine or other vehicle, as the term "work machine" or "vehicle" may also be used. The term "work machine" is intended to be broader and encompass other work machines in addition to the skidder machine 200, such as the second exemplary embodiment of the excavator discussed later.

Skidder 200 includes a front vehicle frame 210 connected to a rear vehicle frame 220. The front wheels 212 support a front vehicle frame 210, and the front vehicle frame 210 supports an engine compartment 224 and a cab 226. The rear wheels 222 support the rear vehicle frame 220, and the rear vehicle frame 220 supports the boom assembly 110. Although the ground engaging mechanisms are described as wheels in this embodiment, in alternate embodiments, tracks or a combination of wheels and tracks may be used. Nacelle 224 houses a vehicle engine or electric motor, such as a diesel engine, that provides power to drive front and rear wheels (212, 222) and for operating other components associated with skidder machine 200 (e.g., actuator 120) to move boom assembly 110. The cab 226, in which the operator is located when operating the work machine 100, includes a number of controls (e.g., joysticks, pedals, buttons, levers, displays, etc.) for controlling the work machine 100 during operation of the work machine 100.

The boom assembly 110 is coupled to the frame 135. In an embodiment of skidder machine 200, frame 135 may comprise one or more of front vehicle frame 210, rear vehicle frame 220, and/or any coordinate system specified that is stored in controller 205. In the embodiment disclosed herein, the frame 135 is labeled as the rear vehicle frame 220 for simplicity. The boom assembly 110 includes a first portion 112 (i.e., a dome portion 230), the first portion 112 being pivotably coupled to the frame 135 and being movable relative to the frame 135 by a first actuator 131, wherein a first boom position sensor 132 is coupled to the first portion 112 of the boom assembly. The first boom position sensor 132 may include one or more sensors that indicate the position of the first portion 112. The detailed view of a portion of the first exemplary embodiment in FIG. 2 shows that the first boom position sensor 132 includes a plurality of sensors strategically positioned.

The boom assembly 110 further includes a second portion 114 (i.e., a boom portion 240) pivotably coupled to the first portion 112 and movable relative to the first portion 112 by a second actuator 136, wherein the second boom position sensor 138 is coupled to the second portion 114. The second cantilever position sensor 138 may include one or more sensors that indicate the position of the second portion 114. The second boom position sensor 138 also includes a plurality of sensors strategically located.

The position of the position sensor may depend on the link kinematics of the boom assembly 110 or the components engaged with the boom assembly 110 of each work machine 100 and the type of position sensor. The position sensors (132, 138) feed the first and second position signals (236, 238) into a position/angle data processor 290.

FIG. 2 details a schematic of the boom assembly 110 of the skidder machine 200 in relation to the skidder machine controller 205 in an intelligent mechanical linkage performance system 300 (also detailed in FIG. 9). As previously described, boom assembly 110 includes an arch portion 230 coupled to rear vehicle frame 220 (i.e., first portion 112 of boom assembly 110), a boom portion 240 coupled to arch portion 230 (second portion 114 of boom assembly 110), and a grapple 207 (implement 105). A proximal end 256 of the arch portion 230 is pivotably coupled to the rear vehicle frame 220, and a distal end 258 of the arch portion 230 is pivotably coupled to the cantilevered portion 240. In this particular embodiment, one or more arch hydraulic cylinders 260 may be controlled by an operator to move the arch portion 230. A proximal portion 266 of the cantilevered portion 240 is pivotably coupled to the arch portion 230, and a distal portion 268 of the cantilevered portion 240 is pivotably coupled to the grapple 207. One or more hydraulic cylinders 242 are coupled to a proximal portion 266 of boom portion 240 and are controllable by an operator to move boom portion 240. The proximal portion 276 of the grapple 107 is coupled to the distal portion 268 of the cantilevered portion 240. The full movement or full extension and retraction of the arch cylinder 260 and the boom cylinder 242 forms a motion envelope 400 (described in detail below) of the grapple 207, wherein the grapple 207 collects a payload 140, such as a log.

The skidder machine 200 may further include a load measuring device (280a, 280b, collectively referred to herein as 280) coupled to the boom assembly 110, wherein the load measuring device (280a, 280b) is configured to generate a load signal 288 indicative of the payload 140. Although the present disclosure indicates two positions for the load measuring device, the load measuring device 280 includes a first load measuring sensor 280a and a second load measuring sensor 280 b. The first load measuring sensor 280a may include one or more sensors mounted at or near the grapple bucket to intersect the crosshead swivel 158. The second load measuring sensor 280b may be installed at a position where the cantilever portion 240 is coupled to the arch portion 230. The actual boom section lift and arch section tension required are measured using load cell 280a and load cell 280b, respectively. The load signal 288 is received by the controller 205 to create an actual load measurement data log module 285 comprising real-time data, wherein the database populates the schematic of the motion envelope 400 with nodes 610 (shown in fig. 6A-6B) indicative of the load at various locations by inference from the theoretical performance data module 293.

The work machine or skidder machine 200 may also include a pin 215, wherein the pin 215 is located on a distal portion 268 of the cantilevered portion. The pin 215 may include a point representing the coupling of the grapple 207 with the distal portion 268 of the cantilevered portion, which may include the crosshead swivel 158. Alternatively, the pin 215 may comprise a central portion of the crosshead swivel. During calculation of the load anywhere within the motion envelope 400 by the controller 205, the pin 215 represents the payload (i.e., the gravitational pull of the load on the distal portion 268 of the cantilever portion). The controller 205 may: the measured/known load values and the known relative positions of the boom cylinder 242 and the arch cylinder 260 are used to infer the lift of the relative load required by the boom cylinder 242 and the pull required by the arch cylinder 260 in order to move to the next position within the motion envelope 400.

Fig. 3 shows a line schematic of the skidder machine 200, wherein the motion envelope 400 is defined by the possible range of motion of the pin 215. The position of the pin 215 is defined by the length of the arch cylinder 260 and the boom cylinder 242. The movement of the arch cylinder 260 and the boom cylinder 242 together define the position of the pin 215. The perimeter 312 of the motion envelope 400 depicted by the pin 215 is defined by one or more of the arch cylinder 260 and the boom cylinder 242 in a fully extended or retracted position. The perimeter of the arch cylinder motion is shown by a first triangular structure 330, the first triangular structure 330 being defined by the mechanical linkage of the boom assembly 110 (shown in fig. 1). The first triangular structure 330 is depicted by a dot on the distal portion of the arch hydraulic cylinder 260, with the arch hydraulic cylinder 260 rotating between fully extended and fully retracted, and the boom hydraulic cylinder 242 rotating between fully extended and fully retracted. The perimeter of the boom cylinder motion is represented by a second triangular structure 320 defined by the mechanical linkage of the boom assembly 110, with the boom cylinder 242 rotating between fully extended and fully retracted, and the arch cylinder 260 rotating between fully extended and fully retracted.

Turning now to fig. 4, a detailed exemplary embodiment of the grapple 107 is shown. The grapple 107 may include a base 410, left and right tongs 420, 430, and left and right hydraulic cylinders 440, 450. The base 410 is coupled to the distal portion 268 of the cantilevered portion. The proximal ends of the left and right clamps 420, 430 may be controlled by left and right hydraulic cylinders 440, 450 to open and close the grapple 207. Left hydraulic cylinder 440 has a head end coupled to base 410 and a piston end coupled to the proximal end of left tong 420. The right hydraulic cylinder 450 has a head end coupled to the base 410 and a piston end coupled to the proximal end of the right clamp 430. The operator can control the extension and retraction of the left and right hydraulic cylinders 440 and 450 to open and close the grapple 107. When the left and right hydraulic cylinders 440, 450 retract, the proximal ends of the left and right clamps 420, 430 come closer together, which pulls the distal ends of the left and right clamps 420, 430 apart to open the grapple 107. When the left and right hydraulic cylinders 440, 450 are extended, the proximal ends of the left and right jaws 420, 430 are pushed apart, which brings the distal ends of the left and right jaws 420, 430 together, thereby closing the grapple 207. The operator may retract the left and right hydraulic cylinders 440, 450 to open the grapple 207 to enclose the payload 140 (e.g., a tree or other woody plant), and then extend the left and right hydraulic cylinders 440, 450 to close the grapple 207 to grab, hold and lift the payload so that the machine may move it to another desired location. The pin 215 may be located directly above a base 410 of the grapple 207 (represented by the cross 215 in fig. 4).

Fig. 5 shows a schematic example of a user input interface 500 from an operator station for the arch cylinder 260, the boom cylinder 242, and the clamp cylinders (440, 450). In this first exemplary embodiment, the user input interface 500 may include discrete control members for the boom control 502, the arch control 504, and the grapple control 506. The discreteness may be interpreted as a separate control member, or movement of the control member in one direction produces movement of the first actuator 131 and movement of the control member in a different direction produces movement of the second actuator 136. The boom control member 502 allows an operator to adjust the extension and retraction of the boom cylinder 242 to move the boom portion 240 relative to the arch portion 230. The arch control 504 controls the extension and retraction of the arch hydraulic cylinder 260 to lower and raise the arch portion 230 relative to the rear vehicle frame 220. The grapple control 506 controls the extension and retraction of the hydraulic tong cylinders 440, 450 to open and close the grapple 207. The boom control 502, the arch control 504, and the grapple control 506 send user input signals 550 to the controller 205, and the controller sends command signals 580 (note that commands may also be wirelessly transmitted 590) via control lines 520 to control the boom cylinder 242, the arch cylinder 260, and the clamp cylinders 440, 450. The user input interface 500 may further include a performance display graphics module 530 (which may also be referred to simply as a display), as described in further detail below.

Referring now back to fig. 2 of fig. 1, the controller 205 of the skidder machine 200 (work machine 100) is configured to receive a first position signal 236 (indicative of the position and angle of the arch portion 230) from the first boom position sensor 132, a second position signal 238 (indicative of the position and angle of the boom portion 240) from the second boom position sensor 138, and a load signal 288 (indicative of the payload) from the load measurement device 280. In this embodiment, the first boom position sensor 132 and the second boom position sensor 138 may include one or more position sensors as shown in FIG. 2. Additionally, the first boom position sensor 132 and the second boom position sensor 138 may be further coupled to their respective actuators (131, 136), wherein the position sensors allow the controller 205 to determine the hydraulic capacity or load lifting/pulling capability of each respective actuator (131, 136). The controller 205 includes an actual load measurement data recording module 285 to receive a load signal 288 from the load measuring device 280 and a position/angle data processor 290 to receive the first position signal 236 and the second position signal 238. Each type of signal (288, 236, 238) may be received in real time to create a data log. The position/angle data processor 290 may use known linkage geometries to calculate the corresponding position of the pin 215 within the motion envelope 400.

Turning now to fig. 6A and 6B, the controller 205 is further configured to: a map 600 of hydraulic capacity within the motion envelope 400 for one or more of the first and second actuators (131, 136) based on the first position signal 236, the second position signal 238, and the load signal 288; and generating a lift path 710 (shown in phantom in fig. 7A and 7B) of movement of pin 215 across at least a portion of motion envelope 400 based on the hydraulic capacity for actuating each respective hydraulic cylinder within motion envelope 400, wherein the available hydraulic capacity for lifting and pulling payload 140 within motion envelope 400 is less than the motion envelope without payload 140. The map 600 of hydraulic capacity may be communicated to the operator on a performance display graphical module 530 on an operator device, such as a screen in the cab, or on an alternative device, such as a tablet, mobile electronic device, telephone, windshield screen overlay, remote operator station, and the like, to name a few. An alternative or supplemental option may be tactile feedback that is communicated to the operator for optimal control by various control members that require movement. Using both the performance display graphics module 530 and the haptic feedback can advantageously provide guidance and training opportunities for the operator. Because the boom control member 502 and the arch control member 504 are distinct and separate in the clamshell loader 200, implementing tactile feedback is simplified.

The graph 600 of hydraulic capacity includes a series of nodes 610 (only a few of which are shown) that represent the real-time hydraulic capacity of one or more of the first and second actuators (131, 136) throughout the motion envelope 400. Fig. 6A represents the real-time hydraulic capacity of the boom cylinder 242 across a series of nodes 610 within the overall motion envelope 400, or the boom lift capacity within the overall motion envelope 400 (i.e., boom lift is sufficient as represented by a positive number, or insufficient as represented by a negative number). The x-axis and y-axis represent relative positions with respect to frame 135 (i.e., based on the current positions of the other respective actuators on boom assembly 110). Fig. 6B shows the real-time (i.e., based on the current position of the other various actuators on the boom assembly 110) hydraulic capacity (i.e., sufficient or insufficient arch tension within the overall motion envelope 400) of the arch hydraulic cylinder 260. Because the movements of the boom cylinder 242 and the arch cylinder 260 are controlled by respective control members (502 and 504, respectively) from the user input interface 500, the movements of the command cylinders 242, 260 are easily explained in terms of the hydraulic capacity diagram 600 shown in fig. 6A and 6B. The sufficiency or inadequacy may be specified by a positive or negative number indicated numerically at each node 610 and/or by a physical representation in which the size or dimension of each node 610 (e.g., the circle shown in this exemplary embodiment) represents the amount of hydraulic capacity remaining based on the current actuator position. For example, a small node may indicate little or no hydraulic volume within the motion envelope 400 at the corresponding location. While a larger node may indicate sufficient capacity at the corresponding location. The current position of pin 215 within motion envelope 400 may also be specified by a node of a different color or symbol so that the operator may track its position in real time. A series of nodes 610 having sufficient capacity within the motion envelope 400 and located adjacent to each other may indicate an optimal and/or safe motion path (also referred to as a lift path 710 in fig. 7A and 7B) for the pin 215. In an alternative embodiment, only the capacity nodes 610 may be specified by a graphical representation at the nodes 610. In the embodiment shown in fig. 6A and 6B, node 610 may fluctuate in real time as the hydraulic cylinder (242 or 260) moves through the motion envelope 400. For example, as shown in fig. 6A, if the operator manipulates the motion of the boom cylinder 242 to provide lift to the payload 140, the hydraulic capacity of the arch cylinder 260 in fig. 6B will refill each node 610 based on the new data (position). Although fig. 6A and 6B show an exemplary number of nodes 610 within the motion envelope 400 of the grapple harvester 200, the number of nodes 610 may be modified based on the granularity of detail desired. On the other hand, the units along the x-axis and y-axis may also be manipulated according to the payload 140 or the country of operation. In the present embodiment, the hydraulic capacity along the x-axis and the y-axis is expressed in kilonewtons.

Turning now to fig. 7A and 7B, a schematic diagram is shown including a motion envelope 400 including a lifting path 710 (represented by dashed lines) of pin 215, the lifting path 710 traversing a node 610 having sufficient hydraulic capacity from a first position 720 to a second position 730 to carry a corresponding payload 140 that may be measured by load measuring device 280. Note that as shown in the illustrated embodiment, more than one lifting path 710 may be shown at the same time.

The motion envelope 400 shown in fig. 7A and 7B may be further enhanced when displayed on a graphical user input interface, wherein a portion of the motion envelope 400 is color-coded or pattern-coded. When pin 215 is positioned at a specified location within motion envelope 400, the color code is based on the degree of hydraulic capacity of the corresponding hydraulic cylinder associated with motion envelope 400. Within the motion envelope 400, green indicates hydraulic capacity over 20%, red indicates hydraulic capacity under, and yellow may indicate capacity between 0% and 5% in order to move payload 140; purple indicates a capacity of between 5% and 20%. Note that the hydraulic capacity may also be related to the amount of stroke the piston part remains in the cylinder of the hydraulic cylinder. The lift path 710 indicates an optimal trajectory for the pin 215, from a first position 720, through a series of nodes 610 having sufficient hydraulic capacity for the respective actuator 120, to reach a second position 730. In the clamshell loader 200 embodiment, first position 720 indicates the current position of pin 215, and second position 730 may indicate a desired final position, such as a transport position, where payload 140 is sufficiently elevated above the ground to be ready for transport. The user input interface 500 may allow the operator to switch (with or without color coding) between a map with the hydraulic capacity of the node 610 and a map with the hydraulic capacity of the suggested lift path 710.

Returning to fig. 1 and 2, referring now also to fig. 8 and 9, in calculating the map 600 of hydraulic capacity (as shown in fig. 6), the controller 205 of the work machine 100 may also receive an inclination signal 295 from an inclination sensor 160 coupled to the work machine 100. Fig. 8 depicts a line schematic of a work machine 100, bucket loader 200 on an inclined surface 810. Inclination sensor 160 may determine an inclination (shown as α) of a horizontal longitudinal axis 850 of work machine 100 relative to the ground, and controller 205 may modify load signal 288 based on the inclination signal 295. In other words, the inclination is a vector 820 representing the payload 140 at a point at or near the pin 215 relative to the frame 130 when considering the change in direction of the gravitational pull due to the inclination angle α. That is, in a steep grade condition, the controller 205 will fill the motion envelope 400 with hydraulic capacity while accounting for the gravitational directional pull of the payload relative to the directional pull on the actuator 120 as shown in fig. 8. Vector 805 represents a first directional pull of load 140 with the work machine on flat ground. Vector 820 represents the second directional tension of payload 140 with the work machine on inclined surface 810. The tilt angle alpha is equal to the change in relative angle of the payload 140.

FIG. 9 illustrates a detailed schematic of the smart mechanical linkage performance system 300 in relation to the first exemplary embodiment illustrated in FIG. 1. More specifically, an intelligent mechanical linkage performance system 300 is shown as applied to a clamshell skidder machine 200. In one non-limiting example, the smart mechanical linkage performance system 300 includes a first boom position sensor 132, the first boom position sensor 132 coupled with the first portion 112 of the boom assembly 110 of the work machine 100 for generating a first position signal 236 indicative of the position of the first actuator 131. The smart mechanical linkage performance system 300 includes a second boom position sensor 138, the second boom position sensor 138 coupled to the second portion 114 of the boom assembly of the work machine 100 for generating a second position signal 238 indicative of the position of the second actuator 136. The first position signal 236 and the second position signal 238 are received by a position/angle data processor 290, which position/angle data processor 290 may be located on the controller 205 to determine the relative position and/or angle of the first portion 112 of the boom assembly, the second portion 114 of the boom assembly, and finally the pin 215, with respect to the frame 130.

A load measuring device 280 is coupled to the boom assembly 110, wherein the load measuring device 280 is configured to generate a load signal 288 indicative of the payload 140, wherein the load signal 288 is received by the controller 205. The smart mechanical linkage performance system 300 also includes a pin 215 (described above), the pin 215 coupled to the second portion 114 of the boom assembly 110 at a location remote from the first portion 112 of the boom assembly 110, wherein movement of the pin 215 forms a motion envelope 400, wherein the pin 215 is movable within the overall motion envelope 400 by the first portion 112 and the second portion 114. An implement 105 may be coupled to the pin, wherein the implement is configured to engage the payload. As previously described, the perimeter 312 of the motion envelope 400 is defined by one or more hydraulic cylinders 125, the hydraulic cylinders 125 being connected to the boom assembly 110 and in a fully extended or retracted position. That is, with a given linkage geometry of work machine 100, perimeter 312 is determined by the full range of possible motion with each actuator 120 extended or retracted. The smart machine linkage performance system 300 also includes a controller 205 coupled to the work machine 100, wherein the controller 205 is configured to receive the first position signal 236 from the first boom position sensor 132; receive a second position signal 238 from the second boom position sensor 138; and receives a load signal 288. The controller 205 includes an actual load measurement data logging module 285, a theoretical performance data module 293, and a performance display graphics module 530. The position/angle data processor 290 receives the position signal 236 from the first boom position sensor 132 and the position signal 238 from the second boom position sensor 138 in real time and the load signal 288 in real time. Upon receiving this information, controller 205 identifies node 610 within motion envelope 400 at which pin 215 is located. Then, the controller 205: based on the load signal 288, the first position signal 236, and the second position signal 238, the first portion 112 (the arch pull of the grapple harvester) and the second portion 114 (the boom lift of the grapple harvester) force requirements in the geometry of the overall motion envelope 400 are analyzed and optimized by associating the identified node 660 within the motion envelope 400 (i.e., the node representing the current position) with the theoretical data performance module 293. The theoretical performance data module 293 may include a theoretical load capacity within the entire motion envelope 400 given a predetermined payload (e.g., the payload may be zero or some other minimum load) and be populated with the hydraulic capacity of each respective hydraulic actuator for each respective node within the motion envelope 400. Once the node 610 is identified, the controller 205 then infers from the theoretical performance data module 293 a known ratio between the identified node 660 and the corresponding node in the theoretical performance data module 293 and fills the remaining motion envelope 400 by calculating a map of hydraulic capacity for the first actuator or the second actuator, or both, based on the payload 140. Note that the load signal 288 may fluctuate at any given time because a portion of the payload 140 may be dragged to the ground because the bucket harvester 200 will typically move tall felled trees. As shown in fig. 6A and 6B, the map of hydraulic capacity over the entire motion envelope includes a series of nodes that illustrate the available load supply from the hydraulic system of the work machine for each respective actuator. Where a feed is available, this may be represented by a positive number (shown as +); and in the event of insufficient force, this may be represented by a negative number (shown-) (i.e., insufficient to pull the payload 140 from the current position (note that the current position may also be the identified node 660) to a second position, where the second position is typically identified as the transport position).

Additionally, the operator may switch the smart mechanical linkage performance system 300 between the automatic mode 375 and the semi-automatic mode 365. In the automatic mode, controller 205 may be configured to inhibit pin 215 from moving to multiple nodes 610 within motion envelope 400, where there is insufficient hydraulic capacity to move payload 140 at the multiple nodes 610. Further, in the automatic mode 375, when the operator follows the motion on the performance display graphics module 530, the controller may automatically move the boom assembly according to the calculated lift path 710 shown in dashed lines in fig. 7A and 7D (for example). The lifting path 710 may change in real time as the pin 215 moves. This may be due to the manner in which payload 140 engages the ground or inclined surface 810 of the ground, to name a few. Alternatively, in the semi-automatic mode 365, the display displays the real-time motion envelope 400 in a visually coded (color or pattern) manner to communicate to the operator the available load supply from the hydraulic system based on the payload 140 for each node 610 within the overall motion envelope 400. The operator may then use user input interface 500 to manipulate pins 215, and ultimately payload 140, to the transport position, guided by suggested lift path 710. Further, in the semi-automatic mode 365, the controller may further provide tactile feedback to the operator as guidance (e.g., vibration of the control member requiring movement).

Fig. 10 is a side view of a second exemplary embodiment of a work machine 100 having an intelligent mechanical linkage performance system 300. The work machine 100 is embodied as an excavator 900, the excavator 900 including an upper frame 910 pivotally mounted to a chassis 915. The upper frame 910 may be pivotally mounted to the chassis 915 by a swing pivot. The chassis 915 may include a pair of ground engaging tracks 920 on opposite sides of the chassis 915 for movement along the ground. The upper frame 910 includes a cab in which an operator controls the excavator 900. An operator may actuate one or more controls of the controller 205 for operating the excavator 900. These controls may include a steering wheel, a joystick, a control pedal, control buttons, and a graphical user input interface with a display screen. The excavator 900 includes a boom assembly 110, the boom assembly 110 including: a large boom 925 (the first portion 112 of the boom assembly) extending from the upper frame 910 (the frame 130) adjacent the cab 226; and a dipper handle 935 (the second portion 114 of the boom assembly). The large boom 925 can be rotated along a vertical arc relative to the upper frame 910 by actuating the large boom hydraulic cylinder 930 (first actuator). The dipper stick 935 is coupled to the large boom 925 and is pivotable relative to the large boom 925 by a dipper stick hydraulic cylinder 940 (a second actuator). An implement 105 (shown as a bucket 905) is coupled to an end of the dipper stick 935, where the implement 105 may be pivoted relative to the dipper stick 935 by an implement hydraulic cylinder 945.

Fig. 11 is a line schematic of the second exemplary embodiment shown in fig. 10, illustrating the motion envelope 400 of the excavator 900. The motion envelope 400 is defined by the range of possible motion of the pin 215. The position of the pin 215 is defined by the length of the large boom cylinder 930 and the dipper handle cylinder 940. The perimeter of the motion envelope 400 (represented by the solid black line) depicted by pin 215 is determined by one or more of the large boom cylinder 930 and the dipper handle cylinder 940 in the fully extended or retracted position. The perimeter of boom cylinder motion is represented by a series of first geometries 950 defined by the mechanical linkages of boom assembly 110 (shown in fig. 10). The first geometry 950 is depicted by a dot on the distal portion of the large boom hydraulic cylinder 930, where the large boom hydraulic cylinder 930 rotates between fully extended and fully retracted, and the dipper handle hydraulic cylinder 940 rotates between fully extended and fully retracted. The perimeter of the dipper stick cylinder motion is represented by a series of second triangular structures 955 defined by the mechanical linkage of the boom assembly 110, with the large boom cylinder 930 rotating between fully extended and fully retracted, and the dipper stick cylinder 940 rotating between fully extended and fully retracted.

Fig. 12 is a detailed schematic diagram of the intelligent mechanical linkage performance system 300 relating to the second exemplary embodiment (shown in fig. 10, an excavator 900). The system is similar to the intelligent mechanical linkage performance system 300 shown in FIG. 9, except for the descriptive inputs to the user input interface 500 (i.e., control of the boom 925, control of the dipper stick 935, and control of the bucket 905), and the outputs on the performance display graphic module 530 (i.e., the motion envelope 400 and the associated data calculated to reflect the configuration of the excavator 900 as shown in FIG. 11). Because the length of the actuator 120 and the linkage geometry are different, the motion envelope 400 will be different. However, the system and method of optimizing performance may be the same. Additionally, the controller may be further configured to identify payload centroid 380. The payload centroid 380 may be based on a third position signal received from the third actuator 945, wherein the implement 105 may be moved by the third actuator 945. The controller 205 modifies the load signal 288 based on the payload centroid 380.

Fig. 13 is a method for a control system of boom assembly 110 of work machine 100 to intelligently control the boom assembly during payload 140 movement operations. In a first block 970, a first actuator sensing system or first boom position sensor 132 coupled with the first portion 112 of the boom assembly of the work machine 100 generates a first position signal 236 indicative of the position of the first actuator 131. A second actuator sensing system or second boom position sensor 138 coupled to the second portion 114 of the boom assembly generates a second position signal 238 indicative of the position of the second actuator 136; the load measurement device 280 generates a load signal 288 indicative of the payload 140. In a second block 975, the controller 205 receives the signals (i.e., the first position signal 236, the second position signal 238, the load signal 288). In a third block 980, the position/angle data processor 290 receives the first position signal 236 and the second position signal 238 to enable the processor to determine the current relative position of the pin 215 within the motion envelope. In a fourth block 990, the intelligent performance control module on the controller 205 analyzes the actual load measurement data log 285 and fills the remaining motion envelope with the load signal 288 and the determined position of the pin 215 within the motion envelope 400 by extrapolating from the load value in the theoretical performance data 293. In a fifth block 995, the controller 205 then optimizes the lift path 710 (i.e., the movement of the pin 215 from the current position to the transport position), which lift path 719 passes through a series of positions represented by nodes 610 within the motion envelope 400. From the sixth block 996, the controller 205 may select to create a graphical representation communicated on the performance display graphics module 530 or to create haptic guidance to cause the operator to specify a series of discrete movements for each respective actuator 120 to move to the next position (i.e., generally toward the transport position). Meanwhile, in block 997, the controller 205 may operate the machine in a semi-automatic 365 mode, wherein motion to a particular node 610 within the motion envelope 400 may be limited. The operator may have to navigate using only the allowed areas within the range of motion. Alternatively, in block 998, the controller 205 may operate in the automatic mode 375, wherein the pin 215 is automatically moved from the first position 720 to the desired second position 730 (e.g., the transport position) with minimal or no assistance by the operator. As the pin 215 moves through the motion envelope 400, the block 995 is continuously updated through the loop 999. Thus, the smart mechanical linkage performance system 300 advantageously allows the machine to update and reformulate its method in real time.

The terminology used herein is for the purpose of describing particular embodiments or implementations only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should furthermore be understood that: the terms "having," "including," and/or "comprising," and the like, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The use of reference numbers "a" and "B" herein along with reference numbers is merely for clarity in describing various implementations of the devices.

One or more steps or operations in any method, process, or system discussed herein may be omitted, repeated, or reordered and are within the scope of the present disclosure.

While the above describes example embodiments of the disclosure, these descriptions should not be viewed in a limiting or restrictive sense. Rather, various modifications and adaptations may be made without departing from the scope of the appended claims.