Dynamic transition between first and second lift modes

Abstract

The controller may receive a first input indicating the machine is performing a lift operation. The controller may determine that during the lift operation, the machine is operating in a first lift mode associated with a first lift capacity. In the first lift mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value. The controller may receive sensor data during the lift operation indicating a current value of the pressure. The controller may determine that the current value is approaching the second value. The controller may receive a second input indicating that the machine continues to perform the lift operation. The controller may transition the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity based on the second input.

Description

[Technical field]

[0001] The present disclosure relates generally to performing a lift operation and, for example, dynamically transitioning between lift modes during a lift operation. [Background technology]

[0002] The excavator may use a hydraulic system to perform a lift operation to lift an object. The lift operation may be performed in a standard lift mode or a heavy lift mode that provides additional lifting capacity relative to the standard lift mode. Typically, an operator manually selects the standard lift mode or the heavy lift mode to perform a lift operation. The operator selects the standard lift mode or the heavy lift mode based on, among other things, an estimated size of the object, an estimated distance between the excavator and the object, and the position of the object relative to a plane associated with the machine (e.g., above the ground surface or below the ground surface).

[0003] In some cases, an operator may select an inappropriate lift mode (e.g., a lift mode that is not optimal). For example, an operator may select a standard lift mode when a heavy lift mode is more appropriate for the lift operation. Selection of an inappropriate lift mode may cause unintended movement of a component (of a machine) used to perform the lift operation. For example, selection of an inappropriate lift mode may cause movement of the component to stop (or stall) when the pressure value of a hydraulic pump (of a hydraulic system) reaches a maximum value associated with the standard lift mode. This cessation of movement of a component may be referred to as a stall condition.

[0004] Component movement may stop because the pressure associated with the maximum value is insufficient to allow further lifting of the object. If component movement stops in this manner, machine productivity may be adversely affected. In addition to or in the alternative to component movement stopping, selecting an improper lift mode may overstress the hydraulic system and / or various components of the machine. Overstressing may result in accelerated wear and tear on the hydraulic system and / or various components. In some instances, selecting a heavy lift mode (when a standard lift would be more appropriate for the lifting operation) may reduce the maximum cylinder speed, thereby reducing machine productivity.

[0005] U.S. Patent No. 9,435,105 (the '105 patent) discloses selectively operating a machine according to a first operating mode, in which a hydraulic pump is operatively controlled to generate a fluid pressure between a first pressure and a second pressure. The '105 patent further discloses sending a signal to a controller corresponding to a request for a fluid pressure greater than the second pressure. The '105 patent discloses transitioning from the first operating mode to a second operating mode, and increasing the fluid pressure from the second pressure to a third pressure during the transition.

[0006] While the '105 patent discloses a transition from a first operating mode to a second operating mode, the '105 patent discloses that the second operating mode can be configured as a software-enabled feature that requires operator input to activate or activate. However, the '105 patent also discloses that in other aspects, the second operating mode can be configured such that the controller automatically transitions the machine into the second operating mode if a stall condition is detected.

[0007] The present disclosure solves one or more of the problems set forth above and / or other problems in the art. Summary of the Invention

[0008] In some implementations, a method performed by a controller of the machine includes receiving a first input indicating the machine is performing a lift operation; determining, during the lift operation, that the machine is operating in a first lift mode associated with a first lift capacity, where in the first lift mode a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value; receiving, during the lift operation, sensor data from a sensor device indicating a current value of the hydraulic pump pressure, and determining that the current value is approaching the second value; receiving a second input indicating that the machine is continuing to perform the lift operation after determining that the current value is approaching the second value; and transitioning the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, where the second lift capacity exceeds the first lift capacity based on the second input.

[0009] In some implementations, the system includes a sensor device of the machine; and a controller of the machine connected to the sensor device, the controller configured to: receive an input indicating that the machine is performing a lift operation; and based on receiving the input, operate the machine in a first lift mode associated with a first lift capacity, where in the first lift mode a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value; during the lift operation, receive sensor data from the sensor device indicative of a current value of the hydraulic pump pressure, determine that the current value meets a threshold value between the first value and the second value, determine that the machine continues to perform the lift operation after determining that the current value meets the threshold value; and based on determining that the machine continues to perform the lift operation before the current value reaches the second value, transition the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, where the second lift capacity exceeds the first lift capacity.

[0010] In some implementations, the machine includes a hydraulic pump, a sensor device, and a controller configured to: receive sensor data from the sensor device during a lift operation indicating a current value of a pressure of the hydraulic pump, where the machine is operating in a first lift mode during the lift operation, and where in the first lift operation the pressure of the hydraulic pump is between a first value and a second value that exceeds the first value; determine that the current value satisfies a threshold value between the first value and the second value; determine that the machine continues to perform the lift operation after determining that the current value satisfies the threshold value; determine that additional lift capacity should be activated for the lift operation based on determining that the machine continues to perform the lift operation after determining that the current value satisfies the threshold value; and transition the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, where the second lift capacity exceeds the first lift capacity. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram of an exemplary machine described herein. [Diagram 2] FIG. 2 is a diagram of an exemplary system described herein. [Diagram 3] FIG. 3 is a flow chart of an exemplary process for dynamically transitioning between lift modes. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present disclosure is directed to dynamic transitions between two lift modes. For example, a machine controller may receive an input indicating that the machine is performing a lift operation. In some circumstances, the input may be received from one or more operator controls of the machine.

[0013] The lifting operation may be performed based on fluid provided by a hydraulic pump of the machine (e.g., hydraulic fluid pressurized by the hydraulic pump). The lifting operation may be performed based on movement of one or more components of the machine causing movement of the object. For example, the lifting operation may be performed based on movement of a boom of the machine, movement of a stick of the machine, and / or movement of a machine work tool (e.g., a bucket) of the machine. For example, the lifting operation may include, among others, vertical lifting of the object (e.g., vertical movement of the boom), lifting and retracting of the object (e.g., vertical movement of the boom and inward movement of the stick).

[0014] In some examples, a lift operation may initially be performed in a first lift mode associated with a first lift capacity. In the first lift mode, a pressure (of the fluid) provided by the hydraulic pump may be between a first value and a second value that exceeds the first value. The controller may receive sensor data from the sensor device during the lift operation indicating a current value of the pressure of the hydraulic pump and determine that the current value satisfies a threshold value between the first value and the second value. Based on determining that the current value satisfies the threshold value, the controller may determine that the current value is increasing and approaching the second value.

[0015] The controller may determine whether the machine continues to perform a lift operation after determining that the current value meets the threshold value. If the controller determines that the machine continues to perform a lift operation, the controller may determine that the current value is likely to exceed the second value. Thus, the controller may transition the machine from operating in the first lift mode to operating in the second lift mode before the current value reaches the second value. The second lift mode may be associated with a second lift capacity that exceeds the first lift capacity. For example, in the second lift mode, the pressure of the hydraulic pump of the machine may be between a third value and a fourth value that exceeds the third value. The third value (e.g., the minimum value of the pressure in the second lift mode) may exceed the second value (e.g., the maximum value of the pressure in the first lift mode). When operating in the second lift mode, the pressure may be instantaneous between the third value and the fourth value based on the dynamics of the lift operation (e.g., lift speed, friction / suction overcome instantaneously to release the object, etc., among other examples).

[0016] In this manner, by transitioning the machine from operating in a first lift mode to operating in a second lift mode, the controller prevents unintended movement of the machine's components (e.g., boom, stick, and machine work tool) during the lift operation, among other things, preventing accelerated wear and tear on the components. In some examples, the controller may provide a notification indicating that the machine has transitioned from operating in the first lift mode to operating in the second lift mode. The notification may be provided via the machine's operator cabin, provided to a back office system, and / or provided to a device of a remote operator of the machine.

[0017] The term "machine" may refer to any machine that performs an operation related to an industry, such as, for example, mining, construction, agriculture, transportation, or another industry. Additionally, one or more implements may be connected to the machine. By way of example, the machine may include a construction vehicle, a work vehicle, or a similar vehicle related to the aforementioned industries.

[0018] Figure 1 is a diagram of an example machine 100 described herein. As shown in Figure 1, machine 100 is embodied as an earthmoving machine, such as a shovel. Alternatively, machine 100 may be another type of machine, such as a dozer.

[0019] As shown in FIG. 1, the machine 100 includes a ground engaging member 110, a machine body 115, and an operator cabin 120. The ground engaging member 110 may include tracks (as shown in FIG. 1), wheels, rollers, and / or the like for propelling the machine 100. The ground engaging member 110 is mounted to a rotating frame (not shown) and driven by one or more engines and drive trains (not shown). The machine body 115 is mounted on the rotating frame (not shown). The operator cabin 120 is supported by the machine body 115 mounted on the rotating frame. The operator cabin 120 includes an integrated display (not shown) and operator controls 125, such as, for example, an integrated joystick. The operator controls 125 may include one or more input components. In some examples, the controller may provide a notification indicating that the machine has transitioned from operating in a first lift mode to operating in a second lift mode.

[0020] In the case of an autonomous machine, the operator controls 125 may not be designed for use by an operator, but rather may be designed to operate independently of an operator. In this case, for example, the operator controls 125 may include one or more input components that provide input signals for use by another component without any operator input. The pivoting elements 125 may include one or more components that allow the rotating frame (and machine body 115) to rotate (or pivot). For example, the pivoting elements 125 may allow the rotating frame (and machine body 115) to rotate (or pivot) relative to the ground engaging member 110.

[0021] As shown in FIG. 1, the machine 100 includes a boom 130, a stick 135, and a machine work tool 140. The boom 130 is pivotally mounted to a proximal end of the machine body 115 and is articulated to the machine body 115 by one or more fluid actuated cylinders (e.g., hydraulic or pneumatic cylinders), electric motors, and / or other electromechanical components. The stick 135 is pivotally mounted to a distal end of the boom 130 and is articulated to the boom 130 by one or more fluid actuated cylinders, electric motors, and / or other electromechanical components. The boom 130 and / or the stick 135 may be referred to as a linkage. The machine work tool 140 may be mounted to a distal end of the stick 135 and is articulated to the stick 135 by one or more fluid actuated cylinders, electric motors, and / or other electromechanical components. The machine work tool 140 may be a bucket (as shown in FIG. 1) or another type of tool or implement that may be mounted on the stick 135. The machine work tool 140 may be referred to as an implement.

[0022] 1 , machine 100 includes a controller 145 (e.g., an electronic control module (ECM), a computer vision controller, an autonomous controller, among others), one or more inertial measurement units (IMUs) 150 (individually referred to herein as “IMU 150” and collectively referred to herein as “IMUs 150”), a hydraulic pump 155, a hydraulic sensor system 160, and one or more hydraulic cylinders 165. Controller 145 may control and / or monitor operation of machine 100. For example, controller 145 may control and / or monitor operation of machine 100 based on signals from operator controls 125, signals from IMU 150, and / or signals from hydraulic sensor system 160.

[0023] As shown in FIG. 1 , IMUs 150 are mounted at different locations on components or portions of machine 100, such as machine body 115, boom 130, stick 135, and machine work tool 140. IMUs 150 include one or more devices capable of receiving, generating, storing, processing, and / or providing signals indicative of the position and orientation of the component of machine 100 on which IMUs 150 are mounted. For example, IMUs 150 may include one or more accelerometers and / or one or more gyroscopes. The one or more accelerometers and / or one or more gyroscopes generate signals that may be used to determine the position and orientation of IMUs 150 relative to a coordinate system, and accordingly, provide the position and orientation of the component. Although the embodiments discussed herein refer to IMUs 150, the disclosure is applicable to the use of one or more other types of sensor devices that may be used to determine the position and orientation of the component of machine 100.

[0024] The hydraulic pump 155 may be configured to provide fluid (e.g., hydraulic fluid pressurized by the hydraulic pump 155) to articulate one or more fluid actuating cylinders (e.g., one or more hydraulic cylinders 165) to the boom 130, the stick 135, and / or the machine work tool 140, as described above. The hydraulic sensor system 160 may include one or more sensor devices configured to generate, store, process, and / or provide signals related to one or more components of the machine 100. For example, the one or more sensor devices may include one or more pressure sensor devices. The one or more sensor devices may be configured to generate sensor data identifying a pressure of the hydraulic pump 155, sensor data identifying a pressure (e.g., of the hydraulic fluid) associated with movement of the boom 130, sensor data identifying a pressure (e.g., of the hydraulic fluid) associated with movement of the stick 135, and / or sensor data identifying a pressure (e.g., of the hydraulic fluid) associated with movement of the machine work tool 140.

[0025] As noted above, Figure 1 is provided as an example. Other examples may differ from those described in connection with Figure 1.

[0026] FIG 2 is a diagram of an example system 200 described herein. As shown in FIG 2, system 200 includes controller 145 and hydraulic sensor system 160. Hydraulic sensor system 160 may include one or more sensor devices configured to generate, store, process, and / or provide signals related to one or more components of machine 100, as described above. As shown in FIG 2, hydraulic sensor system 160 may include a first sensor device 210, a second sensor device 220, a third sensor device 230, and a fourth sensor device 240.

[0027] The first sensor device 210 may be configured to generate first sensor data identifying a value of a hydraulic pump 155 pressure (e.g., pressure of hydraulic fluid provided by the hydraulic pump 155). The second sensor device 220 may be configured to generate second sensor data identifying a value of a (e.g., hydraulic fluid) pressure associated with movement of the boom 130 (e.g., pressure of hydraulic fluid articulating one or more hydraulic cylinders to the boom 130). The third sensor device 230 may be configured to generate third sensor data identifying a value of a (e.g., hydraulic fluid) pressure associated with movement of the stick 135 (e.g., pressure of hydraulic fluid articulating one or more hydraulic cylinders to the stick 135). The fourth sensor device 240 may be configured to generate fourth sensor data identifying a value of a (e.g., hydraulic fluid) pressure associated with movement of the machine work tool 140 (e.g., pressure of hydraulic fluid articulating one or more hydraulic cylinders to the machine work tool 140).

[0028] Boom 130, stick 135, and machine work tool 140 may be components of a lifting mechanism of machine 100. In some circumstances, the lifting mechanism may include different, additional, or fewer components than boom 130, stick 135, and machine work tool 140. The first sensor data, second sensor data, third sensor data, and / or fourth sensor data may be collectively referred to as “sensor data.”

[0029] The first sensor device 210, the second sensor device 220, the third sensor device 230, and / or the fourth sensor device 240 may provide sensor data to the controller 145 periodically (e.g., every 5 seconds, every 10 seconds, among other things) and / or based on a trigger event (e.g., based on a request from the controller 145, based on an indication that the machine 100 is performing a lifting operation, based on an indication of movement of the boom 130, the stick 135, and / or the machine work tool 140, among other things).

[0030] The controller 145 may be configured to dynamically transition the machine 100 between the first lift mode and the second lift mode during a lift operation based on an input from the operator control 125 and / or based on sensor data from the first sensor device 210, the second sensor device 220, the third sensor device 230, and / or the fourth sensor device 240. For example, the controller 145 may receive an input indicating that the machine 100 is performing a lift operation. In some circumstances, the input may be received from the operator control 125. The input may be generated by the operator control 125 as a result of the operator control 125 actuating to perform a lift operation. In some examples, the machine 100 may be operated by an apparatus located remotely relative to the machine 100. In such examples, the controller 145 may receive an input from the apparatus. The input from the apparatus may be generated as part of an instruction (or command) for controlling the machine 100 to perform a lift operation.

[0031] In some examples, the controller 145 may determine that the machine 100 is performing a lift operation based on the sensor data provided by the second sensor device 220, the third sensor device 230, and / or the fourth sensor device 240. For example, the second sensor data provided by the second sensor device 220 may indicate that the boom 130 is being used to perform a lift operation. For example, the second sensor data may indicate that a pressure (associated with movement of the boom 130) meets a boom pressure threshold.

[0032] Similarly, third sensor data provided by the third sensor device 230 may indicate that the stick 135 is being used to perform a lift operation. For example, the third sensor data may indicate that a pressure (associated with the movement of the stick 135) meets a stick pressure threshold. Similarly, fourth sensor data provided by the fourth sensor device 240 may indicate that the machine work tool 140 is being used to perform a lift operation. For example, the second sensor data may indicate that a pressure (associated with the movement of the machine work tool 140) meets a tool pressure threshold.

[0033] In some implementations, the machine 100 may be configured to operate in the first lift mode as a default configuration. In other words, the machine 100 may be configured to initiate a lift operation in the first lift mode. In this regard, the controller 145 may operate the machine 100 in the first lift mode after determining that the machine 100 is performing a lift operation. The machine 100 may be configured in this manner because in the first lift mode, the machine 100 may have the capability to perform a lift operation within a particular operating range for the machine 100. For example, in the first lift mode, the machine 100 may be able to lift an object from the ground to a particular location within a particular vertical distance from the ground or within a particular horizontal distance from the machine 100, and in the second lift mode, the machine 100 may not be able to perform the same operations or perform those operations at the same speed or over the same distance. Thus, the machine 100 may be configured to initiate a lift operation in the first lift mode to conserve the resources of the machine 100 that would have been allocated to enable the machine 100 to operate in the second lift mode if the lift operation could be performed in the first lift mode.

[0034] The first lift mode may be associated with a first lift capacity. The second lift mode may be associated with a second lift capacity that exceeds the first lift capacity. In the first lift mode, the pressure of the hydraulic pump 155 (e.g., the pressure of the hydraulic fluid delivered by the hydraulic pump 155) may be between a first value and a second value that exceeds the first value. The second value may be a maximum value of the pressure of the hydraulic pump 155 in the first lift mode. In the second lift mode, the pressure of the hydraulic pump 155 may be between a third value and a fourth value that exceeds the third value. The fourth value may be a maximum value of the pressure of the hydraulic pump 155 in the second lift mode. The third value may exceed the second value.

[0035] As described in more detail below, after a lift operation is initiated in the first lift mode, the controller 145 may determine whether additional lift capacity should be activated for the lift operation. If the controller 145 determines that additional lift capacity should be activated for the lift operation, the controller 145 may transition the machine 100 from operating in the first lift mode to operating in the second lift mode. As described in more detail below, such transition from the first lift mode to the second lift mode may be performed automatically by the controller 145 in consideration of operator input to the operator controls 125, meaning that the operator does not need to specifically command the machine 100 (e.g., push a button) to change the lift mode.

[0036] In some implementations, the machine 100 may not be configured in a default configuration (e.g., configured to initiate a lift operation in a first lift mode). In this regard, after determining that the machine 100 is performing a lift operation, the controller 145 may determine whether the machine 100 is operating in the first lift mode or the second lift mode during the lift operation. For example, based on determining that the machine 100 is performing a lift operation, the controller 145 may obtain lift mode information (e.g., from a memory of the machine 100) that identifies a current lift mode of the machine 100. The controller 145 may determine whether the machine 100 is operating in the first lift mode or the second lift mode based on the lift mode information.

[0037] In some examples, the lift mode information may be updated based on a selection (e.g., by an operator) of the first lift mode or the second lift mode. In some examples, the lift mode information may be updated (e.g., by the controller 145) when the controller 145 transitions the machine 100 between the first lift mode and the second lift mode. Such transitions may be performed automatically by the controller 145 in consideration of operator input to the operator controls 125, meaning that the operator does not need to specifically command the machine 100 (e.g., push a button) to change the lift mode, as described in more detail below.

[0038] Assume that the controller 145 determines that the machine 100 is operating in the first lift mode (e.g., based on a default configuration and / or based on lift mode information indicating the machine 100 is operating in the first lift mode). After determining that the machine 100 is performing a lift operation in the first lift mode, the controller 145 may monitor the pressure of the hydraulic pump 155 to determine whether to activate additional lift capacity for the lift operation if the machine 100 continues to perform the lift operation. The controller 145 may transition the machine 100 from operating in the first lift mode to operating in the second lift mode based on determining that additional lift capacity should be activated for the lift operation, as described in more detail below.

[0039] In some examples, the controller 145 may receive first sensor data from the first sensor device 210. The first sensor data may indicate a current value of the pressure of the hydraulic pump 155. The controller 145 may receive the first sensor data periodically and / or based on a trigger event, as described above. The controller 145 may compare the current value to a threshold value and may determine whether to transition the machine 100 from operating in the first lift mode to operating in the second lift mode. The controller 145 may be pre-configured with information identifying the threshold value and may receive information identifying the threshold value from an operator device of the machine 100 and / or may receive information identifying the threshold value from a back office system, among other things.

[0040] The threshold value may be a value between a first value and a second value of the pressure of the hydraulic pump 155 when the machine 100 is operating in the first lift mode. The threshold value may be closer to the second value than to the first value. The threshold value may correspond to a value that, when met by the current value, indicates that additional lift capacity should be activated for the lift operation. In other words, the threshold value may be a value that, when met by the current value, indicates that the second value is likely to be exceeded.

[0041] If the current value does not meet the threshold, the controller 145 may continue to monitor the pressure of the hydraulic pump 155 and may take no action with respect to transitioning the machine 100 from operating in the first lift mode to operating in the second lift mode.

[0042] Assume that the current value meets the threshold value. In this regard, the controller 145 may determine whether the machine 100 continues to perform the lift operation. For example, the controller 145 may receive an input from the operator control 125 and determine whether the input indicates that the machine 100 continues to perform the lift operation. For example, the controller 145 may determine whether the input indicates that the operator control 125 is activating to perform the lift operation. Additionally or alternatively, to receive an input from the operator control 125, the machine 100 may receive an input from a device located remotely relative to the machine 100 (e.g., a remote control device for the machine 100) and determine whether the input indicates that the device is providing an instruction (or command) for the machine 100 to continue to perform the lift operation.

[0043] Additionally or alternatively, the machine 100 may receive sensor data from the second sensor device 220, the third sensor device 230, and / or the fourth sensor device 240 and may determine whether the sensor data indicates that the machine 100 is continuing to perform a lift operation. For example, the controller 145 may determine that the machine 100 is continuing to perform a lift operation if the second sensor data indicates that the pressure (associated with the movement of the boom 130) meets a boom pressure threshold, if the third sensor data indicates that the pressure (associated with the movement of the stick 135) meets a stick pressure threshold, and / or if the fourth sensor data indicates that the pressure (associated with the movement of the machine work tool 140) meets a tool pressure threshold. The controller 145 may be preconfigured with information identifying the above thresholds and may receive information identifying the above thresholds from an operator's device of the machine 100 or may receive information identifying the above thresholds from a back office system, among other things.

[0044] If the controller 145 determines that the machine 100 is not continuing to perform a lift operation, the controller 145 may not take any action with respect to transitioning the machine 100 from operating in the first lift mode to operating in the second lift mode. Additionally or alternatively, the controller 145 may continue to monitor the pressure of the hydraulic pump 155.

[0045] If the controller 145 determines that the machine 100 continues to perform the lift operation, the controller 145 may determine that the pressure of the hydraulic pump 155 will continue to increase and will likely exceed a second value. Based on determining that the pressure of the hydraulic pump 155 will continue to increase and will likely exceed a second value, the controller 145 may determine that additional lift capacity should be activated for the lift operation (e.g., to prevent a stall condition). Thus, the controller 145 may transition the machine 100 from operating in a first lift mode to operating in a second lift mode. For example, the controller 145 may transition the machine 100 from operating in a first lift mode to operating in a second lift mode before the pressure reaches the second value.

[0046] By transitioning the machine 100 in this manner (e.g., before the pressure reaches the second value), the controller 145 may prevent unintended movement of the boom 130, stick 135, and machine work tool 140 during a lifting operation that may require operator attention and thereby affect operator control of the machine 100. For example, the controller 145 may prevent a stall condition (e.g., a temporary stall condition) during a lifting operation. A stall condition may refer to a cessation of movement of the boom 130, stick 135, and machine work tool 140 during a lifting operation due to insufficient pressure to lift an object. Additionally or alternatively, by transitioning the machine 100 in this manner (e.g., before the pressure reaches the second value), the controller 145 may prevent strain on the boom 130, stick 135, machine work tool 140, and / or other components of the machine 100, thereby preventing accelerated wear and tear.

[0047] In some examples, the controller 145 may be configured to adjust one or more valves associated with the hydraulic pump 155 to allow the hydraulic pump 155 to increase the pressure (of the hydraulic fluid) to a value greater than a second value (for the first lift mode). For example, the controller 145 may allow the hydraulic pump 155 to increase the pressure (of the hydraulic fluid) to a value between a third value (for the second lift mode) and a fourth value (for the second lift mode). In some examples, the controller 145 may allow the hydraulic pump 155 to increase the pressure using an electronically controlled pressure regulator valve (e.g., a two-stage pressure regulator valve).

[0048] In some examples, the controller 145 may adjust a pump flow associated with the hydraulic pump 155 as part of transitioning the machine 100 from operating in a first lift mode to operating in a second lift mode. For example, the controller 145 may decrease a pump flow associated with the hydraulic pump 155 as pressure increases. The machine 100 operates at the decreased pump flow until the machine 100 transitions from operating in the second lift mode to operating in the first lift mode. In some examples, decreasing the pump flow may result in a decrease in the speed of a hydraulic cylinder (e.g., the hydraulic cylinder 165) associated with performing a lift operation. The speed of the hydraulic cylinder may decrease if the cylinder flow (associated with the hydraulic cylinder) decreases due to the pump flow decreasing. For example, in the first lift mode, the speed of the hydraulic cylinder may be a first speed. In this regard, when transitioning the machine 100 from operating in a first lift mode to operating in a second lift mode, the controller 145 may decrease (or reduce) the speed of the hydraulic cylinder toward (or to) a second speed as the pressure of the hydraulic pump increases. In some examples, the controller 145 may decrease the velocity of the hydraulic cylinder at a rate that is based on (eg, proportional to) the rate at which the pressure in the hydraulic pump increases.

[0049] In some examples, the controller 145 may perform one or more actions after the machine 100 transitions from operating in the first lift mode to operating in the second lift mode. For example, the controller 145 may provide a notification indicating that the machine 100 has transitioned from operating in the first lift mode to operating in the second lift mode. The notification may be provided via the operator cabin 120 (e.g., via an integrated display), to a back office system, and / or to a device of a remote operator of the machine 100.

[0050] Additionally or alternatively to providing a notification, controller 145 may determine whether to transition machine 100 from operating in the second lift mode to operating in the first lift mode. For example, controller 145 may determine whether machine 100 continues to perform a lift operation in a manner similar to that described above. Additionally or alternatively, controller 145 may determine whether machine 100 is stationary. For example, controller 145 may determine whether machine 100 is stationary based on data from IMU 150 and / or based on data from one or more other devices of machine 100 (e.g., data from a speedometer, data from a motion sensor device, among others).

[0051] If the controller 145 receives an input indicating that the machine 100 is no longer performing a lift operation (e.g., an input indicating that the lift operation is completed) and / or if the controller 145 receives an input indicating that the machine 100 is stationary, the controller 145 may transition the machine 100 from operating in the second lift mode to operating in the first lift mode based on the second input and / or the third input. By transitioning the machine 100 from operating in the second lift mode to operating in the first lift mode, the controller 145 may conserve machine 100 resources that would have been allocated to enable the machine 100 to operate in the second lift mode.

[0052] Although the above embodiments have been described with respect to performing a lift operation, the present disclosure is applicable to other operations, such as other object moving operations, such as excavation operations. Additionally, while the above embodiments have been described with respect to a first lift mode and a second lift mode, the present disclosure may be applicable to three or more lift modes. In some embodiments, a proportional pressure regulator valve may be used, allowing multiple relief pressures between the pressures of the first lift mode and the second lift mode.

[0053] The number and arrangement of devices shown in Figure 2 are provided as an example. In practice, there may be additional devices, fewer devices, different devices, or a different arrangement of devices than those shown in Figure 2. Furthermore, two or more devices shown in Figure 2 may be implemented within a single device, or a single device shown in Figure 2 may be implemented as multiple distributed devices. Additionally or alternatively, a set of devices (e.g., one or more devices) of system 200 may perform one or more functions described as being performed by another set of devices of system 200.

[0054] 3 is a flow chart of an example process 300 for dynamically transitioning between lift modes. In some implementations, one or more process blocks of FIG. 3 may be performed by a controller (e.g., controller 145). In some implementations, one or more process blocks of FIG. 3 may be performed by another device or a group of devices separate from or including the controller, such as an operator control (e.g., operator control 125), a first sensor device (e.g., first sensor device 210), a second sensor device (e.g., second sensor device 220), a third sensor device (e.g., third sensor device 230), and / or a fourth sensor device (e.g., fourth sensor device 240).

[0055] 3, process 300 may include receiving a first input indicating that the machine is performing a lift operation (block 310). For example, the controller may receive a first input indicating that the machine is performing a lift operation, as described above.

[0056] Receiving the first input includes receiving the first input from one or more operator controls of the machine. The lifting motion is performed using at least one of a boom of the machine, a stick of the machine, or a machine work tool of the machine.

[0057] 3, the process 300 may include determining that during a lift operation, the machine is operating in a first lift mode associated with a first lift capacity, where in the first lift mode, the pressure of the machine's hydraulic pump is between a first value and a second value that exceeds the first value (block 320). For example, the controller may determine that during a lift operation, the machine is operating in a first lift mode associated with a first lift capacity, where in the first lift mode, the pressure of the machine's hydraulic pump is between a first value and a second value that exceeds the first value, as described above.

[0058] 3, the process 300 may include receiving sensor data indicative of a current value of the pressure of the hydraulic pump from a sensor device during the lift operation (block 330). For example, the controller may receive sensor data indicative of a current value of the pressure of the hydraulic pump from a sensor device during the lift operation, as described above.

[0059] 3, the process 300 may include determining that the current value is approaching the second value (Block 340). For example, the controller may determine that the current value is approaching the second value, as described above.

[0060] 3, the process 300 may include receiving a second input indicating that the machine is continuing to perform the lift operation after determining that the current value is approaching the second value (block 350). For example, the controller may receive a second input indicating that the machine is continuing to perform the lift operation after determining that the current value is approaching the second value, as described above. Receiving the second input may include receiving the second input from one or more operator controls of the machine.

[0061] 3, the process 300 may include transitioning the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, where the second lift capacity exceeds the first lift capacity based on the second input (block 360). For example, the controller may transition the machine from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, where the second lift capacity exceeds the first lift capacity, based on the second input, as described above. In some implementations, the second lift capacity exceeds the first lift capacity.

[0062] Transitioning the machine from operating in the first lift mode to operating in the second lift mode includes transitioning the machine from operating in the first lift mode to operating in the second lift mode to allow the current value of the pressure to increase to a value that exceeds the second value, where in the second lift mode the pressure of the machine's hydraulic pump is between a third value and a fourth value that exceeds the third value, where the third value exceeds the second value.

[0063] Transitioning the machine from operating in the first lift mode to operating in the second lift mode includes transitioning the machine from operating in the first lift mode to operating in the second lift mode before the pressure reaches the second value.

[0064] Transitioning the machine from operating in the first lift mode to operating in the second lift mode includes determining that additional lift capacity should be provided to the lift operation based on a second input indicating that the machine is continuing to perform a lift operation after determining that the current value of pressure is approaching a second value, and transitioning the machine from operating in the first lift mode to operating in the second lift mode based on determining that additional lift capacity should be provided to the lift operation.

[0065] Transitioning the machine from operating in a first lift mode to operating in a second lift mode includes determining that a current value meets a threshold value, the threshold value being between a first value and a second value, and transitioning the machine from operating in the first lift mode to operating in the second lift mode based on determining that the current value meets the threshold value.

[0066] Transitioning the machine from operating in the first lift mode to operating in the second lift mode includes decreasing the speed of the hydraulic cylinder from the first speed to a second speed associated with the second lift mode.

[0067] Transitioning the machine from operating in the first lift mode to operating in the second lift mode includes decreasing a pump flow associated with the hydraulic pump as pressure in the hydraulic pump increases after determining that the machine continues to perform a lift operation.

[0068] 3, the process 300 may include providing a notification indicating that the machine has transitioned from operating in the first lift mode to operating in the second lift mode (block 370). For example, the controller may provide a notification indicating that the machine has transitioned from operating in the first lift mode to operating in the second lift mode.

[0069] Although Figure 3 illustrates example blocks of process 300, in some implementations, process 300 may include additional, fewer, different, or differently arranged blocks than those depicted in Figure 3. Additionally or alternatively, two or more of the blocks of process 300 may be performed in parallel. [Industrial Applicability]

[0070] The present disclosure is directed to dynamic and automatic transition between a first lift mode and a second lift mode during lift operation of a machine. The first lift mode may be associated with a first lift capacity and the second lift mode may be associated with a second lift capacity that exceeds the first lift capacity. In the first lift mode, the pressure (of the fluid) provided by the hydraulic pump (of the machine) can be between a first value and a second value that exceeds the first value. In the second lift mode, the pressure can be between a third value and a fourth value that exceeds the third value. The third value exceeds the second value.

[0071] The machine controller may transition the machine from operating in the first lift mode to operating in the second lift mode without operator intervention if the controller determines that the machine continues to perform a lift operation after the controller determines that the current value of the pressure meets the threshold value. The controller may transition the machine before the current value reaches the second value of the first lift mode (e.g., before the current value of the pressure reaches a maximum value of the pressure for the first lift mode).

[0072] Typically, an operator selects a lift mode for a lift operation. However, an operator may select an inappropriate lift mode. Selecting an inappropriate lift mode may cause unintended movement of the components (of the machine) used to perform the lift operation. For example, selecting an inappropriate lift mode may cause the movement of the components to stop (or stall) when the hydraulic system pressure value reaches a maximum value associated with the standard lift mode. Additionally or alternatively, selecting an inappropriate lift mode may cause strain on various components of the machine. As a result of the strain, accelerated wear and tear on the various components may occur.

[0073] The present disclosure solves these problems by automatically transitioning the machine from operating in a first lift mode to operating in a second lift mode without the need for operator intervention before the current value of pressure reaches the maximum value of pressure in the first lift mode. By transitioning the machine from operating in a first lift mode to operating in a second lift mode in this manner, the controller may prevent unintended movement of machine components (e.g., boom, stick, and machine work tool) used during the lift operation, among other things, to prevent accelerated wear and tear on the components.

[0074] The foregoing disclosure provides illustrations and descriptions, but is not intended to be exhaustive or to limit the implementations to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure and may be acquired from practicing the implementations. Furthermore, any of the implementations described herein may be combined unless the foregoing disclosure clearly indicates why one or more implementations cannot be combined. Although specific combinations of features are claimed and / or disclosed herein, these combinations are not intended to limit the disclosure of the various implementations. Each dependent claim listed below may be directly dependent on only one claim, but the disclosure of the various implementations includes each dependent claim in combination with all other claims in the set of claims.

[0075] As used herein, "a," "an," and "set" are intended to include one or more items and may be used interchangeably with "one or more." Additionally, as used herein, the article "the" is intended to include one or more items referenced in connection with the article "the" and may be used interchangeably with "the one or more." Additionally, the phrase "based on" is intended to mean "based, at least in part, on," unless expressly stated otherwise. Additionally, as used herein, the term "or" is intended to be inclusive when used in a series and may be used interchangeably with "and / or" unless expressly stated otherwise (e.g., when used in combination with "either" or only one of). Additionally, spatially relative terms, e.g., "below," "lower," "above," "upper," and the like, may be used herein for ease of description to describe the relationship of features to one element or another as shown in the figures. The spatially relative terms are intended to encompass different orientations of devices, apparatus, and / or elements during use or operation in addition to the orientation shown in the figures. Devices may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may be similarly interpreted accordingly.

Claims

1. A method executed by a controller (145) of a machine (100), the method comprising: Receiving a first input indicating that the machine (100) is performing a lifting operation; During the lifting operation, determining that the machine (100) is operating in a first lift mode associated with a first lift capacity, In the first lift mode, determining that the pressure of a hydraulic pump (155) of the machine (100) is between a first value and a second value that exceeds the first value; During the lifting operation, receiving sensor data from a sensor device (210) indicating a current value of the pressure of the hydraulic pump (155); Determining that the current value is approaching the second value; After determining that the current value is approaching the second value, receiving a second input indicating that the machine (100) continues to perform the lifting operation; Based on the second input, shifting the machine (100) from operating in the first lift mode to operating in a second lift mode associated with a second lift capacity, The second lift capacity exceeding the first lift capacity.

2. Shifting the machine (100) from operating in the first lift mode to operating in the second lift mode enables Shifting the machine (100) from operating in the first lift mode to operating in the second lift mode such that the current value of the pressure increases to a value exceeding the second value, In the second lift mode, the pressure of the hydraulic pump (155) of the machine (100) is between a third value and a fourth value that exceeds the third value, The third value exceeding the second value. The method according to claim 1.

3. Shifting the machine (100) from operating in the first lift mode to operating in the second lift mode includes Shifting the machine (100) from operating in the first lift mode to operating in the second lift mode before the pressure reaches the second value. The method according to any one of claims 1 and 2.

4. Shifting the machine (100) from operating in the first lift mode to operating in the second lift mode includes After determining that the pressure of the present value is approaching the second value, based on the second input indicating that the machine (100) continues to execute the lifting operation, it should be determined that additional lifting capacity should be provided for the lifting operation. Based on the determination that additional lifting capacity should be provided for the lifting operation, the method according to claim 1 includes shifting the operation of the machine (100) from the operation in the first lift mode to the operation in the second lift mode.

5. Shifting the operation of the machine (100) from the operation in the first lift mode to the operation in the second lift mode is determining that the present value satisfies a threshold value, wherein the threshold value is between the first value and the second value, and based on the determination that the present value satisfies the threshold value, shifting the operation of the machine (100) from the operation in the first lift mode to the operation in the second lift mode, the method according to claim 1.

6. A sensor device (210) of a machine, a controller (145) of the machine (100) connected to the sensor device, receiving an input indicating that the machine (100) executes a lifting operation, based on the reception of the input, operating the machine (100) in a first lift mode associated with a first lift capacity, wherein in the first lift mode, the pressure of the hydraulic pump (155) of the machine (100) is between a first value and a second value exceeding the first value, operating, during the lifting operation, receiving sensor data from the sensor device (210) indicating the present value of the pressure of the hydraulic pump (155), determining that the present value satisfies a threshold value between the first value and the second value, after determining that the present value satisfies the threshold value, determining that the machine (100) continues to execute the lifting operation, before the present value reaches the second value, based on the determination that the machine (100) continues to execute the lifting operation, shifting the operation of the machine (100) from the operation in the first lift mode to the operation in a second lift mode associated with a second lift capacity. A system comprising a controller (145) configured to perform causing the second lift capacity to exceed the first lift capacity and causing a transition.

7. In order to cause the machine (100) to transition from operating in the first lift mode to operating in the second lift mode, the controller (145) The system according to claim 6, wherein after determining that the machine (100) is continuing to perform the lift operation, the pump flow associated with the hydraulic pump is configured to decrease as the pressure of the hydraulic pump (155) increases.

8. The input indicating that the machine (100) is performing the lift operation is a first input, The controller (145) Receiving a second input indicating that the lift operation has been completed, Receiving a third input indicating that the machine (100) is in a stationary state, The system according to any one of claims 6 and 7, configured to cause the machine (100) to transition from operating in the second lift mode to operating in the first lift mode based on at least one of the second input or the third input.

9. In order to cause the machine (100) to transition from operating in the first lift mode to operating in the second lift mode, the controller (145) After determining that the current value satisfies the threshold value, determining that additional lift capacity should be activated for the lift operation based on determining that the machine (100) is continuing to perform the lift operation, The system according to claim 6, configured to cause the machine (100) to transition from operating in the first lift mode to operating in the second lift mode based on determining that additional lift capacity should be activated for the lift operation.

10. The controller (145) further The system according to claim 6, configured to provide a notification indicating that the machine (100) has transitioned from operating in the first lift mode to operating in the second lift mode.

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