Control techniques for self-propelled rotary mixer entry and exit cutting

Abstract

Disclosed herein is a rotor control system for a rotary mixer, the rotor control system including a set of retractable legs, a rotor having a set of retractable attachments, an operator control device, and a controller. The controller can generate control signals to cause a return cut operation to be performed. For example, in response to detecting a return cut control command via the operator control device and while the return cut control remains engaged, the mixer can be lifted, and in response to determining that the return cut control disengages, the controller can determine a target rotor position and cause the set of retractable attachments to move the rotor to the target rotor position. In some implementations, the controller can be further configured to cause the operation to be performed in response to an operator interacting with a subset of controls sufficient to cause an automatic return cut operation to be automatically performed.

Description

Background Technology

[0001] The term "industrial equipment" refers to heavy machinery that can be used in manufacturing, construction, or other industrial environments. Industrial equipment can include a wide variety of machinery, such as rotary mixers, trucks, pavers, cold milling machines, conveyors, generators, excavators, forklifts, boilers, and other equipment. As an example of industrial equipment, an industrial rotary mixer is a large piece of equipment used in various industries such as construction, manufacturing, and materials processing for crushing, extracting, combining, and mixing bulk materials such as concrete, asphalt, aggregates, and powders. Attached Figure Description

[0002] A detailed description of the embodiments of the present invention will be described and explained using the accompanying drawings.

[0003] Figure 1 This is a component diagram based on an example rotor control system for a rotary mixer, with some arrangement.

[0004] Figure 2A and Figure 2B This is a component diagram showing an example rotor control device according to some arrangement.

[0005] Figure 3 This is a flowchart illustrating an example rotor control method for exiting cutting, based on some arrangement.

[0006] Figure 4 and Figure 5 This is a flowchart illustrating an example rotor control method for entering the cutting process, based on some arrangement.

[0007] Figure 6 This is a block diagram illustrating an example of a computer system that can implement at least some of the operations described herein, based on some arrangement.

[0008] Figure 7 This is a schematic diagram showing the rotor positioning with both sides of the rotor higher than the target when entering the cutting process, according to some arrangement.

[0009] Figure 8 This is a schematic diagram showing the rotor positioning with both sides of the rotor below the target when the cutting process is stopped, according to some arrangement.

[0010] Figure 9 This is a schematic diagram showing the rotor positioning with one side of the rotor lower than the target when the cutting process is stopped, according to some arrangement.

[0011] The techniques described herein will be apparent to those skilled in the art from a study of the specific embodiments in conjunction with the accompanying drawings. Embodiments or implementations describing various aspects of the invention are illustrated by way of example, and the same reference numerals may indicate similar elements. While various embodiments are depicted in the drawings for illustrative purposes, those skilled in the art will recognize that alternative implementations may be employed without departing from the principles of the invention. Therefore, although specific embodiments are shown in the drawings, various modifications can be made to the invention. Detailed Implementation

[0012] The above description and associated drawings are illustrative examples and should not be construed as limiting. This disclosure provides certain details to enable a thorough understanding and implementation of these examples. However, those skilled in the art will understand that the invention can be practiced without many of these details. Similarly, those skilled in the art will understand that the invention may include well-known structures or features that are not shown or described in detail to avoid unnecessarily obscuring the description of the examples.

[0013] Rotary mixers are used in mining and mineral processing operations to crush, mix, and condition ores, minerals, and other bulk materials. They can be particularly useful in applications involving high-density, abrasive, or corrosive materials, as they provide robust and reliable performance in harsh environments. Rotary mixers can be used in a variety of mining and mineral processing applications, including ore mixing and conditioning, mineral processing and agitation, bulk material handling and mixing, milling (material crushing, grinding, and / or pulverizing), and reclamation. In reclamation, rotary mixers can facilitate mine remediation and restoration, soil improvement and stabilization, and waste rock and topsoil treatment.

[0014] Rotor entry and exit from "cutting" refers to the movement of the rotor into and out of a batch of ore, mineral, or mined material. When the rotor enters the cutting process, its attachments (e.g., blades, paddles, cutting heads) can come into contact with the material, thus initiating mixing and / or conditioning. When exiting the cutting process, the rotor can lift up, disengage from the material, and the conditioned material is discharged or transferred for further processing.

[0015] Controlling the entry and exit of the cutting process ensures efficient mixing, optimal moisture control, enhanced material quality, and improved downstream processing efficiency. Disadvantageously, once the cutting operation begins, conventional control techniques (including manual control) struggle to estimate the target cutting depth, determine the target rotor angle, or automatically adjust these parameters and rotor positioning. Furthermore, complex control equipment can lead to the need for advanced training and the potential for inefficiency and human error. To address these issues, sensors can be utilized. For example, as described in U.S. Patent No. 11,225,761, an operator can use a sensor-assisted system to manually control the lowering and raising of the rotor of a rotary mixer.

[0016] As disclosed herein, in a rotor control system for a rotary mixer, a controller can be configured to apply complex logic to automatically control a sequence of operations related to the rotor entering and / or exiting the cutting process. The techniques described herein can improve controllability and accuracy, reduce operator error, and increase the operating efficiency of the rotary mixer. For example, a rotor control system for a self-propelled rotary mixer is disclosed herein, comprising a set of retractable legs, a rotor with a set of retractable attachments, an operator control device, and a controller. The controller can generate control signals to enable a return-cutting operation. For example, in response to detecting a return-cutting control command via the operator control device and while the return-cutting control remains engaged, the mixer can be raised, and in response to determining that the return-cutting control is disengaged, the controller can determine a target rotor position and cause the set of retractable attachments to move the rotor to the target rotor position. In some embodiments, the controller can be further configured to enable the operation in response to operator interaction with a set of controls sufficient to automatically execute the return-cutting operation.

[0017] As used herein, the term "group" refers to a physical or logical collection of objects, which may contain no objects (e.g., an empty group), one object, or two or more objects. The terms "engine," "application," "program," "circuit," and "executable" refer to one or more sets of computer-executable instructions stored in compiled or executable form on a non-transitory computer-readable medium and executable by one or more processors to perform software- and / or hardware-based computer operations. Computer-executable instructions may be special-purpose computer-executable instructions for performing a specific set of operations defined by parameterized functions, specific configuration settings, and / or dedicated code. Engines, applications, programs, and executables may generate and / or receive various signals, which may be sent in the form of electronic messages.

[0018] Example Rotor Control System

[0019] Figure 1Figure 100 shows components of an example rotor control system 12 for a rotary mixer 11 (e.g., a self-propelled rotary mixer) according to some arrangement. As a general overview, the rotor control system 12 performs various rotor control operations, such as those described herein. Rotor control operations may include entering and exiting cutting and / or changing rotor speed, position, etc.

[0020] As shown in the figure, the rotor control system 12 may include a rotor 14, which may be secured to the rotary mixer 11 (e.g., to the frame of the rotary mixer) using suitable methods such as mechanical fasteners (e.g., bolts and nuts, screws, studs, clamps), interlocking components (splines, keyways, dovetails), retractable attachments (e.g., legs), and / or welding). The rotor 14 may include various removable or fixedly attached cutter heads, which may be general-purpose or selected based on the material type (e.g., soil, bitumen) and / or the application of the rotary mixer 11 (e.g., ore mixing and conditioning, mineral processing and mixing, bulk material handling and mixing, milling, reclamation). In some embodiments, the rotor 14 may be disposed within the rotor cavity of the rotary mixer 11 and may extend into or from the rotor cavity using retractable attachments.

[0021] The operation of rotor 14 can be controlled using control device 18, control server 17, and / or controller 24. Control device 18 may include on-board operator controls such as steering systems (e.g., steering wheel, joystick, lever, etc.), transmission control systems, milling machine speed control systems, one or more displays, control buttons, toggle switches, touch panels, switches, knobs, and levers, etc. Rotor control device 18 can be used to engage and disengage rotor 14 for cutting and / or control various other aspects of the operation of rotary mixer 11.

[0022] In some embodiments, control operations for operating the rotary mixer 11 can be performed outside the vehicle (e.g., at or via a remote server 17), which can be connected to the controller 24 of the rotary mixer 11 via a network 614. For this purpose, the control device 18 can be located wholly or partially at the remote server 17. The network 614 can operate according to one or more wired or wireless protocols (such as Wi-Fi, cellular networks, radio, satellite, Bluetooth, ZigBee, etc.). To enable data transmission and traffic management, the network 614 can include connectivity devices such as modems, Bluetooth transceivers, Bluetooth beacons, RFID transceivers, and NFC transmitters. In some embodiments, the network 614 can include a controller area network (CAN) for a specific rotary mixer 11.

[0023] Controller 24 can be configured to (e.g., via electronic or electrical signals and commands, etc.) perform various control operations (such as entering or exiting cutting) or enable the performance of such various control operations. For this purpose, controller 24 may include hardware and / or software circuitry. The operation of controller 24 may be performed at least in part by any suitable control unit, such as engine controller 24 control unit (ECU), powertrain control module (PCM), brake control module (BCM), speed control unit (SCU), transmission control module (TCM), battery management system (BMS), and telematics control unit (TCU, etc.).

[0024] Example controller 24 may be an electronic controller including and / or having one or more processor units and one or more memory units. Components of electronic controller 24 may include, for example, a processor / microcontroller, memory (e.g., SRAM, EEPROM, flash memory), input devices (power supply voltage and ground, digital input devices, analog input devices), output devices (actuator drivers, such as injectors, relays, valves), logic output components, communication circuitry and equipment (CAN transceiver, Ethernet transceiver, including wired and wireless communication components), and various embedded software modules (bootloader, metadata, configuration data). In some embodiments, controller 24 may be structurally and / or communicatively integrated with various sensors described herein.

[0025] In some implementations, controller 24 may activate, operate, and / or control the sensors in sensor array 22, fuse (stitch together, aggregate) the readings of the sensors in sensor array 22, convert analog values ​​to digital values, generate electronic messages containing sensor readings, and / or send the sensor readings to one or more control servers 17 or other systems via network 614.

[0026] In some implementations, controller 24 may be at least partially integrated with control server 17. For example, controller 24 may include programming instructions (e.g., executable files) distributed on or copied to a particular vehicle controller 24 and control server 17.

[0027] As shown in the figure Figure 1The system includes a rotor positioning mechanism 16, which may include mechanical, electrical, and / or electronic components for controlling the operation of the rotor 14. The mechanical components of the rotor positioning mechanism 16 may include a set of rotor legs for aligning and stabilizing the rotor 14, a hydraulic / pneumatic actuator, a linear guide / rail, a ball screw / screw, and / or a gearbox / drive system. In one example arrangement, the rotor legs may be attached to the rotor 14 to provide structural support, and a hydraulic / pneumatic actuator may be connected to the rotor legs to control their movement. In some embodiments, guides, rails, or other suitable components may be fixed to the frame of the rotary mixer 11 to guide the movement of the rotor 14. In some embodiments, a ball screw / screw or other suitable fastener may connect the actuator to the rotor 14 legs to convert the rotational motion of the actuator into linear displacement of the legs. In some embodiments, a gearbox and drive system, etc., may be connected to the actuator to optimize torque and speed. In some embodiments, an additional set of legs may be attached to the rotary mixer to raise and lower the rotary mixer.

[0028] During the operation of the rotor positioning mechanism 16, signals received from or via the controller 24 can initiate or control the movement of the rotor 14 by adjusting the operating parameters of the mechanical components (e.g., by prompting the hydraulic / pneumatic actuators to extend or retract), thereby moving the rotor legs and assisting in lowering or raising the rotor 14, for example... Figure 7 , Figure 8 and Figure 9 shown.

[0029] In some embodiments, as part of the rotor positioning mechanism 16, in addition to lowering or raising the rotor 14 to enter or exit the cutting process, the controller 24 may also generate and / or send signals to control various additional aspects of operating the rotor 14. In some embodiments, the controller 24 may generate control signals to set or change the angular position of the rotor 14 by adjusting the angle of the rotor 14 (e.g., 0 to 360 degrees).

[0030] More generally, control signals from controller 24 can cause the rotary mixer 11 and / or its various components to perform operations relative to rotor 14, including rotation control operations, orientation control operations, position control operations, precision control operations, and / or dynamic control operations. (Although for brevity, not combined...) Figure 3 , Figure 4 and Figure 5The example methods of operation are described, but those skilled in the art will understand that such control operations can be appropriately included in these methods, such as as part of determining that the system is ready to enter an initial state (307, 407, 507). For example, a particular initial state may include an initial or target value of the speed of rotor 14 or another parameter, which may be based on sensor readings, the application of rotary mixer 11, or other conditions.

[0031] As an example of rotational control operation, controller 24 can generate control signals to set or change the rotational speed of rotor 14 to a suitable value (e.g., in the range of 1 to 20,000 revolutions per minute (RPM)). This value can be determined, for example, based on the application of rotary mixer 11. In some embodiments, this application can be selected via control device 18 using a joystick, touchscreen, button, or other suitable input control, and / or can be selected remotely at control server 17. For example, low-speed applications (e.g., mixing, agitation) may correspond to a range of 1 to 100 RPM, medium-speed applications (e.g., material handling) may correspond to a range of 10 to 500 RPM, high-speed applications (e.g., grinding) may correspond to a range of 100 to 5,000 RPM, and so on. Other example rotational control operations may include switching between forward and reverse rotation and torque control to adjust rotational force. As an example of orientation control operation, controller 24 can generate control signals for rotor positioning mechanism 16 to set or change the tilt / inclination (pitch angle, yaw angle) of rotor 14 and / or perform azimuth control (adjusting the compass direction of the rotor). As an example of position control operation, controller 24 can generate control signals to set or change the radial position of rotor 14 by adjusting the distance of the rotor from (e.g., the center of rotary mixer 11). In some embodiments, controller 24 can generate control signals to set or change the axial position of rotor 14 by adjusting the longitudinal position of rotor 14 (relative to a suitable reference point on rotary mixer 11).

[0032] The controller 24 can perform rotation, orientation, and / or position control by transmitting electrical and / or electronic signals to the position control mechanism 16, thereby enabling specific actions to be performed. For example, the controller 24 can calculate a target rotational speed and / or direction, generate a control signal based on the calculation result, and send the control signal to a motor and / or actuator to adjust the rotational speed of the rotor 14 by driving the ball screw / screw or gearbox of the rotor positioning mechanism 16. This mechanical response can convert rotation into linear displacement, thereby moving the rotor legs to change angular position and achieve the desired rotational speed and direction. In some embodiments, sensors in the sensor array 22 can monitor frame position (height), rotor position, and / or rotor speed, thereby providing feedback to the controller 24 for adjustment. The rotor 14 and / or frame / leg position sensors may include optical encoders and / or potentiometers for monitoring angular position and displacement, magnetic encoders for monitoring rotor orientation, and linear variable differential transformers (LVDTs) and / or rotary variable differential transformers (RVDTs) for monitoring linear and / or angular displacement. The speed sensor for rotor 14 may include a tachometer for measuring rotational speed, a proximity sensor for detecting rotor orientation and / or speed, and / or a stroboscope. Orientation sensors (e.g., inertial motion sensors, gyroscopes, inclinometers) may measure the tilt and pitch of rotor 14. Combined sensors may include an encoder-tachometer combination and a resolver sensor to measure both position and speed.

[0033] Non-contact sensors in sensor array 22 (such as laser Doppler vibrometers, eddy current sensors, and / or acoustic sensors) can provide additional measurements without physical contact by measuring displacement, velocity, proximity, and / or other values. These measurements can facilitate feedback control to adjust the position of rotor 14. For example, acoustic sensors (sometimes referred to as ultrasonic sensors) emit high-frequency sound waves to detect objects or measure distances. When a specific point on rotor 14 reaches a predetermined level (e.g., a target level), one or more acoustic sensors can signal controller 24. In response to receiving the signal, controller 24 can adjust the rotor position, angle, speed, or other parameters. For example, controller 24 can utilize sensors in sensor array 22 to determine the target point and / or the distance from various points on the rotating mixer 11 and / or rotor 14 to the target point. The controller 24 can use these values ​​to calculate target positioning values ​​for components of the rotor positioning mechanism 16 (e.g., outriggers), such as target linear displacement values ​​for linearly moving the outriggers to raise or lower the rotor 14, angular displacement values ​​for rotating the outriggers to rotate the rotor 14, and / or radial displacement values ​​for radially moving the outriggers relative to a specific point on the rotary mixer 11 to change the distance between the rotor 14 and the rotary mixer 11. Distance, proximity, linear displacement, and / or radial displacement can be measured using appropriate units of measurement (such as millimeters, inches, meters, and feet, etc.). Angular displacement values ​​can be measured using appropriate units of measurement (such as degrees, radians, arcseconds, and gradients, etc.).

[0034] Example rotor control device

[0035] Figure 2A and Figure 2B This is a component diagram illustrating an example rotor control device 18 according to some arrangement. As shown, the control device 18 may include controls (202, 204) for streamlining rotor operation and reducing the number of operator interactions or commands. Although shown as buttons, the controls (202, 204) may be implemented in any suitable form, such as touchscreen components and joysticks. As shown, the Exit Cutting button 202 enables the operator to initiate an automatic exit from cutting. The Return Cutting button 204 enables the operator to return to cutting. The exit from cutting and return to cutting operations may include automatic control sensor activation, positioning or repositioning of the rotor or rotor positioning mechanism, rotor speed control, and / or other suitable operations.

[0036] As shown, the control device 18 may include various additional optional components 206 (relative to the automatic entry and exit cutting operations described herein), which allow the operator to provide additional instructions for controlling a specific rotary mixer. In some embodiments, these controls may be automatically enabled or disabled when the exit cutting button 202 and / or return cutting button 204 is pressed. Example additional controls include a rear door opening control 212, a rotor up control 218, a rotor down control 220, a rear door floating control 214, a rear door opening control 216, a front door closing control 222, a front door opening control 224, and / or left / right rear wheel steering jog controls (228a, 228b). In some embodiments, an operator-in-place control lever 229 allows the operator (e.g., by pushing the lever down) to provide instructions allowing a specific set of operations (e.g., drive operation, propulsion operation) when the machine is in neutral.

[0037] Example Rotor Control Method

[0038] Figure 3 This is a flowchart illustrating an example rotor control method for exiting cutting, based on some arrangement. Figure 4 and Figure 5 This is a flowchart illustrating an example rotor control method for entering a cutting operation according to some arrangement. Advantageously, these operations can be initiated and / or executed automatically without deep operator involvement and only in response to a limited set of predetermined interactions between the operator and controls at the controller device. As described below, the controller (e.g., controller 24) can be configured to detect specific mechanical states or operator commands by detecting specific interaction types, patterns, or durations with specific controls (e.g., a first command is identified when control buttons (202, 204) are pressed for at most a first predetermined duration K, and a second different command or set of commands is identified when control buttons (202, 204) are pressed and held for at least a second predetermined duration (L, M, N).

[0039] Those skilled in the art will understand that the operations described herein can be performed by any suitable component or a combination thereof. For example, although the term “controller” is used in the singular for clarity, it is intended to encompass distributed controller implementations and / or sets of controllers that may be physically, logically, and / or geographically separate.

[0040] In some implementations (e.g., at 307, 407, 507), the rotary mixer's controller and / or ECM may check whether certain conditions are met before enabling automatic exit from cutting and / or return to cutting features. For example, as part of the met state conditions, the state of controls (202, 204) may indicate that the controls are operational (no malfunction). For example, as part of the met start-up state conditions, the calibration modes of various rotary mixer components (outriggers, rotor lift / lower actuators, rotor clutches, rotor shifting mechanisms, steering system, propulsion pump actuators) may be turned off. For example, as part of the met state conditions, the locking mechanism on the rotor lift may be turned off. Other examples include the rotor position sensor being in a "no malfunction" state, the rotary mixer's engine being running, the mechanical height sensor array for rotor depth measurement being enabled, the rotary mixer speed being below a predetermined threshold (e.g., 3 kph or less), and so on.

[0041] like Figure 3 As shown, the control process 300 for exiting cutting can be implemented with a single button to control both rotor operation and rotor positioning mechanism operation, in the order of first stopping and / or extending the rotor, and then raising the machine. An example control process for exiting cutting can begin by determining at 307 that the exit cutting start condition is met. The exit cutting start condition may include automatically determining at 304 that no active exit cutting control cycle exists. Furthermore, in some embodiments, the exit cutting condition may include determining that the parking brake switch is closed (e.g., the machine is not in parking position), the rotor lift / lower buttons (218, 220) are not pressed, the outrigger controls are not engaged, etc.

[0042] When the exit cutting mode is active (e.g., when operator interaction with exit cutting button 202 is detected and / or when the operator presses and holds exit cutting button 202), the controller can initiate a rotor positioning mechanism control cycle at 312 when the rotor is fully extended at 310. An example rotor positioning mechanism control cycle may include stopping or abandoning the initiation of movement to reach the predetermined height H at 352 when a specific outrigger is determined to be at a previously determined pre-operation height H at 322. If the specific outrigger is not at the predetermined height H, the controller can also stop or abandon the initiation of movement to reach the predetermined height H at 352 if it is determined that the exit cutting button has been released (i.e., the operator has provided an instruction to stop the exit cutting process). Otherwise, the controller can continue to generate and transmit signals to raise the machine and monitor the outrigger at 342 until it reaches height H.

[0043] When the exit cutting button 202 is detected to be released at 311, the controller can also initiate rotor movement control cycle 314 to extend the rotor. If it is determined at 364 that the rotor is not fully extended and the button 202 has been released at 334 for at least N seconds (e.g., 25 seconds), the rotor movement control cycle 314 can include generating a control command to extend the rotor.

[0044] like Figure 4 As shown, the control process 400 for entering the cutting using a non-contact target depth sensor can achieve one-button operation to control both rotor operation and rotor positioning mechanism operation. The sequence is to first lower the machine to the target height determined using a non-contact sensor (e.g., an acoustic sensor) and then engage the rotor.

[0045] An example control procedure for entering cutting can begin by determining at 407 that the entry-cutting start-up state condition is met. The entry-cutting start-up state condition may include automatically determining at 404 that no active entry-cutting control cycle exists. Furthermore, in some embodiments, the entry-cutting start-up state condition may include determining that the parking brake switch is off (e.g., the machine is not in parking position), the rotor lift / lower buttons (218, 220) are not pressed, the outrigger controls are not engaged, etc. In some embodiments, the entry-cutting start-up state condition may include determining that a slope control mode is activated. In one example, the slope control mode may be enabled using operator controls for a first group (e.g., front, left) of the machine and / or rotor outriggers, a second group (e.g., rear, right) of the machine and / or rotor outriggers, or both. The slope control mode enables the automatic setting of target outrigger heights to accommodate the slope of the machinery on a specific ground plane—for example, creating a height difference between the front and rear outriggers or between the left and right outriggers, so that the frame of the machinery and the rotors correspondingly fixed to or aligned with the frame are parallel to the target plane (e.g., the machinery plane, the ground plane).

[0046] As shown in the figure, when a non-contact target depth sensor is used to enter the cutting process and the enter cutting button 204 is pressed, the controller can determine and / or generate a set of return cutting target position values ​​at 408, and then execute rotor positioning mechanism control operation 412. Specific return cutting target position values ​​may refer to rotor cylinder position, front door position, rear door position, left front outrigger mechanical height position, right front outrigger mechanical height position, rear mechanical height position, left rotor depth, right rotor depth, or combinations thereof. These values ​​can be determined relative to a suitable reference point on the rotary mixer according to the rotation, orientation, and / or position control techniques described herein or according to other suitable techniques. For example, the position value may reflect the distance from a first reference point on the mixer to a second reference point on the corresponding component (e.g., outrigger, cylinder, rotor). For example, the depth value may reflect the distance from a third reference point on the mixer to a fourth reference point on a subsurface line calculated and / or projected using a non-contact sensor.

[0047] After a set of return-to-cutting target position values ​​has been determined, the controller can execute the instructions in rotor positioning mechanism control operation 412. These instructions may include, for example, monitoring the time series of actual depth sensor values ​​at 422, and continuing to engage the outriggers at 442 to move toward the target when the depth sensor values ​​differ from the return-to-cutting target position values ​​by at least a predetermined amount (e.g., 0 to 600 mm for the rotor cylinder, 0 to 200 mm for the door, and 400 to 1,100 mm for the mechanical outrigger height).

[0048] After determining at 418 that control 204 is no longer engaged (e.g., the operator presses a button), the controller can enable rotor control operation 414 to position the rotor at the target depth. For example, when the rotor exceeds a predetermined target depth distance (e.g., +32 to -507 mm) (at 424), the controller can (at 444) periodically monitor the rotor position and generate control signals to move the rotor toward the target.

[0049] In some implementations, the automatic slope control mode operation (410, 416, 420) can be performed after operation cycles 412 and 414 are completed.

[0050] like Figure 5 As shown, the control process 500 for entering the cutting without using a non-contact target depth sensor can achieve one-button operation to control both rotor operation and rotor positioning mechanism operation. The sequence is to first lower the machine to the target height determined using a non-contact sensor (e.g., an acoustic sensor) and then engage the rotor.

[0051] An example control procedure for entering cutting can begin by determining at point 507 that the entry-cutting start-up state condition is met. The entry-cutting start-up state condition may include automatically determining at point 504 that no active entry-cutting control cycle exists. Furthermore, in some embodiments, the entry-cutting start-up state condition may include determining that the parking brake switch is off (e.g., the machine is not in parking position), the rotor lift / lower buttons (218, 220) are not pressed, the outrigger controls are not engaged, etc. In some embodiments, the entry-cutting start-up state condition may include determining that a slope control mode is activated. In one example, the slope control mode may be enabled using operator controls for a first group (e.g., front, left) of the machine and / or rotor outriggers, a second group (e.g., rear, right) of the machine and / or rotor outriggers, or both. The slope control mode enables the automatic setting of target outrigger heights to accommodate the slope of the machinery on a specific ground plane—for example, creating a height difference between the front and rear outriggers or between the left and right outriggers, so that the frame of the machinery and the rotors correspondingly fixed to or aligned with the frame are parallel to the target plane (e.g., the machinery plane, the ground plane).

[0052] As shown in the figure, when entering cutting and pressing the enter cutting button 204, the controller can determine and / or generate a set of return cutting target position values ​​at 508, determine the current position of the rotor relative to the target at 510, and then execute the rotor positioning mechanism control operation 512. Specific return cutting target position values ​​may refer to the rotor cylinder position, front door position, rear door position, left front outrigger mechanical height position, right front outrigger mechanical height position, rear mechanical height position, left rotor depth, right rotor depth, or combinations thereof. These values ​​can be determined relative to a suitable reference point on the rotary mixer according to the rotation, orientation, and / or position control techniques described herein or according to other suitable techniques. For example, the position value may reflect the distance from a first reference point on the mixer to a second reference point on the corresponding component (e.g., outrigger, cylinder, rotor). The position and / or depth values ​​can be programmed for reference in the form of a lookup data structure available to the controller, or provided by the operator.

[0053] After a set of return-to-cutting target position values ​​has been determined, the controller can execute the instructions in rotor positioning mechanism control operation 512. These instructions may include, for example, monitoring a time series of actual sensor values ​​at 522 to determine the actual position of a specific component, and continuing to engage the outriggers at 532 to move toward the target when the actual sensor values ​​differ from the return-to-cutting target position values ​​by at least a predetermined amount (e.g., 0 to 600 mm for the rotor cylinder, 0 to 200 mm for the door, and 400 to 1,100 mm for the mechanical outrigger height).

[0054] After determining at 518 that control 204 is no longer engaged (e.g., the operator presses a button), the controller can enable rotor control operation 514 to position the rotor at the target depth. For example, when the rotor exceeds a predetermined target distance (e.g., +32 to -507 mm) (at 524), the controller can (at 444) periodically monitor the rotor position and generate control signals to move the rotor toward the target.

[0055] In some implementations, the automatic slope control mode operation (510, 516, 520) can be performed after operation cycles 512 and 514 are completed.

[0056] Example computer system

[0057] Figure 6 This is a block diagram illustrating an example of a computer system capable of implementing at least some of the operations described herein. As shown, computer system 600 may include one or more processors 602, main memory 606, non-volatile memory 610, network interface device 612, display device 618, input / output device 620, control device 622 (e.g., keyboard, pointing device, joystick), drive unit 624 including storage medium 626, and signal generation device 630 communicatively connected to bus 616. Bus 616 represents one or more physical buses and / or point-to-point connections connected via suitable bridges, adapters, or controllers. For simplicity, Figure 6 Various commonly used components (e.g., cache memory) are omitted. Instead, computer system 600 is intended to illustrate a hardware device on which components illustrated or described with respect to the examples in the accompanying drawings, as well as any other components described in this specification, may be implemented.

[0058] Computer system 600 can take any suitable physical form. For example, computer system 600 can share a similar architecture with server computers, personal computers (PCs), tablets, mobile phones, game consoles, music players, wearable electronic devices, network-connected (“smart”) devices (e.g., televisions or home assistant devices), augmented reality / virtual reality (AR / VR) systems (e.g., head-mounted displays), or any electronic device capable of executing a set of instructions that specifies the actions to be taken by computer system 600. In some implementations, computer system 600 can be an embedded computer system, a system-on-a-chip (SOC), a single-board computer system (SBC), or a distributed system (such as a computer system network), or the computer system may include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 600 can perform operations in real time, near real time, or in batches.

[0059] Network interface device 612 enables computer system 600 to mediate data with entities outside computer system 600 within network 614 via any communication protocol supported by computer system 600 and external entities. Examples of network interface device 612 include network adapter cards, wireless network interface cards, routers, access points, wireless routers, switches, multilayer switches, protocol converters, gateways, bridges, bridge routers, hubs, digital media receivers and / or repeaters, and all wireless elements mentioned herein.

[0060] Memory (e.g., main memory 606, non-volatile memory 610, machine-readable medium 626) can be local, remote, or distributed. Although shown as a single medium, machine-readable medium 626 can include multiple media (e.g., centralized / distributed databases and / or associated caches and servers) storing one or more instruction sets 928. Machine-readable (storage) medium 626 can include any medium capable of storing, encoding, or carrying instruction sets for execution by computer system 600. Machine-readable medium 626 can be non-transitory or includes non-transitory means. In this context, non-transitory storage medium can include tangible means, meaning that the means has a concrete physical form, although the means can change its physical state. Thus, for example, non-transitory refers to a means that remains tangible despite changes in state.

[0061] Although implementations have been described in the context of a fully functional computing device, various examples can be distributed as program products in various forms. Examples of machine-readable storage media, machine-readable media, or computer-readable media include recordable media such as volatile and non-volatile memory 610, removable flash memory, hard disk drives, optical disks, and transmission media such as digital and analog communication links.

[0062] Generally, routines executed to implement the examples herein may be implemented as part of an operating system or a particular application, component, program, object, module, or sequence of instructions (collectively, a “computer program”). A computer program typically comprises one or more instructions (e.g., instructions 604, 608, 628) set at different times in various memories and storage devices in a computing device. When read and executed by processor 602, these instructions cause computer system 600 to perform operations to execute elements relating to various aspects of this disclosure.

[0063] Example rotor positioning technology

[0064] Figure 7This is a set of schematic diagrams (700, 710, 720) showing the rotor 14 positioned above the target on both sides of the rotor when entering the cutting process, according to some arrangement. As shown, the rotor sides are represented by several pairs of reference points, such as [744a, 744b], [744c, 744d], and [744e, 744f]. As shown, the target can be a suitable point or a set of points (target positions), such as points selected on the target line (716a, 716b) (target positions 746a, 746b, and / or 746c). In some embodiments, the controller can determine that the target rotor position has been reached when at least one reference point reaches the target position.

[0065] Figure 8 This is a set of schematic diagrams (800, 810, 820) showing the rotor 14 positioned below the target on both sides of the rotor when cutting is exited, according to some arrangement. As shown, the rotor sides are represented by several pairs of reference points, such as [844a, 844b], [844c, 844d], and [844e, 844f]. As shown, the target can be a suitable point or a set of points (target positions), such as points selected on the target lines (716a, 716b) (target positions 846a, 846b, and / or 846c). In some embodiments, the controller can determine that the target rotor position has been reached when at least one reference point reaches the target position.

[0066] Figure 9 This is a set of schematic diagrams (900, 910) showing the positioning of rotor 14 with one side of the rotor below the target (946a, 946b) when cutting is exited, according to some arrangement. In some embodiments, the controller can determine that the target rotor position has been reached when at least one reference point reaches the target position after being below the target.

[0067] use cases

[0068] In one example, a rotor control system for a self-propelled rotary mixer may include a set of retractable outriggers, a rotor configured to extend from a rotor cavity of the self-propelled rotary mixer (wherein the rotor is movably coupled to the self-propelled rotary mixer via a set of retractable attachments), an operator control device, and a controller. The controller may include at least one processor and at least one memory unit having instructions stored thereon that, when executed by the at least one processor, cause the controller to perform a return-cutting operation. For example, in response to detecting a return-cutting control command via a return-cutting control of the operator control device, the controller may move the set of retractable outriggers toward a first set of target positions of the set of retractable outriggers while the return-cutting control remains engaged. In response to determining that the return-cutting control is disengaged, the controller may determine a target rotor position and cause the set of retractable attachments to move the rotor to the target rotor position.

[0069] In some embodiments, while the return cutting control remains engaged, the controller can determine the first set of target positions of the retractable outriggers using a first set of non-contact sensors by referring to a first set of stored values ​​or via a first command received through the operator control device. In some embodiments, the controller can determine the target rotor position using a second set of non-contact sensors by referring to a second set of stored values ​​or via a second command received through the operator control device.

[0070] In some embodiments, the controller may enable the exit cutting operation by performing the operation in response to detecting an exit cutting control command provided via the exit cutting control of the operator control device. This operation may include: in response to determining that the exit cutting control is disengaged, performing an exit cutting rotor control operation to extend the rotor; and, while the rotor is extended and the exit cutting control is engaged, moving the set of retractable legs toward a second set of target positions for the set of retractable legs. In some embodiments, the controller may be configured to perform the exit cutting rotor control operation in response to determining that the exit cutting control has disengaged for at least N seconds after engagement. In some embodiments, the controller may use a set of non-contact sensors to determine the second set of target positions for the set of retractable legs.

[0071] In some implementations, the controller includes at least one or more of an electronic steering control module (ECM), a mechanical ECM, or a transmission ECM.

[0072] In some embodiments, the controller is configured to verify that a start-up condition has been met before performing a return-to-cut or exit-to-cut operation. In some embodiments, the start-up condition relates to at least one of the engine status, rotor status, component calibration status, or travel speed of the self-propelled rotary mixer.

[0073] In some implementations, at least one of the controller or the operator control device is remote relative to the self-propelled rotary mixer.

[0074] Industrial applicability

[0075] This document discloses a rotor control system for a self-propelled rotary mixer, comprising a set of retractable outriggers, a rotor having a set of retractable attachments, an operator control device, and a controller. The controller can generate control signals to execute a return-cutting operation. For example, in response to detecting a return-cutting control command via the operator control device and while the return-cutting control remains engaged, the mixer can be raised, and in response to determining that the return-cutting control is disengaged, the controller can determine a target rotor position and cause the set of retractable attachments to move the rotor to the target rotor position. In some embodiments, the controller can be further configured to execute the operation in response to operator interaction with a set of controls sufficient to automatically execute the return-cutting operation.

[0076] Remark

[0077] The terms “example,” “embodiment,” and “implementation” are used interchangeably. For example, a reference to “an example” or “a model” in this disclosure may, but is not necessarily, a reference to the same implementation, and such a reference means at least one implementation of those implementations. The appearance of the phrase “in an example” does not necessarily refer to the same example, and separate or alternative examples are not mutually exclusive with other examples. Features, structures, or characteristics described in connection with an example may be included in another example of this disclosure. Furthermore, various features that may be demonstrated by some examples but not by others are described. Similarly, various requirements that may be requirements for some examples but not others are described.

[0078] The terms used herein should be interpreted in their broadest and most reasonable manner, even if the term is used in conjunction with certain specific examples of the invention. The terms used in this disclosure generally have their common meaning in the relevant art, within the context of this disclosure, and in the specific context in which each term is used. The use of alternative languages ​​or synonyms does not preclude the use of other synonyms. Terms should not be given special meaning merely because they are described or discussed herein. The use of highlighted terms does not affect the scope and meaning of the terms. Furthermore, it will be understood that the same thing can be described in more than one way.

[0079] Unless the context clearly specifies otherwise, throughout the specification and claims, the word "comprising," etc., should be interpreted in an inclusive sense, rather than an exclusive or exhaustive sense—that is, as meaning "including but not limited to." As used herein, the terms "connection," "coupled," and any variations thereof mean any direct or indirect connection or coupling between two or more elements; the coupling or connection between elements may be physical, logical, or a combination thereof. Additionally, the words "this article," "above," "below," and similar terms may refer to the entire application and not to any particular part of the application. Where the context permits, the singular or plural words used in the above detailed description may also include the plural or singular, respectively. The word "or" in references to a list of two or more items covers all of the following interpretations of the word: any item in the list, all items in the list, and any combination of items in the list. The term "module" broadly refers to software components, firmware components, and / or hardware components.

[0080] While specific examples of the technology have been described above for illustrative purposes, those skilled in the art will recognize that various equivalent modifications are possible within the scope of the invention. For example, although processes or blocks are presented in a given order, alternative embodiments may execute routines with steps or employ systems with blocks in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and / or modified to provide alternative combinations or sub-combinations. Each of these processes or blocks can be implemented in a variety of different ways. Furthermore, although processes or blocks are sometimes shown as being executed sequentially, these processes or blocks may alternatively be executed or implemented in parallel, or may be executed at different times. Moreover, any specific figures mentioned herein are merely examples, allowing alternative embodiments to employ different values ​​or ranges.

[0081] The details of the disclosed embodiments may vary considerably in particular embodiments, while still being covered by the teachings disclosed. As mentioned above, specific terms used when describing features or aspects of the invention should not be construed as implying that the term is redefined herein to limit the invention to any particular characteristic, feature, or aspect of the invention associated with that term. Generally, unless the foregoing detailed descriptions expressly define the terms used in the following claims, such terms should not be construed as limiting the invention to the specific examples disclosed herein. Therefore, the actual scope of the invention covers not only the disclosed examples but also all equivalent ways of practicing or implementing the invention as described in the claims. Some alternative embodiments may include additional elements beyond those described above, or may include fewer elements.

[0082] All patents, applications, and other references mentioned above, as well as any patents, applications, and other references that may be listed in the accompanying application documents, are incorporated herein by reference in their entirety, except for any subject matter disclaimers or denials, and in cases where the incorporated material is inconsistent with the express disclosure herein (in which case the language of this disclosure shall prevail). Various aspects of the invention may be modified to incorporate the systems, functions, and concepts described in the various references above, thereby providing further alternative embodiments of the invention.

[0083] To reduce the number of claims, certain embodiments are presented below in the form of certain claims, but the applicant envisions various other aspects of the invention in different forms. For example, aspects of the claims may be expressed in a manner plus function form or in other forms, such as embodied in a computer-readable medium. Claims intended to be interpreted as manner plus function claims will use the word "for". However, the use of the term "for" in any other context is not intended to cause a similar interpretation. The applicant reserves the right to pursue such appended claim forms in this application or in subsequent applications.

Claims

1. A rotor control system for a rotary mixer, the rotor control system having a set of retractable legs, the rotor control system comprising: A rotor, configured to extend from the rotor cavity of the rotary mixer, wherein the rotor is movably coupled to the rotary mixer via a set of retractable attachments; Operator control device; and A controller, comprising at least one processor and at least one memory unit having instructions stored thereon, which, when executed by the at least one processor, cause the controller to perform a return-cutting operation by performing an operation including the following actions in response to a return-cutting control command detected via a return-cutting control of the operator control device: While the return cutting control remains engaged, the set of retractable legs is moved toward the first set of target positions of the set of retractable legs; as well as In response to determining that the return cutting control has disengaged, Determine the target rotor position, and The set of retractable attachments moves the rotor to the target rotor position.

2. The rotor control system of claim 1, wherein the instruction further causes the controller, while the return cutting control remains engaged, to use a first set of sensors to determine the first set of target positions of the set of retractable outriggers by referring to a first set of stored values ​​or via a first instruction received through the operator control device.

3. The rotor control system of claim 2, wherein the instruction further causes the controller to determine the target rotor position using a second set of sensors by referring to a second set of stored values ​​or via a second instruction received through the operator control device.

4. The rotor control system according to claim 1, wherein the instruction further causes the controller to execute an exit from the cutting operation by: In response to detecting an exit cutting control command provided via the exit cutting control of the operator control device, the following actions are performed: In response to determining that the exit cutting control is disengaged, an exit cutting rotor control operation is performed to extend the rotor; and When the rotor extends and the exit cutting control engages, the set of retractable legs moves toward the second set of target positions of the set of retractable legs.

5. The rotor control system of claim 4, wherein the instruction further causes the controller to perform an exit cutting rotor control operation in response to determining that the exit cutting control has disengaged for at least N seconds after engagement.

6. The rotor control system of claim 4, wherein the instructions further cause the controller to use a set of sensors to determine the second set of target positions of the set of retractable outriggers.

7. The rotor control system of claim 1, wherein the controller at least partially comprises one or more electronic control modules (ECMs).

8. The rotor control system of claim 1, wherein the controller is configured to verify whether the start-up state conditions have been met before performing a return cutting or exit cutting operation.

9. The rotor control system according to claim 8, wherein the start-up state condition is related to at least one of the engine state, rotor state, component calibration state, or travel speed of the rotary mixer.

10. The rotor control system of claim 1, wherein at least one of the controller or the operator control device is remote relative to the rotary mixer.

11. One or more non-transitory computer-readable media having instructions stored thereon, the instructions performing operations including the following actions when executed by at least one processor of a computing system: In response to the return cutting control command being detected by the operator control device of the rotary mixer, the following actions are performed: While the return cutting control remains engaged, the set of retractable legs of the rotary mixer is moved toward a first set of target positions of the set of retractable legs; and In response to determining that the return cutting control has disengaged, Determine the target rotor position of the rotary mixer rotor, and A set of retractable attachments coupled to the rotor moves the rotor to the target rotor position.

12. The medium of claim 11, wherein the instructions further enable the operation to be performed, the operation comprising: While the return cutting control remains engaged, the first set of target positions of the set of retractable outriggers are determined using a first set of sensors by referring to a first set of stored values ​​or via a first instruction received through the operator control device.

13. The medium of claim 12, wherein the instructions further enable the operation to be performed, the operation comprising: The target rotor position is determined using a second set of sensors by referring to a second set of stored values ​​or via a second instruction received through the operator control device.

14. The medium of claim 11, wherein the instruction further enables the exit from the cutting operation, the operation comprising: In response to detecting an exit cutting control command provided via the exit cutting control of the operator control device: In response to determining that the exit cutting control is disengaged, an exit cutting rotor control operation is performed to extend the rotor; as well as When the rotor extends and the exit cutting control engages, the set of retractable legs moves toward the second set of target positions of the set of retractable legs.

15. The medium of claim 11, wherein the medium at least partially comprises one or more electronic control modules (ECMs).

16. A computer-implemented method for a rotary mixer, executed by a controller, the method comprising: In response to the detection of a return-cutting control command via the return-cutting control of the operator control device of the rotary mixer, the following operations are performed: While the return cutting control remains engaged, one set of retractable legs of the rotary mixer is moved toward the first set of target positions of the set of retractable legs; as well as In response to determining that the return cutting control has disengaged, Determine the target rotor position of the rotary mixer rotor, and A set of retractable attachments coupled to the rotor moves the rotor to the target rotor position.

17. The method according to claim 16, further comprising: While the return cutting control remains engaged, the first set of target positions of the set of retractable outriggers are determined using a first set of sensors by referring to a first set of stored values ​​or via a first instruction received through the operator control device.

18. The method according to claim 17, further comprising: The target rotor position is determined using a second set of sensors by referring to a second set of stored values ​​or via a second instruction received through the operator control device.

19. The method according to claim 16, further comprising: In response to detecting an exit cutting control command provided via the exit cutting control of the operator control device: In response to determining that the exit cutting control is disengaged, an exit cutting rotor control operation is performed to extend the rotor; as well as When the rotor extends and the exit cutting control engages, the set of retractable legs moves toward the second set of target positions of the set of retractable legs.

20. The method of claim 16, wherein the method is performed at least in part by one or more of an electronic control module (ECM), a mechanical ECM, or a transmission ECM.

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