Gearshift calibration

Abstract

Gearbox calibration system (300), comprising: a transmission (200) configured to operate using at least a first gear ratio and a second gear ratio, wherein the transmission (200) includes a gear selector (235) configured to select the first gear ratio or the second gear ratio of the transmission (200); at least one sensor (245) configured to detect a position of the gear selector (235); a rotor drum (114) coupled to an output of the transmission (200); and a control device (120) configured to: causing the transmission (200) to shift between the first gear ratio and the second gear ratio one or more times; Obtaining, using the at least one sensor (245), a first set of position data identifying respective first positions of the gear selector (235) for each shift into the first gear ratio, and a second set of position data identifying respective second positions of the gear selector (235) for each shift into the second gear ratio; and Determining a first calibrated position of the gear selector (235) for shifting to a first gear ratio based on a first set of position data and a second calibrated position of the gear selector (235) for shifting to the second gear ratio based on a second set of position data; wherein the at least one sensor (245) outputs pulse width modulation signals based on a distance between the gear selector (235) and the at least one sensor (245), and wherein the respective first positions are represented by first duty cycle values ​​based on the pulse width modulation signals, and the respective second positions are represented by second duty cycle values ​​based on the pulse width modulation signals.

Description

Technical field

[0001] The present disclosure relates generally to transmissions and, for example, to gear shift calibration for a transmission. State of the art

[0002] A rotary mixer can be used to cut, mix, and pulverize soil surfaces, such as roads. Generally, a rotary mixer includes a frame supported by wheels or endless tracks. The frame provides support for an operator station and a power source. The rotary mixer includes an open-bottomed mixing chamber connected to the frame and a rotor suspended within the mixing chamber. The rotor may include a rotatable drum with working tools arranged around an outer surface of the drum to cut, mix, and pulverize a soil surface.

[0003] The rotor may be controlled by a transmission (e.g., a two-position transmission with a low gear and a high gear) that provides a drive ratio of the rotor. An operator of the impeller mixer may shift into a gear using an operator control (e.g., located at the operator station), such as a button that provides a command to shift into the gear. In response to the command, the impeller mixer may shift into the commanded gear in an automated manner. For example, to shift into the commanded gear, a gear selector (e.g., a shift fork) may be moved to a position that selects the commanded gear. In some cases, the shift performed may not achieve a complete shift into the commanded gear (e.g., the gear selector is not moved to the correct position), so the gears of the transmission are not properly matched to the position and / or are not properly engaged.In such cases, if the rotor is engaged, the gears (e.g., the teeth of the gears) and / or mechanisms of the transmission may be damaged.

[0004] US 2017 0 138 469 A1 (the '469 publication) discloses a method for updating shift position thresholds for a multi-speed transmission. The '469 publication indicates that the multi-speed transmission includes a position sensor for providing data indicative of a position of a shift actuator for selecting between a plurality of gear ratios. The '469 publication discloses that the method includes comparing a speed of an output member to a prescribed speed and, if the speed of the output member increases and is less than the prescribed speed, storing the position provided by the position sensor as a synchronization position.Further, the '469 publication discloses that when the speed of the output member corresponds to the prescribed speed, the method includes storing the position provided by the position sensor as an end-stop position and calculating a threshold position for the shift actuator based on the synchronization position and the end-stop position. However, the '469 publication does not address the calibration of a gearbox used for a rotor, such as a rotor of a rotary mixer. Furthermore, the '469 publication does not describe the use of a non-contact sensor for detecting a position.

[0005] Furthermore, DE 10 2017 202 374 A1 discloses a device and a method for determining a shift position of a transmission with two magnetic sections which are arranged on a shift section of the transmission and have a predetermined distance from one another, with a magnetic field sensor for detecting a magnetic field generated by the two magnetic sections, and with a controller which is configured to determine a shift position of the transmission on the basis of the determined magnetic field.

[0006] The present invention is directed to overcoming one or more of the problems or disadvantages associated with the prior art. Brief description

[0007] The object of the present invention is achieved by a transmission calibration system and a method according to the independent claims. The subclaims relate to preferred embodiments of the invention. Brief description of the drawings Fig. 1 is a schematic representation of an exemplary machine described herein. Fig. 2 is a schematic representation of an exemplary transmission described herein. Fig. 3 is a schematic representation of an exemplary transmission calibration system described herein. Fig. 4 is a flowchart of an exemplary process described herein relating to gearshift calibration. Detailed description

[0008] This disclosure relates to a gear calibration system that can be applied to any machine that uses a transmission gearbox.

[0009] For example, the machine may use a transmission gear to drive a working tool of the machine.

[0010] Fig. 1 is a schematic representation of an exemplary machine 100 described herein. The machine 100 is configured as a rotary mixer in Fig. 1; however, the present disclosure is equally applicable to other machines, such as milling machines, asphalt pavers, cold milling machines, or the like.

[0011] The machine 100 includes a frame 102 with an operator cab 104. The operator cab 104 provides a housing to accommodate one or more operators of the machine 100. The operator cab 104 may include a plurality of controls, such as a joystick, a lever, a switch, a button, a monitor, a touchscreen, or the like, that may be used by an operator to control and operate the work machine. In some examples, the machine 100 may be configured to enable remote operation so that the operator can control the machine 100 from a location other than the operator cab 104. In some examples, the machine 100 may be configured to operate autonomously so that the operator cab 104 may be eliminated or provided with a reduced set of controls.

[0012] The machine 100 includes a power source 106 supported by the frame 102. The power source 106 may include an internal combustion engine, an electric motor, a hybrid engine, or another type of power source. The power source 106 provides power to operate various systems of the machine 100. A set of ground-engaging elements 108, shown as wheels, are mounted to the frame 102 and operably coupled to the power source 106. The ground-engaging elements 108 may additionally or alternatively include tracks.

[0013] The machine 100 includes a mixing chamber 110 disposed between a front set of ground-engaging elements 108 and a rear set of ground-engaging elements 108; however, other locations for the mixing chamber 110 are possible. The mixing chamber 110 includes a first side plate 112 and a second side plate (not shown) opposite the first side plate 112. In addition, the first side plate 112 and the second side plate of the mixing chamber 110 may define a housing for a rotor 114. Furthermore, the rotor 114 may be operably coupled to the mixing chamber 110, and the rotor 114 may be configured to rotate within the housing defined by the mixing chamber 110. The rotor 114 may include a rotor drum and a plurality of work tools (e.g., cutting attachments) disposed about an outer surface of the rotor drum.

[0014] The machine 100 includes a rotor drive train 116 coupled to the frame 102. The rotor drive train 116 may be operably coupled to the power source 106 via a drive rod (not shown) or other power output devices. The rotor drive train 116 may be rotatably driven by the drive rod, and the rotor drive train 116 subsequently rotatably drives the rotor 114 within the mixing chamber 110. The mixing chamber 110 may be connected to one or more hydraulic cylinders 118 coupled to the frame 102. The hydraulic cylinders 118 may be activated by the operator to raise or lower the mixing chamber 110 relative to a ground surface.

[0015] Additionally, a controller 120 (e.g., an electronic control module (ECM)) may be mounted within the operator cab 104 (or another portion of the machine 100). The controller 120 may include one or more memories and / or one or more processors that implement operations associated with gearshift calibration as described herein.For example, the controller 120 may be configured to: cause a transmission to shift between a first gear ratio and a second gear ratio one or more times, obtain a first set of position data identifying respective first positions of the gear selector for each shift to the first gear ratio and a second set of position data identifying respective second positions of the gear selector for each shift to the second gear ratio, and determine a first calibrated position of the gear selector for a shift to the first gear ratio based on the first set of position data and a second calibrated position of the gear selector for a shift to the second gear ratio based on the second set of position data, as described herein.

[0016] As stated above, Fig. 1 is provided as an example. Other examples may differ from the description in Fig. 1 may differ.

[0017] Fig. 2 is a schematic representation of an exemplary transmission 200 described herein. The transmission 200 may be a component of the rotor drivetrain 116 described herein. As shown, an input of the transmission 200 is connected to an input shaft 205 (also referred to as a "clutch shaft"), and an output of the transmission 200 is connected to an output shaft 210 (also referred to as a "main shaft"). The input of the transmission 200 is coupled to a clutch 215 (e.g., a main clutch) (e.g., via the input shaft 205 and / or a belt), which is coupled to the power source 106. The output of the transmission 200 is coupled to the rotor 114 (e.g., to the rotor drum of the rotor) (e.g., via the output shaft 210 and / or a belt).

[0018] The transmission 200 may be a multi-speed transmission (i.e., a multi-position transmission). For example, the transmission 200 may be configured to operate using at least a first gear ratio (e.g., a lower gear ratio) and a second gear ratio (e.g., a higher gear ratio). The transmission 200 may also operate in neutral when neither the first gear ratio nor the second gear ratio is selected. As shown, the transmission 200 includes a first set of gears 220 associated with the first gear ratio (which may be referred to as a "first gear" or a "low gear" of the transmission 200) and a second set of gears 225 associated with the second gear ratio (which may be referred to as a "second gear" or a "high gear" of the transmission 200).The transmission 200 is shown as a two-position transmission for illustrative purposes, and in practice, the transmission 200 may be configured to operate using more than two gear ratios, such as three gear ratios, four gear ratios, or five gear ratios. In some examples, the transmission 200 may be a permanently meshed transmission, as shown; however, the present disclosure is equally applicable to a sliding gear transmission.

[0019] The transmission 200 includes a gear engagement element 230 (e.g., a dog clutch or a synchronizer). The gear engagement element 230 may be slidably coupled to the output shaft 210, upon which driven gears of the first set of gears 220 and the second set of gears 225 rotate. In connection with a shift to a gear ratio associated with a set of gears, the gear engagement element 230 may engage the set of gears with the output shaft 210.

[0020] The transmission 200 includes a gear selector 235. The gear selector 235 may be a shift fork. The gear selector 235 is configured to select the first gear ratio or the second gear ratio of the transmission 200. For example, the gear selector 235 is coupled to the gear engagement element 230 and configured to slide the gear engagement element 230 onto the output shaft 210 in response to actuation of an actuation shaft 240 (e.g., in response to a command from an operator to shift gears). As one example, the gear selector 235 may (e.g., via actuation of the actuation shaft 240) slide the gear engagement element 230 into engagement with the first set of gears 220 to shift into the first gear ratio associated with the first set of gears 220. Similarly, the gear selector 235 (e.g.,via actuation of the actuating shaft 240), the gear engagement element 230 can slide into engagement with the second set of gears 225 to shift into the second gear ratio associated with the second set of gears 220. In a sliding gear transmission (not shown), the gear selector 235 can slide into a driven gear (in a similar manner as the gear selector 235 slides the gear engagement element 230) into engagement with a drive gear to engage the driven gear and the drive gear.

[0021] The at least one sensor 245 may be connected to the transmission 200. The sensor 245 may be a position sensor (e.g., a proximity sensor) configured to detect a position of the gear selector 235 and generate a signal indicative of the position of the gear selector 235. The sensor 245 may include, among other examples, an inductive sensor, a resistive sensor, a Hall effect sensor, a linear variable differential transformer (LVDT) sensor, an optical sensor, and / or an ultrasonic sensor.

[0022] The sensor 245 may be a non-contact sensor (e.g., relative to the gear selector 235). That is, the sensor 245 may be configured to detect the position of the gear selector 235 without touching the gear selector 235. The sensor may be disposed on the transmission 200 remote from the gear selector 235. For example, the sensor 245 may be mounted to a surface (e.g., an outer surface) of a housing (shown in dashed lines) of the transmission 200. The sensor 245 may include a probe end extending (e.g., through the housing) to the gear selector 235. In some examples, the probe end of the sensor 245 may be received (e.g., without touching) in a sensor receptacle (not shown) of the gear selector 235. The sensor receptacle may be a notched, grooved, split, or similar element of the gear selector 235 that partially surrounds the sample end of the sensor 245.Accordingly, the sensor receptacle slides relative to the probe end of the sensor 245 during movement of the gear selector 235.

[0023] As already mentioned, Fig. 2 as an example. Other examples may differ from the description in Fig. 2 may differ.

[0024] Fig. 3 is a schematic representation of an exemplary transmission calibration system 300 described herein. The transmission calibration system 300 may include the transmission 200 and the gear selector 235, the clutch 215, the rotor 114, and / or the at least one sensor 245 as described herein.

[0025] The transmission calibration system 300 may include an actuator 250 (e.g., a solenoid valve). The actuator 250 may control engagement of the clutch 215 with the power source 106. For example, the actuator 250 may control the flow of hydraulic fluid to the clutch 215. The actuator 250 may have an on state, wherein the clutch 215 is moved to a first position in the on state (e.g., hydraulic fluid flows to the clutch 215 in the on state). The actuator 250 may have an off state, wherein the clutch is moved to a second position in the off state (e.g., the flow of hydraulic fluid to the clutch 215 ceases in the off state).

[0026] The transmission calibration system 300 may include a speed sensor 255. The speed sensor 255 is configured to detect a rotational speed of the rotor 114 and generate a signal indicative of the rotational speed of the rotor 114. In some examples, the speed sensor 255 may be configured to detect a rotational speed of the transmission 200 (e.g., at an input or an output of the transmission 200).

[0027] The transmission calibration system 300 may include the controller 120 as described herein. The controller 120 may be operably coupled to the sensor(s) 245, the actuator 250, and / or the speed sensor 255. The controller 120 may be configured to perform a calibration process for the transmission 200. The controller 120 may receive a command (e.g., via an operator control of the machine 100) to perform the calibration process, and the controller 120 may perform the calibration process in response to the command.

[0028] In an operation of the calibration process, the controller 120 may determine whether one or more initialization conditions for the calibration process are met. The one or more initialization conditions may include a condition that the machine 100 is stationary, a condition that a temperature of a hydraulic fluid of the machine 100 meets a threshold, or the like.

[0029] In one act of the calibration method, the controller 120 may cause the transmission to shift (e.g., select) between at least the first gear ratio and the second gear ratio one or more times. For example, the controller 120 may cause the transmission 200 to shift into the first gear ratio, then the controller 120 may cause the transmission 200 to shift into the second gear ratio, then the controller may cause the transmission 200 to shift into the first gear ratio, and so on. In one example, when shifting between the first gear ratio and the second gear ratio one or more times, the controller 120 may cause the transmission to shift into the first gear ratio at least twice or at least three times and to shift into the second gear ratio at least twice or at least three times.The controller 120 may cause the transmission to shift into a gear ratio by providing a signal that causes actuation of the gear selector 235 (e.g., via the actuation shaft 240).

[0030] In one operation of the calibration method, the controller 120 may perform an operation for gear ratio completion (e.g., to ensure a complete shift into the gear ratio, whereby components of the transmission 200 are aligned and fully engaged). For example, the controller 120 may perform the operation after each gear ratio shift, as described above. In other words, the controller 120 may perform the operation after the controller causes the transmission to shift into the first gear ratio, the controller 120 may perform the operation after the controller causes the transmission to shift into the second gear ratio, and so on.

[0031] To perform the operation, the controller 120 may pulse the actuator 250 between the on state and the off state one or more times (e.g., after each shift into a gear ratio). To pulse the actuator 250, the controller 120 may cause the actuator 250 to toggle between the on state and the off state, thereby causing movement of the clutch 215 (e.g., between the first position and the second position of the clutch 215). In particular, the pulsation of the actuator 250 imparts a rocking motion to the clutch 215 and, in turn, the transmission 200. This small amount of transmission input caused by the pulsation allows the components of the transmission 200 to align and fully engage.Additionally or alternatively, to perform the operation, the controller 120 may cause the actuation of the gear selector 235 to a shifted gear ratio one or more additional times (e.g., after commanding actuation of the gear selector 235 to the first gear ratio, the controller 120 may cause the actuation of the gear selector 235 to the first gear ratio one or more additional times before shifting to the second gear ratio) and / or may cause the activation of a device coupled to the input of the transmission 200 (e.g., directly and / or indirectly) to thereby impart a small amount of the transmission input, among other examples. The device may be configured to rotate or vibrate. For example, the device may be a motor, such as a hydraulic motor or an electric motor.

[0032] After each shift into a gear ratio, the controller 120 may perform the operation (e.g., pulsing the actuator 250) until a speed (e.g., a rotational speed) of the rotor 114 (or the transmission 200) meets a threshold. In some examples, the controller 120 may pulse the actuator 250 (e.g., when the speed does not meet the threshold) until a threshold number of pulses are performed (e.g., a threshold number of states of the actuator 250). The controller 120 may receive a signal indicative of the speed of the rotor 114 from the speed sensor 255. In some examples, the controller 120 may perform the operation (e.g., pulsing the actuator 250) until the rotor 114 reaches a non-zero speed, a speed of at least 1 revolution per minute (RPM), a speed of at least 2 RPM, a speed of at least 3 RPM, or the like.

[0033] In one act of the calibration method, the controller 120 may obtain a first set of position data identifying respective first positions of the gear selector 235 for each shift to the first gear ratio, and a second set of positions identifying respective second positions of the gear selector 235 for each shift to the second gear ratio. For example, after a shift to the first gear ratio (and in some examples, after performing the act such as pulsing the actuator 250), the controller 120 may identify a position of the gear selector 235 for inclusion in the first set of position data.Continuing the example, after a shift to the second gear ratio (and in some examples, after performing the act of pulsing the actuator 250), the controller 120 may identify a position of the gear selector 235 for inclusion in the second set of position data.

[0034] The controller 120 may obtain the first set of position data and the second set of position data using the sensor 245. For example, the controller 120 may receive a signal from the sensor 245 in connection with a shift into a gear ratio, and the controller 120 may identify the position of the gear selector 235 based on the signal. The signal may indicate a value representative of the position of the gear selector 235, and / or the controller 120 may determine a value representative of the position of the gear selector 235 based on the signal. In some examples (e.g., when the sensor 245 is an inductive sensor), the sensor 245 outputs pulse width modulation (PWM) signals based on a distance between the sensor 245 and the gear selector 235. Here, a position of the gear selector 235 may be determined by a duty cycle value (e.g.,one percent) based on a PWM signal. The duty cycle value can be an average duty cycle of the PWM signal over a specific period of time (e.g., starting after a shift into a gear ratio).

[0035] In one act of the calibration method, the controller 120 may determine whether to pass or fail the first set of position data and / or the second set of position data (e.g., the controller 120 may perform a validation of the data). The controller 120 may determine to pass the first set of position data if the respective first position positions identified for the gear selector 235 are represented by values ​​that are within a threshold range of each other (e.g., a difference between any two of the values ​​is less than a threshold value) and / or if the values ​​each meet a first threshold value (e.g., the low gear ratio values ​​are below a maximum duty cycle value).The controller 120 may determine to pass the second set of position data if the respective second position positions identified for the gear selector 235 are represented by values ​​that are within the threshold range of each other (e.g., a difference between any two of the values ​​is less than the threshold) and / or if the values ​​each meet a second threshold (e.g., the high gear ratio values ​​are above a minimum duty cycle value). The controller 120 may determine to fail the first set of position data if the respective first positions are represented by values ​​that are not within the threshold range of each other and / or if at least one of the values ​​does not meet the first threshold.The controller 120 may determine to fail the second set of pose data if the respective second poses are represented by values ​​that are not within the threshold range of each other and / or if at least one of the values ​​does not meet the second threshold.

[0036] In an operation of the calibration method, if the controller 120 determines to fail the first set of data and / or the second set of data (e.g., the calibration method has failed), the controller 120 may provide an indication of a calibration error (e.g., the controller may provide the indication based on a satisfaction of one or more conditions for failing the first set of data and / or the second set of data, as described above). For example, the controller 120 may cause information indicative of the calibration error to be displayed in the operator cab 104, the activation of an indicator (e.g.,a warning light) of the operator cab 104 indicating the calibration error, and / or a notification indicating that the calibration error should be communicated to a device associated with an operator, owner, technician, or the like of the machine 100, among other examples.

[0037] In one operation of the calibration process, if the controller 120 determines to pass the first set of data and the second set of data (e.g., the calibration process is successful), the controller 120 may determine a calibration for the transmission 200 (e.g., the controller may determine the calibration based on a determination that one or more of the conditions for passing the first set of data and / or the second set of data are met, as described above). The controller 120 may determine a first calibrated position of the gear selector 235 for the first gear ratio based on the first set of position data. For example, the first calibrated position may be an average of the values ​​representing the first positions of the first set of position data, or may be a specific one of the values ​​(e.g.,a highest value, a lowest value, a median value, a modal value, or the like). The first calibrated position may represent a position of the gear selector 235 indicating a complete shift of the transmission 200 into the first gear ratio. The controller 120 may determine a second calibrated position of the gear selector 235 for the second gear ratio based on the second set of position data. For example, the second calibrated position may be an average of the values ​​representing the second positions or may be a specific one of the values. The second calibrated position may represent a position of the gear selector 235 indicating a complete shift of the transmission 200 into the second gear ratio.In some examples, the first calibrated position may be the lowest value from the first set of position data and the second calibrated position may be the highest value from the second set of position data.

[0038] The controller 120 may cause information indicative of the first calibrated position and the second calibrated position to be stored in a memory. The first calibrated position and the second calibrated position may be used during successive operations of the machine 100. For example, in connection with a shift to the first gear ratio, the controller 120 may monitor (e.g., using the sensor 245) whether the position of the gear selector 235 corresponds to the first calibrated position (e.g., is the same as or within a certain tolerance thereof). Similarly, in connection with a shift to the second gear ratio, the controller 120 may monitor (e.g., using the sensor 245) whether the position of the gear selector 235 corresponds to the second calibrated position (e.g.,is the same as this or is within a certain tolerance of this).

[0039] If the position of the gear selector 235 in connection with a shift in the gear ratio does not correspond to a calibrated position (e.g., the shift is not completed), the controller 120 may perform one or more remedial actions. For example, the controller 120 may pulse the actuator 250 as described above until the position of the gear selector 235 corresponds to the calibrated position. That is, pulsing the actuator 250 may cause a small amount of transmission input that causes the gear selector 235 to move to a fully engaged position, as described above. As another example, the controller 120 may cause information indicating the incomplete shift to be displayed in the operator cab 104, the activation of an indicator (e.g.,a warning light) of the operator cab 104 indicating the incomplete circuit, and / or a notification indicating that the incomplete circuit should be communicated to a device associated with an operator, owner, technician, or the like of the machine 100, among other examples.

[0040] As shown, in some examples, the calibration system 300 may include a service component 305 (e.g., implementing a service tool). The service component 305 may include a device (e.g., associated with a technician of the machine 100) communicatively coupled to the machine 100 (e.g., via the controller 120). Alternatively, the service component 305 may be a component of the machine 100. The service component 305 may perform one or more operations of the calibration method as described herein.

[0041] While the transmission calibration system 300 is described herein with reference to the first gear ratio and the second gear ratio of the transmission 200, the transmission calibration system 300 may be used in conjunction with any number of gear ratios. For example, the transmission calibration system 300 may include a transmission capable of operating using more than two gear ratios (e.g., three gear ratios, four gear ratios, or five gear ratios) and / or a transmission utilizing multiple gear selectors. Here, the calibration process may be performed with respect to each gear selector of the transmission in a similar manner as described above.

[0042] As already mentioned, Fig. 3 is shown as an example. Other examples may differ from the description in Fig. 3 may differ.

[0043] Fig. 4 is a flowchart of an exemplary process 400 for gearshift calibration. One or more process blocks of Fig. 4 may be performed by a controller (e.g., controller 120) of a machine (e.g., machine 100). The machine may include a power source, a clutch, an actuator for the clutch, a transmission with a gear selector, and / or a rotor, as described above. Additionally or alternatively, one or more process blocks may be Fig. 4 be carried out by another device or group of devices separate from or incorporating the control device, such as another device or component located inside or outside the machine.

[0044] In a manner similar to that described above, operation 400 may include determining whether one or more initialization conditions are met (block 405). If the initialization conditions are not met, then operation 400 may terminate. If the initialization conditions are met (block 405-YES), then operation 400 may include initializing a counter (block 410). For example, the counter may be initialized to a value of zero.

[0045] Act 400 may include shifting into a gear ratio (block 415) in a manner similar to that described above. For example, if a value of the counter is an even number, the shift may be into a first gear ratio, and if the value of the counter is an odd number, the shift may be into a second gear ratio. Act 400 may include performing an act for completing the shift (block 420) in a manner similar to that described above. For example, performing the act may include pulsing the actuator, where the actuator may control engagement of the rotor with a power source. In particular, the actuator may control the clutch, as described above.

[0046] Process 400 may include identifying a position of the gear selector (block 425) in a manner similar to that described above. For example, a value representing the position of the gear selector may be stored in a first set of position data (e.g., a first array) if the gear ratio is the first gear ratio, or in a second set of data (e.g., a second array) if the gear ratio is the second gear ratio.

[0047] The process 400 may include incrementing the counter (block 430). That is, a value of the counter may be increased by one. The process 400 may include determining whether the value of the counter meets a threshold (block 435). For example, the threshold may be a value that results in three shifts into the first gear ratio and three shifts into the second gear ratio. If the value of the counter does not meet the threshold (block 435-NO), then the process 400 may return to block 415. If the value of the counter does meet the threshold (block 435-YES), then the process 400 may include validating the pose data (block 440) in a manner similar to that described above. For example, the first set of pose data and the second set of pose data may have passed or failed in a manner similar to that described above.

[0048] If the position data fails the data validation (block 440-FAILED), then process 400 may include providing an indication of the calibration error (block 445) in a manner similar to that described above. If the position data passes the data validation (block 440-PASSED), then process 400 may include storing calibration information (block 450). For example, the calibration information may include a first calibrated position for the gear selector based on the first set of position data and a second calibrated position for the gear selector based on the second set of position data.

[0049] Although Fig. 4 example blocks of operation 400, in some implementations operation 400 may include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those shown in Fig.4. Additionally or alternatively, two or more of the blocks of operation 400 may be performed in parallel. Commercial applicability

[0050] The transmission and / or transmission calibration system described herein may be used with any machine that utilizes a transmission gear. For example, the transmission and / or transmission calibration system may be used with a machine that utilizes a transmission gear to provide a drive ratio for a work tool, such as a rotor of a rotary mixer or a cold planer. Accordingly, the transmission and / or transmission calibration system finds application in road repair, road resurfacing, surface milling, surface pulverization, or the like.

[0051] As described above, a gear ratio shift of a transmission may sometimes not be completed (e.g., due to incorrect calibration and / or a deviation from a previous calibration), which may result in damage to the gears or other components of the transmission. The transmission described herein may include a non-contact sensor to detect a position of a gear selector of the transmission. The non-contact sensor may facilitate detection of the position of the gear selector without hindering or otherwise interfering with the movement and gear selection performed by the gear selector.

[0052] Additionally, gear shift calibration may be performed using the transmission's sensor. For example, the calibration method described herein may be performed using the sensor. The calibration method may be used to determine a gear selector calibration position (e.g., relative to a gear or set of gears) associated with a complete shift into a transmission gear ratio (e.g., full engagement of the gear, full engagement of the set of gears, or the like). The calibration method described herein provides a fast, efficient, and accurate calibration for gear shifting. Additionally, one or more remedial actions may be taken during operation if a gear ratio shift does not achieve the calibrated gear selector position.Remedial actions can ensure a complete shift into the gear ratio, thereby reducing or preventing damage to the gears or other components of the transmission.

Claims

[1] Gearbox calibration system (300), comprising: a transmission (200) configured to operate using at least a first gear ratio and a second gear ratio, wherein the transmission (200) includes a gear selector (235) configured to select the first gear ratio or the second gear ratio of the transmission (200); at least one sensor (245) configured to detect a position of the gear selector (235); a rotor drum (114) coupled to an output of the transmission (200); and a control device (120) configured to: Causing the transmission (200) to shift between the first gear ratio and the second gear ratio one or more times; Obtaining, using the at least one sensor (245), a first set of position data identifying respective first positions of the gear selector (235) for each shift into the first gear ratio, and a second set of position data identifying respective second positions of the gear selector (235) for each shift into the second gear ratio; and Determining a first calibrated position of the gear selector (235) for shifting to a first gear ratio based on a first set of position data and a second calibrated position of the gear selector (235) for shifting to the second gear ratio based on a second set of position data; wherein the at least one sensor (245) outputs pulse width modulation signals based on a distance between the gear selector (235) and the at least one sensor (245), and wherein the respective first positions are represented by first duty cycle values ​​based on the pulse width modulation signals, and the respective second positions are represented by second duty cycle values ​​based on the pulse width modulation signals. [2] The transmission calibration system (300) of claim 1, wherein the controller (120) is further configured to: Providing an indication of a calibration error based on at least one of: the respective first positions are represented by values ​​that are not within a threshold range of each other, the respective second positions are represented by values ​​that are not within the threshold range of each other, at least one of the respective first positions is represented by a value that does not meet a threshold value, or at least one of the respective second positions is represented by a value that does not satisfy a further threshold value. [3] The transmission calibration system (300) of any of claims 1-2, wherein the at least one sensor (245) is configured to detect the position of the gear selector (235) without contacting the gear selector (235). [4] The transmission calibration system (300) of any of claims 1-3, wherein the at least one sensor (245) is an inductive sensor. [5] The transmission calibration system (300) of any of claims 1-4, wherein the gear selector (235) is a shift fork. [6] Method comprising: Causing, by a control device (120), a transmission (200) coupled to a rotor (114) to shift between a first gear ratio and a second gear ratio one or more times; Obtaining by the controller (120) using at least one sensor (245) a first set of position data identifying respective first positions of a gear selector (235) of the transmission (200) for each shift into the first gear ratio and a second set of positions identifying respective second positions of the gear selector (235) of the transmission (200) for each shift into the second gear ratio; Determining, by the control device (120), a first calibrated position of the gear selector (235) for shifting to a first gear ratio based on a first set of position data and a second calibrated position of the gear selector (235) for shifting to the second gear ratio based on a second set of position data; and Completing the shift after each shift between the first gear ratio and the second gear ratio by pulsing an actuator (250) for a clutch (215) coupled to the transmission (200) between an on state and an off state one or more times after each shift between the first gear ratio and the second gear ratio. [7] The method of claim 6, further comprising: Determining that one or more initialization conditions are met before causing the transmission (200) to shift between the first gear ratio and the second gear ratio one or more times.

Images