Control of hydraulic systems in construction machinery

Abstract

The hydraulic system may include a first actuator for controlling the first linkage member, a second actuator for controlling the second linkage member, first and first secondary hydraulic circuits including the first actuator, second and second primary and second secondary hydraulic circuits including the second actuator, a first pump for flowing fluid through the first primary and second secondary hydraulic circuits, a second pump for flowing fluid through the second primary and first secondary hydraulic circuits, and a controller. The controller may be configured to determine that a driver assistance mode is enabled and cause closure of a first valve controlling flow of fluid through the first secondary hydraulic circuit and a second valve controlling flow of fluid through the second secondary hydraulic circuit.

Description

[Technical field]

[0001] The present disclosure relates generally to hydraulic systems, such as to control of hydraulic systems. [Background technology]

[0002] A work machine or construction machine, such as an excavator or another similar type of machine, may be used to perform one or more worksite operations (e.g., material transport, digging, grading, or the like). Typically, such machines include a hydraulic system to control the operation of the machine and / or one or more components of the machine. For example, the hydraulic system may be used to control the work implement of the machine. More specifically, the hydraulic system of the excavator may be used to control the operation of the shovel, the rotation of the body of the shovel (e.g., swing motion), and / or the operation of components of the shovel including the boom, stick, and bucket.

[0003] A hydraulic system may include a pump that provides pressurized fluid to one or more hydraulic circuits, thereby causing actuation of one or more actuators (e.g., cylinders). In some examples, a hydraulic system may utilize two or more pumps that cause fluid flow through respective hydraulic circuits to cause actuation of one or more actuators. For example, a hydraulic system for an excavator may include a primary boom hydraulic circuit and a secondary boom hydraulic circuit in fluid communication with one or more boom actuators, and a primary stick hydraulic circuit and a secondary stick hydraulic circuit in fluid communication with one or more stick actuators. A first pump may cause fluid flow through the primary boom hydraulic circuit and the secondary stick hydraulic circuit, and a second pump may cause fluid flow through the primary stick hydraulic circuit and the secondary boom hydraulic circuit. During operation of an excavator utilizing both a boom and a stick, pressure and restriction differences within the hydraulic circuits may cause interference resulting in excessive or reduced flow in the boom actuator and / or the stick actuator. Deviations from the desired fluid flow may cause imbalances in the speed of the hydraulic circuits, resulting in reduced operational accuracy.

[0004] Some operations performed by a machine may require a high degree of precision. For example, an excavator may perform grading operations using a driver-assisted mode. In the driver-assisted mode, the movement of the boom, stick, and / or bucket may be automated to maintain the bucket trajectory on the grade line. Thus, reduced motion precision resulting from deviations from a desired fluid flow may prevent achieving the degree of precision necessary to maintain the bucket trajectory on the grade line.

[0005] U.S. Patent No. 9,845,590 (the '590 patent) discloses a hydraulic system for providing hydraulic power to work implements and subassemblies on an earth moving machine including a first hydraulic pump and a second hydraulic pump. The '590 patent indicates that the first hydraulic pump may be associated with a lift circuit including a lift arm that can be raised and lowered relative to the machine, and the second hydraulic pump may be associated with both a tilt circuit for tilting a bucket pivotally connected to the lift arm, and a steering circuit for steering the machine. The '590 patent states that the lift circuit and the tilt and steering circuits can operate simultaneously and independently of one another due to the arrangement of the first hydraulic pump and the second hydraulic pump.

[0006] The controller for the hydraulic system of the present disclosure provides independent control of a first actuator using a first pump and independent control of a second actuator using a second pump during operations requiring a high degree of precision, such as grading operations using a driver assistance mode. In other ways, the first actuator may be controlled cooperatively using the first pump and the second pump, and the second actuator may be controlled cooperatively using the first pump and the second pump. The controller for the hydraulic system of the present disclosure solves one or more of the problems set forth above and / or other problems in the art. Summary of the Invention

[0007] The hydraulic system may include a first actuator for controlling the first linkage member, a second actuator for controlling the first linkage member and a second linkage member connected to a work implement of the machine, first and first secondary hydraulic circuits including the first actuator, second and second secondary hydraulic circuits including the second actuator, a first pump for flowing fluid through the first primary and second secondary hydraulic circuits, a second pump for flowing fluid through the second primary and first secondary hydraulic circuits, and a controller. The controller may be configured to determine that a driver assistance mode is enabled for the machine and, based on determining that the driver assistance mode is enabled, close a first valve that controls the flow of fluid through the first secondary hydraulic circuit and a second valve that controls the flow of fluid through the second secondary hydraulic circuit.

[0008] The method may include determining that a driver assistance mode is enabled for a machine having a work implement, where a first linkage member of the machine is controlled by a first actuator, a second linkage member of the machine connected to the first linkage member and the work implement is controlled by a second actuator, the first primary hydraulic circuit and the first secondary hydraulic circuit include a first actuator, and the second primary hydraulic circuit and the second secondary hydraulic circuit include a second actuator. The method may include detecting that a position of the work implement satisfies a condition associated with the driver assistance mode. The method may include closing a first valve controlling fluid flow through the first secondary hydraulic circuit and a second valve controlling fluid flow through the second secondary hydraulic circuit based on determining that the driver assistance mode is enabled and detecting that the position of the work implement satisfies the condition.

[0009] The excavator may include a bucket, a stick member connected to the bucket, a boom member connected to the stick member, a stick actuator for controlling the stick member, a boom actuator for controlling the boom member, primary and secondary stick hydraulic circuits including the stick actuator, primary and secondary boom hydraulic circuits including the boom actuator, a first pump for flowing fluid through the primary and secondary stick hydraulic circuits, a second pump for flowing fluid through the primary and secondary stick hydraulic circuits, and a controller. The controller may be configured to detect that a position of the bucket satisfies a condition and, based on detecting that the position of the bucket satisfies the condition, cause closure of a first valve controlling flow of fluid through the secondary boom hydraulic circuit and a second valve controlling flow of fluid through the secondary stick hydraulic circuit. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram of an exemplary machine described herein. [Diagram 2] FIG. 2 is a diagram of an example hydraulic system described herein. [Diagram 3] FIG. 3 is a diagram of an example system in which the example apparatus and / or example methods described herein may be implemented. [Figure 4] FIG. 4 is a flow chart of an exemplary process associated with controlling a hydraulic system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present disclosure relates to a controller for a hydraulic system and is applicable to any machine that utilizes a hydraulic system to control movement of the machine and / or one or more components of the machine. For example, the machine may be an excavator, a vehicle, a compactor, a paver, a cold planer, a soil grading machine, a backhoe loader, a wheel loader, a harvester, a motor grader, a skid steer loader, a tractor, a dozer, or the like.

[0012] 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 earthmoving machine, another work machine, or the like.

[0013] As shown in FIG. 1 , the machine 100 includes ground engaging members 102, such as tracks, wheels, rollers, or the like, for propelling the machine 100. The ground engaging members 102 are mounted to a body 104 and are powered by one or more engines, one or more electric motors, one or more batteries, and / or one or more drive trains. The body 104 supports a rotatable machine body 106 and an operator station 108. The operator station 108 is supported by and / or contained within the machine body 106, which may be supported by a rotatable frame located between the machine body 106 and the body 104. The operator station 108 includes one or more operator interfaces 110 (shown as an integrated display and operator controls, such as a joystick).

[0014] As shown in FIG. 1 , the machine 100 includes a linkage assembly 112 including a boom member 114, a stick member 116, and a bucket 118. The linkage assembly 112 may include other types of work tools, such as a hammer drill, a ripper, or the like. As described herein, movement of the machine body 106 and / or movement of the linkage assembly 112 (e.g., relative to the machine body 106) may be controlled and / or implemented via a hydraulic system. As described herein, the hydraulic system may include multiple hydraulic circuits for controlling one or more functions of the machine 100, the machine body 106, and / or the linkage assembly 112. Such functions and / or operations may include a boom up or boom down operation associated with the boom member 114, a stick in or stick out operation associated with the stick member 116, a bucket in or bucket out operation associated with the bucket 118, a swing function associated with the machine body 106, or the like. Such functions may be performed in connection with one or more operations of the machine (e.g., a grading operation, an excavation operation, a material transport operation, a moving operation, or the like).

[0015] As shown in FIG. 1 , the boom member 114 is pivotally attached to the machine body 106 at a proximal end of the boom member 114. The boom member 114 may be articulated relative to the machine body 106 by a boom actuator 120 of the hydraulic system (e.g., a fluid-actuated cylinder such as a hydraulic cylinder, a pneumatic cylinder, or the like). The proximal end of the stick member 116 is pivotally attached to the boom member 114 at a distal end of the boom member 114. The stick member 116 may be articulated relative to the boom member 114 by a stick actuator 122 of the hydraulic system. The proximal end of the bucket 118 is pivotally attached to the stick member 116 at a distal end of the stick member 116. The bucket 118 may be articulated relative to the stick member 116 by a bucket actuator 124 of the hydraulic system.

[0016] The hydraulic system of the machine 100 may include one or more (e.g., multiple) hydraulic pumps 126 that provide a flow source (e.g., fixed or variable flow rate) of fluid (e.g., oil or another type of hydraulic fluid) to multiple hydraulic circuits of the hydraulic system (e.g., separate hydraulic circuits associated with the boom actuator 120, the stick actuator 122, the bucket actuator 124, one or more swing actuators (not shown) for swinging the machine body 106, a movement system (not shown) for the machine 100, or the like). The hydraulic pump 126 provides fluid to the one or more hydraulic circuits from a main line that is fluidly coupled to a discharge end of the hydraulic pump 126. As described herein, flow through the one or more hydraulic circuits may be controlled via electromechanical control of individual circuit valves of the one or more hydraulic circuits.

[0017] 1 , machine 100 may include a controller 128 (e.g., an electronic control module (ECM)) and a number of sensors 130 (each referred to herein as a “sensor 130” and collectively referred to herein as “sensors 130”). Controller 128 may control and / or monitor operation of machine 100. For example, controller 128 may control and / or monitor operation of machine 100 based on signals from sensors 130 and / or driver input received from driver interface 110. Controller 128 may include one or more memories and one or more processors that implement operations associated with controlling the hydraulic system, as described herein.

[0018] 1, sensors 130 are positioned at different locations on and / or within various components or portions of machine 100. For example, sensors 130 may include one or more motion sensors (e.g., cameras, accelerometers, gyroscopes, inertial measurement sensors, speed sensors, position sensors, or the like) that may be positioned on machine body 106, boom member 114, stick member 116, and / or bucket 118. In such an example, controller 128 may detect and / or determine movement of machine 100, movement of machine body 106, movement of linkage assembly 112, position of machine 100 (e.g., with respect to the environment of machine 100), orientation of machine 100, or the like from information received from sensors 130. For example, controller 128 may detect and / or determine position of bucket 118 (e.g., tines of bucket 118) with respect to the ground, a grade line, or the like from information received from sensors 130.

[0019] Additionally or alternatively, sensors 130 may include one or more pressure sensors included within actuators (e.g., at the head end, rod end, in a fluid line to or from the actuator, or the like) of machine 100. In such an example, controller 128 may determine one or more pressures associated with boom actuator 120, stick actuator 122, bucket actuator 124, a swing actuator (not shown), a movement system (not shown), or the like.

[0020] As noted above, Figure 1 is provided as an example. Other examples may differ from those described in connection with Figure 1.

[0021] 2 is a diagram of an example hydraulic system 200 described herein. Hydraulic system 200 includes multiple hydraulic pumps, shown as first hydraulic pump 202a and second hydraulic pump 202b (which may correspond to hydraulic pump 126). In some examples, hydraulic system 200 may include more than two hydraulic pumps, such as three hydraulic pumps or four hydraulic pumps. Hydraulic system 200 may include supply lines 204a and 204b, main lines 206a and 206b, and fluid reservoirs 208a and 208b. Supply line 204a is fluidly coupled to fluid reservoir 208a and an intake end of first hydraulic pump 202a. Supply line 204b is fluidly coupled to fluid reservoir 208b and an intake end of second hydraulic pump 202b. In some examples, supply line 204a and supply line 204b may share the same fluid reservoir.

[0022] Main line 206a is fluidly connected to the discharge of first hydraulic pump 202a, to the circuit lines (and / or circuit valves) of hydraulic circuits 210a and 210d, and to fluid reservoir 208a. Main line 206b is fluidly connected to the discharge of second hydraulic pump 202b, to the circuit lines (and / or circuit valves) of hydraulic circuits 210b and 210c, and to fluid reservoir 208b. First hydraulic pump 202a may be any suitable fluid pumping mechanism configured to draw fluid from fluid reservoir 208a via supply line 204a, and cause the fluid to flow through main line 206a to hydraulic circuits 210a and 210d, and back to fluid reservoir 208a. Similarly, the second hydraulic pump 202b may be any suitable fluid pumping mechanism configured to draw fluid from a fluid reservoir 208b via a supply line 204b, cause the fluid to flow through a main line 206b to hydraulic circuits 210b and 210c, and return to the fluid reservoir 208b.

[0023] The hydraulic system 200 includes a first actuator 212a (shown as two cylinders) and a second actuator 212b (shown as a single cylinder). As used herein, "actuator" may refer to a single actuator or a set of actuators. The first actuator 212a may control a first linkage member of a linkage assembly of the machine. For example, the first actuator 212a may correspond to the boom actuator 120 that controls the boom member 114 of the linkage assembly 112 of the machine 100. The second actuator 212b may control a first linkage member of the machine and a second linkage member connected to the work implement. For example, the second actuator 212b may correspond to the stick actuator 122 that controls the stick member 116 of the linkage assembly 112 of the machine 100. In some examples, the hydraulic system 200 may include one or more additional actuators, such as an actuator that controls a work implement (e.g., bucket 118), an actuator that controls the swing of the machine, or the like.

[0024] The hydraulic circuit 210a may include a fluid reservoir 208a, a first hydraulic pump 202a, a valve 214a, and a first actuator 212a. The hydraulic circuit 210a may be a primary hydraulic circuit (i.e., a first primary hydraulic circuit) of the first actuator 212a. For example, the hydraulic circuit 210a may be a primary boom hydraulic circuit of the boom actuator 120. The hydraulic circuit 210c may include a fluid reservoir 208b, a second hydraulic pump 202b, a valve 214c, and the first actuator 212a. The hydraulic circuit 210c may be a secondary hydraulic circuit (i.e., a first secondary hydraulic circuit) of the first actuator 212a. For example, the hydraulic circuit 210c may be a secondary boom hydraulic circuit of the boom actuator 120.

[0025] Hydraulic circuits 210a and 210c may cooperate to provide control (e.g., via valves 214a and 214c) of a first actuator 212a, which may be associated with a function of the machine. For example, hydraulic circuits 210a and 210c may cooperate to provide control of the boom actuator 120. Thus, first hydraulic pump 202a and second hydraulic pump 202b may together control first actuator 212a via hydraulic circuits 210a and 210c, respectively.

[0026] The hydraulic circuit 210b may include a fluid reservoir 208b, a second hydraulic pump 202b, a valve 214b, and a second actuator 212b. The hydraulic circuit 210b may be a primary hydraulic circuit (i.e., a second primary hydraulic circuit) of the second actuator 212b. For example, the hydraulic circuit 210b may be a primary stick hydraulic circuit of the stick actuator 122. The hydraulic circuit 210d may include a fluid reservoir 208a, a first hydraulic pump 202a, a valve 214d, and a second actuator 212b. The hydraulic circuit 210d may be a secondary hydraulic circuit (i.e., a second secondary hydraulic circuit) of the second actuator 212b. For example, the hydraulic circuit 210d may be a secondary stick hydraulic circuit of the stick actuator 122.

[0027] Hydraulic circuits 210b and 210d may cooperate to provide control of a second actuator 212b (e.g., via valves 214b and 214d), which may be associated with a function of the machine. For example, hydraulic circuits 210b and 210d may cooperate to provide control of the stick actuator 122. Thus, first hydraulic pump 202a and second hydraulic pump 202b may together control second actuator 212b via hydraulic circuits 210b and 210d, respectively.

[0028] In some examples, hydraulic system 200 may include one or more additional hydraulic circuits controlled by first hydraulic pump 202a and / or one or more additional hydraulic circuits controlled by second hydraulic pump 202b. For example, hydraulic system 200 may include a hydraulic circuit for control of a work implement (e.g., bucket 118), a hydraulic circuit for control of the machine's swing, one or more hydraulic circuits for control of a movement system, or the like.

[0029] Each of the valves 214a, 214b, 214c, and 214d may be any suitably configured valve that can be controlled by a respective valve controller 216a, 216b, 216c, and 216d (e.g., based on receiving instructions from the controller 128). For example, the valves 214a-214d may be spool valves. As an example, the valves 214a-214d may be individually configured spool valves having electromechanical configurations that are specifically configured for controlling the function of the actuators 212a and 212b (e.g., according to responsiveness, performance, size, operating range, cylinder type, or the like).

[0030] The first hydraulic pump 202a, during operation, causes fluid to flow to, through, and / or from the hydraulic circuits 210a and 210d according to the configuration of the valves 214a and 214d (e.g., based on the valve position settings). In the example of FIG. 2, any adjustment to the opening of one of the valves 214a or 214d will likely affect the flow through the hydraulic circuit 210a or 210d that is not associated with the adjusted valve 214a or 214d due to the physical characteristics of the hydraulic system 200. The second hydraulic pump 202b, during operation, causes fluid to flow to, through, and / or from the hydraulic circuits 210b and 210c according to the configuration of the valves 214b and 214c (e.g., based on the valve position settings). In the example of FIG. 2, any adjustment to the opening of one of the valves 214b or 214c is likely to affect the flow through the hydraulic circuit 210b or 210c that is not associated with the adjusted valve 214b or 214c due to the physical characteristics of the hydraulic system 200.

[0031] As described herein, the controller 128 may cause the valve controls 216a-216d to configure or position one or more components (e.g., spools, stems, actuators, plugs, orifices, or the like) of the valves 214a-214d to increase and / or decrease the opening of the valves 214a-214d (e.g., by increasing or decreasing the area of ​​the passageway through one or more of the respective valves 214a-214d). More specifically, the controller 128 may instruct the valve controls 216a-216d to set the position of the spools of the valves 214a-214d to control the size of the opening and, accordingly, the flow of fluid throughout the hydraulic circuits 210a-210d (e.g., in accordance with a hydraulic flow command, or the like). As shown, the controller 128 is also configured to cause the first hydraulic pump 202a and the second hydraulic pump 202b to increase and / or decrease the flow of fluid to the hydraulic circuits 210a-210d (e.g., increase and / or decrease the pressurization of the fluid).

[0032] 2, the hydraulic system 200 may include a pressure relief component 218. The pressure relief component 218 may relieve pressure in the hydraulic system 200 if the pressure exceeds a threshold value.

[0033] As noted above, Figure 2 is provided as an example. Other examples may differ from those described in connection with Figure 2.

[0034] 3 is a diagram of an example system 300 in which the example apparatus and / or example methods described herein may be implemented. System 300 may provide control of hydraulic system 200. System 300 includes controller 128. Controller 128 is communicatively connected to sensors 130 and valve controls 216a-d, as described above. As shown, valve controls 216a-d provide control of valves 214a-d, respectively, which control the flow of fluid through hydraulic circuits 210a-d, respectively, as described above.

[0035] Controller 128 may be configured to determine whether a driver assistance mode is in effect for machine 100. In a driver assistance mode, controller 128 may automate one or more movements of machine 100, or a work implement of machine 100, to achieve greater precision of movements than would be possible through manual driver control. For example, a driver assistance mode may be associated with digging, cutting, milling, leveling, or the like operations of machine 100.

[0036] In one example, the driver assistance mode may be for grading operations performed by the machine 100. For example, in the driver assistance mode, the controller 128 may receive (e.g., via the driver interface 110) an input of a driver setting of a grading line (e.g., grading depth, or the like) to be targeted during the grading operation of the machine 100. As another example, in the driver assistance mode, the controller 128 may receive (e.g., from a remote device) a motion plan (e.g., a set of instructions) indicating a grading line to be targeted during the grading operation of the machine 100. When the driver assistance mode is enabled, the controller 128 may activate the driver assistance mode based on detecting (e.g., using the sensor 130) that the position of the work implement (e.g., bucket 118) is a threshold distance from the grading line. When the driver assistance mode is activated, the controller 128 may automate the movement of one or more members of the linkage assembly (e.g., linkage assembly 112), the work implement (e.g., bucket 118), or the like of the machine 100. For example, when a driver assistance mode is activated, the controller 128 may automate the movement of the boom member 114, the stick member 116, and / or the bucket 118 to maintain the position of the bucket 118 (e.g., the tines of the bucket 118) on the grade line.

[0037] The controller 128 may be configured to detect whether the position of the work implement (e.g., bucket 118) of the machine 100 satisfies a condition. The controller 128 may detect the position of the work implement using sensors 130. For example, the controller 128 may detect the position of the bucket 118 using one or more sensors 130 associated with the bucket 118, one or more sensors 130 associated with the stick members 116, one or more sensors 130 associated with the boom members 114, and / or one or more sensors 130 (e.g., for pitch and / or roll sensing) associated with the body 104 and / or machine body 106 (e.g., chassis) of the machine 100.

[0038] The condition may be that the position of the work implement is a threshold distance from the ground, from the machine 100, or the like. In one example, the condition may be that the position of the work implement is a threshold distance from a grade line (e.g., the work implement is moving toward a grade line), where the threshold distance from the grade line may be based on a different threshold distance from the grade line used to activate a driver assistance mode (e.g., the condition is associated with a driver assistance mode). For example, the threshold distance from the grade line may be farther from the grade line than a different threshold distance from the grade line used to activate a driver assistance mode. That is, when the work implement moves toward a grade line, the controller 128 may detect that the position of the work implement meets the condition before activating a driver assistance mode.

[0039] Controller 128 may be configured to cause closure (e.g., adjustment to the position) of valve 214c (e.g., controlling fluid flow through hydraulic circuit 210c, i.e., the first secondary hydraulic circuit) and valve 214d (e.g., controlling fluid flow through hydraulic circuit 210d, i.e., the second secondary hydraulic circuit). For example, controller 128 may cause closure of valves 214c and 214d based on determining that a driver assistance mode is enabled and / or based on detecting that the position of the work implement satisfies a condition (e.g., based on detecting that the position of the work implement is a threshold distance from the grade line).

[0040] To cause the closing of valves 214c and 214d, controller 128 may determine a first fluid flow setting (e.g., a fluid flow limit) for valve 214c and a second fluid flow setting for valve 214d. The first fluid flow setting and the second fluid flow setting may be the same value or different values. In some implementations, the first fluid flow setting and the second fluid flow setting may be a zero value (e.g., indicating that valves 214c and 214d are fully closed). Alternatively, the first fluid flow setting and the second fluid flow setting may be greater than a zero value (e.g., indicating that valves 214c and 214d are partially closed, such as 90% closed, 80% closed, 70% closed, or the like).

[0041] Thus, the controller 128 may cause the closure of valve 214c of hydraulic circuit 210c according to a first fluid flow setting and the closure of valve 214d of hydraulic circuit 210d according to a second fluid flow setting. For example, the controller 128 may provide a command associated with the first fluid flow setting to valve controller 216c to cause valve controller 216c to adjust the position of valve 214c according to the first fluid flow setting and provide a command associated with the second fluid flow setting to valve controller 216d to cause valve controller 216d to adjust the position of valve 214d according to the second fluid flow setting.

[0042] The controller 128 may cause the closure of the valves 214c and 214d to cause a reallocation of fluid flow through the hydraulic circuits 210a-210d. In some implementations, the controller 128 may cause a partial closure of the valves 214c and 214d. Alternatively, the controller 128 may cause a complete closure of the valves 214c and 214d. For example, upon detecting that the position of the work implement satisfies a condition, the controller 128 may begin causing the closure of the valves 214c and 214d such that the valves 214c and 214d are completely closed by the time (e.g., before) the driver assistance mode is activated. Stated differently, the controller 128 may cause the closure of the valves 214c and 214d based on determining that the driver assistance mode is activated. In some implementations, the amount of partial closure of the valve 214c may be different than the amount of partial closure of the valve 214d. In some implementations, one of the valves 214c and 214d may be completely closed, and the other of the valves 214c and 214d may be partially closed.

[0043] Closing of valves 214c and 214d may shut down or limit activation of hydraulic circuits 210c and 210d, respectively. For example, controller 128 may cause valves 214c and 214d to close until there is no fluid flow through hydraulic circuits 210c and 210d (e.g., hydraulic circuits 210c and 210d are shut down). In this manner, controller 128 may cause valves 214c and 214d to close to isolate first actuator 212a from second hydraulic pump 202b and to isolate second actuator 212b from first hydraulic pump 202a. For example, after valves 214c and 214d are closed (e.g., fully closed), control of the first actuator 212a (e.g., boom actuator 120) may be provided solely by the first hydraulic pump 202a and control of the second actuator 212b (e.g., stick actuator 122) may be provided solely by the second hydraulic pump 202b, thereby improving accuracy of actuation of the first actuator 212a and the second actuator 212b, for example, by minimizing or eliminating crosstalk between the operating hydraulic circuits.

[0044] The controller 128 may be configured to cause the valves 214c and 214d to open (e.g., relative to a currently closed state). For example, the controller 128 may cause the valves 214c and 214d to open based on determining that the driver assistance mode is stopped, based on determining that the driver assistance mode is disabled, and / or based on detecting that the position of the work implement (e.g., the bucket 118) meets different conditions. For example, the different condition may be that the position of the work implement is a threshold distance from the ground, the machine 100, or the like. In one example, the different condition may be that the position of the work implement is a threshold distance from a grade line. Here, the threshold distance from the grade line used to open the valves 214c and 214d may be different from the threshold distance from the grade line used to close the valves 214c and 214d, as described above. For example, the threshold distance from the grade line for opening valves 214c and 214d may be farther from the grade line than the threshold distance from the grade line for closing valves 214c and 214d.

[0045] To cause the opening of valves 214c and 214d, controller 128 may determine a new fluid flow setting for valve 214c and a new fluid flow setting for valve 214d in a manner similar to that described above. The new fluid flow settings for valves 214c and 214d may be greater than the first and second fluid flow settings used to close valves 214c and 214d (e.g., to thereby activate or increase the activation of hydraulic circuits 210c and 210d). As an example, the new fluid flow settings for valves 214c and 214d may be values ​​used prior to closing valves 214c and 214d, as described above. The controller 128 may provide commands associated with the new fluid flow setting for valve 214c to valve controller 216c, causing valve controller 216c to adjust the position of valve 214c in accordance with the new fluid flow setting, and may provide commands associated with the new fluid flow setting for valve 214d to valve controller 216d, causing valve controller 216d to adjust the position of valve 214d in accordance with the new fluid flow setting.

[0046] As noted above, Figure 3 is provided as an example. Other examples may differ from those described in connection with Figure 3.

[0047] Figure 4 is a flow chart of an example process 400 associated with electrical control of a hydraulic system. One or more process blocks of Figure 4 may be performed by a controller (e.g., controller 128). Additionally or alternatively, one or more process blocks of Figure 4 may be performed by another device or group of devices separate from or including the controller, such as another device or component internal or external to machine 100.

[0048] As shown in FIG. 4, process 400 may include determining that a driver assistance mode is enabled for a machine having a work implement (block 410). For example, a controller (e.g., using a processor, memory, storage component, or the like) may determine that a driver assistance mode is enabled for a machine having a work implement. The machine may include a first linkage member controlled by a first actuator, and a second linkage member connected to the work implement controlled by the first linkage member and a second actuator, as described above. The work implement may be a bucket, the first linkage member may be a boom member, and the second linkage member may be a stick member. The machine may include a first primary hydraulic circuit and a first secondary hydraulic circuit including the first actuator, and a second primary hydraulic circuit and a second secondary hydraulic circuit including the second actuator, as described above. The machine may include a first pump configured to flow fluid through the first primary hydraulic circuit and the second secondary hydraulic circuit, and a second pump configured to flow fluid through the second primary hydraulic circuit and the first secondary hydraulic circuit.

[0049] The driver assistance mode may be for a grading operation, a leveling operation, or a digging operation. The driver assistance mode may automate movement of one or more of the first linkage member, the second linkage member, or the work implement.

[0050] 4, process 400 may include detecting that a position of the work implement satisfies a condition associated with a driver assistance mode (block 420). For example, a controller (e.g., using a processor, memory, input components, or the like) may detect that a position of the work implement satisfies a condition associated with a driver assistance mode, as described above. The position of the work implement may be detected using one or more sensors associated with one or more of the bucket, stick members, or boom members.

[0051] The condition may be that the work implement position is a threshold distance from the grade line. The grade line may be according to a machine driver setting or a machine motion plan. The threshold distance from the grade line may be further from the grade line than a different threshold distance from the grade line that is used to activate a driver assistance mode.

[0052] As further shown in FIG. 4 , process 400 may include causing closure of a first valve controlling fluid flow through the first secondary hydraulic circuit and a second valve controlling fluid flow through the second secondary hydraulic circuit based on determining that the driver assistance mode is enabled and detecting that the position of the work implement satisfies a condition (block 430). For example, a controller (e.g., using a processor, memory, communication interface, or the like) may cause closure of the first valve controlling fluid flow through the first secondary hydraulic circuit and the second valve controlling fluid flow through the second secondary hydraulic circuit, as described above. The controller may cause full or partial closure of the first valve and the second valve. Caused the closure of the first valve and the second valve may isolate the first actuator from the second pump and isolate the second actuator from the first pump.

[0053] Causing the closing of the first valve and the second valve may include determining a first fluid flow setting for the first valve and a second fluid flow setting for the second valve, causing the closing of the first valve according to the first fluid flow setting, and causing the closing of the second valve according to the second fluid flow setting. Process 400 may include detecting that a position of the work implement satisfies a different condition, and causing the opening of the first valve and the second valve based on detecting that a position of the work implement satisfies the different condition.

[0054] 4 illustrates example blocks of process 400, in some implementations, process 400 may include additional, fewer, different, or differently arranged blocks than depicted in FIG 4. Additionally or alternatively, two or more of the blocks of process 400 may be performed in parallel. [Industrial Applicability]

[0055] The controller for a hydraulic system described herein can be used with any machine utilizing a hydraulic system. For example, the controller can be used with a machine utilizing a hydraulic system to control a machine and / or machine components. In particular, the controller is useful for controlling a hydraulic system utilizing multiple pumps to provide control of multiple actuators. For example, in a hydraulic system, control of a first actuator can be provided via a first primary hydraulic circuit controlled by a first pump and a first secondary hydraulic circuit controlled by a second pump. Continuing the example, in a hydraulic system, control of a second actuator can be provided via a second primary hydraulic circuit controlled by a second pump and via a second secondary hydraulic circuit controlled by the first pump. This configuration of the hydraulic system can result in fluid flow crosstalk that reduces the accuracy of the actuators.

[0056] The controller may determine that one or more criteria for reallocating flow through the multiple hydraulic circuits are met. For example, the criteria may be whether a driver assistance mode is enabled and / or whether the position of the work implement satisfies a condition, as described above. Based on determining that the criteria are met, the controller may cause closure (e.g., full or partial) of a valve controlling the secondary hydraulic circuit. Closing of the valve may isolate the first actuator from the second pump (e.g., so that the second pump does not provide control of the first actuator via the second secondary hydraulic circuit) and may isolate the second actuator from the first pump (e.g., so that the first pump does not provide control of the second actuator via the first secondary hydraulic circuit). In this manner, the first actuator and the second actuator may be controlled with greater precision, which is useful for operations requiring a high degree of precision (e.g., shovel grading operations performed when a user assistance mode is activated).

[0057] The foregoing disclosure provides illustration and description, 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.

[0058] 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").

Claims

1. A hydraulic system (200), a first actuator (212a) for controlling a first link mechanism member, a second actuator (212b) for controlling the first link mechanism member and a second link mechanism member connected to a working implement of a machine (100), a first primary hydraulic circuit (210a) and a first secondary hydraulic circuit (210c) including the first actuator (212a), a second primary hydraulic circuit (210b) and a second secondary hydraulic circuit (210d) including the second actuator (212b), a first pump (202a) for flowing fluid through the first primary hydraulic circuit (210a) and the second secondary hydraulic circuit (210d), a second pump (202b) for flowing fluid through the second primary hydraulic circuit (210b) and the first secondary hydraulic circuit (210c), a controller (128), which determines that a driver assistance mode is valid for the machine (100), and a controller (128) configured to cause closing of a first valve (214c) that controls the flow of fluid through the first secondary hydraulic circuit (210c) and a second valve (214d) that controls the flow of fluid through the second secondary hydraulic circuit (210d) based on determining that the driver assistance mode is valid, The hydraulic system (200) comprising the above.

2. The hydraulic system (200) according to claim 1, wherein the working implement is a bucket (118), the first link mechanism member is a boom member (114), and the second link mechanism member is a stick member (116).

3. The hydraulic system (200) according to claim 1, wherein the controller (128) is configured to cause closing of the first valve (214c) and the second valve (214d) to separate the first actuator (212a) from the second pump (202b) and the second actuator (212b) from the first pump (202a).

4. The controller (128) that causes closing of the first valve (214c) and the second valve (214d), determines a first fluid flow setting for the first valve (214c) and a second fluid flow setting for the second valve (214d), configured to cause closing of the first valve (214c) by the flow setting of the first fluid and closing of the second valve (214d) by the flow setting of the second fluid The hydraulic system according to any one of claims 1 to 3.

5. determining that a driver assistance mode is effective for a machine (100) having a work implement, wherein a first link mechanism member of the machine (100) is controlled by a first actuator (212a), and a second link mechanism member of the machine (100) connected to the first link mechanism member and the work implement is controlled by a second actuator (212b), determining that a first primary hydraulic circuit (210a) and a first secondary hydraulic circuit (210c) include the first actuator (212a), and a second primary hydraulic circuit (210b) and a second secondary hydraulic circuit (210d) include the second actuator (212b), detecting that the position of the work implement satisfies a condition related to the driver assistance mode, based on determining that the driver assistance mode is effective and detecting that the position of the work implement satisfies the condition, causing closing of a first valve (214c) that controls the flow of fluid through the first secondary hydraulic circuit (210c) and a second valve (214d) that controls the flow of fluid through the second secondary hydraulic circuit (210d), A method comprising:

6. The method according to claim 5, wherein the condition is that the position of the work implement is a threshold distance from a leveling line.

7. The method according to claim 6, wherein the threshold distance from the leveling line is farther from the leveling line than a different threshold distance from the leveling line used to activate the driver assistance mode.

8. The method according to claim 5, wherein the driver assistance mode is for a leveling operation, a leveling operation, or a digging operation.

9. The method according to claim 5, wherein the driver assistance mode automates movement of one or more of the first link mechanism member, the second link mechanism member, or the work implement.

10. detecting that the position of the work implement satisfies different conditions Based on detecting that the position of the working implement satisfies the different conditions, causing the first valve (214c) and the second valve (214d) to open, and The method according to any one of claims 5 to 9, further comprising.

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