US20230134217A1

US20230134217A1 - Apparatus and method for limiting movement of a work machine

Info

Publication number: US20230134217A1
Application number: US17/452,780
Authority: US
Inventors: Brett S. Graham; Nilesh T. Kumbhar
Original assignee: Deere and Co
Current assignee: Deere and Co
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-05-04

Abstract

A work vehicle comprising a lift system, a coupling assembly, a proximity sensor, a linear actuator, and a monitoring system. The coupling assembly coupled to the movable arm and a work implement. The proximity sensor is configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement. The linear actuator is configured to send an extension signal indicative of a length of the linear actuator. The monitoring system configured to receive the proximity signal and the extension signal; determine a first condition of a first coupling step based on the signals received; perform a curling operation; retract a linear actuator on the coupling assembly in a second coupling step; receive an extension signal from a linear actuator sensor; and determine a second condition of the second coupling step based on the extension signal received.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

N/A

BACKGROUND

Proper coupling of implements to work vehicle are critical to precision applications such as grade control. Conventional methods of verifying attachment require an operator to visually inspect for an identifying red flag through openings in a coupling assembly cover; and manually pressing the implement down to confirm attachment. This common practice may become problematic if the operator running the vehicle remotely, the work vehicle is running autonomously, or if debris clogs the opening in the coupling assembly thereby impacting visibility of the flags. Therein lies an opportunity for confirming the coupling between the implement and the work vehicle with ease when operated, remotely, autonomously or with an operator present.

SUMMARY

A method and a work vehicle with a non-transitory computer readable medium is disclosed. The work vehicle comprises a frame, a lift system with a movable arm secured to the frame and a coupling assembly. The coupling assembly is coupled to the movable arm operable via a linear actuator and attachable to a work implement. A proximity sensor is operatively coupled to the lift system and configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement. The linear actuator sensor is operatively coupled to the coupling assembly and configured to send an extension signal indicative of the linear actuator is extended. A monitoring system includes a controller having a non-transitory computer readable medium with program instructions. The program instructions are configured to receive the proximity signal from the proximity sensor which indicates a position of a first surface on the coupling assembly with the second surface on the work implement. The instructions then determine a first condition of the first coupling step based on the proximity signal received. The first coupling step includes a proximity sensor status change when the distance between the first surface and the second surface cross a threshold. The non-transitory computer readable medium is then configured to perform a curling operation with the lift system to latch a top portion of the work implement with the coupling assembly to fully engage the first surface and the second surface when the proximity sensor status changes. Next, the linear actuator on the coupling assembly retracts in a second coupling step. The retraction moves at least one protrusion on the coupling assembly towards engagement with a catch on the work implement. The controller on the work vehicle receives an extension signal from the linear actuator indicating a length the linear actuator is extended. The non-transitory computer readable medium determines a second condition of the coupling step based on the extension signal received. The second coupling step includes a coupling status change upon reaching an extension threshold.
The non-transitory computer readable medium may further instruct reversing movement of the linear actuator if the linear actuator fails to full extend.
The non-transitory computer readable medium may further comprise outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change.
The non-transitory computer readable medium may send a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change. The proximity sensor may be one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor.
The curling operation may engage the coupling assembly with the work implement at a first and a second contact area. Retracting the linear actuator of the coupling assembly creates a third contact area with the work implement.
The method of indicating coupling of a work implement to a work vehicle comprises receiving proximity signals from a proximity sensor indicative of a position of first surface on the coupling assembly with a second surface on the work implement. In a next step, the method includes determining a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold. Next, the method performs a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes. Then the method includes retracting the linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement; and receiving an extension signal from the linear actuator sensor indicative of the length the linear actuator is extended. Finally, the method includes determining a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.
Other features and aspects of the disclosure will become apparent by consideration of the following detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is side elevation view of a work vehicle shown as a skid steer with an implement in the form of a bucket coupled thereto via a coupling assembly according to an embodiment in the disclosure.

FIG. 2 is a side view of a forward portion of the work vehicle shown in FIG. 1 .

FIG. 3 is a partial elevated view perspective view of the forward portion of the work vehicle with the backside of the coupling assembly of FIG. 1 .

FIG. 4 is a detailed perspective view of a movable arm, a coupling assembly, and the implement of FIG. 1 illustrating the coupling assembly engaged with the implement.

FIG. 5A is a detailed rear view of the external surface of the coupling assembly in an unlocked position wherein the coupling assembly includes the quick attach cover.

FIG. 5B is a detailed rear view of the external surface of the coupling assembly in a locked position wherein the coupling assembly includes the quick attach cover.

FIG. 6A is a detailed rear view of the coupling assembly in an unlocked position wherein the coupling assembly does not include the quick attach cover.

FIG. 6B is a detailed rear view of the coupling assembly in a locked position wherein the coupling assembly does not include the quick attach cover.

FIG. 7 is a flow diagram illustrating conditional states for indicating whether the implement of FIG. 1 is securely coupled to the coupler.

DETAILED DESCRIPTION

Before any embodiments are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting.
As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of” or “at least one of” indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).
As used herein, the term “controller” is a computing device including a processor and a memory. The “controller” may be a single device or alternatively multiple devices. The controller may further refer to any hardware, software, firmware, electronic control component, processing logic, processing device, individually or in any combination, including without limitation: application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and memory that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.
The term “processor” is described and shown as a single processor. However, two or more processors can be used according to particular needs, desires, or particular implementations of the controller and the described functionality. The processor may be a component of the controller, a portion of the object detector, or alternatively a part of another device. Generally, the processor can execute instructions and can manipulate data to perform the operations of the controller, including operations using algorithms, methods, functions, processes, flows, and procedures as described in the present disclosure.
FIGS. 1-2 illustrate an embodiment of a work vehicle 100. The work vehicle 100 is shown as a skid steer but may be, for example, a front end load, a backhoe, a tractor, a riding lawn mower, or other work vehicle with coupling capacity to an implement 116. The work vehicle 100 includes a frame 106, a power source, a lift system 113 and a coupling assembly 118 for attaching an implement 116 to the work vehicle 100. The lift system 113 of the exemplary embodiment, includes a movable arm 114 on each side of the frame 106 (one each on a left side and a right side) pivotally coupled to the frame 106 and moveable relative to the frame 106 by a pair of boom linear actuators (not shown). The implement 116, detachably coupled to the work vehicle via the coupling assembly 118 as will be described further herein, may be moved in a direction of pitch by actuating a pair of tilt actuators 120 (shown in FIG. 4 ) and boom linear actuators of the lift system 113. The pair of boom linear actuators may also be conventionally referred to as a pair of lift cylinders (one coupled to each movable arm 114) for a skid steer enabling movement of the implement 116 in either a radial direction or a vertical direction. The coupling assembly 118 may be coupled to a forward section, or portion, of the pair of movable arms 114. The coupling assembly 118 may be moveable relative to the frame 110 by a pair of tilt actuator assemblies 120 in a direction of pitch 190. Note, in other embodiments, such as an excavator, the arm 114 may be a single boom arm coupled to the frame of the work vehicle 100.
The lift system 113 serves to manipulate the implement 116, described and illustrated herein as a bucket. Other exemplary implements 116 may include a grapple, a scraper, a pallet fork, a snowplow, or the like for performing a specific task.
In operation, a work vehicle operator may wish to exchange a first implement 116 in use with the work vehicle 100 for a second implement 116. FIGS. 3 and 4 detail the area the coupling assembly attaches to one or more of the movable arms 114 and the frame 106. An overhang, hook, or catch 134 defined in a portion of the implement 116 is sized to receive a protrusion 136 on the coupling assembly 118. The coupling of the protrusion 136 with the overhang or hook 134 is a first attachment area 305.
A proximity sensor is 310 operatively coupled to a portion of the lift system 113 and configured to send a proximity signal 315 representative of a position of a first surface 320 on the coupling assembly 118 with a second surface on 330 the implement 116. That is, the proximity sensor 310 verifies if the gap between the implement 116 and the surface 320 of the coupling assembly 118 falls within the range to enable coupling at the first attachment area 305. In the exemplary embodiment shown, the first surface 320 is a forward surface of the coupling assembly 118, and the second surface 330 is a rear surface on the implement 116. The proximity sensor 310 may be one or more of a magnetic sensor, an ultrasonic sensor, a lidar, an image sensor, or any other means of detection not requiring contact. This advantageously eliminates the physical requirement of contact such as compression of a button, or the visual verification by the operator sitting in an operator cab, for coupling at this first area of attachment 305.
Now turning to FIGS. 5A (locked position) and 5B (unlocked position), a cross-sectional view of the coupling assembly 118 with implement 116 with the quick attach cover 335 is shown. The quick attach cover 335 protects the inner mechanism from impact damage, jamming due to introduction of contaminants such as dirt, and the like. As seen in FIG. 5B, a conventional method of verifying coupling at the third attachment area 340 (i.e. the locking mechanism) requires the operator to look for colored flags 345 (shown cross-hatched) through openings on the quick attach cover 335. Another conventional method includes placing an upward vertical force on the implement by lowering the movable arms 114, pressing the implement 116 against the ground to check for detachment. However, both of these methods may be inaccurate or difficult to confirm at times because debris from the environment may obscure visibility of the flag 345, or alternatively if debris cakes onto a surface of the implement 116 or coupling assembly 118, coupling may be partial or incomplete because the debris may h the first surface 320 and the second surface 330 from engaging with the functional range. FIGS. 6A and 6B illustrate the inner mechanism of the coupling assembly 118 without the quick attach cover shown 335 in FIGS. 5A and 5B. The coupling assembly 118 include locking arms 610 operably movable between a retracted position (FIG. 6A) and an extended position (FIG. 6B) by the linear actuator 605. As the linear actuator 605 of the coupling assembly 118 extends, the pivotable links 615 with red flags 345 rotates. One or more resilient members (e.g. a spring) are positioned such that the locking arms 610 are biased toward the extended position once the linear actuator 605 is extended, thereby reinforcing coupling with the implement 116 at the third attachment area 340. The locking arms 610 extend through an aperture 620 of the quick attach cover 335 to detachably couple with the implement 116. That is, the linear actuator 605 activates to rotate the locking arms 610 toward one of the retracted 635 or extended position 640.
Furthermore, in operation, an implement 116 may be disconnected from the coupling assembly 118 on the work vehicle 100. To do so, the work vehicle positions the implement 116 on the ground. The locking arms 610 are then moved to the retracted position by actuating the linear actuator 605 to a retracted state 635, thereby moving the locking arms 610 clear of the latch on the implement 116. Once the locking arms 610 are retracted, the work vehicle may manipulate the coupling assembly 118 relative to the frame by actuating the tilt actuator assemblies 120 to pivot the coupling assembly 118 relative to the implement 116.
FIG. 7 illustrates a method and conditional states for identifying whether an implement 116 is properly secured to the coupling assembly 118 using a monitoring system having a non-transitory computer readable medium having program instructions. Specifically, when the work vehicle is in use, the controller 104 (or its processor) has program instructions that may be iterative. Using the controller 104, the method 700 includes receiving data/signals from sensors to determine the coupling status of the implement. In a first step 705, initiating coupling of the implement with the work vehicle is initiated by either an operator, or through a sequence of work instructions if done autonomously. In step 710, the processor may receive a proximity signal 315 from the proximity sensor indicative of a position of a first surface 320 on the coupling assembly 118 with a second surface 330 on the implement 116. In step 715, the processor may then determine a first condition of a first coupling step based on the proximity signal 315 received. The first coupling step includes iteratively receiving the proximity signal 315 until a proximity sensor status change occurs. The proximity sensor status changes when the distance between the first surface and the second surface crosses a threshold, the threshold indicating sufficient proximity between both surfaces for engagement. The processor in step 720, performs a curling operation with the lift system of the work vehicle to latch a top portion of the work implement with the coupling assembly and fully engage the first surface and the second surface. The curling operation engages the coupling assembly with the work implement at a first and a second contact area. That is full engagement ensures the first and the second contact areas are sufficiently flush with one another such that the next step of extending the linear actuator on the coupling assembly in a second coupling step safeguards the locking of the implement with the coupling assembly. In step 725, the extension of the linear actuator sequentially moves the locking arms on the coupling assembly towards engagement with a catch 134 on the work implement. Extending the linear actuator of the coupling assembly creates a third contact area with the work implement. As this occurs, the processor in step 730 receives an extension signal from the linear actuator sensor 607 indicative of a length the linear actuator is extended. In step 735, the processor determines a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold. That is, if the processor determines that the proximity sensor is in a closed state, and that the linear actuator is fully extended (through the linear actuator sensor 607), the processor identifies that the work implement is in a “attached and connected” configuration.
In step 740, the monitoring system 700 further comprises reversing movement of the linear actuator 605 of the coupling assembly 118 if the coupling status fails to change when the linear actuator fails to fully extend. The processor sends a request signal to repeat a cycle through the program instructions if one or more of the proximity sensor 310 status and the coupling status fail to change.
However, in step 745, if the processor receives a coupling status change, indicating the linear actuator 605 is fully extended, the processor outputs a signal indicating completion of the attachment of the work implement 116 to the work vehicle 100.
The reversal is true as well. The controller 104 continuously receives data/signals from the proximity sensor 310 and the linear actuator sensor 607 during and/or after detachment. If the controller 176 determines through the first and the second conditions have changed, the controller 104 identifies as in the ‘unattached and retracted’ configuration.
Although the given example begins with the controller 104 identifying the coupling of the implement 116 using the monitoring system 700 in the ‘attached and connected’ configuration C1, the controller 104 may execute program instruction when the monitoring system 700 is in either of attachment or detachment process. For instance, rather than a work vehicle operator wishing to exchange a first implement 116 for a second implement 116, a work vehicle operator may bring the work vehicle 100 out of storage, in which case the work vehicle 100 may not have an implement 116 securely coupled or attached to the coupling assembly 118. In this instance, with the linear actuator 605 may be in the retracted position, and the controller 104 may cycle through the program instructions from the beginning.
Various features of the disclosure are set forth in the following claims.

Claims

What is claimed is:

1. A non-transitory computer readable medium comprising a program instruction for permitting a monitoring system having a controller to indicate coupling of a work implement to a work vehicle including a lift system to which the work implement is attachable via a coupling assembly, the program instructions when executed comprising causing a processor of the controller to:

receive a proximity signal from a proximity sensor indicative of a position of a first surface on the coupling assembly with a second surface on the work implement;

determine a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold;

perform a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes;

extend a linear actuator on the coupling assembly in a second coupling step, the extension moving at least one movable arm on the coupling assembly towards engagement with a catch on the work implement;

receive an extension signal from a linear actuator sensor indicative of a length the linear actuator is extended; and

determine a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.

2. The non-transitory computer readable medium of claim 1 further comprising reversing movement of the linear actuator if the linear actuator fails to fully extend.

3. The non-transitory computer readable medium of claim 1 further comprising outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change.

4. The non-transitory computer readable medium of claim 1 further comprising sending a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change.

5. The non-transitory computer readable medium of claim 1, wherein the proximity sensor is one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor.

6. The non-transitory computer readable medium of claim 1 wherein the curling operation engages the coupling assembly with the work implement at a first and a second contact area.

7. The non-transitory computer readable medium of claim 1 wherein retracting the linear actuator of the coupling assembly creates a third contact area with the work implement.

8. A work vehicle comprising:

a frame;

a lift system including a movable arm secured to the frame;

a coupling assembly coupled to the movable arm, the coupling assembly operable via a linear actuator and attachable to a work implement;

a proximity sensor operatively coupled to the lift system and configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement;

a linear actuator sensor operatively coupled to the coupling assembly and configured to send an extension signal indicative of a length of the linear actuator; and a

a monitoring system including a controller having a non-transitory computer readable medium having a program instruction configured to

receive the proximity signal from the proximity sensor indicative of a position of a first surface on the coupling assembly with the second surface on the work implement;

determine a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when the distance between the first surface and the second surface crosses a threshold;

perform a curling operation with the lift system to latch a top portion of the work implement with the coupling assembly and fully engage the first surface and the second surface when the proximity sensor status changes;

retract a linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement;

9. The work vehicle of claim 8 wherein the monitoring system further comprises reversing movement of the linear actuator if the coupling status fails to change when the linear actuator is fully extended.

10. The work vehicle of claim 8 wherein the monitoring system further comprises outputting a signal indicating completion of an attachment of the work implement to the work vehicle when both the proximity sensor status and the coupling status change.

11. The work vehicle of claim 8 wherein the monitoring system further comprises sending a request signal to repeat a cycle through the program instructions if one or more of the proximity sensor status and the coupling status fails to change.

12. The work vehicle of claim 8 wherein the proximity sensor is one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor.

13. The work vehicle of claim 8 wherein the curling operation engages the coupling assembly with the work implement at a first and a second contact area.

14. The work vehicle of claim 8 wherein retracting the linear actuator of the coupling assembly creates a third contact area with the work implement.

15. A method of indicating coupling of a work implement to a work vehicle, the work vehicle including a lift system to which the work implement is attachable via a coupling assembly, the method comprising:

receiving proximity signals from a proximity sensor indicative of a position of first surface on the coupling assembly with a second surface on the work implement;

determining a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold;

performing a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes;

retracting a linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement;

receiving an extension signal from a linear actuator sensor indicative of a length the linear actuator is extended; and

determining a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.

16. The method of claim 15 further comprising reversing movement of the linear actuator if the coupling status fails to change when the linear actuator is fully extended.

17. The method of claim 15 further comprising outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change.

18. The method of claim 15 further comprising sending a signal a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change.

19. The method of claim 15 wherein the curling operation attaches the coupling assembly with the work implement at a first and a second contact area.

20. The method of claim 15, wherein retracting the linear actuator of the coupling assembly creates a third contact areas with the work implement.