ATTACHMENT LEVELING APPARATUS, SYSTEM, AND METHOD

Abstract

A utility vehicle comprising a main frame, a movable subframe coupled with the main frame, a work tool coupled with the movable subframe by a rotational attachment, an actuator coupled with the rotational attachment, wherein the work tool rotates, by the rotational attachment, relative to the movable subframe about an axis that is parallel to a central longitudinal axis of the main frame, a position detection sensor operable to detect data related to an orientation of the work tool relative to a direction of gravity, a computer-readable memory storing operation information, where an electronic processor is configured to receive a first work tool position data from the position detection sensor about a first position of the work tool, send a work tool rotation signal to the actuator, move the work tool to a second position wherein the second position comprises a position substantially level with gravity.

Description

TECHNICAL FIELD

The present disclosure relates generally to a utility vehicle. An embodiment of the present disclosure relates to an attachment leveling system for utility vehicles.

BACKGROUND

Utility vehicles, such as wheel loaders, skid steer and compact track loaders, and other utility vehicles often use an attachment to carry a load, move material, and/or create graded surfaces, including surfaces level with gravity. While operating across an inclined surface, the vehicle stability can be challenging and retaining the load on the attachment can be difficult, often because of the incline. Achieving and/or maintaining a position of a work tool on utility vehicles where a portion of the work tool position is level with gravity can also be challenging. Attachments on the utility vehicles lack the ability to set and/or maintain a position level with gravity, which can include compensating for movement across the inclined surface.

SUMMARY

According to an aspect of the present disclosure, a utility vehicle comprising a main frame, a movable subframe coupled with the main frame, a work tool coupled with the movable subframe by a rotational attachment, an actuator coupled with the rotational attachment, wherein the work tool is configured to rotate, by the rotational attachment actuated by the actuator, relative to the movable subframe about an axis that is parallel to a central longitudinal axis of the main frame, a position detection sensor operable to detect data related to an orientation of the work tool relative to a direction of gravity, a non-transitory computer-readable memory storing operation information, and an electronic processor configured to: receive a first work tool position data from the position detection sensor about a first position of the work tool, send a work tool rotation signal to the actuator, move the work tool to a second position, based on the first work tool position data, wherein the second position comprises a position substantially level with gravity.

According to another embodiment of the present disclosure, an attachment control system for a utility vehicle can comprise: a first position detection sensor for attachment to the utility vehicle; a second position detection sensor for attachment to a work tool of the utility vehicle; a non-transitory computer-readable memory storing operation information, and an electronic processor configured to: receive a first work tool position data from the position detection sensor about a first position of the work tool relative to a direction of gravity, automatically move the work tool to a second position, based on the first work tool position data.

In yet another embodiment of the present disclosure, a method of controlling a work tool on a utility vehicle can comprise: detecting, by a position detection sensor, a first position of the work tool, generating, by a position detection sensor, a first work tool position data, receiving, by a controller, the first work tool position data from the position detection sensor about the first position of the work tool, sending, by the controller, a signal to an actuator to adjust an orientation of the work tool, moving, by the actuator connected with a rotational attachment coupling the utility vehicle with the work tool, the work tool to a second position based on the first work tool position data, wherein the second position comprises a position substantially level with gravity and wherein the moving comprises rotating the work tool about an axis that is generally parallel to a wheelbase of the utility vehicle.

Other features and aspects will become apparent by consideration of the detailed description, claims, and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description of the drawings refers to the accompanying figures.

FIG. 1 is a perspective view of a skid steer loader with a rotatable work tool coupler, consistent with embodiments of the present disclosure.

FIG. 2 is a perspective view of a skid steer loader with a set of forks coupled with a rotatable work tool coupler consistent with embodiments of the present disclosure.

FIG. 3 is a perspective view of a skid steer loader carrying a load across a sloped surface, consistent with embodiments of the present disclosure consistent with embodiments of the present disclosure.

FIG. 4 is a schematic diagram that shows an attachment leveling system, consistent with embodiments of the present disclosure.

FIG. 5 is a is a flow diagram that shows a method of controlling a work tool on a utility vehicle, consistent with embodiments of the present disclosure.

Like reference numerals are used to indicate like elements throughout the several figures.

DETAILED DESCRIPTION

Referring to FIG. 1, an exemplary embodiment of a machine, such as a skid steer loader 100, is shown. This disclosure is not intended to be limited to a skid steer loader, however, but rather may include any agricultural, construction, or forestry machinery. Exemplary machines include a wheel loader, a crawler loader, a backhoe loader, or a tractor. The skid steer 100 can be provided with a ground-engaging mechanism for moving along the ground. In FIG. 1, the ground-engaging mechanism comprises a drive track disposed on each side of the machine. In another aspect, such as a wheeled skid steer loader, the ground-engaging mechanism can a pair of front wheels and a pair of rear wheels (not shown in FIG. 1). In a conventional skid steer, the operator can manipulate controls from inside a cab 112 (e.g., in this type of machine, part of a main frame 101) to drive the tracks (or wheels) on the right or left side of the machine 100 at different speeds to thereby steer the machine 100 in a conventional manner. In other embodiments, the operator may remotely control the machine 100.

The machine 100 can be further provided with a work implement or tool for performing a desired operation. In FIG. 1, the skid steer 100 is configured to have a loader bucket, set of forks, a blade, a box blade, a 4-in-1 bucket (e.g., a “clamshell” bucket) (e.g., a work tool 103) (not shown in FIG. 1) for collecting material therein and transporting said material to a desired location. The work tool 103 can couple with the work tool coupler 105. The work tool coupler 105 can be pivotally coupled to a forward portion of a pair of boom arms 108 positioned on each side of the machine 100. A pair of bucket tilt hydraulic actuators 114 can extend between the work tool coupler 105 and the boom arms 108 (e.g., a movable subframe) for controlling the tilted orientation of the work took coupler 105 with respect to the boom arms 108. Each hydraulic actuator 114 can include a cylinder rod that actuates back and forth within a cylinder in response to a change in hydraulic pressure. By actuating the tilt hydraulic actuators 114, the operator can tilt the work tool coupler 105 for moving the work tool 103 (e.g., dumping material from a bucket, raising/lowering material with forks, etc.).

FIG. 2 is a perspective view of a skid steer loader with a set of forks coupled with a rotatable work tool coupler, consistent with embodiments of the present disclosure. The skid steer loader 100 can include at rotational attachment (hidden from view in FIG. 2) coupling with the loader arms 108 with the work tool coupler 105, where the work tool coupler 105 is coupled with a work tool 106 such as, for example, a set of forks 106A in FIG. 2 or other suitable attachments. The skid steer loader 100 can include a central longitudinal axis that is generally parallel with the tracks 102 (or wheels). In other machines with a pivoting main frame (e.g., a wheel loader or articulating tractor) the central longitudinal axis can be generally considered an axis perpendicular to the front axle and generally parallel to a wheelbase (e.g., in line with an axis X′ (see FIG. 2) running from a front axle to a rearward axle) of the utility vehicle.

The rotational attachment can include an actuator 104 (in FIGS. 1 and 2, hidden from view behind the work tool coupler 105), where the actuator can rotate a first portion of the rotational attachment (e.g., the work tool coupler 105) with respect to a second portion of the rotational attachment (e.g., the portion of coupled with the tilt hydraulic actuators 114; hidden from view in FIG. 2). The actuator 104 could include one or more hydraulic cylinders, an electric motor, or other similar device that is configured to rotate the first portion of the rotational attachment.

The skid steer loader 100 can include a first position detection sensor that is configured to determine an orientation of the work tool 106 that includes forks 106A with respect to gravity. For example, the position detection sensor could comprise an inertial measurement unit (IMU), a gyroscope, an accelerometer, or other similar device capable of sensing an orientation of an object. The first position detection sensor can be located on the work tool 103 (e.g., the set of forks 106A), or on the first portion of the rotation attachment (i.e., the portion of the rotation attachment closest to the set of forks 106A (or other work tool)), on the work tool coupler 105.

In some embodiments, a second position detection sensor can be located on a different location of the skid steer loader 100 (e.g., on the main frame). The second position detection sensor (e.g., a second IMU) can be configured to determine an orientation of the skid steer loader 100 with respect to gravity. In an alternative embodiment, the second position detection sensor could be a rotational sensor or cylinder position sensor to determine the position of the work tool.

FIG. 3 is a perspective view of a skid steer loader carrying a load across a sloped surface, consistent with embodiments of the present disclosure. As seen in FIG. 3, a skid steer loader 100 is traversing a sloped surface 200 carrying a load 202 on a pallet 204. The pallet 204 is engaged with the set of forks 106 attached to the skid steer loader 100 by the rotational attachment described above (In FIG. 3, hidden from view by the load 202).

The pallet 204 with the load 202 has been rotated about an axis X to have a horizontal orientation parallel with the plane Y that differs from that of the main frame of the skid steer loader 100 which is parallel with plane Y′.

An operator can engage an attachment leveling system when carrying the load 202 across a surface 200 with a slope that is not generally horizontal with gravity. With the attachment leveling system turned on, a position detection sensor can detect changes in an orientation of an IMU associated with the load (e.g., load 202) to keep the load substantially level with gravity. The attachment leveling system can automatically keep the load substantially level with gravity as the vehicle moves across terrain that is changing using data from the IMU to make changes in the orientation of the work tool/attachment. This leveling of the load can be beneficial to improve vehicle handling when on slopes, to keep a load more stable on a pallet, reduce/minimize the risk of spillage of a load (e.g., a load that is granular, a liquid, or a slurry).

The leveling of the load can be achieved by adjusting the bucket tilt hydraulic actuators 114 in the X direction to allow the bucket (or whatever attachment is being used, including, for example, a set of forks) to be generally level with gravity (as shown in FIGS. 2 and 3).

The load can also be generally leveled with gravity in the Y direction using the rotational attachment using the embodiments described herein.

In some applications, an operator may want to perform earth moving maneuvers with the utility vehicle on uneven ground. The load leveling system described herein could assist with earth moving that includes generating an outcome that has features that are level and/or perpendicular to gravity. An example of this can include creating a trench. In a trenching maneuver the alignment of interest is “plumb” as opposed to “level” because an operator would desire a trench vertical with respect to gravity, but the load leveling system should operate and respond mostly the same. The rotational attachment would still provide the additional degrees of freedom for the load leveling system to account for discrepancies in terrain. In this case the load leveling system would only have to/be able to control the rotation of the rotational attachment because trench depth (which is still operator defined) is a function of trencher pitch (controlled by the bucket tilt hydraulic actuators 114).

Another application that may benefit from the attachment leveling system disclosed here includes grade control of a bucket attachment that may be used for flat pad construction (e.g., a house slab, a pole barn floor, etc.) where it is beneficial to have a truly flat surface to build upon (no slope in either direction). To accomplish this with only a front mounted bucket pivotable by the bucket tilt hydraulic actuators 114, the utility vehicle must cut/fill in two directions because bucket pitch is the only variable at the user's discretion. A landing zone is cut in one direction to the desired slope and elevation, then the machine must work at a 90° angle from that landing pad to cut in the other direction to the desired slope. With a rotational attachment combined with bucket curl/dump (e.g., using the bucket tilt hydraulic actuators 114) an operator would be able to grade for a flat pad by working in any direction, or one direction, and the system would automatically adjust curl/dump and rotation of the bucket as necessary to keep the bottom surface of the bucket level in both directions at all times. A benefit of this attachment leveling system is that grading is achieved with a bucket, as opposed to a blade, with control in the pitch and roll axes. Typically front mounted buckets do not have any type of grading automation because without control of the roll axis the system is limited in ability to automate. Furthermore, other grade control systems rely on a chassis mounted IMU paired with an implement IMU, at a minimum. This attachment leveling system can be self-contained in the attachment itself (e.g., an IMU on the attachment, which does not require a utility vehicle with an IMU) and is essentially independent of what vehicle is powering it.

The attachment leveling system could also include a “return to parallel” setting that allows for the work tool returning to a standard position (e.g., parallel with the machine when on a surface generally horizontal with gravity) or some other fixed position. This return to parallel setting could be triggered by an input from an operator or it could be remotely triggered (e.g., by a remote user, or by a location input using GPS location of the machine).

The attachment leveling system could be used for a grading or a clean-up application where it is desired to have a work tool parallel to the tractive surfaces of the machine.

The attachment leveling system can assist less skilled operators with making the decision of when to rotate a load based on the slope. This system could also reduce the number of actions required by an operator as different terrain is encountered during operations of the machine. This system could be helpful for autonomous machines.

The attachment leveling system allows various machines to be more versatile and it allows for machines to easily switch between roles/attachments/applications in different work situations. This versatility can be useful in a number of applications including landscaping, agricultural material handling, compact construction equipment, and other similar instances.

FIG. 4 is a schematic diagram that shows an attachment leveling system, consistent with embodiments of the present disclosure. The attachment leveling system 150 can comprise a controller 152, a memory, 154, an actuator 104, a rotational attachment 105 that couples a main frame 101 of the vehicle 100 with a work tool 106. A display 120 can be included inside the cab 112 where the display is in communication with the controller 152. The display 120 can allow an operator to engage/disengage the attachment leveling system 150 (e.g., using a touch screen). Alternatively, other operator input could be used to engage/disengage the attachment leveling system 150 (e.g., a button, a switch, etc.).

An electronic processor is provided and configured to perform an operation by adjusting a position of the work tool 106 (e.g., which can include the set of forks 106A) by rotating the work tool 106 relative to a longitudinal axis of a utility vehicle by actuating the rotational attachment 105. The electronic processor may be arranged locally as part of the machine 100 or remotely as a remote processing center (not shown). In various embodiments, the electronic processor may comprise a processor, a microprocessor, a microcontroller, a controller (e.g., controller 152), a central processing unit, a programming logic array, a programmable logic controller, or other suitable programmable circuitry that is adapted to perform data processing and/or system control operations. The electronic processor executes or otherwise relies upon computer software applications, components, programs, objects, modules, or data structures, etc. Software routines resident in the included memory (e.g., memory 154) of the electronic processor or other memory are executed in response to signals received.

The computer software applications, in other embodiments, may be located in the cloud. The executed software includes one or more specific applications, components, programs, objects, or sequences of instructions typically referred to as “program code.” The program code includes one or more instructions located in memory and other storage devices which execute the instructions which are resident in the memory, which are responsive to other instructions generated by the system, or which are provided by an operator interface operated by the user (e.g., located in the operator cab or at a remote location in in the operator cab). The electronic processor is configured to execute the stored program instructions.

FIG. 5 is a flow diagram that shows a method of controlling a work tool on a utility vehicle, consistent with embodiments of the present disclosure. A method 300 of controlling a work tool on a utility vehicle 100 can comprise a step 302 of detecting, by a position detection sensor, a first position of the work tool, a step 304 of generating, by a position detection sensor, a first work tool position data, a step 306 of receiving, by a controller, the first work tool position data from the position detection sensor about the first position of the work tool, a step 308 of sending, by the controller, a signal to an actuator to adjust an orientation of the work tool, and a step 310 of moving, by the actuator connected with a rotational attachment coupling the utility vehicle with the work tool, the work tool to a second position based on the first work tool position data, wherein the second position comprises a position substantially level with gravity and wherein the moving comprises rotating the work tool about an axis that is generally parallel to a wheelbase of the utility vehicle.

The method 300 can further comprise a step 312 of displaying, on a display, a status of the second position of the work tool. The status of the second position of the work tool could include, for example, information regarding if the work tool is substantially level with gravity. Information could also be included on the display regarding whether the attachment leveling system is engaged/disengaged (i.e., turned on/off).

As used herein, “e.g.” is utilized to non-exhaustively list examples and carries the same meaning as alternative illustrative phrases such as “including,” “including, but not limited to,” and “including without limitation.” 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).

Those having ordinary skill in the art will recognize that terms such as “above,” “below,” “upward,” “downward,” “top,” “bottom,” etc., are used descriptively for the figures, and do not represent limitations on the scope of the disclosure, as defined by the appended claims. Furthermore, the teachings may be described herein in terms of functional and/or logical block components and/or various processing steps. It should be realized that such block components may be comprised of any number of hardware, software, and/or firmware components configured to perform the specified functions.

Terms of degree, such as “generally”, “substantially” or “approximately” are understood by those of ordinary skill to refer to reasonable ranges outside of a given value or orientation, for example, general tolerances or positional relationships associated with manufacturing, assembly, and use of the described embodiments.

While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a limiting sense. Rather, other variations and modifications may be made without departing from the scope and spirit of the present disclosure as defined in the appended claims.

Claims

1. A utility vehicle comprising:

a main frame;

a movable subframe coupled with the main frame;

a work tool coupled with the movable subframe by a rotational attachment,

an actuator coupled with the rotational attachment, wherein the work tool is configured to rotate, by the rotational attachment actuated by the actuator, relative to the movable subframe about an axis that is parallel to a central longitudinal axis of the main frame;

a position detection sensor operable to detect data related to an orientation of the work tool relative to a direction of gravity;

a non-transitory computer-readable memory storing operation information connected to an electronic processor, where the electronic processor is configured to: receive a first work tool position data from the position detection sensor about a first position of the work tool, send a work tool rotation signal to the actuator, move, by the actuator, the work tool to a second position, based on the first work tool position data, wherein the second position comprises a position substantially level with gravity.

2. The utility vehicle of claim 1, wherein the utility vehicle comprises a wheel loader, a skid loader, a compact track loader, a wheel loader, backhoe loader, or a tractor.

3. The utility vehicle of claim 1, wherein the position detection sensor comprises an inertial measurement unit (IMU).

4. The utility vehicle of claim 1, further comprising a work vehicle inertial measurement unit (IMU) coupled with the main frame, wherein the position detection sensor comprises a rotational sensor or a cylinder position sensor, and the electronic processor is further configured to receive a work vehicle position data from the work vehicle IMU,

where the automatic movement of the work tool is further based on the work vehicle position data.

5. The utility vehicle of claim 1, wherein the work tool comprises a blade, a bucket, a set of forks, or a material handling attachment.

6. The utility vehicle of claim 1, wherein electronic processor is further configured to

receive a second position data from the position detection sensor about the second position of the work tool.

7. The utility vehicle of claim 1, wherein the position detection sensor is coupled with one of (a) main frame or the movable subframe and the work tool further comprises a second position detection sensor; or (b) where the utility vehicle further comprises a rotational coupler that couples the work tool with the movable subframe or the main frame, where the position detection sensor is coupled with a first end of the rotation coupler and the second position detection sensor is coupled with the second end of the rotation coupler.

8. An attachment control system for a utility vehicle comprising:

a first position detection sensor for attachment to the utility vehicle;

a second position detection sensor for attachment to a work tool of the utility vehicle;

a non-transitory computer-readable memory storing operation information; and

an electronic processor configured to: receive a first work tool position data from the position detection sensor about a first position of the work tool relative to a direction of gravity, automatically move, by an actuator, the work tool to a second position, based on the first work tool position data.

9. The attachment control system of claim 8, wherein the first position detection sensor is coupled with the utility vehicle at a first end of the rotational attachment and the second position detection sensor is coupled with the work tool at a second end of a rotational attachment.

10. The attachment control system of claim 8, wherein the first position detection sensor and the second position detection sensor each comprise an inertial measurement unit (IMU).

11. The attachment control system of claim 8, wherein the work tool comprises a blade, a bucket, a set of forks, or a material handling attachment.

12. The attachment control system of claim 8, wherein the work tool is rotatable about an axis generally parallel to a wheelbase of the utility vehicle.

13. The attachment control system of claim 8, wherein the second position comprises a rotation about an axis parallel to a wheelbase of the utility vehicle.

14. A method of controlling a work tool on a utility vehicle, the method comprising:

detecting, by a position detection sensor, a first position of the work tool,

generating, by a position detection sensor, a first work tool position data,

receiving, by a controller, the first work tool position data from the position detection sensor about the first position of the work tool,

sending, by the controller, a signal to an actuator to adjust an orientation of the work tool, and

moving, by the actuator connected with a rotational attachment coupling the utility vehicle with the work tool, the work tool to a second position based on the first work tool position data, wherein the second position comprises a position substantially level with gravity and wherein the moving comprises rotating the work tool about an axis that is generally parallel to a wheelbase of the utility vehicle.

15. The method of claim 14 further comprising

displaying, on a display, a status of the second position of the work tool.