System and method for terrain-based control of self-propelled work vehicles

Abstract

Systems and methods for terrain-based control of self-propelled work vehicles. A terrain-based travel assistance system and method for stability control of a self-propelled work vehicle, such as an excavator, including a ground engaging unit and at least one work implement configured to controllably work terrain. In selecting or determining a travel mode of the work vehicle, a respective predetermined target position and / or operation of the at least one work implement corresponding to the determined travel mode is retrieved from a data store. Feedback signals corresponding to a respective current position and / or operation of the at least one implement are received from sensors; and in some embodiments, feedback signals corresponding to vehicle speed are received. In response to the determined travel mode and the received feedback signals, control signals are generated for automatically controlling the at least one work implement to the respective predetermined target position and / or through the respective operation.

Description

Technical Field

[0001] This disclosure generally relates to self-propelled work vehicles such as construction machinery and forestry machinery, and more particularly to systems and methods for controlling certain movements and / or operations of such self-propelled work vehicles based on, for example, the underlying terrain. Background Technology

[0002] This type of self-propelled work vehicle can include, for example, excavators, forestry machinery, and front shovel excavators. These machines typically have a tracked ground engagement unit that supports the underframe from the ground surface.

[0003] The exemplary work vehicle according to this disclosure also includes accessories, including a work implement that can be moved relative to the work vehicle by various actuators to perform a task. The discussion herein can generally focus on excavators as exemplary work vehicles, which have corresponding applications (collectively referred to as boom assemblies) configured as mobile implements such as booms, arms, buckets, etc., with actuators typically configured as hydraulic cylinders for moving the implements.

[0004] When a self-propelled work vehicle (such as an excavator) travels up a slope, a significant amount of operator skill is typically required. An excavator operator needs to simultaneously control the associated boom, arm, and bucket positions in conjunction with the vehicle's direction of travel. For example, if the excavator is going uphill, the components can be positioned to support the excavator body during the climbing phase by performing a 'pull-up' action, and attachments begin to extend outwards and lower to the ground. If the excavator is going downhill, the components can be positioned to support the excavator body by performing a 'push-back' action, and attachments again begin to extend outwards and lower to the ground. In any given type of terrain, including completely flat terrain, the various components of the work vehicle (especially work attachments such as the boom, arm, and bucket) can be positioned according to the terrain type to ensure overall vehicle orientation stability and substantially prevent tipping.

[0005] The goal is to reliably automate certain coordinated operations based on the type of terrain the work vehicle is traveling on or traversing (e.g., including ramps and flat surfaces), thereby increasing vehicle stability and further reducing operator fatigue and / or mitigating the impact of operator inexperience when manually operating a large number of simultaneous controls in other ways. Summary of the Invention

[0006] This disclosure, in various embodiments, provides enhancements to conventional systems, at least in part, by introducing novel systems and methods for monitoring the orientation of work vehicles. These novel methods include: positioning various attachments relative to the work vehicle frame, at least in part, based on kinematic feedback, and thus automating certain vehicle operation and associated functions during, for example, uphill and downhill travel with varying degrees and / or distances, and during travel across relatively flat terrain.

[0007] For example, regarding an excavator as a work vehicle, the disclosed systems and methods can be configured to automatically control implements such as the boom, bucket, and boom attachment using kinematic feedback, further taking into account the selected and / or determined travel mode. In the case of a steep uphill slope, the operator can initially place the bucket teeth on the ground in a specific manner and then provide a travel command to the work vehicle controller or equivalent device, causing the boom to automatically retract at the rate of the travel command. In other exemplary travel modes, the boom, arm, and bucket can be automatically positioned at other predetermined locations and / or moved according to a predetermined sequence of operations.

[0008] In one embodiment, a computer-implemented method for stability control of a self-propelled work vehicle, as disclosed herein, is provided. The self-propelled work vehicle includes a plurality of ground engagement units and at least one work implement configured to perform controlled operations on terrain. This exemplary disclosed method includes the steps of: retrieving from a data storage device at least one corresponding predetermined target position and / or operation of the at least one work implement corresponding to a determined travel mode of the self-propelled work vehicle; receiving from one or more sensors a feedback signal corresponding to a corresponding current position and / or operation of the at least one work implement; and generating one or more control signals in response to the determined travel mode and the received feedback signals, the one or more control signals being used to automatically control the at least one work implement to the corresponding predetermined target position and / or through the corresponding operation.

[0009] In one exemplary aspect of the implementation described above, the travel mode can be determined from a plurality of travel modes via a user interface based on manual user selection.

[0010] In another exemplary aspect of the implementation described above, the method may further include the step of receiving feedback signals corresponding to the predicted slope of the work vehicle from one or more sensors linked to the slope control unit, wherein the determined travel pattern is confirmed via the predicted slope of the work vehicle.

[0011] In another exemplary aspect of the implementation described above, the method may further include the step of receiving feedback signals from one or more sensors linked to the slope control unit corresponding to the predicted slope of the work vehicle, wherein the travel mode is determined based on the predicted slope of the work vehicle.

[0012] In another exemplary aspect of the implementation described above, the method may further include the step of: receiving a feedback signal corresponding to a travel direction and / or speed command of the self-propelled work vehicle during a determined travel mode.

[0013] Optionally, in response to a determined travel mode, a received feedback signal corresponding to the corresponding current position and / or operation of the at least one machine, and a received feedback signal corresponding to the travel command, one or more control signals according to the foregoing aspects can be generated, the one or more control signals being used to control the at least one working machine to a corresponding predetermined target position and / or by a corresponding operation.

[0014] Optionally, at least in response to the predetermined target position and / or operation of the at least one working implement and a received feedback signal corresponding to the corresponding current position and / or operation of the at least one implement, one or more control signals according to the foregoing aspects may be generated, the one or more control signals being used to control the speed of the working vehicle during the determined travel mode.

[0015] For example, during a determined travel mode, the work vehicle is instructed to stop during at least one required operation of the at least one implement; and during a determined travel mode, the work vehicle is instructed to move forward only when the at least one implement is held in a predetermined position.

[0016] In another exemplary aspect of the implementation described above, the method may further include the step of: enabling manual dismissal of automatic control via a user interface during a determined travel mode.

[0017] In another exemplary aspect of the implementation described above, the determined travel pattern may correspond to the tilt direction and / or tilt amount of the terrain in which the work vehicle travels.

[0018] In another embodiment, the self-propelled work vehicle of the invention disclosed herein may include: a plurality of ground engagement units supporting a vehicle chassis; at least one work implement supported by the vehicle chassis and configured to perform controlled work on terrain; one or more sensors configured to provide feedback signals corresponding to the respective current position and / or operation of the at least one implement; and a data storage device storing at least the respective predetermined target positions and / or operations of the at least one work implement corresponding to each of the plurality of travel modes of the self-propelled work vehicle. A controller associated with the work vehicle is also configured to direct the execution of steps corresponding to the method embodiments referenced above and, optionally, operations corresponding to one or more exemplary aspects of the exemplary aspects of this disclosure referenced above.

[0019] Many objects, features, and advantages of the embodiments set forth herein will become apparent to those skilled in the art when the following disclosure is read in conjunction with the accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a side view of an excavator, which is an exemplary self-propelled working vehicle according to this disclosure.

[0021] Figure 2 This is a block diagram illustrating an exemplary control system according to an embodiment of the present disclosure.

[0022] Figure 3 This is a flowchart illustrating an exemplary method according to an embodiment of the present disclosure.

[0023] Figures 4A to 4E It means Figure 1 A side view of an excavator with relevant work implements / attachments positioned according to various exemplary travel modes and the methods disclosed herein. Detailed Implementation

[0024] Now, referring to Figures 1 to 4E Various embodiments of systems and methods for providing, for example, terrain-based mobility assistance to self-propelled work vehicles can be described. In short, the inventions disclosed herein can preferably identify travel patterns and / or work states associated with multifunctional and high-precision coordinated movement, and enable automation features that simplify user operation and increase the safety and reliability of work vehicles.

[0025] Figure 1The specific embodiments disclosed herein illustrate a representative self-propelled work vehicle, for example, in the form of a tracked excavator 20. The work vehicle 20 includes a chassis 22, which includes a first ground engagement unit and a second ground engagement unit 24, the ground engagement unit including a first travel motor and a second travel motor (not shown) for driving the first ground engagement unit and the second ground engagement unit 24, respectively.

[0026] The main frame 32 is supported from the base frame 22 by a slewing bearing 34, allowing the main frame 32 to pivot relative to the base frame 22 about a pivot axis 36. The pivot axis 36 is substantially vertical when the ground surface 38, engaged by the ground engagement unit 24, is substantially horizontal. A slewing motor (not shown) is configured to pivot the main frame 32 relative to the base frame 22 about the pivot axis 36 on the slewing bearing 34.

[0027] In the context of the referenced work vehicle 20, the work implement 42 includes a boom assembly 42 having a boom 44, a boom 46 pivotally connected to the boom 44, and a work tool 48. The term "implementation" may be used herein to describe either the boom assembly (or its equivalent) or a separate component of the boom assembly or its equivalent. The boom 44 is pivotally attached to the main frame 32 for pivoting relative to the main frame 32 about a generally horizontal axis. The work tool in this embodiment is an excavator shovel (or bucket) 48, which is pivotally connected to the boom 46. The boom assembly 42 extends from the main frame 32 along the working direction of the boom assembly 42. The working direction may also be described as the working direction of the boom 44. As described herein, control of the work implement 42 may involve the control of any one or more of the associated components (e.g., boom 44, boom 46, work tool 48).

[0028] exist Figure 1In the embodiment, the first ground engagement unit and the second ground engagement unit 24 are tracked ground engagement units; however, various alternative embodiments of the work vehicle 20 are contemplated, wherein the ground engagement unit 24 may be a wheeled ground engagement unit. Each ground engagement unit in the tracked ground engagement unit 24 includes an idler wheel 52, a drive sprocket 54, and a track chain 56 extending around the idler wheel 52 and the drive sprocket 54. The travel motor of each tracked ground engagement unit 24 drives its corresponding drive sprocket 54. Each tracked ground engagement unit 24 is shown to have a forward direction 58 defined from the drive sprocket 54 toward the idler wheel 52. The forward direction 58 of the tracked ground engagement unit 24 also defines the forward direction 58 of the underframe 22, thereby defining the forward direction of the work vehicle 20. In some applications, including uphill travel as discussed further below, the orientation of the underframe 22 can be reversed, such that the travel direction of the work vehicle 20 is limited from the idler wheel 52 toward its corresponding drive sprocket 54, while the work implement 42 remains positioned in front of the underframe 22 along the travel direction.

[0029] The operator's cab 60 can be located on the main frame 32. Both the operator's cab 60 and the boom assembly 42 can be mounted on the main frame 32 such that the operator's cab 60 faces the working direction 58 of the boom assembly. The control console 62 can be located in the operator's cab 60.

[0030] An engine 64, which powers the work vehicle 20, is also mounted on the main frame 32. The engine 64 can be a diesel internal combustion engine. The engine 64 drives a hydraulic pump to provide hydraulic power to various operating systems of the work vehicle 20.

[0031] like Figure 2 As illustrated schematically, the self-propelled work vehicle 20 includes a control system that includes a controller 112. The controller 112 may be part of the mechanical control system of the work vehicle 20, or it may be a separate control module. The controller 112 may include a user interface 114 and may optionally be mounted at a console 62 in the operator's cab 60.

[0032] The controller 112 is configured to receive input signals from some or all of the various sensors that commonly define the sensor system 104, individual examples of which can be described below. The various sensors in the sensor system 104 may generally be discrete in nature, but signals representing more than one input parameter can be provided from the same sensor, and the sensor system 104 may also reference signals provided from a mechanical control system.

[0033] Controller 112 can be configured to generate output for user interface 114 (as further described below) for display to a human operator. For example, controller 112 can be configured to convey the preferred position of the work vehicle 20 and associated implements 42, 44, 46, 48 based on a determined travel pattern, terrain slope, and / or direction of travel. In the context of an excavator as work vehicle 20, and considering the various embodiments further disclosed herein, this preferred position may refer to at least one position of the bucket 48 relative to the main frame, ground surface, direction of travel, etc.

[0034] Controller 112 may also be configured, or in alternative embodiments, to generate control signals for controlling the operation of a corresponding actuator or for indirect control via an intermediate control unit associated with mechanical steering control system 126, machine tool control system 128, and / or engine speed control system 130. Control systems 126, 128, and 130 may be independent or otherwise integrated, or may be part of a machine control unit in various ways known in the art. Controller 112 may, for example, generate control signals for controlling the operation of various actuators such as hydraulic motors or hydraulic piston-cylinder units (not shown). The electronic control signals from controller 112 may actually be received by an electro-hydraulic control valve associated with the actuator, such that the electro-hydraulic control valve, in response to the control signals from controller 112, controls the flow of hydraulic fluid to and from the corresponding hydraulic actuator to control the actuation of that hydraulic actuator.

[0035] The controller 112 includes or may be associated with the processor 150, computer-readable medium 152, communication unit 154, data storage device 156 (e.g., a database network), and the aforementioned user interface 114 or control panel 114 having a display 118. Input / output devices 116, such as a keyboard, joystick, or other user interface tools 116, are provided to allow a human operator to input instructions to the controller. It should be understood that the controller 112 described herein may be a single controller having some or all of the described functions, or it may comprise multiple controllers, wherein some or all of the described functions are distributed among the multiple controllers.

[0036] The various operations, steps, or algorithms described in conjunction with controller 112 can be implemented directly in hardware, as a computer program product such as a software module executed by processor 150, or a combination of both. The computer program product can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or any other form of computer-readable medium 152 known in the art. An exemplary computer-readable medium 152 can be coupled to processor 150, allowing processor 150 to read information from and write information to the memory / storage medium 152. In this alternative embodiment, medium 152 can be integrated with processor 150. Processor 150 and medium 152 can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In this alternative embodiment, processor 150 and medium 152 can reside as discrete components in a user terminal.

[0037] As used herein, the term "processor" 150 may refer to at least general-purpose or special-purpose processing devices and / or logic that can be understood by those skilled in the art, including but not limited to microprocessors, microcontrollers, state machines, etc. The processor 150 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other such configuration.

[0038] Communication unit 154 may support or provide communication between controller 112 and external systems or devices, and / or support or provide communication interfaces regarding internal components of the self-propelled work vehicle 20. The communication unit may include wireless communication system components (e.g., via cellular modem, WiFi, Bluetooth, etc.), and / or may include one or more wired communication terminals, such as Universal Serial Bus ports.

[0039] Unless otherwise stated, the data storage device 156 described further below may generally encompass hardware (such as volatile or non-volatile storage devices, drives, electronic memory, and optical or other storage media), and in some embodiments, one or more databases residing on the hardware.

[0040] Next, refer to Figure 3 Exemplary and advanced methods 300 can be described, followed by those disclosed herein and further referenced. Figures 4A to 4E A more specific example of the method.

[0041] Method 300 may include the following steps: receiving one or more inputs corresponding to the determined travel mode of the work vehicle 20 (step 310). Regarding the configuration of the terrain to be traversed, some inputs may take the form of operator commands (e.g., via user interface 114), and in some embodiments may cover manually / directly provided parameters and / or operations associated with the travel mode, sequences of parameters and / or operations, etc.

[0042] An exemplary input could include a travel command output signal corresponding to the manual engagement of an interface tool (such as a pedal or joystick in the operator's cab 60).

[0043] Other exemplary inputs may include a user interface tool 116 for directly selecting a travel mode via a sealed switch module (SSM), button, touchscreen, or equivalent device. In embodiments, multiple predetermined travel modes may be presented graphically or otherwise individually selected by the operator or equivalent user. The user interface 114 for travel mode selection may be located in the operator's cab 60, or in some embodiments may be remotely positioned relative to the work vehicle 20, for example, through a graphical interface generated on a mobile computing device.

[0044] Other exemplary inputs may include an output signal corresponding to an upcoming slope detected by a 3D slope control system associated with the work vehicle 20. Such a slope control system may be configured to use corresponding sensors (such as imaging sensors, ultrasonic sensors, optical sensors, etc.) to detect or otherwise predict slope changes in the terrain to be traversed by the work vehicle 20, wherein slope input may be obtained or otherwise selectively provided for use in the algorithms disclosed herein.

[0045] One or more implement sensor inputs (step 312) can be received as feedback signals from a corresponding source in sensor system 104 (e.g., from a kinematics detection system), which is configured to monitor the current position and / or operation of components (e.g., boom 44, arm 46, and / or bucket 48) in a corresponding coordinate space (e.g., an independent coordinate system corresponding to the global navigation frame of work vehicle 20). An exemplary kinematics system may include an inertial measurement unit (IMU) mounted or fixed to components of the boom assembly and / or main frame 32 of work vehicle 20, and the IMU may also include multiple sensors, including but not limited to: (in particular) accelerometers for measuring velocity and acceleration; (in particular) gyroscopes for measuring angular velocity and angular acceleration; and / or (in particular) magnetometers for measuring the strength and direction of magnetic fields.

[0046] In some embodiments, the sensor system 104 may optionally include a sensor that is used to improve traction on steep slopes, for example, by measuring or determining the load and / or traction force of the ground engagement unit 24 of the work vehicle 20 relative to the ground surface 38 to achieve counterweight balance characteristics. Non-limiting examples may include measurements from load sensors, pressure sensors, and / or real ground speed sensors for determining track slippage, each of which is well known to those skilled in the art.

[0047] In other embodiments, unless otherwise specifically stated, this document also does not limit the scope of any disclosed invention. Sensor system 104 may include: one or more Global Positioning System (GPS) sensing units or equivalents integrated with or otherwise independent of the slope control system and fixed relative to the main frame 32, which can detect the absolute position and orientation of the work vehicle 20 in an external reference frame and can also detect changes in such position and orientation; and / or a camera-based system that can observe surrounding structural features via image processing and can respond to the orientation of the work vehicle 20 relative to those surrounding structural features.

[0048] Therefore, some or all of the aforementioned components of sensor system 104 can enable the implementation of additional features conceivable within the scope of the system disclosed herein. For example, the operator of the self-propelled work vehicle 20 may sometimes have to manage the vertical position of tools such as bucket 48, or the downward pressure thereby applied, to keep tracks 24 engaged with ground 38 for proper traction. Controller 112 can be configured to optionally utilize sensor inputs such as those previously mentioned (such as pressure values, track slip estimation (via ground speed references, such as GPS, cameras, etc.)) to estimate the downward force on bucket 48 as a way to prevent one end of the work vehicle from rising excessively. Alternatively, different operator inputs (e.g., boom commands) can be programmed to be interpreted as vertical commands, thereby further allowing the operator to adjust the downward force while automating horizontal movement.

[0049] Another example of a feature made achievable through input from sensor system 104 and programming of associated controller 112 may include a tipping warning feature that indicates when the work vehicle 20 approaches an unsafe location or orientation, and in some embodiments, indicates recommended mitigation actions, such as where to position the bucket 48 in the detected situation. In this example, the work vehicle 20 may be configured to monitor slopes and calculate an ideal posture (as previously mentioned), but instead of acting automatically, the work vehicle may set limits on that posture and slope, and generate a warning output to the operator when these limits are exceeded, and / or indicate the recommended actions to the operator.

[0050] One or more steering control and / or speed control inputs can also be received from corresponding sources in sensor system 104 (step 314) as feedback related to the travel command, and further processed together with implement sensor inputs and travel mode inputs (step 320). In such an implementation, control operations can be performed accordingly in response to one or more of the determined (e.g., selected) travel mode, feedback signals corresponding to the respective current position and / or operation of the implement (e.g., individually or collectively as boom 44, arm 46 and / or bucket 48 of boom assembly 42), and the aforementioned feedback signals corresponding to the travel command.

[0051] As previously referenced, this process, which can be performed by controller 112, may also include target values ​​316 for various components (e.g., boom assembly, steering, vehicle speed) of one or more parts of the work vehicle 20, stored according to the selected or determined travel mode. The stored target values ​​can be retrieved by controller 112 from the associated data storage device 156, taking into account the determined travel mode, and may also include, for example, the corresponding predetermined target positions and / or operations of the various related work implements or their components (e.g., the relative positions and / or movements of the excavator boom 44, arm 46, bucket 48, etc.).

[0052] Then (step 320) control signals can be generated regarding one or more parameters or operations (or sequences of parameters or operations) to automate in conjunction with the selected or determined travel mode, and can be provided to any one or more of the steering control system 126 (step 330), the implement control system 128 (step 332), and the engine speed control system 130 (step 334) depending on the relevant application. The control signals and the relevant control systems that selectively utilize automation can depend on any or all of a variety of conditions, such as the determined travel mode, the slope / incline of the terrain traversed by the work vehicle, the angle at which the work vehicle travels up or down the sloping terrain, the load carried by the work vehicle, the condition of the ground surface, etc.

[0053] You can refer to Figures 4A to 4E And also for illustrative purposes, refer to Figure 1 The excavator shown as work vehicle 20 is used to further describe various exemplary travel modes and corresponding implement positions, operations and / or operation sequences.

[0054] exist Figure 4A In the first travel mode shown, system input is provided to the operator or from the automated output of the 3D slope control system to indicate that the work vehicle 20 is about to (or is) traversing a steep uphill slope. Although the initial positioning of the boom assembly 42 may be automated in some embodiments, it is generally required that the operator initially position the boom assembly 42 to, for example, secure the teeth of the bucket 48 in the ground surface 38. The work vehicle 20 can also be oriented such that the direction of travel of the work vehicle is defined from the idler sprocket 52 toward its corresponding drive sprocket 54. This positioning can, for example, enable the bucket 48 to be used as a tool to pull the excavator 20 as it travels uphill, and increase operational stability. During the initial positioning of the bucket 48, the operator can select an appropriate travel command (which may include, for example, the work vehicle speed), and the system generates a boom retraction command based on the rate of the travel command.

[0055] For extended or repetitive periods of uphill operation, it is conceivable that the operator will need to stop the work vehicle 20 and extend the boom assembly 42 to reposition the teeth of the bucket 48 in the ground surface 38 several times, that is, whenever the excavator 20 approaches the bucket 48 as it moves uphill.

[0056] It is also conceivable, and accordingly, to program in the controller 112 to stop the work vehicle 20 during at least one required operation of the boom 44, arm 46, and / or bucket 48 during the determined travel mode, and to guide the work vehicle forward only if the respective implements 42, 44, 46, 48 remain in a predetermined position during the determined travel mode.

[0057] exist Figure 4BIn the second travel mode shown, system input is provided to the operator or from the automated output of the 3D slope control system, instructing the work vehicle 20 that it will (or is) traversing a steep downhill slope. While in some embodiments the initial positioning of the boom assembly 42 may be automated, it is generally required that the operator initially position the boom assembly 42 to, for example, place the bucket 48 parallel to the ground surface 38. This positioning, for example, allows the bucket 48 to provide drag and increase operational stability as the excavator 20 travels downhill. During the initial positioning of the bucket 48, the operator can select an appropriate travel command (which may include, for example, the work vehicle speed), and the system generates commands to raise the boom 44 and retract the boom 46 based on the rate of the travel command.

[0058] For extended or repetitive periods of downhill operation, it can be envisioned that once the excavator is properly positioned on the slope, it can move steadily throughout the duration by utilizing the drag generated by the parallel bucket position.

[0059] exist Figure 4C In the third travel mode shown, system input is provided by the operator or from the automated output of the 3D slope control system to instruct the work vehicle 20 to traverse a moderate uphill slope. Based on the initiation of this travel mode, the system can use kinematic feedback to generate the following command: automatically extend the bucket 48 forward with the teeth (distal edge) turned out and facing the ground surface 38 (e.g., approximately half a meter above the ground surface). The work vehicle 20 can also be oriented such that its travel direction 58 is defined from the idler wheel 52 toward its corresponding drive sprocket 54. This positioning can preferably minimize or otherwise maintain a low center of gravity for the work vehicle 20, thereby correspondingly improving stability. In an embodiment, when first entering the travel mode, the system can initially generate a stop command for the work vehicle 20 (i.e., zero forward movement) until some or all of the implements (e.g., boom 44, arm 46, bucket 48, etc.) are moved to their respective designated positions.

[0060] exist Figure 4D In the fourth travel mode shown, system input is provided by the operator or from the automated output of the 3D slope control system, instructing the work vehicle 20 to traverse (or be traversing) a moderate downhill slope. Upon initiation of this travel mode, the system can generate the following commands: automatically move the boom 46 to a position perpendicular to the ground surface 38 and automatically move the bucket 48 to a position parallel to the ground surface 38. In an embodiment, when first entering the travel mode, the system can initially generate a stop command for the work vehicle 20 (i.e., zero forward movement) until some or all of the implements (e.g., boom 44, boom 46, bucket 48, etc.) are moved to their respective designated positions.

[0061] exist Figure 4E In the fifth travel mode shown, system input is provided by the operator or from the automated output of the 3D slope control system, instructing the work vehicle 20 to traverse (or is traversing) a relatively flat (~zero-degree slope) section of terrain. Based on this travel mode, the system can generate the following commands: automatically move the boom 44, arm 46, and bucket 48 components to recommended or predetermined positions before travel. In an embodiment, when first entering the travel mode, the system can initially generate a stop command for the work vehicle 20 (i.e., zero forward movement) until some or all of the implements (e.g., boom 44, arm 46, bucket 48, etc.) are moved to their respective designated positions.

[0062] In some implementations, the position or operation of a given implement or implement assembly 42, 44, 46, 48 can be determined not only based on the mode of travel but also taking into account other conditions (e.g., working conditions and / or load). For example, input from the load weighing system associated with the work vehicle 20 may affect how the various implement components can be safely positioned for a given slope or its degree. In association with a given mode of travel, the position and / or operation of the various implements 42, 44, 46, 48 can also depend on the work vehicle's travel commands (forward movement and / or turning) and ground conditions, wherein the bucket 48 may, for example, be positioned and thus used to help stabilize the main frame 32 of the work vehicle 20 during turning movements of the ground engagement unit 24 on an inclined ground surface 38.

[0063] The user interface 114 disclosed herein can be configured to enable or override automated control functions via any manual hydraulic command, such as via a button or equivalent on / off actuator. Alternatively, such overriding can be achieved by the operator simply performing the function manually using conventional techniques (e.g., manual boom 44, arm 46, or bucket 48 commands using the associated joystick). In various embodiments, the operator's manual interaction may not disable or interrupt automated control of the determined travel mode, but rather take the form of travel commands as further (e.g., additional) inputs to the controller to expand and / or modify the associated control signals. The operator can adjust the movement of the work vehicle 20 accordingly without significantly disrupting the overall automated coordination with the ground engagement unit 24.

[0064] In certain implementations, the user interface 114 may include tools corresponding to selectively disabled (auto-off) features, selectively enabled (auto-on) features, and indication features, wherein the controller 112 provides signals indicating and / or recommending the location and / or operation of the work vehicle 20 and associated implements 42, 44, 46, 48 based on the travel mode. For example, it may be desirable to limit automation features to steep slopes or other unpleasant conditions, while for travel modes associated with flat or moderately sloping surfaces and other normal operating conditions, visual and / or auditory indications may be sufficient.

[0065] As used in this article, the phrase “one or more of…” when used with a list of items means that different combinations of one or more of these items may be used, and may require only one of each item in the list. For example, “one or more of items A, B, and C” may include, but is not limited to, item A, or items A and B. The example may also include items A, B, and C, or items B and C.

[0066] Therefore, it can be seen that the apparatus and methods of this disclosure readily achieve the mentioned and inherent purposes and advantages. While certain preferred embodiments of this disclosure have been illustrated and described for this purpose, many changes can be made by those skilled in the art to the arrangement and construction of components and steps, and these changes are covered within the scope and spirit of this disclosure as defined by the appended claims. Features or embodiments of each disclosure can be combined with any of the features or embodiments of other disclosures.

Claims

1. A method (300) for stability control of a self-propelled work vehicle (20), the self-propelled work vehicle comprising a plurality of ground engagement units (24) and at least one work implement (42, 44, 46, 48) configured for controlled operation on terrain, the method being characterized in that: Retrieve from the data storage device at least one corresponding predetermined target location and / or operation (316) corresponding to the determined travel mode of the self-propelled work vehicle (20) of the at least one work implement, wherein, The determined travel pattern is confirmed by predicting the slope of the work vehicle, and feedback signals corresponding to the predicted slope of the work vehicle are received from one or more of imaging sensors, ultrasonic sensors, and optical sensors. Receive feedback signals from one or more sensors (104) corresponding to the respective current position and / or operation of the at least one machine; as well as In response to the determined travel mode and the received feedback signal, one or more control signals are generated, the one or more control signals being used to automatically control the at least one working implement to the corresponding predetermined target position and / or through corresponding operations.

2. The method according to claim 1, further characterized in that: The travel mode is determined based on the predicted slope of the work vehicle.

3. The method according to claim 1, further characterized in that: During the determined travel mode, a feedback signal corresponding to the travel direction and / or speed command (314) of the self-propelled work vehicle is received.

4. The method according to claim 3, further characterized in that: In response to a determined travel mode, a received feedback signal corresponding to the corresponding current position and / or operation of the at least one implement, and a received feedback signal corresponding to the travel direction and / or speed command, one or more control signals are generated, the one or more control signals being used to control the at least one work implement to the corresponding predetermined target position and / or through the corresponding operation.

5. The method according to claim 3, further characterized in that: At least in response to the predetermined target position and / or operation of the at least one working implement and a received feedback signal corresponding to the corresponding current position and / or operation of the at least one implement, one or more control signals are generated for controlling the speed of the working vehicle during a determined travel mode.

6. The method according to claim 5, further characterized in that: during the determined travel mode, the work vehicle is guided to stop during at least one required operation of the at least one implement.

7. The method according to claim 6, further characterized in that: during the determined travel mode, the work vehicle is guided to move forward only when the at least one implement is maintained in a predetermined position.

8. The method according to any one of claims 1 to 7, further characterized in that: manual deactivation of automatic control is enabled via user interface (114) during the determined travel mode.

9. The method according to any one of claims 1 to 7, wherein the method is further characterized in that: the determined travel pattern corresponds to the tilt direction and / or tilt amount of the terrain in which the work vehicle travels.

10. A self-propelled work vehicle (20), the self-propelled work vehicle comprising: Multiple ground engagement units (24) supporting the vehicle chassis (32); At least one working implement (42, 44, 46, 48), said at least one working implement is supported by the vehicle chassis and configured to perform controlled operations on the terrain; One or more sensors (104) are configured to provide feedback signals corresponding to the respective current position and / or operation of the at least one machine; as well as Controller (112); The operating vehicle is further characterized by including: Data storage device (156), wherein at least one predetermined target position and / or operation (316) of the at least one working implement corresponding to each of the multiple travel modes of the self-propelled working vehicle; and The controller is configured to direct the execution of the method according to any one of claims 1 to 9 for a determined travel pattern.

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