METHOD FOR CONTROLLING A PLURALITY OF TRACTION UNITS, AND, WORK MACHINE

Description

/ 22 METHOD FOR CONTROLLING A PLURALITY OF TRACTION UNITS, AND, WORK MACHINE DESCRIPTION FIELD

[001] The present description refers, in general, to work machines with ground contact traction units and user interface units, such as pedals and joysticks, and more particularly to systems and methods with at least one operating mode for controlling the propulsion of the traction units and operating control of a ground work tool based on joystick inputs. FUNDAMENTALS

[002] Work machines of this type may include, for example, excavators, among others with traction units, such as potentially skid steer loaders and the like. Propulsion and steering controls for conventional excavators are normally provided by pedals that independently control the left and right traction units of the machine chassis. Additional controls for such excavators may be provided by means of one or more manually operable joysticks. For example, movement of the joystick on the x and y geometric axes may generate controls for an earthwork tool or other implement associated with the work machine, while slider switches (e.g., variable switches, rollers, or an equivalent user interface device) may be integrated into one or more joysticks to control even more auxiliary functions for the work machine.

[003] These controls can be uncomfortable to operate, especially when controlling the movement of the work machine over a considerable distance, where the operator must maintain continuous engagement with both pedals. A known technique to address this problem in a more ergonomic way includes a mode known as manual steering to command the travel using a joystick instead of the pedals, in Petition 870250075246, dated 08 / 25 / 2025, page 13 / 45 / 22, states that the operator can control forward / backward travel using the joystick's y-axis and then direction using left / right on the joystick's x-axis. A limitation of the manual steering mode, however, is that the operator would lose the basic joystick functionality that the manual steering mode replaced, generally limiting the operator to not being able to use the turning and arm controls while in manual steering mode. BRIEF SUMMARY

[004] The present description provides an improvement over conventional systems, at least in part by introducing a new work machine, control system and method to enable the work machine operator to operate the machine in an ergonomic manner, while retaining full control of the machine's basic functionality.

[005] In a particular and exemplary embodiment, a method is provided for controlling a plurality of traction units configured to operate independently in forward or reverse directions to propel a work machine over a ground surface and further controlling one or more operations associated with at least one earthwork tool of the work machine, in each of a plurality of selectable operating modes.Electronic signals are received during the operation of the work machine, comprising: a first set of signals representing respective amounts of user actuation of left and right pedals mounted in an operator's cab of the work machine; a second set of signals representing respective amounts of user actuation of one or more joysticks mounted in an operator's cab of the work machine, along the x and / or y axes relative to a neutral position; and a third set of signals representing respective amounts of user actuation of one or more slider switches integrated into one or more. Petition 870250075246, dated 08 / 25 / 2025, page 14 / 45 / 22 joysticks. In a first mode of operation, one or more first target values ​​are determined for the operation of the plurality of traction units based on the first set of signals, and one or more second target values ​​are determined for the operation of at least one groundwork tool based on the second set of signals. In a second mode of operation, one or more first target values ​​are determined for the operation of the plurality of traction units based on the third set of signals, and one or more second target values ​​are determined for the operation of at least one groundwork tool based on the second set of signals.Control signals are generated for one or more actuators to control multiple traction units based on one or more predetermined first target values, and for one or more actuators to control at least one groundwork tool based on one or more predetermined second target values.

[006] In an optional and exemplary aspect according to the embodiment of the method referenced above, a first slide switch can be integrated into a first joystick, and the third set of signals generated by it during the second mode of operation can be used to determine first target values ​​to control each of the traction units of the plurality at a common speed.

[007] In another optional and exemplary aspect according to the embodiment of the method referenced above, first and second slide switches may be provided, wherein the third set of signals generated by them during the second mode of operation comprises signals from the first slide switch that are applied to command forward or backward propulsion by means of the plurality of traction units, and signals from the second slide switch that are further applied to command left or right direction by means of the plurality of traction units. Petition 870250075246, dated 08 / 25 / 2025, page 15 / 45 / 22

[008] In another optional and exemplary aspect according to the method modality referenced above, the first and second slider switches can be integrated with the first and second joysticks, respectively.

[009] In another optional and exemplary aspect according to the method modality referenced above, a first sliding switch can be integrated into a first joystick, where the third set of signals generated by it during the second mode of operation is applied to command forward or backward propulsion by means of the plurality of traction units, and the signals from the left and right pedals can also be applied to command left or right steering by means of the plurality of traction units.

[0010] In another exemplary embodiment, as described herein, a work machine comprises: a plurality of traction units configured to operate independently in forward or reverse directions to propel the work machine over a ground surface; at least one earthwork tool configured to perform earthwork operations when the work machine is propelled over the ground surface and / or by means of the movement of at least one earthwork tool relative to a work machine structure; left and right pedals mounted in a work machine operator's cab and configured to generate a first set of signals representative of user engagement;One or more joysticks mounted in a machine operator's cabin and configured to generate a second set of signals representing respective amounts of user engagement along the x and / or y axes relative to a neutral position; and one or more slider switches integrated into one or more joysticks and configured to generate a third set of signals representing respective amounts of user engagement. One or; Petition 870250075246, dated 08 / 25 / 2025, page 16 / 45 / 22 more processors are configured to direct the execution of steps in a method according to the modality referenced above and, optionally, one or more of its exemplary aspects.

[0011] Numerous objects, features and advantages of the embodiments set forth herein will be readily apparent to those skilled in the art upon reading the following description in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] FIG. 1 is a side view representing an excavator as an exemplary self-propelled work machine according to an embodiment of the present description.

[0013] FIG. 2 is a simplified perspective view representing user interface tools in an operator station, comprising a pair of manually operable joysticks with various slider switches according to an embodiment of the present description.

[0014] FIG. 3 is an aerial view representing the forward / backward movement of the tracks of an excavator according to an embodiment of the present description.

[0015] FIG. 4 is a block diagram representing an exemplary control system according to an embodiment of the present description.

[0016] FIG. 5 is a flowchart that represents an exemplary embodiment of a method as described herein. DETAILED DESCRIPTION

[0017] Referring now to Figures 1 to 5, various embodiments can be described of a work machine, control system and method for enabling work machine operators to drive the machine ergonomically using slide switches (manually activated interface tools integrated into one or more Petition 870250075246, dated 08 / 25 / 2025, page 17 / 45 / 22 joysticks in the operator's cabin), while maintaining full control of the machine's basic functionality using the movement of the joysticks themselves.

[0018] FIG. 1 represents a representative self-propelled work machine 120 in the form of, for example, a crawler excavator. Although an excavator is primarily described here as an example of the work machine 120, other types of work machines within the scope of the present description may, in various embodiments, include a loader, an excavator, a motor grader or other construction, agricultural or utility vehicle, for example.

[0019] The working machine 120 includes a landing gear 122 including first and second traction units 124. The traction units, as described herein, are in the form of tracks, but in other embodiments within the scope of the present description they may include wheels, for example. Only one of the traction units is shown in FIG. 1. The other traction unit is parallel to the traction unit illustrated. Each of the traction units 124 may normally include a front idler pulley, a drive sprocket, and a track chain extending around the front idler pulley and the drive sprocket. A displacement motor for each traction device drives its respective drive sprocket.The traction units can be driven at the same speed to move the landing gear forward (e.g., in a forward direction indicated by an arrow 126) or backward (e.g., in a direction opposite to arrow 126) relative to underlying terrain 128 (e.g., soil or other material supporting the landing gear). The traction units can also be driven at different speeds to allow the landing gear to rotate relative to the terrain at an angle relative to the forward direction represented by arrow 126.

[0020] A main frame 130 is supported by the undercarriage Petition 870250075246, dated 08 / 25 / 2025, page 18 / 45 / 22 122 by a slewing bearing 132 so that the main frame is pivotal about a geometric pivot axis of the main frame 134 relative to the undercarriage. The geometric pivot axis is substantially vertical when the underlying ground 128 engaged by the traction units 124 is substantially horizontal. (In the discussion herein, “horizontal” and “vertical” are referenced to a plane defined by the traction units.) A slewing motor (not shown) is configured to rotate the main frame on the slewing bearing about the geometric pivot axis relative to the undercarriage.

[0021] In the embodiment illustrated where the working machine 120 is an excavator, a working implement 140 extends from the main frame 130. In FIG. 1, the working implement is configured as a boom assembly. The working implement includes conventional components in the form of a boom 142, an arm 144, and a working tool 146. The working tool includes a point of interest (POI) 148, which encloses portions of terrain (or other materials) to be moved or removed.

[0022] The boom 142 is pivotally connected to the main frame by a boom-to-frame connecting joint 150, which provides a horizontal geometric pivot axis for the boom. The arm is articulated to the boom at an arm-to-boom connecting joint 152. In the illustrated embodiment, the work tool 146 is a digging shovel, which is articulated to the arm 144 at a tool-to-arm connecting joint 154, which is positioned near a free end of the arm. In the illustrated embodiment, a first end of a dog bone connector 160 is articulated to the arm at a dog bone-to-arm connecting joint 162, which is offset from the free end of the arm. A second end of the dog bone connector is pivotally connected. Petition 870250075246, dated 08 / 25 / 2025, page 19 / 45 / 22 to a tool link 164. In the context of the illustrated work machine (excavator) 120, the tool link is a bucket link.

[0023] The boom 142 is forced to move in an articulated manner relative to the main structure 130 by a boom actuator 170. The boom actuator may be a hydraulic motor. In the illustrated embodiment, the boom actuator is a hydraulic piston-cylinder unit that is selectively supplied with pressurized hydraulic fluid to move the piston within the cylinder to extend or retract the piston. The pressurized hydraulic fluid is supplied by a hydraulic system (not shown) and is controlled by manual controls, automatic controls, or a combination of manual and automatic controls. Similarly, the arm 144 is forced to rotate relative to the boom by an arm actuator 172. The work tool (bucket) 146 is forced to rotate relative to the arm by a work tool actuator 174 acting on the work tool via the dog bone connector 160, the dog bone-to-arm link joint 162, and the tool link 164.

[0024] The working implement 140 extends from the main frame 130 along a working direction (represented by arrow 176) of the working implement. In FIG. 1, the working direction is referenced to the main frame. Although illustrated as parallel to the forward direction (arrow 126) of the landing gear 122, the working direction may be at an angle to the forward direction, depending on the rotational position of the main frame relative to the landing gear. The working direction may also be described as a working direction of the boom 142.

[0025] As described herein, the control of the work implement 140 refers to the control of the positioning of one or more associated components (e.g., the boom 142, the arm 144 and the work tool 146) to control the movement of the point of interest 148 of the work tool relative to the material to be manipulated (e.g., the material a Petition 870250075246, dated 08 / 25 / 2025, p. 20 / 45 / 22 to be moved or removed).

[0026] The actuators 170, 172, 174 of the work implement 140 can be selectively actuated to pivot the boom 142 relative to its respective boom-to-frame connection joint 150, to pivot the arm 144 relative to the arm-to-boom connection joint 152, and / or to pivot the work tool 146 relative to the work tool-to-arm connection joint 154. By coordinating the movements of the boom, arm, and work tool of the work implement, the work tool's point of interest engages and acts on the material to be manipulated along a selected path and at a target speed. The selected path can be curved as shown (e.g., by rotating the work tool around the work tool-to-arm connection joint or by rotating the arm around the arm-to-boom connection joint).The selected trajectory can also be linear, coordinating the pivot of the boom, arm and work tool using inverse kinematic techniques or other suitable techniques (e.g., open mesh modeling) to determine the respective pivot speeds of the three components of the work implement 140.

[0027] The main structure 130 also supports an engine 196 to power the work machine 120. The engine may be a diesel internal combustion engine or other power source. In the embodiment illustrated, the engine drives at least one hydraulic pump (not shown) to provide hydraulic power to the various operating systems of the work machine.

[0028] In the illustrated embodiment, an operator's cab 192 is located on the main frame 130. In the illustrated embodiment, the operator's cab and the work implement 140 are mounted on the main frame so that the operator's cab faces the direction of work. Petition 870250075246, dated 08 / 25 / 2025, page 21 / 45 / 22 (arrow 176) of the work implement. In the illustrated embodiment, a control station 194 is located in the operator's cab 192. The control station 194 includes user interface devices 202 that are selectively activated by the operator to direct the performance of various elements and operations of the work machine 120.

[0029] Not expressly illustrated in FIG. 1, but referenced as part of a machine control system 200, as illustrated in FIG. 4, the user interface devices 202 may include at least left and right pedals 204, one or more joysticks 206 (e.g., left and right) and one or more slider switches 208.

[0030] As shown in FIG. 2, each of the left 206a and right 206b joysticks can be fitted with respective slide switches 208a-b and additional switches (e.g., toggle switches, rocker switches, push-button switches) 210a-b, 212a-b, 214a-b, 216a-b, 218a-b, 220a-b. A specialist in the field may realize that the configuration shown is merely illustrative and that fewer devices or additional devices may be integrated into one or both joysticks, or that the joysticks themselves may take on different forms. The term “joystick” may, for example, encompass mechanical devices 206a, 206b, such as those illustrated in FIG.2 and that generate signals responsive to modulation 222 of them on one or both geometric axes x and y, but may also include touch screen consoles with equivalent interface functionality, virtual devices in which interface functionality is enabled by means of detected operator movements relative to them, and the like.

[0031] As schematically illustrated in FIG. 4, the self-propelled work machine 120 includes or is associated with a control system 200 which includes a controller 240 that receives inputs from the various user interface devices 202 referenced above, including, for example, Petition 870250075246, dated 08 / 25 / 2025, page 22 / 45 / 22 example, at least left and right pedals 204, one or more joysticks 206 (e.g., left and right) and one or more slider switches 208. The controller may be part of the work machine control system 120 or may be a separate control module. The controller is optionally mounted in the operator's cab 192 at the control station 194. The machine controller may include or be functionally linked to a control panel with a display unit 258.

[0032] Although not expressly shown in FIG. 4, controller 210 can receive signals from the machine control system, signals from machine location determination sensors, such as a global navigation satellite system (GNSS) receiver, ground speed sensors, direction sensors or similar, and / or implement position sensors, such as rotary pin encoders mounted on articulation pins to detect the relative rotational positions of the respective components, linear encoders mounted on hydraulic cylinders to detect their respective extensions and the like. Additional sensors may be provided and configured to produce signals representing a position, state or speed of respective actuators, for example, including hydraulic piston-cylinder units associated with respective components of the work machine.

[0033] The controller 240 can be configured to generate control signals to control the operation of the respective actuators, or generate signals for indirect control through intermediate devices associated with a left-track control unit 260, a right-track control unit 262, a groundwork tool control unit 264, an auxiliary control unit 266, and the like. The machine controller 240 can generate control signals to control the operation of various actuators, such as hydraulic motors or hydraulic piston-cylinder units. The controller's control signals can be received by Petition 870250075246, dated 08 / 25 / 2025, page 23 / 45 / 22 electro-hydraulic control valves associated with the actuators, so that the electro-hydraulic control valves control the flow of hydraulic fluid to and from the respective hydraulic actuators to control their actuation in response to the control signal from the controller.

[0034] When the earthwork tool 140 comprises a series of independent moving elements, such as the components of a boom assembly, as illustrated in FIG. 1, the control signals for the relevant control unit 264 can be generated based, at least in part, on information provided by sensors mounted on the various components.In one embodiment, for each of at least one connecting joint associated with the earthwork tool 140 (for example, each coupled set of components in a boom assembly), the detection elements of the output signals from the work implement position sensor received can be merged into an independent coordinate structure associated, at least in part, with the respective connecting joint, which independent coordinate structure is independent of a global navigation structure for the work machine 120, wherein, for example, the measurements received by the work implement position sensors can be merged to produce a desired output on the work machine's work implement.

[0035] Alternative position sensors for the 140 earthwork tool may, for example, include rotary pin encoders mounted on articulation pins to detect the relative rotational positions of the respective components, linear encoders mounted on hydraulic cylinders to detect their respective extensions, and the like. Additional sensors may be provided and configured to produce speed measurement signals representing a speed measurement of respective actuators, for example, including hydraulic piston-cylinder units associated with respective components of an implement. Petition 870250075246, dated 08 / 25 / 2025, page 24 / 45 / 22 work (for example, spear assembly).

[0036] In one embodiment, consistent with the work machine 120 illustrated in FIG. 1, the control of the work implement 140 refers to the control of the positioning of any one or more of the associated components (e.g., the boom 142, the arm 144 and the work tool 146) to control the movement of the point of interest 148 of the work tool relative to the material to be manipulated (e.g., the material to be moved or removed).

[0037] The actuators 170, 172, 174 of the work implement 140 can be selectively actuated to pivot the boom 142 relative to its respective boom-to-frame connection joint 150, to pivot the arm 144 relative to the arm-to-boom connection joint 152, and / or to pivot the work tool 146 relative to the work tool-to-arm connection joint 154. By coordinating the movements of the boom, arm, and work tool of the work implement, the point of interest of the work tool engages and acts upon the material to be manipulated along a selected path and at a target speed. The selected path can be curved as shown (e.g., by rotating the work tool around the work tool-to-arm connection joint or by rotating the arm around the arm-to-boom connection joint).The selected trajectory can also be linear, coordinating the pivot of the boom, arm and work tool using inverse kinematic techniques or other suitable techniques (e.g., open mesh modeling) to determine the respective pivot speeds of the three components of the work implement 140.

[0038] The controller 240 may include or be associated with a processor 250, a computer-readable medium 252, a communication unit 254, data storage 256 such as a network Petition 870250075246, dated 08 / 25 / 2025, page 25 / 45 / 22 of the database, and the aforementioned user interface (control panel) having the display unit 258 and the various user interface devices 202 by which a human operator can enter instructions into the controller.

[0039] The controller described in this document may be a single controller having all the described functionalities, or it may include multiple controllers where the described functionality is distributed among the multiple controllers. Data storage may generally encompass hardware, such as volatile or non-volatile storage devices, drives, memory, or other storage media, as well as one or more databases residing on them.

[0040] Not specifically shown in FIG. 4, the controller 240 of the work machine 120 can, in some embodiments, receive inputs and generate outputs to remote devices 238 associated with a user by means of a respective user interface, for example, a display unit with a touch-screen interface. Data transmission between, for example, a machine control system and a remote user interface can take the form of a wireless communication system and associated components, as conventionally known in the art. In certain embodiments, a remote user interface and vehicle control systems for respective work machines can be further coordinated or otherwise interact with a remote server or other computing device for the performance of operations on a system as described in this document.

[0041] Various operations, steps, or algorithms “implemented by computer,” as described in connection with controller 240 or in connection with alternative but equivalent computing devices or systems, may be incorporated directly into hardware, in a computer program product, as a software module executed Petition 870250075246, dated 08 / 25 / 2025, page 26 / 45 / 22 by the processor 250, or in a combination of both. The computer program product may reside in RAM, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or any other form of computer-readable media 252 known in the art. An exemplary computer-readable medium 252 may be coupled to the processor 250 so that the processor 250 can read and write information to the memory / storage medium 252. Alternatively, the computer-readable medium 252 may be an integral part of the processor 250. The processor 250 and the computer-readable medium 252 may reside in an application-specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the 250 processor and the 252 medium can reside as discrete components in a user terminal.

[0042] The term “processor,” as used in this document, may refer to general-purpose or special-purpose processing and / or logic devices, as may be understood by one skilled in the art, including, but not limited to, a microprocessor, a microcontroller, a state machine, and the like. A processor may also be implemented as a combination of computing devices (for example, a combination of a digital signal processor (DSP) and a microprocessor), a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0043] The communication unit 254 may support or provide communications between the machine controller 240 and external systems or devices, and / or support or provide a communication interface with respect to the internal components of the self-propelled work machine 120. The communication unit 254 may include wireless communication system components (e.g., via cellular modem, Wi-Fi® systems, systems Petition 870250075246, dated 08 / 25 / 2025, page 27 / 45 / 22 Bluetooth® or similar) and / or may include one or more wired communication terminals, such as universal serial bus ports.

[0044] Referring to FIG. 5, and still using an excavator as an example of the work machine 120 for illustrative purposes, an exemplary embodiment of an operating method 300 can now be described. Unless expressly stated otherwise, various steps of the method can be performed at the level of a local work machine controller 240, at the level of a computing device associated with a work machine operator or other user, and / or at the level of one or more remote servers communicatively linked to it. Although the illustrated embodiment may include a specific arrangement of steps, inputs, outputs and the like, it can be understood that certain steps may be combined, performed in a different order or even omitted entirely in other embodiments within the scope of the present description, unless specifically noted otherwise herein.

[0045] Method 300, as illustrated, may, for example, begin at step 302 with the operation of the work machine 120 in general and, in some embodiments, with the user selecting a specific operating mode 304. In some embodiments, the operating mode may be selected automatically or at least partially automatically, for example, as requested by the operator and confirmed by user input. As described below, electronic signals representing mechanical operator inputs (e.g., via joysticks, slide switches and pedals) are provided to the controller, which in turn will determine which final output commands the hydraulic system should make in response, depending on the operating mode.

[0046] In a first operational mode 306, which can be distinguished for illustrative purposes as a normal operational mode, method 300 includes steps 310, 312, 314 for receiving input signals. Petition 870250075246, dated 08 / 25 / 2025, page 28 / 45 / 22 corresponding to user engagement with one or more slider switches integrated into the joystick, receive input signals corresponding to the modulation of one or more joysticks along the geometric axes x and / or y with respect to a neutral position, and receive input signals corresponding to user engagement and manipulation of the respective first and / or second pedals.

[0047] Although not illustrated, each pedal in some embodiments may be associated with levers mechanically fixed to it to allow, at least partially, manual control of the respective functions. The operator may use the left and right pedals at least in the first mode 306 to control the travel speed of the traction units 124A, 124B by moving the left and right pedals 202, 204 by a desired distance. For a given operation, the operator may designate a desired speed for the motor and a desired speed for the traction unit motors by means of one or more speed inputs, and then the operator may adjust or fine-tune the travel speed of the work machine 120 using at least the left and right pedals 204. The operator may also use pedals to control the travel direction of the traction units by moving the pedals in the desired direction, such as forward or backward, for example.The operator can control the forward movement of the work machine by pressing a desired pedal forward (for example, applying pressure with the sole of the operator's foot) and can control the backward movement of the work machine by pressing a desired pedal backward (for example, applying pressure with the operator's heel).

[0048] Normally, with reference to FIG. 3, the left pedal generates signals representing a desired forward or reverse propulsion control for the left traction unit 124A, and the right pedal generates signals representing a desired forward or reverse propulsion control. Petition 870250075246, dated 08 / 25 / 2025, page 29 / 45 / 22 for the right-hand drive unit 124B.

[0049] As illustrated in FIG. 5, and in association with the first operating mode 306, the input signals received through the slide switches 310 can be used to control one or more primary low-flow and / or auxiliary functions via the auxiliary control unit 266. The input signals received through the modulation of the joysticks 312 can be used to control the ground work tool (or equivalent work implement mounted on the machine, integrated into the machine or otherwise connected) via the ground work tool control unit 264. The input signals received through user engagement and manipulation of the left and right pedals 314 can be used to control the left and right tracks, respectively, via the left and right track control units 260, 262.

[0050] In a second operating mode 308, which may be distinguished for illustrative purposes as a direct displacement operating mode, method 300 includes step 316 for receiving input signals corresponding to the modulation of one or more joysticks along the x and / or y axes relative to a neutral position, step 318 for receiving input signals corresponding to user engagement with one or more slider switches integrated into the joystick and, in some embodiments, further includes step 314 for receiving input signals corresponding to user engagement and manipulation of the respective first and / or second pedals.

[0051] As illustrated in FIG. 5, and in association with the second operating mode 308, the input signals received through the sliding switches 318 can be used to control the left and right lanes, respectively, through the left and right lane control units 260, 262. In one embodiment, asPetition 870250075246, dated 08 / 25 / 2025, page 30 / 45 / 22 represented in FIG. 2, one of the slide switches 208b can be configured vertically, so that user input to it generates a signal to actuate both the left traction unit 124A and the right traction unit 124B of the work machine 120 equally, providing, at least theoretically, a straight path of movement, either forward or backward, depending on the direction of user input relative to the slide switch 208b. However, there are known problems in the conventional operation of a work machine that uses a single input (primarily, from a single pedal properly configured) for straight-line movement, including the possibility of the work machine starting to drift out of course.Several exemplary reasons why a machine might begin to go off course include, for example and without limitation: slight misalignment in the machine's tracking system, causing one drive unit to operate at a slightly different speed than the other; a change in terrain, where the track or road is not a straight line; different traction conditions between the left and right drive units causing slight misalignment; the machine's direction not being correctly established at the start of tracking, etc.

[0052] Thus, in one embodiment, another of the slide switches 208a can be configured horizontally, so that the user input generates a signal to independently adjust the relative travel speeds of the left traction unit 124A and the right traction unit 124B, thus providing the direction of the work machine 120 to the left or to the right, depending on the direction of the user input relative to the slide switch 208a.

[0053] It can be understood that, when the first and second slide switches are implemented, the configuration of such slide switches is not limited to that illustrated in FIG. 2, and that several Petition 870250075246, dated 08 / 25 / 2025, p. 31 / 45 / 22 modalities within the scope of this description may include two slider switches being inverted from the illustrated configuration, two slider switches integrated into the same joystick, only a single slider switch on either joystick, etc.

[0054] In one embodiment, only a single slide switch 208b can be provided to enable drive signals for the left traction unit 124A and the right traction unit 124B of the work machine 120 equally, where straight travel is easily provided, while still allowing the operator to drive the left and / or right pedals to independently adjust the relative travel speeds of the left traction unit 124A and the right traction unit 124B, thus providing the direction of the work machine 120 to the left or to the right.

[0055] In an embodiment where the left and right pedals are used to control the left and right direction of the work machine, in addition to the direct forward / reverse propulsion control enabled by the first slider switch, method 300 may include normalizing the signals received from the respective inputs to a common unit scale (e.g., a percentage scale), adding the left and right signals respectively to the signals from the first slider switch to generate respective track command signals, and normalizing the respective track command signals to generate respective control outputs for the left and right track control units.This technique can have the potential effect of reducing the command of a traction unit when the operator is trying to inject a signal into the opposite traction unit, causing the machine to correct its course in the direction desired by the operator, but slowing down one traction unit instead of speeding up the other.

[0056] Similarly, in an embodiment in which multiple slider switches are used, sliding to the left or to the right is the same. Petition 870250075246, dated 08 / 25 / 2025, page 32 / 45 / 22 right of the horizontal slider (or equivalent) can generate signals to compensate for a value of the signals received from the vertical slider (alone or itself added or otherwise defined in view of a base speed configuration) and thus generate respective and independent control outputs for left and right track control units.

[0057] In several embodiments of the second operating mode 308, as described herein, the operator may be temporarily unable to control the primary and low-flow auxiliary systems until returning to the first operating mode 306. However, the second operating mode 308 offers several benefits over conventional techniques, including, for example, the distinct advantage of allowing the operator to easily proceed in a straight line while performing a work machine operation, such as trenching, while at the same time allowing full control of the main functions of the work machine at all times and not requiring the operator to stop the machine and switch operating modes.

[0058] As used in this document, the phrase “one or more of,” when used with a list of items, means that different combinations of one or more items may be used and only one of each item in the list may be required. For example, “one or more of” item A, item B, and item C may include, for example, without limitation, item A or item A and item B. This example may also include item A, item B, and item C, or item B and item C.

[0059] Thus, it is verified that the apparatus and methods of the present description easily achieve the aforementioned ends and advantages, as well as those inherent to them. Although certain preferred embodiments of the description have been illustrated and described for the present purposes, numerous alterations in the arrangement and construction of parts and steps may be Petition 870250075246, dated 08 / 25 / 2025, p. 33 / 45 / 22 made by those skilled in the art, whose modifications are included in the scope and spirit of this description as defined by the appended claims. Each described feature or embodiment may be combined with any of the other described features or embodiments. Petition 870250075246, dated 08 / 25 / 2025, pp. 34 / 45

Claims

1 / 5 CLAIMS 1. Method (300) for controlling a plurality of traction units (124) configured to operate independently in forward or reverse directions to propel a work machine (120) across a ground surface (128), and further controlling one or more operations associated with at least one earthwork tool (140) of the work machine, in each of a plurality of selectable operating modes, characterized in that the method comprises: receiving electronic signals during the operation of the work machine, comprising: a first set of signals (312) representing respective amounts of user engagement of the left and right pedals (204) mounted in an operator's cab of the work machine;a second set of signals (312, 316) representing respective amounts of user engagement of one or more joysticks (206) mounted in a machine operator's cab, along the geometric axes x and / or y relative to a neutral position; and a third set of signals (310, 318) representing respective amounts of user engagement of one or more slider switches (208) integrated with one or more joysticks; in a first operating mode (306), determine one or more first target values ​​for operation of the plurality of traction units based on the first set of signals, and determine one or more second target values ​​for operation of at least one ground work tool based on the second set of signals;in a second mode of operation (308), determine one or more first target values ​​for operation of the plurality of traction units based on the third set of signals, and determine one or more second target values ​​for operation of at least one groundwork tool based on the second set of signals; and generate control signals for one or more actuators to control the plurality of traction units (322) based on one or more first target values ​​determined, and for one or more actuators to control at least one groundwork tool (324) based on one or more second target values ​​determined.

2. Method according to claim 1, characterized in that a first slider switch is integrated into a first joystick, and the third set of signals generated by it during the second mode of operation is used to determine first target values ​​to control each of the pluralities of traction units at a common speed.

3. Method according to claim 1, characterized in that first and second slide switches are provided, and the third set of signals generated by them during the second mode of operation comprises signals from the first slide switch that are applied to command forward or backward propulsion by means of the plurality of traction units, and signals from the second slide switch that are additionally applied to command left or right direction by means of the plurality of traction units.

4. Method according to claim 3, characterized in that the first and second slider switches are integrated with the first and second joysticks, respectively.

5. Method according to claim 1, characterized in that a first sliding switch is integrated into a first joystick, and the third set of signals generated by it during the second mode of operation is applied to command forward or backward propulsion by means of the plurality of traction units, and the signals from the left and right pedals are further applied to command left or right steering by means of the plurality of traction units.

6. Work machine (120), characterized in that it comprises: a plurality of traction units (124) configured to operate independently in forward or backward directions to propel the work machine across a ground surface (128); at least one earthwork tool (140) configured to perform earthwork operations when the work machine is propelled across the ground surface and / or through the movement of at least one earthwork tool relative to a structure (130) of the work machine; left and right pedals (204) mounted in an operator's cab (192) of the work machine and configured to generate a first set of signals (314) representative of user engagement;one or more joysticks (206) mounted in an operator's cabin (192) of the work machine and configured to generate a second set of signals (312, 316) representing respective amounts of user engagement and along the geometric axes x and / or y with respect to a neutral position; one or more slider switches (208) integrated with one or more joysticks and configured to generate a third set of signals (310, 318) representing respective amounts of user engagement; and one or more processors (240, 250) configured to: in a first operating mode (306), determine one or more first target values ​​for operation of the plurality of traction units based on the first set of signals, and determine one or more second target values ​​for operation of at least one tool of Petition 870250075246, of 08 / 25 / 2025, page. 37 / 45 4 / 5 groundwork based on the second set of signals;in a second mode of operation (308), determine one or more first target values ​​for operation of the plurality of traction units based on the third set of signals, and determine one or more second target values ​​for operation of at least one ground work tool based on the second set of signals; and generate control signals for one or more actuators to control the plurality of traction units (322) based on one or more first target values ​​determined, and for one or more actuators to control at least one ground work tool (324) based on one or more second target values ​​determined.

7. A working machine according to claim 6, characterized in that a first sliding switch is integrated into a first joystick, and the third set of signals generated by it during the second mode of operation is used to determine first target values ​​to control each of the traction units of the plurality at a common speed.

8. A working machine according to claim 6, characterized in that first and second slide switches are provided, and the third set of signals generated by them during the second mode of operation comprises signals from the first slide switch that are applied to command forward or backward propulsion by means of a plurality of traction units, and signals from the second slide switch that are further applied to command left or right direction by means of a plurality of traction units.

9. A working machine according to claim 8, characterized in that the first and second slide switches are integrated with the first and second joysticks, respectively. Petition 870250075246, dated 08 / 25 / 2025, page 38 / 45 5 / 5 10. A working machine according to claim 6, characterized in that a first sliding switch is integrated into a first joystick, and the third set of signals generated by it during the second mode of operation is applied to control forward or backward propulsion by means of a plurality of traction units, and the signals from the left and right pedals are further applied to control left or right steering by means of a plurality of traction units. Petition 870250075246, dated 08 / 25 / 2025, pp. 39 / 45

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