CONTROL TECHNOLOGIES FOR A ROTATING MIXER FOR ENTERING AND OUTING IN A SINGLE CUT

Abstract

This document discloses a rotor control system for a rotary mixer, comprising a set of extendable legs, a rotor with a set of extendable mounting elements, an operating control device, and a control unit. The control unit can generate control signals to perform return-to-cut operations. For example, the mixer can be raised in response to the detection of a return-to-cut control command via the operating control device while return-to-cut control remains enabled, and in response to the detection that return-to-cut control is disabled, the control unit can determine a target rotor position and cause the extendable mounting elements to move the rotor to the target position.In some embodiments, the control unit may also be configured to trigger automatic return-to-cut operations when an operator operates a small number of controls sufficient to perform the operation automatically.

Description

State of the art

[0001] The term "industrial equipment" refers to heavy-duty machinery used in manufacturing, construction, or other industrial sectors. Industrial equipment can encompass a wide variety of machines, 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 type of large-scale plant used in various industries, including construction, manufacturing, and materials processing, for crushing, extracting, combining, and mixing bulk materials such as concrete, asphalt, aggregates, and powders. Brief description of the drawings

[0002] Detailed descriptions of the embodiments of the present invention are explained with reference to the accompanying drawings. Fig. Figure 1 is a component diagram showing an example of a rotor control system for a rotary mixer according to some arrangements. The Fig. 2A and Fig. 2B are component diagrams showing an example of a rotor control device according to some arrangements. Fig. Figure 3 is a flowchart showing an example of a rotor control procedure for exiting a cut according to some arrangements. The Fig. 4 and Fig. Figure 5 are flowcharts showing examples of rotor control procedures for entering a section according to some arrangements. Fig. Figure 6 is a block diagram showing an example of a computer system in which at least some of the operations described here can be implemented according to some arrangements. Fig. Figure 7 is a schematic diagram showing the rotor positioning upon entering a section, starting with both rotor sides above the target, according to some arrangements. Fig. Figure 8 is a schematic diagram showing the rotor positioning when exiting a cut that begins with both rotor sides below the target, according to some arrangements. Fig. Figure 9 is a schematic diagram showing the rotor positioning when completing a cut that starts with one rotor side below the target, according to some arrangements.

[0003] The technologies described herein will become clearer to the person skilled in the art through study of the detailed description in conjunction with the drawings. Embodiments or implementations describing aspects of the invention are illustrated by means of examples, where the same reference numerals may denote similar elements. While the drawings depict different implementations for illustrative purposes, it will be clear to the person skilled in the art that alternative implementations can be used without departing from the principles of the present technologies. Accordingly, although specific implementations are shown in the drawings, the technology is suitable for various modifications. Detailed description

[0004] The description and accompanying drawings are illustrative examples and are not to be understood as limiting. This disclosure contains certain details to facilitate a thorough understanding and description of these examples. However, a person skilled in the relevant technology will understand that the invention can be practiced without many of these details. Likewise, a person skilled in the field will understand that the invention may include known structures or features that are not shown or described in detail in order to avoid unnecessarily obscuring the descriptions of the examples.

[0005] Rotary mixers can be used in mining and mineral processing for crushing, mixing, and processing ores, minerals, and other bulk materials. Rotary mixers can be particularly useful in applications involving high-density, abrasive, or corrosive materials, as they offer robust and reliable performance in demanding environments. Rotary mixers can be used in various mining and mineral processing applications, including ore blending and processing, mineral processing and mixing, bulk material handling and blending, grinding (crushing, milling, and / or pulverizing material), and recovery. In recovery, rotary mixers can facilitate the restoration and remediation of mining sites, soil improvement and stabilization, and the processing of waste rock and overburden.

[0006] The entry and exit of a rotor from a "cut" refers to the movement of the rotor into and out of a batch of ore, minerals, or extracted material. When the rotor enters a cut, its attachments (e.g., dozer blades, buckets, cutting tools) can come into contact with the material, initiating mixing and / or processing. Upon exiting, the rotor can disengage from the material, and the processed material is discharged or conveyed for further processing.

[0007] Controlling the entry and exit of the cutting process can ensure efficient mixing, optimal moisture control, improved material quality, and enhanced downstream processing efficiency. Unfortunately, with conventional control techniques, including manual control, it is difficult to estimate the target cutting depth, determine the rotor's target angle, or automatically adjust these parameters and rotor positioning after a cutting operation has begun. Furthermore, complex control devices can require extensive training and lead to inefficiency and potential human error. Sensors can be used to address these issues. For example, as described in U.S. Patent No. 11,225,761, operators can manually control the lowering and raising of the rotary mixer rotor using sensor-based systems.

[0008] As disclosed herein, in a rotor control system for a rotary mixer, a control unit can be configured to apply sophisticated logic to automatically control operations related to extending and / or retracting a rotor from a cut. The techniques described herein can improve control and precision, reduce operator error, and enhance the operational efficiency of the rotary mixer. For example, a rotor control system for a travel rotary mixer is disclosed here, comprising a set of extendable legs, a rotor with a set of extendable mountings, an operator control device, and a control unit. The control unit can generate control signals to perform return-to-cut operations.For example, the mixer can be raised in response to the detection of a return-to-cut control command via the operator control device, and while return-to-cut control remains activated. Conversely, upon detecting that return-to-cut control is deactivated, the control unit can determine a target rotor position and cause the extendable attachments to move the rotor to that position. In some embodiments, the control unit can also be configured to trigger automatic return-to-cut operations when an operator performs a small number of controls sufficient to execute the operation automatically.

[0009] As used here, the term "set" refers to a physical or logical collection of objects, which may contain no objects (e.g., a null set, an empty set), one object, or two or more objects. The terms "engine," "application," "program," "circuit," and "executable file" refer to one or more sets of computer-executable instructions in compiled or executable form, stored on a non-volatile, machine-readable medium, and capable of being executed by one or more processors to perform software- and / or hardware-based computer operations. The computer-executable instructions may be specialized instructions for performing a particular set of operations, as defined by parameterized functions, specific configuration settings, purpose-built code, and / or the like.Engines, applications, programs and executable files can generate and / or receive various signals that can be transmitted in the form of electronic messages. Example of a rotor control system

[0010] Fig. Figure 1 is a component diagram 100 showing an example of a rotor control system 12 for a rotary mixer 11 (e.g., a travel rotary mixer) according to several arrangements. In general, the rotor control system 12 enables various rotor control operations, such as those described here. Rotor control operations can include entering a cut, exiting a cut, and / or changing the rotor speed, position, etc.

[0011] As shown, the rotor control system 12 can include a rotor 14 that can be attached to the rotary mixer 11 (e.g., to a frame) by suitable means, such as mechanical fasteners (e.g., screws and nuts, bolts, threaded studs, clamping rings), interlocking components (splined shafts, keyways, dovetail joints), extendable fasteners (e.g., support legs), and / or welded connections. The rotor 14 can include various removable or fixed parts that are universally applicable or can be selected according to the type of material (e.g., soil, asphalt) and / or the application of the rotary mixer 11 (e.g., mixing and processing ore, mineral processing and stirring, handling and mixing bulk materials, grinding, recovery).In some embodiments, the rotor 14 can be arranged in a rotor chamber of the rotary mixer 11 and extend towards and away from the rotor chamber using the extendable fixings.

[0012] The operations of the rotor 14 can be controlled using the control device 18, the control server 17, and / or the control unit 24. The control device 18 can include an integrated operating control device, such as a steering system (e.g., a steering wheel, a joystick, a lever, etc.), a transmission control system, a speed control system for the milling machine, one or more displays, control buttons, toggle switches, touch panels, switches, rotary knobs, levers, and so on. The rotor control device 18 can be used to move the rotor 14 into a cut, move it out of a cut, and / or control various other aspects of the operation of the rotary mixer 11.

[0013] In some embodiments, control operations for operating the rotary mixer 11 can be performed externally (e.g., on or via a remote server 17), which may be connected to the control unit 24 of the rotary mixer 11 via the network 614. For this purpose, the control device 18 may be located wholly or partially on the remote server 17. The network 614 may operate according to one or more wired or wireless protocols, such as Wi-Fi, cellular, radio, satellite, Bluetooth, ZigBee, etc. To enable data transmission and traffic management, the network 614 may include connectivity devices such as modems, Bluetooth transceivers, Bluetooth beacons, RFID transceivers, NFC transmitters, and the like. In some embodiments, the network 614 may include a control area network (CAN) of a specific rotary mixer 11.

[0014] The control unit 24 can be configured to perform or have performed various control operations (e.g., via electronic or electrical signals, commands, etc.), such as operations for moving in or out of a cut. For this purpose, the control unit 24 can include hardware and / or software circuits. The functions of the control unit 24 can be performed, at least partially, by any suitable control unit, such as an engine control unit 24 (ECU), a powertrain control module (PCM), a brake control module (BCM), a speed control unit (SCU), a transmission control module (TCM), a battery management system (BMS), a telematics control unit (TCU), etc.

[0015] An example of a control unit 24 can be an electronic control unit that includes and / or is equipped with one or more processor units and one or more memory units. The elements of an electronic control unit 24 can, for example, include a processor / microcontroller, memory (e.g., SRAM, EEPROM, Flash), input devices (supply voltage and ground, digital input devices, analog input devices), output devices (actuator drivers, such as injectors, relays, valves), logic outputs, communication circuits and devices (CAN transceivers, Ethernet transceivers, including wired and wireless communication components), and various embedded software modules (bootloader, metadata, configuration data). In some embodiments, the control unit 24 can be structurally and / or communicatively integrated with various sensors described herein.

[0016] In some embodiments, the control unit can activate, operate and / or control 24 sensors in the sensor series 22, combine (aggregate) the measured values ​​of the sensors in the sensor series 22, convert analog values ​​into digital values, generate electronic messages with sensor measurements and / or transmit sensor measurements via the network 614 to one or more control servers 17 or other systems.

[0017] In some embodiments, the control unit 24 can be at least partially integrated into the control server 17. For example, the control unit 24 can contain programming instructions (e.g., executable files) that are distributed or replicated to a specific integrated control unit 24 and a control server 17.

[0018] As shown, it includes Fig. 1. A rotor positioning mechanism 16, which may include mechanical, electrical, and / or electronic components that control the operation of the rotor 14. Mechanical components of the rotor positioning mechanism 16 may include a set of rotor legs, hydraulic / pneumatic actuators, linear guides / rails, ball screws / lead screws, and / or gear / transmission systems for aligning and stabilizing the rotor 14. In one example arrangement, rotor legs may be attached to the rotor 14 to provide structural support, and hydraulic / pneumatic actuators may be connected to the rotor legs to control their movement. In some embodiments, guides, rails, or other suitable means may be anchored to the frame of the rotary mixer 11 to guide the movement of the rotor 14.In some embodiments, ball screws / lead screws or other suitable fasteners can connect the actuators to the rotor legs 14 to convert the rotary motion of the actuators into a linear displacement of the legs. In some embodiments, gearboxes, transmission systems, etc., can be connected to actuators to optimize torque and speed. In some embodiments, an additional set of legs can be attached to the rotary mixer to raise and lower the rotary mixer.

[0019] During operation of the rotor positioning mechanism 16, signals received from or via the control unit 24 can initiate or control the movement of the rotor 14 by adjusting the operating parameters of the mechanical components, for example by stimulating hydraulic / pneumatic actuators to extend or retract, thereby moving the rotor legs and assisting in lowering or raising the rotor 14, as in the Fig. 7, Fig. 8 and Fig. 9 shown.

[0020] In some embodiments, the control unit 24, as part of the rotor positioning mechanism 16, can generate and / or transmit signals to control various additional aspects of the rotor 14's operation, in addition to lowering or raising the rotor 14 to initiate or retract a cutting operation. In some embodiments, the control unit 24 can generate control signals to set or change the angular position of the rotor 14 by adjusting the rotor 14's angle (e.g., 0-360 degrees).

[0021] More generally, control signals from the control unit 24 can cause the rotary mixer 11 and / or various components thereof to perform operations with respect to the rotor 14, including rotation control operations, orientation control operations, position control operations, precision control operations, and / or dynamic control operations. Although this is not discussed in detail in the example procedures in the [reference to be added] for the sake of brevity Fig. 3, Fig. 4 and Fig. As described in section 5, it will be clear to those skilled in the art that such control operations can be incorporated into these methods, for example as part of determining the system readiness for initial states (307, 407, 507). For example, a particular initial state may include initial or target values ​​for the rotational speed or another parameter of the rotor 14, which may be based on sensor values, the application of the rotary mixer 11, or other conditions.

[0022] As examples of rotary control operations, the control unit 24 can generate control signals to set or change the rotational speed of the rotor 14 to a suitable value (e.g., in a range of 1 to 20,000 revolutions per minute (rpm)). The value can be determined, for example, based on the application of the rotary mixer 11. In some embodiments, the application can be selected via a control unit 18 using a lever, a touchscreen, a button, or other suitable input control, and / or can be selected remotely at the control server 17. For example, low-speed applications (e.g., mixing, blending) can correspond to a range of 1 to 100 rpm, medium-speed applications (e.g., material handling) to a range of 10 to 500 rpm, high-speed applications (e.g., grinding) to a range of 100 to 5,000 rpm, and so on.Further examples of rotation control operations include switching between forward and reverse rotation and torque control to regulate rotational force. As examples of orientation control operations, the control unit 24 can generate control signals for the rotor positioning mechanism 16 to set or change the tilt / skew of the rotor 14 (pitch, yaw) and / or to perform azimuth control (regulating the compass direction of the rotor). As examples of position control operations, the control unit 24 can generate control signals to set or change the radial position of the rotor 14 by adjusting a rotor distance from the center (e.g., of the rotary mixer 11). In some embodiments, the control unit 24 can generate control signals to set or change the axial position of the rotor 14 by regulating the longitudinal position (relative to a suitable reference point on the rotary mixer 11) of the rotor 14.

[0023] The control unit 24 can perform rotation, orientation, and / or position control by sending electrical and / or electronic signals to the position control mechanism 16, thereby executing specific actions. For example, the control unit 24 can calculate the target rotation speed and / or direction, generate control signals based on this calculation, and transmit these signals to motors and / or actuators, which can adjust the rotation speed of the rotor 14 by driving ball screws / lead screws or gears of the rotor positioning mechanism 16. This mechanical response can convert the rotation into a linear displacement, thereby moving the rotor legs to change the angular position and achieve the desired rotational speed and direction.In some embodiments, sensors in the sensor assembly 22 can monitor the frame position (height), rotor position, and / or rotor speed and provide feedback to the control unit 24 for adjustment. Rotor 14 and / or frame / leg position sensors can include optical encoders and / or potentiometers for monitoring angular position and displacement, magnetic encoders for monitoring rotor orientation, linear variable differential transformers (LVDTs), and / or rotating variable differential transformers (RVDTs) for monitoring linear and / or angular displacement. Rotational speed sensors for the rotor 14 can include tachometers for measuring rotational speed, proximity sensors for detecting rotor direction and / or speed, and / or stroboscopes. Orientation sensors (e.g., inertial motion sensors, gyroscopes, tilt sensors) can measure the tilt and pitch of the rotor 14.Combination sensors can include encoder-tachometer combinations and resolver sensors to measure both position and speed.

[0024] Non-contact sensors in the sensor series 22, such as laser Doppler vibrometers, eddy current sensors, and / or acoustic sensors, can enable additional measurements without physical contact by measuring displacements, velocities, distances, and / or other values. These measurements can facilitate feedback control for adjusting the position of the rotor 14. For example, acoustic sensors, sometimes also called ultrasonic sensors, emit high-frequency sound waves to detect objects or measure distances. When a specific point on the rotor 14 reaches a predetermined value (e.g., a setpoint), one or more acoustic sensors can send a signal to the control unit 24. In response to receiving the signal, the control unit 24 can initiate an adjustment of the rotor position, angle, speed, or other parameters.For example, the control unit 24 can use sensors in the sensor array 22 to determine target points and / or distances from various points on the rotary mixer 11 and / or rotor 14 to the target points. The control unit 24 can use these values ​​to calculate target positioning values ​​for components (e.g., legs) of the rotor positioning mechanism 16, such as linear target displacement values ​​to move the legs linearly and raise or lower the rotor 14, angular displacement values ​​to rotate the legs to rotate the rotor 14, and / or radial displacement values ​​to rotate the legs radially with respect to a specific point on the rotary mixer 11 to change the distance of the rotor 14 from the rotary mixer 11. Distances, proximity, linear displacement, and / or radial displacement can be measured in suitable units of measurement, such as millimeters, inches, meters, feet, and so on.Angular displacement values ​​can be measured in suitable units of measurement, for example in degrees, radians, arcseconds, gon, etc. Example of a rotor control device

[0025] The Fig. 2A and Fig. Figure 2B shows component diagrams illustrating an example of a rotor control device 18 according to several arrangements. As shown, the control device 18 may include controls (202, 204) to optimize rotor operation and reduce the number of operator interventions or commands. Although shown as buttons, the controls (202, 204) may be implemented in any suitable form, such as touchscreen components, levers, etc. As shown, the "End Cut" button 202 allows the operator to initiate the process of automatically ending a cut. The "Return to Cut" button 204 allows the operator to return to the cut. The processes of ending and returning to the cut may include the automatically controlled activation of sensors, the positioning or repositioning of the rotor or rotor positioning mechanism, the control of the rotor speed, and / or other suitable operations.

[0026] As shown, the device can include 18 different additional, optional components 206 (with respect to the automatic entry and exit cutting operations described herein) that allow operators to give additional instructions for controlling a particular rotary mixer. In some embodiments, these controls can be automatically activated or deactivated when the exit cutting button 202 and / or the return to cutting button 204 is pressed. Examples of additional controls include the rear chamber door opening control unit 212, the rotor raising control unit 218, the rotor lowering control unit 220, the rear chamber door floating control unit 214, the rear chamber door opening control unit 216, the front chamber door closing control unit 222, the front chamber door opening control unit 224, and / or the rear left / right steering controls (228a, 228b).In some embodiments, the operator presence lever 229 enables the operators to indicate (e.g. by pressing down the lever) that certain operations (e.g. travel operations, drive operations) are permitted when the machine is idling. Examples of rotor control methods

[0027] Fig. Figure 3 is a flowchart showing an example of a rotor control method for ending a cut according to several arrangements. Fig. 4 and Fig. Figure 5 are flowcharts showing examples of rotor control procedures for entering a cut according to several arrangements. Advantageously, these operations can be initiated and / or executed automatically without requiring extensive operator intervention, and in response to a limited number of predetermined operator interactions with the controls on the control unit. As described below, the control unit (e.g., Control Unit 24) can be configured to recognize certain machine states or operator commands by detecting specific types, modes, or durations of interaction with a particular controller (e.g.,if pressing control keys (202, 204) for at most a first predetermined time period K is recognized as the first command and pressing and holding control keys (202, 204) for at least a second predetermined time period (L, M, N) is recognized as a second, different instruction or series of instructions).

[0028] Experts will recognize that the operations described here can be performed by any suitable component or components in various combinations thereof. For example, although the term "control unit" is used in the singular for clarity, it is intended to encompass distributed control unit implementations and / or sets of control units that may be physically, logically, and / or geographically separated.

[0029] In some embodiments (e.g., 307, 407, 507), the rotary mixer's control system and / or ECM can verify that certain conditions are met before the "Automatic Exit from Cut" and / or "Return to Cut" functions are activated. For example, as part of the met condition conditions, the control system status (202, 204) may indicate that the control system is ready for operation (not faulty). For example, as part of the met start condition conditions, the calibration modes of various rotary mixer components (legs, rotor lift / lower actuators, rotor couplings, rotor gear linkage, steering, drive pump actuators) may be disabled. For example, as part of the met condition conditions, a locking mechanism on a rotor stroke may be disabled.Other examples include the "fault-free" status of the rotor position sensor, the running motor of the rotary mixer, the activated machine height sensor arrangement for rotor depth, the rotational speed of the rotary mixer below a predetermined threshold (e.g. 3 km / h or less), and so on.

[0030] As in Fig. As shown in Figure 3, a control process 300 for ending a cut can enable one-button operation to control both the rotor operations and the rotor positioning mechanism operations in a sequence that first stops and / or extends the rotor and then raises the machine. An example of a control process for ending a cut can begin with the determination in Figure 307 that the start-state conditions for ending the cut are met. The start-state conditions for ending a cut can include the automatic determination in Figure 304 that no active control cycle for ending a cut is yet in place. In addition, in some embodiments, the conditions for the state of ending a cut can include the determination that the parking brake switch is off (e.g.,the machine is not in park position), the buttons for raising / lowering the rotor (218, 220) are not pressed, the leg controls are not operated, and so on.

[0031] When the cutting exit mode is active (e.g., when operator interaction with the cutting exit button 202 is detected and / or while the operator is holding down the cutting exit button 202), the control unit, after determining in 310 that the rotor is fully extended, can initiate a control cycle for the rotor positioning mechanism in 312. An example of a control cycle for the rotor positioning mechanism might involve, after determining in 322 that a particular leg is at a previously predetermined pre-operation height H, stopping the leg in 352 or not starting to move to the predetermined height H. If the particular leg is not at the predetermined height H, the control unit can, at 322, when it determines that the button to end the cutting exit has been released (i.e., the operator has stopped the cutting exit button), initiate a control cycle for the rotor positioning mechanism.The operator giving the instruction to end the cutting exit can also cause the machine legs to stop at 352 or prevent them from starting the movement to reach the predetermined height H. Otherwise, the control unit can continue to generate and send signals to raise the machine at 342 and monitor the legs until they reach height H.

[0032] If in 311 it is determined that the cut-out exit button 202 has been released, the control unit can also initiate a rotor motion control cycle 314 to extend the rotor. The rotor motion control cycle 314 can include generating a control command to extend the rotor if in 364 it is determined that the rotor is not fully extended and that in 334 the button 202 has been released for at least N seconds (e.g., 25 seconds).

[0033] As in Fig. As shown in Figure 4, the control process 400 for performing a cut using non-contact target depth sensors can enable one-button operation to control both the rotor operations and the rotor positioning mechanism operations in a sequence that first lowers the machine to a target height determined using non-contact sensors (e.g., acoustic sensors) and then engages the rotor.

[0034] An example of a control process for initiating a cut can begin with the determination in step 407 that the start conditions for the cut are met. The start conditions for the cut can include the automatic determination in step 404 that no active control cycle for the cut is yet in place. Furthermore, in some embodiments, the conditions for the start state of the cut can include the determination that the parking brake switch is off (e.g., the machine is not in the park position), the rotor raise / lower buttons (218, 220) are not pressed, the leg controls are not actuated, etc. In some embodiments, the start conditions for the cut can include the determination that the tilt control mode is activated. In one example, the tilt control mode can be activated using controls for a first set (e.g.,The tilt control mode can be activated for a set of machine and / or rotor legs (e.g., front, left), a second set (e.g., rear, right), or for both. The tilt control mode allows for automatic adjustment of the target leg height to compensate for the machine's tilt on a specific ground plane—for example, to create a height difference between the front and rear legs or between the right and left legs—so that the machine frame, and consequently the rotor attached to or aligned with the frame, is parallel to a target plane (e.g., machine plane, ground plane).

[0035] As shown, during cut input, the control unit can, using non-contact target depth sensors and while the cut input button 204 is pressed, determine and / or generate a set of target position values ​​for return to cut at 408 and subsequently perform the control operations 412 for the rotor positioning mechanism. A specific target value for return to cut can refer to the position of the rotor cylinder, the position of the front door, the position of the rear door, the height of the machine at the front left leg, the height of the machine at the front right leg, the height of the machine at the rear leg, the depth of the left rotor, the depth of the right rotor, or a combination thereof. These values ​​can be determined with respect to a suitable reference point on a rotary mixer according to the rotation, orientation, and / or position control techniques described herein or according to other suitable techniques.For example, position values ​​can reflect distances from a first reference point on the mixer to a second reference point on the respective component (e.g., leg, cylinder, rotor). Similarly, depth values ​​can reflect distances from a third reference point on the mixer to a fourth reference point on an underground line, calculated and / or projected using non-contact sensors.

[0036] Once the series of target position values ​​for returning to the cut has been determined, the control unit can execute instructions in control operations 412 for the rotor positioning mechanism.

[0037] The instructions may include, for example, monitoring a time series of actual depth sensor values ​​at 422 and, while the depth sensor values ​​deviate by at least a predetermined amount (e.g., 0-600 mm for rotor cylinders, 0-200 mm for doors, 400-1,100 mm for machine leg height), further locking of the legs at 442 to move towards the target.

[0038] After it is determined at 418 that the control 204 is no longer locked (e.g., because the operator has pressed the button), the control unit can initiate rotor control operations 414 to position the rotor at the target depth. For example, while the rotor is above a predetermined distance of the target depth (e.g., +32 to -507 mm) (at 424), the control unit can periodically monitor the rotor position (at 444) and generate control signals to cause the rotor to move toward the target.

[0039] In some embodiments, operations in automatic tilt control mode (410, 416, 420) can be performed after the operating cycles 412 and 414 have been completed.

[0040] As in Fig. As shown in Figure 5, the control process 500 for cutting input without the use of non-contact target depth sensors enables one-button operation to control both the rotor operations and the rotor positioning mechanism operations in a sequence that first lowers the machine to a target height determined using non-contact sensors (e.g., acoustic sensors) and then engages the rotor.

[0041] An example of a control process for cutting input can begin with the determination in 507 that the cutting input start conditions are met. The cutting input start conditions can include the automatic determination in 504 that no active cutting input control cycle is yet in place. Furthermore, in some embodiments, the cutting start conditions can include the determination that the parking brake switch is off (e.g., the machine is not in the park position), the rotor raise / lower buttons (218, 220) are not pressed, the leg controls are not actuated, etc. In some embodiments, the cutting start conditions can include the determination that the tilt control mode is activated. In one example, the tilt control mode can be activated using controls for a first set (e.g.,The tilt control mode can be activated for a set of machine and / or rotor legs (e.g., front, left), a second set (e.g., rear, right), or for both. The tilt control mode allows for automatic adjustment of the target leg height to compensate for the machine's tilt on a specific ground plane—for example, to create a height difference between the front and rear legs or between the right and left legs—so that the machine frame, and consequently the rotor attached to or aligned with the frame, is parallel to a target plane (e.g., machine plane, ground plane).

[0042] As shown, during cut input, while button 204 is pressed to execute the cut, the control unit can, in step 508, determine and / or generate a set of target position values ​​for returning to the cut, in step 510 determine the current position of the rotor relative to the target, and then, in step 512, perform control operations for the rotor positioning mechanism. A specific target value for returning to the cut can refer to the position of the rotor cylinder, the position of the front door, the position of the rear door, the height of the machine at the front left leg, the height of the machine at the front right leg, the height of the machine at the rear leg, the depth of the left rotor, the depth of the right rotor, or a combination thereof.These values ​​can be determined relative to a suitable reference point on a rotary mixer using the rotation, orientation, and / or position control techniques described herein, or using other suitable techniques. For example, position values ​​can reflect distances from a first reference point on the mixer to a second reference point on the respective component (e.g., leg, cylinder, rotor). Position and / or depth values ​​can be programmed, provided for reference in a lookup data structure available to the controller, or specified by the operator.

[0043] Once the series of target position values ​​for returning to the cutting point has been determined, the control unit can execute instructions in rotor control operations 512 for the rotor positioning mechanism. These instructions may include, for example, monitoring a time series of actual sensor values ​​in 522 to determine the actual position of a particular component, and, while the actual sensor values ​​deviate by at least a predetermined amount (e.g., 0-600 mm for rotor cylinders, 0-200 mm for doors, 400-1100 mm for machine leg height), further locking of the legs according to 532 to move toward the target.

[0044] After it has been determined in 518 that the control 204 is no longer activated (e.g., because the operator has pressed the button), the control unit can initiate rotor control operations 514 to position the rotor at the target depth. For example, while the rotor (at 524) is above a predetermined distance from the target (e.g., +32 to -507 mm), the control unit can periodically monitor the rotor position (at 444) and generate control signals to cause the rotor to move toward the target.

[0045] In some embodiments, operations in automatic tilt control mode (510, 516, 520) can be performed after the operating cycles 512 and 514 have been completed. Example of a computer system

[0046] Fig. Figure 6 is a block diagram illustrating an example of a computer system in which at least some of the operations described here can be implemented. As shown, the computer system 600 can include one or more processors 602, main memory 606, non-volatile memory 610, a network interface device 612, a display device 618, an input / output device 620, a control device 622 (e.g., keyboard, pointing device, joystick), a drive unit 624 comprising a storage medium 626, and a signal generation device 630, which is communicatively connected to a bus 616. The bus 616 represents one or more physical buses and / or point-to-point connections linked by suitable bridges, adapters, or control units. Various common components (e.g., cache memory) are shown in the diagram for clarity. Fig. 6 omitted. Instead, the Computer System 600 is intended to illustrate a hardware device on which components shown or described in relation to the examples of the figures, as well as any other components described in this description, can be implemented.

[0047] The Computer System 600 can take any suitable physical form. For example, the Computer System 600 can be a similar distribution of architecture to a server computer, a personal computer (PC), tablet computer, mobile phone, game console, music player, portable electronic device, networked ("smart") device (such as a television or home assistant), augmented reality / virtual reality (AR / VR) system (such as a head-mounted display), or any electronic device capable of executing a set of instructions that define the actions to be performed by the Computer System 600. In some implementations, the 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 network of computer systems, or it can include one or more cloud components in one or more networks.If necessary, one or more computer systems can execute 600 operations in real time, near real time, or in batch mode.

[0048] The network interface device 612 enables the computer system 600 to transmit data in a network 614 with an enterprise located outside the computer system 600, using any communication protocol supported by both the computer system 600 and the external enterprise. Examples of the network interface device 612 include a network adapter card, a wireless network interface card, a router, an access point, a wireless router, a switch, a multilayer switch, a protocol converter, a gateway, a bridge, a bridge router, a hub, a digital media receiver, and / or a repeater, as well as all wireless elements mentioned herein.

[0049] Memory (e.g., main memory 606, non-volatile memory 610, machine-readable medium 626) can be local, remote, or distributed. Although represented as a single medium, machine-readable medium 626 can comprise multiple media (e.g., a centralized / distributed database and / or associated caches and servers) that store one or more instructions 928. Machine-readable (memory) medium 626 can comprise any medium capable of storing, encoding, or transmitting a set of instructions for execution by the computer system 600. Machine-readable medium 626 can be non-transitory or comprise a non-transitory device. In this context, non-volatile storage medium can comprise a device that is tangible, meaning that the device has a concrete physical form, although the device can change its physical state.For example, "not temporary" refers to a device that remains tangible despite this change of state.

[0050] Although the implementations have been described in the context of fully functional computer devices, the various examples can be distributed as a software product in a variety of forms. Examples of machine-readable storage media, machine-readable media, or computer-readable media include writable media such as volatile and non-volatile memory, removable storage, hard disk drives, optical media, and transmission media such as digital and analog communication links.

[0051] In general, the routines performed to implement the examples described herein can be implemented as part of an operating system or a particular application, component, program, object, module, or sequence of instructions (collectively referred to as "computer programs"). The computer programs typically comprise one or more instructions (e.g., instructions 604, 608, 628) that are set at different times in different memory and storage devices within computer equipment. When the instruction(s) are read and executed by the processor 602, they cause the computer system 600 to perform operations to execute elements relating to the various aspects of the disclosure. Example of rotor positioning techniques

[0052] Fig. Figure 7 is a series of schematic diagrams (700, 710, 720) showing the positioning of the rotor 14 during the cutting input, which begins with both rotor faces over the target, according to some arrangements. As shown, the rotor faces are represented by pairs of reference points, for example, the pairs [744a, 744b], [744c, 744d], and [744e, 744f]. As shown, a target can be a suitable point or a series of points (target positions), for example, a point (target position 746a, 746b, and / or 746c) selected on a target line (716a, 716b). In some embodiments, when at least one reference point reaches a target position, the control unit can determine that a rotor target position has been reached.

[0053] Fig. Figure 8 shows a series of schematic diagrams (800, 810, 820) illustrating the positioning of the rotor 14 at the cutting exit, which begins with both rotor sides below the target, according to some arrangements. As shown, the rotor sides are represented by pairs of reference points, for example, the pairs [844a, 844b], [844c, 844d], and [844e, 844f]. As shown, a target can be a suitable point or a series of points (target positions), for example, a point (target position 846a, 846b, and / or 846c) selected on a target line (716a, 716b). In some embodiments, when at least one reference point reaches a target position, the control unit can determine that a rotor target position has been reached.

[0054] Fig.Figure 9 is a series of schematic diagrams (900, 910) showing the positioning of the rotor 14 at the cutting exit, starting with one rotor side below the target (946a, 946b), according to some arrangements. In some embodiments, if at least one reference point reaches a target position after having been below the target, the control unit can determine that a rotor target position has been reached. Use cases

[0055] In one example, a rotor control system for a traveling rotary mixer can comprise a set of extendable legs, a rotor configured to extend out of a rotor chamber of the traveling rotary mixer, the rotor being movably connected to the traveling rotary mixer via a set of extendable fixings, an operator control device, and a control unit. The control unit can comprise at least one processor and at least one memory unit, the memory unit containing instructions which, when executed by the processor, cause the control unit to perform return-to-cut operations.For example, in response to the detection of a return-to-cut control command, the control unit can, via a return-to-cut control of the operating control device while the return-to-cut control remains activated, cause the set of extendable legs to move toward a first set of target positions for the set of extendable legs. In response to the detection that the return-to-cut control is deactivated, the control unit can determine a rotor target position and cause the set of extendable fasteners to move the rotor into the rotor target position.

[0056] In some embodiments, while the return-to-cut control remains activated, the control unit can determine the first set of target positions for the set of extendable legs using a first set of non-contact sensors, either by referencing a first stored set of values ​​or by receiving a first instruction via the control operating device. In some embodiments, the control unit can determine the rotor target position using a second set of non-contact sensors, either by referencing a second stored set of values ​​or by receiving a second instruction via the operating control device.

[0057] In some embodiments, the control unit can perform extend-out-of-the-cut operations by executing operations in response to the detection of an extend-out-of-the-cut control command provided by an extend-out-of-the-cut control of the operating control device. The operations may include, in response to the detection that the extend-out-of-the-cut control is disabled, performing an extend-out-of-the-cut rotor control operation to extend the rotor, and, while the rotor is extended and the extend-out-of-the-cut control is enabled, causing the set of extendable legs to move toward a second set of target positions for the set of extendable legs.In some embodiments, the control unit can be configured to perform extend-out-of-cut rotor control operations if it is detected that the extend-out-of-cut control has been deactivated for at least N seconds after its activation. In some embodiments, the control unit can determine the second set of target positions for the set of extendable legs using a set of non-contact sensors.

[0058] In some embodiments, the control unit includes at least partially one or more of the following elements: an electronic control module (ECM) for steering, a machine ECM, or a transmission ECM.

[0059] In some embodiments, the control unit is configured to check whether a start condition is met before performing retraction or exit-from-the-cut operations. In some embodiments, the start condition relates to at least one of the following states: motor state, rotor state, component calibration state, or travel speed of the rotary mixer.

[0060] In some embodiments, at least one of the following elements is arranged remotely relative to the rotary mixer: the control unit or the operating control device. Industrial applicability

[0061] This discloses a rotor control system for a travel rotary mixer, comprising a set of extendable legs, a rotor with a set of extendable attachments, an operating control device, and a control unit. The control unit can generate control signals to perform return-to-cut operations. For example, the mixer can be raised in response to the detection of a return-to-cut control command via the operating control device while return-to-cut control remains enabled, and in response to the detection that return-to-cut control is disabled, the control unit can determine a target rotor position and cause the extendable attachments to move the rotor to that target position.In some embodiments, the control unit may also be configured to trigger automatic return-to-cut operations when an operator operates a small number of controls sufficient to perform the operation automatically. Remarks

[0062] The terms “example,” “form of execution,” and “implementation” are used synonymously. For example, references to “an example” or “an example” in the revelation may, but need not, refer to the same implementation, and such references signify at least one of the implementations. Occurrences of the phrase “in an example” do not necessarily all refer to the same example, nor do separate or alternative examples mutually exclude other examples. A feature, structure, or property described in connection with one example may be present in another example in the revelation. Furthermore, various features are described that may be present in some examples but not in others. Likewise, various requirements are described that may apply to some examples but not to others.

[0063] The terminology used herein should be interpreted in its broadest meaningful sense, even when used in connection with specific examples of the invention. The terms used in the disclosure generally have their usual meanings in the relevant technology, in the context of the disclosure, and in the specific context in which each term is used. The inclusion of alternative terms or synonyms does not preclude the use of other synonyms. No particular significance should be attached to whether or not a term is further explained or discussed here. The use of emphasis does not affect the scope and meaning of a term. Furthermore, it should be noted that the same thing can be expressed in more than one way.

[0064] Unless the context clearly requires otherwise, the terms "comprise," "comprehensive," and similar terms throughout the description and claims are to be understood in an inclusive sense, as opposed to an exclusive or exhaustive sense, i.e., in the sense of "including but not limited to." As used here, the terms "connected," "coupled," and all variants thereof mean any direct or indirect connection or coupling between two or more elements; the coupling or connection between the elements may be physical, logical, or a combination thereof. Furthermore, the terms "herein," "above," "below," and similar terms may refer to this application as a whole and not to particular parts thereof. To the extent the context permits, words in the detailed description above that are used in the singular or plural may also encompass the plural or singular, respectively.The word "or" in relation to a list of two or more elements encompasses all of the following interpretations of the word: each of the elements in the list, all elements in the list, and any combination of the elements in the list. The term "module" generally refers to software components, firmware components, and / or hardware components.

[0065] While specific examples of technologies are described above for illustrative purposes, various equivalent modifications are possible within the scope of the invention, as those skilled in the field will recognize. For example, while processes or blocks are depicted in a particular sequence, alternative implementations may execute routines with steps or use 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 or subcombined configurations. Each of these processes or blocks can be implemented in various ways. Even though processes or blocks are sometimes depicted as being executed sequentially, these processes or blocks may instead be executed or implemented in parallel or at different times.Furthermore, all the specific numbers mentioned here are only examples, so alternative implementations may use different values ​​or ranges.

[0066] The details of the disclosed implementations may vary considerably in specific implementations, while still being encompassed by the disclosed teachings. As mentioned above, the use of certain terms to describe features or aspects of the invention should not be understood as redefining these terms here to limit them to specific properties, features, or aspects of the invention with which these terms are associated. In general, the terms used in the following claims should not be interpreted as limiting the invention to the specific examples disclosed herein, unless the detailed description above expressly defines such terms. Accordingly, the actual scope of the invention includes not only the disclosed examples but also all equivalent ways of carrying out or implementing the invention according to the claims.Some alternative implementations may include additional elements to the implementations described above, or they may include fewer elements.

[0067] All patents and applications mentioned above, as well as other references and all those listed in the accompanying application documents, are hereby incorporated by reference in their entirety, except for waivers or disclaimers of subject matter and provided that the incorporated material does not contradict the express disclosure in this description. In that case, the wording of this disclosure shall prevail. Aspects of the invention may be modified to utilize the systems, functions, and concepts of the various references described above and thus provide further implementations of the invention.

[0068] To reduce the number of claims, certain embodiments are presented below in specific claim forms; however, the applicant considers various aspects of an invention in other forms. For example, aspects of a claim may be presented in a means-plus-function form or in other forms, such as on a computer-readable medium. A claim intended to be interpreted as a means-plus-function claim uses the words "means for." However, the use of the term "for" in another context is not intended to elicit a similar interpretation. The applicant reserves the right to use such additional claim forms either in this application or in a subsequent application. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 11,225,761

[0007]

Claims

[1] Rotor control system for a rotary mixer with a set of extendable legs, the rotor control system comprising: a rotor configured to extend out of a rotor chamber of the rotary mixer, the rotor being movably connected to the rotary mixer via a set of extendable fixings; a rotor control device; and A control unit comprising at least one processor and at least one memory unit, wherein the at least one memory unit has stored instructions which, when executed by the at least one processor, cause the control unit to perform return-to-cut operations by performing operations, in response to the detection of a return-to-cut control instruction via a return-to-cut control of the operating control device, which include the following: While the return-to-cut control remains activated, it causes the set of extendable legs to move towards an initial set of target positions for the set of extendable legs; and in response to the finding that the return-to-cut control is disabled, determining a rotor target position and cause the set of extendable mounting elements to move the rotor into the rotor target position. [2] Rotor control system according to claim 1, wherein the instructions further cause the control unit, while the return-to-cut control remains activated, to determine the first set of target positions for the set of extendable legs using a first set of sensors, by reference to a first stored set of values ​​or via a first instruction received via the control device. [3] Rotor control system according to claim 2, wherein the instructions further cause the control unit to determine the rotor target position using a second set of sensors by referring to a second stored set of values ​​or via a second instruction received via the control device. [4] Rotor control system according to claim 1, wherein the instructions further cause the control to perform extension-from-the-cut by: In response to the detection of a pull-out-of-cut control command provided via a pull-out-of-cut control of the control device, operations are performed that include the following: In response to the detection that the extend-out-of-cut control is disabled, it performs an extend-out-of-cut rotor control operation to extend the rotor; and While the rotor is extended and the extend-out-of-cut control is activated, this causes the set of extendable legs to move towards a second set of target positions for the set of extendable legs. [5] Rotor control system according to claim 4, wherein the instructions further cause the control unit to perform pull-out-of-cut rotor control operations when it is detected that the pull-out-of-cut control has been deactivated for at least N seconds after its activation. [6] Rotor control system according to claim 4, wherein the instructions further cause the control unit to determine the second set of target positions for the set of extendable legs using a set of sensors. [7] Rotor control system according to claim 1, wherein the control unit comprises at least partially one or more electronic control modules (ECMs). [8] Rotor control system according to claim 1, wherein the control unit is configured to check whether a start state condition is met before performing return-to-cut or exit-from-cut control operations. [9] Rotor control system according to claim 8, wherein the start state refers to at least one of the following states: motor state, rotor state, component calibration state or travel speed of the rotary mixer. [10] Rotor control system according to claim 1, wherein at least one of the control units or the operating device is arranged remotely relative to the rotary mixer. [11] One or more non-transitory, computer-readable media containing instructions which, when executed by at least one processor of a computer system, perform operations that include: In response to the detection of a return-to-cut control command via a return-to-cut control of an operator control device of a rotary mixer, it performs operations that include the following: while the return-to-cut control remains activated, causing a set of extendable legs of the rotary mixer to move towards a first row of target positions for the set of extendable legs; and in response to the finding that the return-to-cut control is disabled, determine a rotor target position for a rotor of the rotary mixer and cause a set of extendable, rotor-connected fasteners to move the rotor into the rotor target position. [12] Medium according to claim 11, wherein the instructions further cause operations to be carried out, the operations comprising: while the return-to-cut control remains activated, determining the first set of target positions for the set of extendable legs using a first set of sensors, by reference to a first stored set of values ​​or via a first instruction received via the operating control device. [13] Medium according to claim 12, wherein the instructions further effect the execution of operations, the operations comprising: determining the rotor target position using a second set of sensors by reference to a second stored set of values ​​or via a second instruction received via the operating control device. [14] Medium according to claim 11, wherein the instructions further cause ejection-from-the-cut operations to be carried out, the operations comprising: in response to the detection of an exit-from-the-cut control command provided via an exit-cut control of the operator control device, in response to the detection that the extend-out-of-cut control is disabled, it executes an extend-out-of-cut rotor control operation to extend the rotor; and While the rotor is extended and the extend-out-of-cut control is activated, this causes the set of extendable legs to move towards a second set of target positions for the set of extendable legs. [15] Medium according to claim 11, wherein the medium at least partially comprises one or more electronic control modules (ECMs). [16] Computer-implemented method carried out by a control unit for a rotary mixer, the method comprising: In response to the detection of a return-to-cut control command via a return-to-cut control of an operator control device of the rotary mixer, it performs operations that include the following: while the return-to-cut control remains activated, causing a set of extendable legs of the rotary mixer to move towards a first row of target positions for the set of extendable legs; and in response to the finding that the return-to-cut control is disabled, Determining a rotor target position for a rotor of the rotary mixer and To cause a set of extendable, rotor-connected fasteners to move the rotor into the rotor target position. [17] The method of claim 16, further comprising: while the return-to-cut control remains activated, the first set of target positions for the set of extendable legs is determined using a first set of sensors, by reference to a first stored set of values ​​or via a first instruction received via the operating control device. [18] Method according to claim 17, further comprising: determining the rotor target position using a second set of sensors by referring to a second stored set of values ​​or by means of a second command received via the operating control device. [19] The method of claim 16, further comprising: in response to the detection of a pull-out-of-cut control command provided via a pull-out-of-cut control of the operating control device; In response to the detection that the exit-from-the-cut control is disabled, it executes an exit-from-the-cut rotor control operation to extend the rotor; and While the rotor is extended and the extend-out-of-cut control is activated, this causes the set of extendable legs to move towards a second set of target positions for the set of extendable legs. [20] Method according to claim 16, wherein the method is carried out at least partially by one or more of the following elements: an electronic control module (ECM), a machine ECM or a transmission ECM.

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