A method for controlling civil engineering work tools and propulsion using work machinery and joystick input.

Abstract

Enhancement of the existing system. [Solution] In the first mode, the excavator and other work machines determine a first target value for the operation of the traction unit based on an electronic signal from the foot pedal, and a second target value for the operation of the civil engineering work tool based on a signal from a joystick (1 or more). In the second (straight motion) operation mode, the first target value for the operation of the traction unit is determined based on a signal from a slide switch in addition to / in place of the signal from the foot pedal. Based on the determined first target value, a control signal is generated for controlling the traction unit, and based on the determined second target value, a control signal is generated for controlling the civil engineering work tool.

Description

Technical Field

[0001]

[0001] The present disclosure generally relates to a work machine having a traction unit that contacts the ground and a user interface unit such as a foot pedal or a joystick, and more specifically, to a system and method having at least one operating mode for propulsion control of the traction unit based on joystick input and for operation control of a civil engineering work tool.

Background Art

[0002]

[0002] This type of work machine can include, among others having a traction unit, an excavator machine such as a skid steer loader. Conventional control of the propulsion and steering of an excavator is typically provided via foot pedals that independently control the traction units on the left and right of the machine's chassis. Further control for such an excavator can be provided via one or more manually operable joysticks. For example, movement along the x-axis and y-axis of a joystick can control a civil engineering work tool or other implement associated with the work machine, and a slide switch (e.g., a variable switch, roller, or equivalent user interface device) can be incorporated into one or more joysticks to further control auxiliary functions with respect to the work machine.

[0003]

[0003] In particular, when controlling the movement of a work machine over long distances, the operator needs to maintain involvement with both pedals, and performing these controls can be uncomfortable. One known technique to address this problem in a more ergonomic way involves a mode known as “stick steer,” which uses a joystick instead of foot pedals to command movement, in which case the operator can command forward / backward movement using the y-axis of the joystick, and direction using the left / right x-axis of the joystick. However, one limitation of stick steer is that the operator loses the basic function of the joystick that is replaced by stick steer, and typically, in “stick steer” drive mode, the operator is restricted from using swing and arm commands. [Overview of the project]

[0004]

[0004] The herein disclosure provides an enhancement to conventional systems by introducing novel work machines, control systems, and methods that enable a work machine operator to drive the machine in an ergonomic manner while maintaining complete control over the basic functions of the machine.

[0005]

[0005] In one particular exemplary embodiment, a method is provided for controlling a plurality of traction units configured to operate independently in a forward or backward direction to propel the work machine across the ground surface, and for further controlling one or more operations associated with at least one civil engineering work tool of the work machine, in each of a plurality of selectable operating modes. Electronic signals are received during the operation of the work machine, and the electronic signals include a first set of signals representing the amount of user engagement to each of the left and right foot pedals mounted in the cab of the work machine; a second set of signals representing the amount of user engagement to each of the one or more joysticks mounted in the cab of the work machine along the x and / or y axes relative to a neutral position; and a third set of signals representing the amount of user engagement to each of the one or more slide switches incorporated into the one or more joysticks. In the first mode, one or more first target values ​​for the operation of the plurality of traction units are determined based on the first set of signals, and one or more second target values ​​for the operation of at least one civil engineering work tool are determined based on the second set of signals. In the second operating mode, one or more first target values ​​for the operation of multiple traction units are determined based on the third set of signals, and one or more second target values ​​for the operation of at least one civil engineering tool are determined based on the second set of signals. Based on the one or more determined first target values, control signals are generated for one or more actuators to control multiple traction units, and based on the one or more determined second target values, control signals are generated for one or more actuators to control at least one civil engineering tool.

[0006]

[0006] In an exemplary feature as one option according to the embodiment of the method described above, a first slide switch can be incorporated into the first joystick, thereby allowing a third set of signals generated during the second operating mode to be used to determine a first target value for controlling each of the multiple traction units at a common speed.

[0007]

[0007] In an exemplary feature as another option according to the embodiment of the method described above, a first slide switch and a second slide switch may be provided, thereby a third set of signals generated during the second operating mode, including a signal from the first slide switch applied to command forward or backward propulsion via the multiple traction units, and a signal from the second slide switch applied to command left or right steering via the multiple traction units.

[0008]

[0008] In an exemplary feature as another option according to the embodiment of the method described above, the first slide switch and the second slide switch can be incorporated into the first joystick and the second joystick, respectively.

[0009]

[0009] In an exemplary feature as another option according to the embodiment of the method described above, a first slide switch can be incorporated into the first joystick, thereby applying a third set of signals generated during the second operating mode to command forward or backward propulsion via multiple traction units, and further applying signals from the left and right foot pedals to command left or right steering via multiple traction units.

[0010]

[0010] In another exemplary embodiment disclosed herein, the work machine includes a plurality of traction units configured to operate independently in a forward or backward direction to propel the work machine across the ground surface; at least one civil engineering work tool configured to perform civil engineering operations when the work machine is being propelled across the ground surface and / or through the movement of at least one civil engineering work tool relative to the frame of the work machine; left and right foot pedals mounted in the cab of the work machine, configured to generate a first set of signals representing user engagement therewith; one or more joysticks mounted in the cab of the work machine, configured to generate a second set of signals for each joystick representing the amount of user engagement along the x and / or y axes relative to a neutral position; and one or more slide switches incorporated into one or more joysticks, configured to generate a third set of signals representing the amount of user engagement for each joystick. One or more processors are configured to instruct the process in the manner of the above-described embodiment, and optionally, one or more of the exemplary features thereof.

[0011]

[0011] Many of the purposes, features, and advantages of the embodiments described herein will become apparent to those skilled in the art if the following disclosure is read in conjunction with the accompanying drawings. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a side view representing an excavator as an exemplary self-propelled work machine according to an embodiment of the present disclosure. [Figure 2] Figure 2 is a simplified perspective view representing a user interface tool in an operator station according to the present disclosure, which includes a pair of hand-operated joysticks with various slide switches. [Figure 3]Figure 3 is an overhead view showing the forward / backward motion of an endless track with respect to an excavator according to an embodiment of the present disclosure. [Figure 4] Figure 4 is a block diagram illustrating an exemplary control system according to an embodiment of the present disclosure. [Figure 5] Figure 5 is a flowchart illustrating an example embodiment of the method described herein. [Modes for carrying out the invention]

[0013]

[0017] Referring here to Figure 1-5, various embodiments of a work machine, a control system, and a method for enabling the operator of the work machine to ergonomically drive the machine using a slide switch (an interface tool in the operator's cab, integrated into one or more joysticks and manually operable), while maintaining complete control of the machine's basic functions using the movement of the joystick itself, will be described here.

[0014]

[0018] Figure 1 shows a typical self-propelled work machine 120, for example, in the form of a tracked excavator machine. While the excavator is described here primarily as an example of work machine 120, other types of work machines within the scope of this disclosure may include, in various embodiments, loaders, bulldozers, motor graders, or other construction, agricultural, or work vehicles.

[0015]

[0019] The work machine 120 includes a chassis 122 containing first and second traction units 124. The traction units described herein are in the form of tracks, but alternative embodiments within the scope of this disclosure include, for example, wheels. Figure 1 shows only one of the traction units. The other traction unit is positioned in parallel with the shown traction unit. Each of the traction units 124 may typically include a front idler wheel, a drive wheel, and a track chain extending around the front idler wheel and the drive wheel. A travel motor for each traction device drives its individual drive wheel. The traction units can be driven at the same speed to move the chassis forward (e.g., in the forward direction indicated by arrow 126) or backward (e.g., in the opposite direction to arrow 126) relative to the terrain 128 below (e.g., the ground or other material supporting the chassis). Furthermore, the traction unit can be driven at different speeds to allow the chassis to turn at a certain angle relative to the terrain, with respect to the forward direction indicated by arrow 126.

[0016]

[0020] The main frame 130 is supported from the chassis 122 by a slewing bearing 132, so that the main frame can pivot relative to the chassis about a main frame slewing axis 134. The slewing axis is substantially vertical when the ground terrain 128 below, which is engaged with the traction unit 124, is substantially horizontal. (In this description, “horizontal” and “vertical” refer to the plane defined by the traction unit.) A slewing motor (not shown) is configured to pivot the main frame at the slewing bearings about the slewing axis relative to the chassis.

[0017]

[0021] In an exemplary embodiment where the working machine 120 is an excavator, the working implement 140 extends from the main frame 130. In Figure 1, the working implement is configured as a boom mechanism. The working implement includes conventional components in the form of a boom 142, an arm 144, and a working tool 146. The working tool includes a point of interest (POI) 148, which engages with the portion of terrain (or other material) to be moved or removed.

[0018]

[0022] The boom 142 is connected to the main frame to pivot via a boom-frame link joint 150, which provides a horizontal pivot axis relative to the boom. The arm is connected to the boom to pivot at an arm-boom link joint 152. In the exemplary embodiment, the working tool 146 is the excavator's shovel, which is connected to the arm to pivot at a working tool-arm link joint 154 located near the free end of the arm 144. In the exemplary embodiment, the first end of the dogbone connector 160 is connected to the arm to pivot at a dogbone-arm link joint 162, offset from the free end of the arm. The second end of the dogbone connector is connected to the tool link 164 to pivot. In the exemplary (excavator) working machine 120 environment, the tool link is the bucket link.

[0019]

[0023] The boom 142 is moved to pivot relative to the main frame 130 by a boom actuator 170. The boom actuator can be a hydraulic motor. In the exemplary embodiment, the boom actuator is a hydraulic piston-cylinder unit to which pressurized hydraulic fluid is selectively supplied to move a piston in a cylinder to extend or retract the piston. The pressurized hydraulic fluid is supplied by a hydraulic system (not shown) and is controlled by manual control, automatic control, or a combination of manual and automatic control. Similarly, the arm 144 is made to pivot relative to the boom by an arm actuator 172. The work tool (bucket) 146 is made to pivot relative to the arm by a work tool actuator 174 acting on the work tool via a dogbone connector 160, a dogbone-arm link joint 162, and a tool link 164.

[0020]

[0024] The work implement 140 extends from the main frame 130 along the working direction of the work implement (indicated by arrow 176). In Figure 1, the working direction is based on the main frame. The working direction is shown as being parallel to the forward direction of the chassis 122 (arrow 126), but it may be at a certain angle to the forward direction depending on the rotational position of the main frame relative to the chassis. The working direction can also be described as the working direction of the boom 142.

[0021]

[0025] As described herein, the control of the work implement 140 involves controlling the positional adjustment of one or more components (e.g., boom 142, arm 144, and work tool 146) in order to control the movement of the point of interest 148 of the work tool with respect to the material being manipulated (e.g., the material being moved or removed).

[0022]

[0026] The actuators 170, 172, 174 of the work implement 140 can be selectively actuated to pivot the boom 142 with respect to each boom-frame link joint 150, and / or to pivot the arm 144 with respect to the arm-boom link joint 152, and / or to pivot the work tool 146 with respect to the work-tool-arm link joint 154. By adjusting the movements of the boom, arm, and work tool of the work implement, the point of interest of the work tool is caused to engage and act on the material and be operated at a target speed along a selected trajectory. The selected trajectory can be curved as shown (e.g., by pivoting the work tool about the work-tool-arm link joint or by pivoting the arm about the arm-boom link joint). Also, the selected trajectory can be made linear by adjusting the pivoting of the boom, arm, and work tool using inverse kinematics techniques or other suitable techniques (e.g., open-loop modeling) for determining the respective pivoting speeds of the three components of the work implement 140.

[0023]

[0027] The main frame 130 also supports an engine 196 that supplies power to the work machine 120. The engine can be a diesel internal combustion engine or other power source. In an exemplary embodiment, the engine drives at least one hydraulic pump (not shown) to provide hydraulic force to various operating systems of the work machine.

[0024]

[0028] In an exemplary embodiment, the cab 192 is located on the main frame 130. In an exemplary embodiment, since both the cab and the work implement 140 are attached to the main frame, the cab faces the working direction (arrow 176) of the work implement. In an exemplary embodiment, the control station 194 is located within the cab 192. The control station 194 includes user interface devices 202 that are selectively engaged with the operator to issue commands regarding the performance of the various components and the operation of the work machine 120.

[0025]

[0029] Although not explicitly shown in FIG. 1, as shown by reference in FIG. 4 as part of the machine control system 200, the user interface device 202 may include at least left and right foot pedals 204, one or more (e.g., left and right) joysticks 206, and one or more slide switches 208.

[0026]

[0030] As shown in FIG. 2, each of the left joystick 206a and the right joystick 206b can include respective slide switches 208a-b and further switches (e.g., toggle switches, rocker switches, push button switches) 210a-b, 212a-b, 214a-b, 216a-b, 218a-b, 220a-b. Those skilled in the art will understand that the presented configuration is merely exemplary and that it may be possible to incorporate a smaller number or additional devices into one or both joysticks, and that the joysticks themselves may be of different forms. The term "joystick" can include, for example, mechanical devices 206a, 206b such as those shown in FIG. 2, which generate signals in response to its movement 222 in one or both of the x-axis and the y-axis, but can also include a touch screen console, virtual device or others having equivalent interface functions, where in the virtual device, the interface function is made available via the movement of the operator detected in relation to the virtual device.

[0027]

[0031] As schematically shown in Figure 4, the self-propelled work machine 120 includes or is associated with a control system 200, the control system 200 includes a controller 240, the controller 240 which receives input from various user interface devices 202, the user interface devices 202 including, for example, at least left and right foot pedals 204, one or more (e.g., left and right) joysticks 206, and one or more slide switches 208. The controller can be part of the machine control system of the work machine 120 or it can be a separate control module. Optionally, the controller is mounted at the control station 194 in the operator's cab 192. The machine controller may include or be functionally linked to a control panel with a display unit 258.

[0028]

[0032] Although not explicitly shown in Figure 4, the controller 210 can receive signals from the machine control system, machine positioning sensors such as a global navigation satellite system (GNSS) receiver, ground speed sensors, and steering sensors, and / or signals from work tool position sensors such as a rotary pin encoder mounted on a swivel pin to detect the relative rotational position of individual components, or a linear encoder mounted on a hydraulic cylinder to detect the extension of individual hydraulic cylinders. Additional sensors can be provided and configured to produce signals representing the position, state, or speed of individual actuators, including individual work machine components and associated hydraulic piston-cylinder units.

[0029]

[0033] The controller 240 can be configured to generate control signals for controlling the operation of individual actuators associated with the left track control unit 260, the right track control unit 262, the civil engineering tool control unit 264, the auxiliary control unit 266, etc., or to generate signals for indirect control via an intermediate device. The machine controller 240 can generate control signals for controlling the operation of various actuators such as hydraulic motors and hydraulic piston-cylinder units. The control signals from the controller can be received by electro-hydraulic control valves associated with the actuators, thereby controlling the operation of the individual hydraulic actuators by controlling the flow of hydraulic fluid to and from them in response to the control signals from the controller.

[0030]

[0034] If the civil engineering work tool 140 includes a number of independently operable components, such as components of a boom mechanism, as shown in Figure 1, the control signals to the associated control unit 264 may be generated based at least in part on information provided by sensors attached to various components. In one embodiment, with respect to each of the at least one link joint associated with the civil engineering work tool 140 (e.g., each of the combined components in the boom mechanism), the sensing component from the received work tool position sensor output signal can be merged at least in part into an independent coordinate frame associated with the individual link joint, which is independent of the global navigation frame with respect to the work machine 120, for example, the measurements received by the work tool position sensor can be merged to produce a desired output in the work tool of the work machine.

[0031]

[0035] Alternative position sensors for the civil engineering work tool 140 include, for example, a rotary pin encoder mounted on the swivel pin to detect the relative rotational position of each component, and a linear encoder mounted on the hydraulic cylinder to detect the individual extension of the hydraulic cylinder. Additional sensors can be provided and configured to produce speed measurement signals representing speed measurements of individual actuators, including the individual components of a work implement (e.g., a boom mechanism) and associated hydraulic piston-cylinder units.

[0032]

[0036] In one embodiment corresponding to the work machine 120 shown in Figure 1, the control of the work implement 140 involves controlling the arrangement of one or more related components (e.g., boom 142, arm 144, and work tool 146) to control the movement of the point of interest 148 of the work tool with respect to the material being operated on (e.g., material to be moved or removed).

[0033]

[0037] The actuators 170, 172, and 174 of the workpiece 140 can be selectively actuated to pivot the boom 142 with respect to the respective boom-frame link joint 150, and / or the arm 144 with respect to the arm-boom link joint 152, and / or the work tool 146 with respect to the work tool-arm link joint 154. By coordinating the movements of the boom, arm, and work tool of the workpiece, the point of interest of the work tool is made to engage with and act on the material and be operated at a target speed along a selected trajectory. The selected trajectory can be curvilinear as shown (for example, by pivoting the work tool around the work tool-arm link joint or by pivoting the arm around the arm-boom link joint). Furthermore, the selected trajectory can be made linear by adjusting the rotation of the boom, arm, and work tool using inverse kinematics techniques or other appropriate techniques (e.g., open-loop modeling) to determine the rotational speed of each of the three components of the work equipment 140.

[0034]

[0038] The controller 240 may include, or be associated with, a processor 250, a computer-readable medium 252, a communication unit 254, data storage 256 such as a database network, and the user interface (control panel) having various user interface devices 202 and a display unit 258 that allow a human operator to input commands to the controller.

[0035]

[0039] The controller described here can be a single controller possessing all the desired functions, or it can include multiple controllers, in which case the desired functions are distributed among the multiple controllers. Data storage can generally include hardware such as volatile or non-volatile storage devices, drives, memory, or other storage media, and one or more databases residing within them.

[0036]

[0040] Although not specifically shown in Figure 4, in some embodiments, the controller 240 of the work machine 120 can further receive input from a user and associated remote device via an individual user interface, such as a display unit with a touchscreen interface, and generate output to the remote device. For example, the transmission of data between the machine control system and the remote user interface can take the form of a wireless communication system and associated components that are conventionally known in the art. In certain embodiments, the remote user interface and the vehicle control system for the individual work machine can further function with or interact with a remote server or other computing device in order to perform specific operations in the system disclosed herein.

[0037]

[0041] Various “computer-implemented” operations, steps, or algorithms described in relation to the controller 240, or in relation to a substitute but equivalent computing device or system, can be implemented directly in hardware, or in computer program products such as software modules executed by the processor 250, or in a combination of both. Computer program products can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, or any other form of computer-readable medium 252 known in the art. An exemplary computer-readable medium 252 can be coupled with the processor 250, enabling the processor 250 to read information from and write information to the memory / storage medium 252. Alternatively, the computer-readable medium 252 can be integrated with the processor 250. The processor 250 and the computer-readable medium 252 can reside within an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, the processor 250 and the media 252 can exist as separate components in the user terminal.

[0038]

[0042] The term “processor” as used herein may refer to at least general-purpose or specific-purpose processing devices and / or logic, as understood by those skilled in the art, including but not limited to microprocessors, microcontrollers, and state machines. Furthermore, a processor can be implemented as a combination of computing devices (e.g., a combination of a digital signal processor (DPS) and a microprocessor), multiple microprocessors, one or more microprocessors associated with a DPS core, or any other such configuration.

[0039]

[0043] The communication unit 254 can support or provide communication between the machine controller 240 and an external system or device, and / or support or provide a communication interface with respect to the internal components of the self-propelled work machine 120. The communication unit 254 may include wireless communication system components (e.g., via a cellular modem, Wi-Fi® system, Bluetooth® system, etc.) and / or may include one or more wired communication terminals, such as a universal serial bus port.

[0040]

[0044] Referring now to Figure 5, an exemplary embodiment of the method of operation 300 is described here, still using an excavator as an example of the work machine 120 for illustrative purposes. Unless otherwise explicitly stated, various steps of the method may be performed at the level of the local work machine controller 240, and / or at the level of the work machine operator or other users and associated computing devices, and / or at the level of one or more remote servers linked to communicate. While the exemplary embodiment may include a particular sequence of steps, inputs, outputs, etc., it should be understood that, unless otherwise specifically stated herein, in other embodiments, within the scope of this disclosure, certain steps may be combined, performed in a different order, or even omitted entirely.

[0041]

[0045] The exemplary method 300 begins, for example, in step 302, which involves the operation of a general work machine 120, and further, in some embodiments, involves user selection 304 of a specific operating mode. In some embodiments, the operating mode may be selected automatically or at least partially automatically, for example, by prompting the operator and confirming via user input. As further described below, electronic signals representing mechanical operator input (e.g., via a joystick, slide switch, and foot pedal) are provided to a controller, which then mediates, depending on the operating mode, which final output command the hydraulic system should respond to.

[0042]

[0046] In a first operating mode 306, which can be characterized as a standard operating mode for illustrative purposes, method 300 includes steps 310, 312, 314 for receiving input signals corresponding to user engagement of one or more slide switches incorporated into the joystick, for receiving input signals corresponding to changes in one or more joysticks along the x and / or y axes with respect to a neutral position, and for receiving input signals corresponding to user engagement and operation of each of the first and / or second foot pedals.

[0043]

[0047] Although not shown, in some embodiments, each foot pedal can be associated with a lever mechanically attached thereto, allowing at least partial manual control of individual functions. The operator can use the left and right foot pedals in at least the first mode 306, and can control the speed of the traction units 124A, 124B by moving the left and right foot pedals 202, 204 by a desired distance. In a certain operation, the operator can specify a desired speed for the engine and a desired speed for the traction unit motor via one or more speed inputs, and then the operator can fine-tune or adjust the speed of the work machine 120 using at least the left and right foot pedals 204. The operator can also use the foot pedals to control the direction of movement of the traction unit, which is done by moving the foot pedals in any desired direction, forward or backward. The operator can command the machine to move forward by pushing the desired foot pedal forward (for example, by applying pressure with the ball of the operator's foot), and can command the machine to move backward by pushing the desired foot pedal backward (for example, by applying pressure with the heel of the operator's foot).

[0044]

[0048] Referring to Figure 3, typically, the left foot pedal generates a signal representing the desired forward or backward propulsion control with respect to the left traction unit 124A, and the right foot pedal generates a signal representing the desired forward or backward propulsion control with respect to the right traction unit 124B.

[0045]

[0049] As shown in Figure 5, and in connection with the first operating mode 306, input signals received via the slide switch 310 can be used to control one or more low-flow and / or primary auxiliary functions via the auxiliary control unit 266. Input signals received via changes in the joystick 312 can be used to control civil engineering tools (or equivalent machine-mounted, machine-integrated, or other mounted work implements) via the civil engineering work tool control unit 264. Input signals received via user engagement and operation of the left and right foot pedals 314 can be used to control the left and right tracks, respectively, via the left and right track control units 260, 262.

[0046]

[0050] In a second operating mode 308, which can be characterized for illustrative purposes as a straight motion operating mode, method 300 includes the step 316 of receiving input signals corresponding to changes in one or more joysticks along the x and / or y axes with respect to a neutral position, and the step 318 of receiving input signals corresponding to the user engaging one or more slide switches incorporated into the joystick, and in some embodiments, the step 314 of receiving input signals corresponding to the user engaging and operating each of the first and / or second foot pedals.

[0047]

[0051] As shown in Figure 5, and also in connection with the second operating mode 308, the input signal 318 received via the slide switch can be used for the control of the left and right tracks, respectively, via the left and right track control units 260, 262. As shown in Figure 2, in one embodiment, one of the slide switches 208b can be configured vertically, and user input to it generates a signal to equally drive both the left traction unit 124A and the right traction unit 124B of the work machine 120, thereby providing linear track motion in the forward or backward direction, at least theoretically, in response to the user input to the slide switch 208b. However, conventional operation of work machines using a single input (primarily from a single foot pedal configured in such a way) with respect to motion in the "linear" direction has known problems, including the possibility of the work machine starting to run off course. Various exemplary reasons why a machine may start running off course include, but are not limited to, slight misalignment in the machine tracking system causing one traction unit to operate at a slightly different speed than another; changes in terrain causing the tracks or road to be non-straight; different traction conditions between left and right traction units causing slight mistracking; and the machine's direction not being properly established at the start of tracking.

[0048]

[0052] Accordingly, in one embodiment, another slide switch 208a can be configured horizontally, and user input to it generates a signal for independently adjusting the relative motion speed of the left traction unit 124A and the right traction unit 124B, thereby allowing the work machine 120 to be steered to the left or right in response to user input instructions to the slide switch 208a.

[0049]

[0053] Where first and second slide switches are implemented, it will be understood that the configuration of such slide switches is not limited to that shown in Figure 2, and that various embodiments within the scope of this disclosure may include the two slide switches being reversed from the exemplary configuration, the two slide switches being incorporated into the same joystick, or having only a single slide switch on either joystick.

[0050]

[0054] In one embodiment, only a single slide switch 208b can be provided to enable equal drive signals to both the left traction unit 124A and the right traction unit 124B of the work machine 120, in which case linear motion is easily provided, while still allowing the operator to engage the left and / or right foot pedals to independently adjust the relative speed of motion between the left traction unit 124A and the right traction unit 124B, thereby enabling the work machine 120 to be steered to the left or right.

[0051]

[0055] In embodiments where left and right foot pedals are used to control the steering of the work machine to the left and right, in addition to the linear forward / backward propulsion control enabled by a first slide switch, Method 300 may include normalizing the signals received from each input to a common unit scale (e.g., a percentage scale), adding each of the left and right signals to the first slide switch signal to generate their respective track command signals, and normalizing each track command signal to generate their respective control outputs for the left and right track control units. This technique may have the effect of reducing the command to one traction unit when the operator is attempting to inject a signal to the opposite traction unit, ultimately causing the machine to turn correctly in the direction the operator desires by reducing the speed of one traction unit and not increasing the speed of the other.

[0052]

[0056] Similarly, in embodiments where multiple slide switches are used, a left or right "swipe" of a horizontal slide switch (or equivalent) can generate a signal to shift the value of the signal received from the vertical slide switch (alone, in addition to itself, or determined in consideration of the reference speed setting), thereby generating independent control outputs for the left and right track control units, respectively.

[0053]

[0057] In various embodiments of the second operating mode 308 described herein, the operator may be temporarily unable to issue commands with respect to the low-flow and primary auxiliary systems until returning to the first mode 306. However, the second operating mode 308 offers various advantages over the prior art, including clear benefits such as enabling the operator to easily follow a straight line when working machine operations such as dredging are being performed, and when full control of the core functions of the working machine is always possible without requiring the operator to stop the machine and switch operating modes.

[0054]

[0058] The phrase "one or more" used here, when used with a list of items, means that various combinations of one or more items may be used, and that only one of each item in the list may be used. For example, "one or more" of items A, B, and C could, without limitation, include item A, or items A and B. This example could also include items A, B, and C, or items B and C.

[0055]

[0059] Accordingly, it will be found that the apparatus and methods of this disclosure readily achieve the stated objectives and benefits, as well as their original objectives and benefits. While specific preferred embodiments of this disclosure have been illustrated and described for presentation purposes, those skilled in the art can make numerous modifications to the arrangement and configuration of parts and processes, such modifications falling within the scope and spirit of this disclosure as set forth in the appended claims. Each disclosed feature or embodiment can be combined with any of the other disclosed features or embodiments.

Claims

1. A method (300) for controlling a plurality of traction units (124) configured to operate independently in a forward or backward direction to propel a work machine (120) across a ground surface (128) in each of a plurality of selectable operating modes, and for further controlling one or more operations associated with at least one civil engineering work tool (140) of the work machine, Receiving an electronic signal during the operation of the work machine, wherein the electronic signal is A first set of signals (312) representing the amount of user engagement on the left and right foot pedals (204) mounted in the operator's cab of the aforementioned work machine, A second set of signals (312, 316) representing the amount of user engagement along one or both of the x and y axes relative to the neutral position, to one or more joysticks (206) mounted in the operator's cab of the aforementioned work machine, A third set of signals (310, 318) representing the amount of user engagement on each of the one or more slide switches (208) incorporated into the one or more joysticks, and Including receiving, In the first mode (306), one or more first target values ​​relating to the operation of the plurality of traction units are determined based on the first set of signals, and one or more second target values ​​relating to the operation of at least one civil engineering work tool are determined based on the second set of signals, In the second operating mode (308), one or more first target values ​​relating to the operation of the plurality of traction units are determined based on the third set of signals, and one or more second target values ​​relating to the operation of at least one civil engineering work tool are determined based on the second set of signals, Based on the determined one or more first target values, a control signal is generated for one or more actuators for controlling the plurality of traction units (322), and based on the determined one or more second target values, a control signal is generated for one or more actuators for controlling the at least one civil engineering work tool (324). A method that includes this.

2. A method according to claim 1, wherein a first slide switch is incorporated into a first joystick, and the third set of signals generated therein during the second operating mode is used to determine a first target value for controlling each of the plurality of traction units at a common speed.

3. A method according to claim 1, wherein a first slide switch and a second slide switch are provided, the third set of signals generated by thereon during the second operating mode, includes a signal from the first slide switch which is applied to command forward or backward propulsion through the plurality of traction units, and a signal from the second slide switch which is further applied to command left or right steering through the plurality of traction units.

4. A method according to claim 3, wherein the first slide switch and the second slide switch are incorporated into a first joystick and a second joystick, respectively.

5. A method according to claim 1, wherein a first slide switch is incorporated into a first joystick, and the third set of signals generated thereon during the second operating mode are applied to command forward or backward propulsion via the plurality of traction units, and signals from the left and right foot pedals are further applied to command left or right steering via the plurality of traction units.

6. A working machine (120), Multiple traction units (124) configured to operate independently in a forward or backward direction to propel the work machine across the ground surface (128), At least one civil engineering work tool (140) configured to perform civil engineering work operations when the work machine is being propelled across the ground surface, or to perform civil engineering work operations through the movement of the at least one civil engineering work tool relative to the frame (130) of the work machine, or to perform civil engineering work operations through the movement of the at least one civil engineering work tool relative to the frame (130) of the work machine when the work machine is being propelled across the ground surface, Left and right foot pedals (204) mounted in the operator's cab (192) of the aforementioned work machine, configured to generate a first set of signals (314) indicating user engagement therewith, One or more joysticks (206) mounted in the operator's cab (192) of the aforementioned work machine, each joystick (206) is configured to generate a second set of signals (312, 316) representing the amount of user engagement along one or both of the x and y axes relative to the neutral position, One or more slide switches (208) incorporated into the one or more joysticks, each configured to generate a third set of signals (310, 318) representing the amount of user engagement for each of the slide switches (208), One or more processors (240, 250), In the first mode (306), one or more first target values ​​relating to the operation of the plurality of traction units are determined based on the first set of signals, and one or more second target values ​​relating to the operation of at least one civil engineering work tool are determined based on the second set of signals. In the second operating mode (308), one or more first target values ​​for the operation of the plurality of traction units are determined based on the third set of signals, and one or more second target values ​​for the operation of at least one civil engineering work tool are determined based on the second set of signals. Based on the determined one or more first target values, control signals are generated for one or more actuators to control the plurality of traction units (322), and based on the determined one or more second target values, control signals are generated for one or more actuators to control the at least one civil engineering work tool (324). Processors (240, 250) configured as follows and A work machine (120) including the following.

7. A work machine according to claim 6, wherein a first slide switch is incorporated into a first joystick, and the third set of signals generated thereon during the second operating mode are used to determine a first target value for controlling each of the plurality of traction units at a common speed.

8. A work machine according to claim 6, wherein a first slide switch and a second slide switch are provided, and the third set of signals generated thereon during the second operating mode includes a signal from the first slide switch which is applied to command forward or backward propulsion via the plurality of traction units, and a signal from the second slide switch which is further applied to command left or right steering via the plurality of traction units.

9. A work machine according to claim 8, wherein the first slide switch and the second slide switch are incorporated into a first joystick and a second joystick, respectively.

10. A work machine according to claim 6, wherein a first slide switch is incorporated into a first joystick, and the third set of signals generated thereon during the second operating mode are applied to command forward or backward propulsion via the plurality of traction units, and signals from the left and right foot pedals are further applied to command left or right steering via the plurality of traction units.

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