Control techniques for a travel rotary mixer to enter and exit a cut

Abstract

Disclosed herein is a rotor control system for a rotary mixer including a set of extendable legs, a rotor having a set of extendable attachments, an operator control device, and a controller. The controller can generate control signals to cause return-to-cut operations to be performed. For example, in response to detecting a return-to-cut control command via the operator control device and while a return-to-cut control remains engaged, the mixer can be lifted, and in response to determining that the return-to-cut control is disengaged, the controller can determine a target rotor position and cause the set of extendable attachments to bring the rotor to the target rotor position. In some implementations, the controller can be further configured to cause automatic return-to-cut operations to be performed in response to an operator interaction with a small set of controls sufficient to case the operation to be automatically performed.

Description

BACKGROUND

[0001] The term “industrial equipment” refers to heavy-duty machinery that can be used in manufacturing, construction, or other industrial settings. Industrial equipment can include a wide range of machines, such as rotary mixers, trucks, pavers, cold planers, conveyors, generators, excavators, forklifts, boilers, and other equipment. As an example of industrial equipment, an industrial rotary mixer is a type of large-scale equipment used in various industries, such as construction, manufacturing, and materials processing, to crush, extract, combine and blend bulk materials like concrete, asphalt, aggregates, and powders.BRIEF DESCRIPTION OF THE DRAWINGS

[0002] Detailed descriptions of implementations of the present invention will be described and explained through the use of the accompanying drawings.

[0003] FIG. 1 is a component diagram showing an example rotor control system for a rotary mixer, according to some arrangements.

[0004] FIGS. 2A and 2B are component diagrams showing an example rotor control device, according to some arrangements.

[0005] FIG. 3 is a flowchart showing showing an example rotor control method for exiting a cut, according to some arrangements.

[0006] FIGS. 4 and 5 are flowcharts showing showing example rotor control methods for entering a cut, according to some arrangements.

[0007] FIG. 6 is a block diagram that illustrates an example of a computer system in which at least some operations described herein can be implemented, according to some arrangements.

[0008] FIG. 7 is a schematic diagram showing rotor positioning when entering a cut starting with both rotor sides above target, according to some arrangements.

[0009] FIG. 8 is a schematic diagram showing rotor positioning when exiting a cut starting with both rotor sides below target, according to some arrangements.

[0010] FIG. 9 is a schematic diagram showing rotor positioning when exiting a cut starting with one rotor side below target, according to some arrangements.

[0011] The technologies described herein will become more apparent to those skilled in the art from studying the Detailed Description in conjunction with the drawings. Embodiments or implementations describing aspects of the invention are illustrated by way of example, and the same references can indicate similar elements. While the drawings depict various implementations for the purpose of illustration, those skilled in the art will recognize that alternative implementations can be employed without departing from the principles of the present technologies. Accordingly, while specific implementations are shown in the drawings, the technology is amenable to various modifications.DETAILED DESCRIPTION

[0012] The description and associated drawings are illustrative examples and are not to be construed as limiting. This disclosure provides certain details for a thorough understanding and enabling description of these examples. One skilled in the relevant technology will understand, however, that the invention can be practiced without many of these details. Likewise, one skilled in the relevant technology will understand that the invention can include well-known structures or features that are not shown or described in detail to avoid unnecessarily obscuring the descriptions of examples.

[0013] Rotary mixers can be employed in mining and mineral processing operations to crush, blend and condition ores, minerals, and other bulk materials. Rotary mixers can be particularly useful in applications involving high-density, abrasive or corrosive materials, as they provide rugged and reliable performance in demanding environments. Rotary mixers can be used in various mining and mineral processing applications, including ore blending and conditioning, mineral processing and agitation, bulk material handling and mixing, milling (material crushing, grinding and / or pulverization), and reclamation. In reclamation, rotary mixers can facilitate mine site restoration and remediation, soil amendment and stabilization, and waste rock and overburden processing.

[0014] A rotor's entry and exit from a “cut” refers to the rotor's movement into and out of a batch of ore, minerals, or extracted material. As the rotor enters a cut, its attachments (e.g., blades, paddles, cutting bits) can engage with the material, initiating mixing and / or conditioning. Upon exit, the rotor can lift out, disengaging from the material, and the conditioned material is discharged or transferred for further processing.

[0015] Control over cut entry and exit can ensure efficient mixing, optimal moisture control, enhanced material quality, and improved downstream processing efficiency. Unfortunately, conventional control techniques, including manual control techniques, make it difficult to estimate the target depth of a cut, determine the target angle of a rotor, or automatically adjust these parameters and rotor positioning once a cut operation has started. Furthermore, complex control equipment can result in the need for advanced training, as well as inefficiency and potential for human error. To remedy these problems, sensors can be utilized. For example, as described in U.S. Pat. No. 11,225,761, operators can manually control the lowering and lifting of the rotary mixer's rotor using sensor-assisted systems.

[0016] As disclosed herein, in a rotor control system for a rotary mixer, a controller can be configured to apply sophisticated logic to automatically control sequences of operations relating to a rotor's entry and / or exit from a cut. The techniques described herein can improve control and precision, reduce operator error, and improve operating efficiency of the rotary mixer. For instance, disclosed herein is a rotor control system for a travel rotary mixer including a set of extendable legs, a rotor having a set of extendable attachments, an operator control device, and a controller. The controller can generate control signals to cause return-to-cut operations to be performed. For example, in response to detecting a return-to-cut control command via the operator control device and while a return-to-cut control remains engaged, the mixer can be lifted, and in response to determining that the return-to-cut control is disengaged, the controller can determine a target rotor position and cause the set of extendable attachments to bring the rotor to the target rotor position. In some implementations, the controller can be further configured to cause automatic return-to-cut operations to be performed in response to an operator interaction with a small set of controls sufficient to case the operation to be automatically performed.

[0017] As used herein, the term “set” refers to a physical or logical collection of objects, which can contain no objects (e.g., a null set, an empty set), one object, or two or more objects. The terms “engine,”“application,”“program,”“circuit,” and “executable” refer to one or more sets of computer-executable instructions, in compiled or executable form, that are stored on non-transitory, computer-readable media and can be executed by one or more processors to perform software-and / or hardware-based computer operations. The computer-executable instructions can be special-purpose computer-executable instructions to perform a specific set of operations, as defined by parametrized functions, specific configuration settings, special-purpose code, and / or the like. Engines, applications, programs, and executables can generate and / or receive various signals, which can be transmitted in the form of electronic messages.Example Rotor Control System

[0018] FIG. 1 is a component diagram 100 showing an example rotor control system 12 for a rotary mixer 11 (e.g., a travel rotary mixer), according to some arrangements. As a general overview, the rotor control system 12 enables various rotor control operations, such as rotor control operations described herein. Rotor control operations can include entering a cut, exiting a cut, and / or changing rotor speed, position, and so forth.

[0019] As shown, the rotor control system 12 can include a rotor 14, which can be affixed (e.g., to a frame) of the rotary mixer 11 using suitable means, such as mechanical fasteners (e.g., bolts and nuts, screws, studs, clamp rings), interlocking components (splines, keyways, dovetail joints), extendable attachments (e.g., legs), and / or welding. Rotor 14 can include various removably or fixedly attached bits, which can be general-purpose or can be selected based on material type (e.g., soil, asphalt) and / or application of the rotary mixer 11 (e.g., ore blending and conditioning, mineral processing and agitation, bulk material handling and mixing, milling, reclamation). In some implementations, rotor 14 can be disposed in a rotor chamber of the rotary mixer 11 and can extend to and from the rotor chamber using the extendable attachments.

[0020] Operations of rotor 14 can be controlled using control device 18, control server 17 and / or controller 24. Control device 18 can include an onboard operator control device, such as a steering system (e.g., a steering wheel, joystick, lever, etc.), a transmission control system, a speed control system for the milling machine one or more displays, control buttons, toggle switches, touch panels, switches, dials, levers and so forth. The rotor control device 18 can be utilized to cause the rotor 14 to enter a cut, exit a cut, and / or to control various other aspects of operation of the rotary mixer 11.

[0021] In some implementations, control operations for operating the rotary mixer 11 can be performed off-board (e.g., at or via remote server 17), which can be connected to the controller 24 of the rotary mixer 11 via network 614. To that end, control device 18 can be disposed, in whole or in part, at the remote server 17. Network 614 can operate according to one or more wired or wireless protocols, such as Wi-Fi, cellular, radio, satellite, Bluetooth, ZigBee, etc. To enable transmission of data and traffic management, network 614 can include connectivity equipment, such as modems, Bluetooth transceivers, Bluetooth beacons, RFID transceivers, NFC transmitters, and the like. In some implementations, the network 614 can include a controller area network (CAN) of a particular rotary mixer 11.

[0022] Controller 24 can be configured to perform or cause to be performed (e.g., via electronic or electrical signals, commands, and so forth) various control operations, such operations for entering or exiting a cut. To that end, controller 24 can include hardware and / or software circuitry. Operations of the controller 24 can be performed, at least in part, by any suitable control unit, such as an engine controller 24 control unit (ECU), powertrain control module (PCM), brake control module (BCM), speed control unit (SCU), transmission control module (TCM), battery management system (BMS), telematics control unit (TCU), and so forth.

[0023] An example controller 24 can be an electronic controller that includes and / or is provided with one or more processor units and one or more memory units. The elements of an electronic controller 24 can include, for instance, a processor / microcontroller, memory (e.g., SRAM, EEPROM, flash), input devices (supply voltage and ground, digital input devices, analog input devices), output devices (actuator drivers, such as injectors, relays, valves), logic outputs, communication circuitry and equipment (CAN transceivers, Ethernet transceivers, including wired and wireless communication components), and various embedded software modules (boot loaders, metadata, configuration data). In some implementations, controller 24 can be structurally and / or communicatively integrated with various sensors described herein.

[0024] In some implementations, controller 24 can activate, operate, and / or control sensors in the sensor array 22, fuse (stitch together, aggregate) the readings of sensors in the sensor array 22, convert analog values to digital values, generate electronic messages containing sensor readings, and / or transmit sensor readings, via the network 614, to one or more control servers 17 or other systems.

[0025] In some implementations, controller 24 can be integrated at least in part with the control server 17. For example, controller 24 can include programming instructions (e.g., executables) distributed across or replicated to a particular onboard controller 24 and control server 17.

[0026] As shown, FIG. 1 includes a rotor positioning mechanism 16, which can include mechanical, electrical, and / or electronic components that control operations of the rotor 14. Mechanical components of the rotor positioning mechanism 16 can include a set of rotor legs, hydraulic / pneumatic actuators, linear guides / rails, ball / lead screws and / or gearboxes / transmission systems for alignment and stabilization of the rotor 14. In an example arrangement, rotor legs can attach to the rotor 14, providing structural support, and hydraulic / pneumatic actuators can connect to the rotor legs, controlling movement of the rotor legs. In some implementations, guides, rails or other suitable means can anchor to the frame of the rotary mixer 11, guiding movement of the rotor 14. In some implementations, ball / lead screws or other suitable fasteners can link actuators to rotor 14 legs to convert rotational motion of the actuators into linear displacement of the legs. In some implementations, gearboxes, transmission systems, and so forth can connect to actuators, optimizing torque and speed. In some implementations, an additional set of legs can be attached to the rotary mixer to raise and lower the rotary mixer.

[0027] In operation of the rotor positioning mechanism 16, signals received from or via controller 24 can initiate or control rotor 14 movement by adjusting operating parameters of the mechanical components, for example, by prompting hydraulic / pneumatic actuators to extend or extend, thereby moving rotor legs and helping lower or raise the rotor 14, as shown, for example, in FIGS. 7, 8 and 9.

[0028] In some implementations, as part of the rotor positioning mechanism 16, in addition to lowering or raising rotor 14 to enter or exit a cut, controller 24 can generate and / or transmit signals to control various additional aspects of operating the rotor 14. In some implementations, controller 24 can generate control signals to set or change the angular position of the rotor 14 by adjusting rotor 14 angle (e.g., 0 -360 degrees).

[0029] More generally, control signals from controller 24 can cause the rotary mixer 11 and / or various components thereof to perform operations with respect to the rotor 14, including rotational control operations, orientation control operations, positional control operations, precision control operations, and / or dynamic control operations. Although not described in connection with example methods of operation of FIGS. 3, 4, and 5 for the sake of brevity, one of skill will appreciate that such control operations can be included in these methods as appropriate, such as as part of determining system readiness for initial states (307, 407, 507). For example, a particular initial state can include initial or target values for speed or another parameter of rotor 14, which can be based on sensor readings, application of the rotary mixer 11, or other conditions.

[0030] As examples of rotational control operations, controller 24 can generate control signals to set or change the rotation speed of the rotor 14 to a suitable value (e.g., in a range of 1-20,000 revolutions per minute (RPM)). The value can be determined, for example, based on the application of the rotary mixer 11. In some implementations, the application can be selectable via control device 18 utilizing a lever, touchscreen, button, or another suitable input control and / or can be remotely selectable at the control server 17. For example, low-speed applications (e.g., mixing, blending) can correspond to a 1-100 RPM range, medium-speed applications (e.g., material handling) can correspond to a 10-500 RPM range, high-speed applications (e.g., grinding) can correspond to a 100-5,000 RPM range, and so forth. Other example rotational control operations can include switching between forward and reverse rotation and torque control to regulate rotational force. As examples of orientation control operations, controller 24 can generate control signals for the rotor positioning mechanism 16 to set or change the tilt / inclination of the rotor 14 (pitch, yaw) and / or to perform azimuthal control (regulate the rotor's compass direction). As examples of positional control operations, controller 24 can generate control signals to set or change the radial position of the rotor 14 by adjusting a rotor distance from the center (e.g., of the rotary mixer 11). In some implementations, controller 24 can generate control signals to set or change the axial position of the rotor 14 by regulating longitudinal position (with respect to a suitable reference point on the rotary mixer 11) of the rotor 14.

[0031] Controller 24 can execute rotational, orientation and / or positional control by sending electrical and / or or electronic signals to the position control mechanism 16, causing specific actions to be performed. For example, controller 24 can calculate target rotation speed and / or direction, generate control signals based on the calculation, and transmit control signals to motors and / or actuators, which can adjust rotation speed of the rotor 14 by driving ball / lead screws or gearboxes of the rotor positioning mechanism 16. This mechanical response can convert rotation into linear displacement, moving rotor legs to change angular position and achieve desired rotation speed and direction. In some implementations, sensors in sensor array 22 can monitor frame position (height), rotor position and / or rotor speed, providing feedback to the controller 24 for adjustments. Rotor 14 and / or frame / leg position sensors can include optical encoders and / or potentiometers to monitor angular position and displacement, magnetic encoders to monitor rotor orientation, Linear Variable Differential Transformers (LVDTs) and / or Rotary Variable Differential Transformers (RVDTs) to monitor linear and / or angular displacement. Rotor 14 speed sensors can include tachometers to measure rotation speed, proximity sensors detect rotor direction and / or speed, and / or stroboscopes. Orientation sensors (e.g., inertial movement sensors, gyroscopes, inclinometers) can measure tilt and pitch of the rotor 14. Combination sensors can include encoder-tachometer combinations and resolver sensors, to measure both position and speed.

[0032] Non-contact sensors in the sensor array 22, such as laser Doppler vibrometers, eddy current sensors, and / or sonic sensors can offer additional measurements without physical contact by measuring displacement, velocity, proximity and / or other values. These measurements can facilitate feedback control to adjust rotor 14 position. For example, sonic sensors, also sometimes referred to as ultrasonic sensors, emit high-frequency sound waves to detect objects or measure distances. When a particular point on the rotor 14 reaches a predetermined level (e.g., a target level), one or more sonic sensors can signal the controller 24. In response to receiving the signal, the controller 24 can cause an adjustment in rotor position, angle, speed, or other parameters. For example, controller 24 can utilize sensors in the sensor array 22 to determine target points and / or distances from various points on the rotary mixer 11 and / or rotor 14 to the target points. The controller 24 can utilize these values to calculate target positioning values for components (e.g., legs) of the rotor positioning mechanism 16, such as target linear displacement values to move the legs linearly to raise or lower the rotor 14, angular displacement values to rotate the legs such that the rotor 14 is rotated, and / or radial displacement values to rotate cause the legs to move radially in relation to a particular point on the rotary mixer 11 to change rotor 14 distance to the rotary mixer 11. Distances, proximity, linear displacement, and / or radial displacement can be measured in suitable units of measurement, such as millimeters, inches, meters, feet and so forth. Angular displacement values can be measured in suitable units of measurements, such as degrees, radians, arcseconds, gradians, and so forth.Example Rotor Control Device

[0033] FIGS. 2A and 2B are component diagrams showing an example rotor control device 18, according to some arrangements. As shown, the control device 18 can include controls (202, 204) to streamline rotor operations and reduce the number of operator interactions or commands. Although shown as buttons, controls (202, 204) can be implemented in any suitable forms, such as touchscreen components, levers, and so forth. As shown, the exit cut button 202 enables operators to initiate the process of automatically exiting a cut. The return to cut button 204 enables operators to return to cut. The operations to exit and return to cut can include automatically controlled sensor activation, positioning or repositioning of the rotor or rotor positioning mechanism, control of rotor speed, and / or other suitable operations.

[0034] As shown, the control device 18 can include various additional, optional (with respect to automatic enter and exit cut operations described herein) components 206, which can enable operators to provide additional instructions for controlling a particular rotary mixer. In some implementations, these controls can be automatically enabled or disabled when the exit cut button 202 and / or return to cut button 204 are engaged. Example additional controls include rear chamber door open control 212, rotor up control 218, rotor down control 220, rear chamber door float control 214, rear chamber door open control 216, front chamber door close control 222, front chamber door open control 224, and / or left / right rear steer jog controls (228a, 228b). In some implementations, the operator presence lever 229 enables operators to provide an indication (e.g., by pushing the lever down) that a certain set of operations (e.g., drive operations, propel operations) are allowed when the machine is in neutral.Example Rotor Control Methods

[0035] FIG. 3 is a flowchart showing showing an example rotor control method for exiting a cut, according to some arrangements. FIGS. 4 and 5 are flowcharts showing showing example rotor control methods for entering a cut, according to some arrangements. Advantageously, these operations can be automatically initiated and / or performed without extensive operator engagement and in response to a limited set of predetermined operator interactions with controls at the controller device. As described below, the controller (e.g., controller 24) can be configured to detect particular machine states or operator instructions by detecting specific interaction types, modes or durations with a particular control (e.g., when pressing control buttons (202, 204) for at most a first predetermined duration of time K is recognized as a first instruction and pressing and holding control buttons (202, 204) for at least a second predetermined duration of time (L, M, N) is recognized as a second, different instruction or set of instructions).

[0036] One of skill will appreciate that operations described herein can be performed by any suitable component or components in various combinations thereof. For example, although the term “controller” is used in singular form for clarity, this term is intended to encompass distributed controller implementations and / or sets of controllers, which can be physically, logically, and / or geographically separate.

[0037] In some implementations (e.g., at 307, 407, 507), the controller and / or the ECM of the rotary mixer can check that certain conditions are met before activating the auto exit cut and / or return to cut features. For example, as part of state conditions being met, the statuses of controls (202, 204) can indicate that the controls are operational (not faulted). For example, as part of start state conditions being met, calibration modes of various rotary mixer components (legs, rotor lift / lower actuators, rotor clutches, rotor gear shift, steering, propel pump actuators) can be off. For example, as part of state conditions being met, a locking mechanism on a rotor lift can be off. Other examples include rotor position sensor status being “not faulted”, engine of the rotary mixer running, machine height sensor array for rotor depth measurement being enabled, rotary mixer speed being under a predetermined threshold (e.g., 3 kph or less), and so forth.

[0038] As shown in FIG. 3, a control process 300 for exiting a cut can enable one-button operation for controlling both rotor operations and rotor positioning mechanism operations in a sequence that first stops and / or extends the rotor and then raises the machine. An example control process for exiting a cut can start with determining, at 307, that the exit cut starting state conditions are met. The exit cut starting state conditions can include automatically determining, at 304, that no active exit cut control cycle is already in place. Further, in some implementations, exit cut state conditions can include determining that the park brake switch state is off (e.g., machine is not in park), rotor raise / lower buttons (218, 220) are not pressed, leg controls are not engaged, and so forth.

[0039] When the exit cut mode is active (e.g., when an operator interaction with the exit cut button 202 is detected and / or while the operator presses and holds the exit cut button 202), the controller can, upon determining, at 310, that the rotor is fully extended, initiate, at 312, a rotor positioning mechanism control cycle. An example rotor positioning mechanism control cycle can include, upon determining, at 322, that a particular leg is at a previously determined pre-service height H, causing the leg, at 352, to stop or forgo starting movement to reach the predetermined height H. If the particular leg is not at the predetermined height H, then, at 322, if if is determined that the exit cut button has been released (that is, operator provides instructions to stop the exit cut process), the controller can also cause machine legs, at 352, to stop or forgo starting movement to reach the predetermined height H. Otherwise, the controller can continue to generate and send signals to raise the machine, at 342, and monitor the legs until they reach the height H.

[0040] Upon detecting, at 311, that the exit cut button 202 has been released, the controller can also initiate a rotor movement control cycle 314 to extend the rotor. The rotor movement control cycle 314 can include generating a control command to extend the rotor, if it is determined, at 364, that the rotor is not fully extended and that, at 334, the button 202 has been released for at least N seconds (e.g., 25 seconds).

[0041] As shown in FIG. 4, control process 400 for entering a cut using non-contact target depth sensors can enable one-button operation for controlling both rotor operations and rotor positioning mechanism operations in a sequence that first lowers the machine to a target height, determined using non-contact sensors (e.g., sonic sensors) and then engages the rotor.

[0042] An example control process for entering a cut can start with determining, at 407, that the enter cut starting state conditions are met. The enter cut starting state conditions can include automatically determining, at 404, that no active enter cut control cycle is already in place. Further, in some implementations, enter cut starting state conditions can include determining that the park brake switch state is off (e.g., machine is not in park), rotor raise / lower buttons (218, 220) are not pressed, leg controls are not engaged, and so forth. In some implementations, enter cut starting state conditions can include determining that slope control mode is on. In an example, slope control mode can be activated, using operator controls, for a first (e.g., front, left) set of machine and / or rotor legs, a second (e.g., rear, right) set of machine and / or rotor legs, or both. Slope control mode enables automatically setting target leg height to account for machine slope on a particular ground plane—for example, to create a height differential between front and rear legs or between right and left legs such that the frame of the machine and, correspondingly, the rotor affixed or aligned with the frame, is parallel to a target plane (e.g., machine plane, ground plane).

[0043] As shown, when entering a cut using non-contact target depth sensors and while the enter cut button 204 is engaged, the controller can determine and / or generate, at 408, a set of return-to-cut target position values and then perform rotor positioning mechanism control operations 412. A particular return-to-cut target position value can refer to a rotor cylinder position, front door position, rear door position, front left leg machine height position, front right leg machine height position, rear machine height position, left rotor depth, right rotor depth, or a combination thereof. These values can be determined in relation to a suitable reference point on a rotary mixer according to rotational, orientation and / or positional control techniques described herein, or according to other suitable techniques. For example, position values can reflect distances from a first reference point on the mixer to a second reference point on the respective component (e.g., leg, cylinder, rotor). For example, depth values can reflect distances from a third reference point on the mixer to a fourth reference point on a sub-surface line calculated and / or projected using non-contact sensors.

[0044] After the set of return-to-cut target position values have been determined, the controller can execute instructions in the rotor positioning mechanism control operations 412. The instructions can include, for example, monitoring, at 422, a time series of actual depth sensor values and, while the depth sensor values differ from the return-to-cut target position values by at least a predetermined amount (e.g., 0 -600 mm for rotor cylinders, 0 -200 mm for doors, 400-1,100 mm for machine leg height), continuing to engage the legs, at 442, to move toward target.

[0045] After it is determined, at 418, that the control 204 is no longer engaged (e.g., operator depresses the button), the controller can cause rotor control operations 414 to be performed to position the rotor at target depth. For example, while (at 424) the rotor is over a predetermined distance of target depth (e.g., +32 to −507 mm), the controller can periodically monitor rotor position (at 444) and generate control signals to cause rotor movement toward target.

[0046] In some implementations, auto slope control mode operations (410, 416, 420) can be performed after the operation cycles 412 and 414 are completed.

[0047] As shown in FIG. 5, control process 500 for entering a cut without using non-contact target depth sensors can enable one-button operation for controlling both rotor operations and rotor positioning mechanism operations in a sequence that first lowers the machine to a target height, determined using non-contact sensors (e.g., sonic sensors) and then engages the rotor.

[0048] An example control process for entering a cut can start with determining, at 507, that the enter cut starting state conditions are met. The enter cut starting state conditions can include automatically determining, at 504, that no active enter cut control cycle is already in place. Further, in some implementations, enter cut starting state conditions can include determining that the park brake switch state is off (e.g., machine is not in park), rotor raise / lower buttons (218, 220) are not pressed, leg controls are not engaged, and so forth. In some implementations, enter cut starting state conditions can include determining that slope control mode is on. In an example, slope control mode can be activated, using operator controls, for a first (e.g., front, left) set of machine and / or rotor legs, a second (e.g., rear, right) set of machine and / or rotor legs, or both. Slope control mode enables automatically setting target leg height to account for machine slope on a particular ground plane—for example, to create a height differential between front and rear legs or between right and left legs such that the frame of the machine and, correspondingly, the rotor affixed or aligned with the frame, is parallel to a target plane (e.g., machine plane, ground plane).

[0049] As shown, when entering a cut while the enter cut button 204 is engaged, the controller can determine and / or generate, at 508, a set of return-to-cut target position values, determine, at 510, current position of the rotor relative to the target, and then perform rotor positioning mechanism control operations 512. A particular return-to-cut target position value can refer to a rotor cylinder position, front door position, rear door position, front left leg machine height position, front right leg machine height position, rear machine height position, left rotor depth, right rotor depth, or a combination thereof. These values can be determined in relation to a suitable reference point on a rotary mixer according to rotational, orientation and / or positional control techniques described herein, or according to other suitable techniques. For example, position values can reflect distances from a first reference point on the mixer to a second reference point on the respective component (e.g., leg, cylinder, rotor). Position and / or depth values can be programmed, made available for reference in a look-up data structure available to the controller, or provided by the operator.

[0050] After the set of return-to-cut target position values have been determined, the controller can execute instructions in the rotor positioning mechanism control operations 512. The instructions can include, for example, monitoring, at 522, a time series of actual sensor values to determine actual position of a particular component and, while the actual sensor values differ from the return-to-cut target position values by at least a predetermined amount (e.g., 0 -600 mm for rotor cylinders, 0 -200 mm for doors, 400-1,100 mm for machine leg height), continuing to engage the legs, at 532, to move toward target.

[0051] After it is determined, at 518, that the control 204 is no longer engaged (e.g., operator depresses the button), the controller can cause rotor control operations 514 to be performed to position the rotor at target depth. For example, while (at 524) the rotor is over a predetermined distance of target (e.g., +32 to −507 mm), the controller can periodically monitor rotor position (at 444) and generate control signals to cause rotor movement toward target.

[0052] In some implementations, auto slope control mode operations (510, 516, 520) can be performed after the operation cycles 512 and 514 are completed.Example Computer System

[0053] FIG. 6 is a block diagram that illustrates an example of a computer system in which at least some operations described herein can be implemented. As shown, the computer system 600 can include one or more processors 602, main memory 606, non-volatile memory 610, a network interface device 612, a display device 618, an input / output device 620, a control device 622 (e.g., keyboard, pointing device, joystick), a drive unit 624 that includes a storage medium 626, and a signal generation device 630 that is communicatively connected to a bus 616. The bus 616 represents one or more physical buses and / or point-to-point connections that are connected by appropriate bridges, adapters, or controllers. Various common components (e.g., cache memory) are omitted from FIG. 6 for brevity. Instead, the computer system 600 is intended to illustrate a hardware device on which components illustrated or described relative to the examples of the figures and any other components described in this specification can be implemented.

[0054] The computer system 600 can take any suitable physical form. For example, the computer system 600 can share a similar architecture as that of a server computer, personal computer (PC), tablet computer, mobile telephone, game console, music player, wearable electronic device, network-connected (“smart”) device (e.g., a television or home assistant device), augmented reality / virtual reality (AR / VR) systems (e.g., head-mounted display), or any electronic device capable of executing a set of instructions that specify action(s) to be taken by the computer system 600. In some implementations, the computer system 900 can be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC), or a distributed system such as a mesh of computer systems, or it can include one or more cloud components in one or more networks. Where appropriate, one or more computer systems 600 can perform operations in real time, in near real time, or in batch mode.

[0055] The network interface device 612 enables the computer system 600 to mediate data in a network 614 with an entity that is external to the computer system 600 through any communication protocol supported by the computer system 600 and the external entity. Examples of the network interface device 612 include a network adapter card, a wireless network interface card, a router, an access point, a wireless router, a switch, a multilayer switch, a protocol converter, a gateway, a bridge, a bridge router, a hub, a digital media receiver, and / or a repeater, as well as all wireless elements noted herein.

[0056] The memory (e.g., main memory 606, non-volatile memory 610, machine-readable medium 626) can be local, remote, or distributed. Although shown as a single medium, the machine-readable medium 626 can include multiple media (e.g., a centralized / distributed database and / or associated caches and servers) that store one or more sets of instructions 928. The machine-readable (storage) medium 626 can include any medium that is capable of storing, encoding, or carrying a set of instructions for execution by the computer system 600. The machine-readable medium 626 can be non-transitory or comprise a non-transitory device. In this context, a non-transitory storage medium can include a device that is tangible, meaning that the device has a concrete physical form, although the device can change its physical state. Thus, for example, non-transitory refers to a device remaining tangible despite this change in state.

[0057] Although implementations have been described in the context of fully functioning computing devices, the various examples are capable of being distributed as a program product in a variety of forms. Examples of machine-readable storage media, machine-readable media, or computer-readable media include recordable-type media such as volatile and non-volatile memory 610, removable flash memory, hard disk drives, optical disks, and transmission-type media such as digital and analog communication links.

[0058] In general, the routines executed to implement examples herein can be implemented as part of an operating system or a specific application, component, program, object, module, or sequence of instructions (collectively referred to as “computer programs”). The computer programs typically comprise one or more instructions (e.g., instructions 604, 608, 628) set at various times in various memory and storage devices in computing device(s). When read and executed by the processor 602, the instruction(s) cause the computer system 600 to perform operations to execute elements involving the various aspects of the disclosure.Example Rotor Positioning Techniques

[0059] FIG. 7 is a set of schematic diagrams (700, 710, 720) showing rotor 14 positioning when entering a cut starting with both rotor sides above target, according to some arrangements. As shown, rotor sides are represented by pairs of reference points, such as pairs [744a, 744b], [744c, 744d], and [744e, 744f]. As shown, a target can be a suitable point or a set of points (target positions), such as a point (target position 746a, 746b, and / or 746c) selected on a target line (716a, 716b). In some implementations, when at least one reference point meets a target position, the controller can determine that a target rotor position has been reached.

[0060] FIG. 8 is a set of schematic diagrams (800, 810, 820) showing rotor 14 positioning when exiting a cut starting with both rotor sides below target, according to some arrangements. As shown, rotor sides are represented by pairs of reference points, such as pairs [844a, 844b], [844c, 844d], and [844e, 844f]. As shown, a target can be a suitable point or a set of points (target positions), such as a point (target position 846a, 846b, and / or 846c) selected on a target line (716a, 716b). In some implementations, when at least one reference point meets a target position, the controller can determine that a target rotor position has been reached.

[0061] FIG. 9 is a set of schematic diagrams (900, 910) showing rotor 14 positioning when exiting a cut starting with one rotor side below target (946a, 946b), according to some arrangements. In some implementations, when at least one reference point meets a target position after being below target, the controller can determine that a target rotor position has been reached.Use Cases

[0062] In an example, a rotor control system for a travel rotary mixer can include a set of extendable legs, a rotor configured to extend from a rotor chamber of the travel rotary mixer, wherein the rotor is movably coupled to the travel rotary mixer via a set of extendable attachments, an operator control device, and a controller. The controller can include at least one processor and at least one memory unit, the at least one memory unit having instructions stored thereon that, when executed by the at least one processor, cause the controller to cause return-to-cut operations to be performed. For example, in response to detecting a return-to-cut control command via a return-to-cut control of the operator control device, the controller can, while the return-to-cut control remains engaged, cause the set of extendable legs to move toward a first set of target positions for the set of extendable legs. The controller can, in response to determining that the return-to-cut control is disengaged, determine a target rotor position, and cause the set of extendable attachments to bring the rotor to the target rotor position.

[0063] In some implementations, while the return-to-cut control remains engaged, the controller can determine the first set of target positions for the set of extendable legs using a first set of non-contact sensors, by referencing a first stored set of values, or via a first instruction received via the operator control device. In some implementations, the controller can determine the target rotor position using a second set of non-contact sensors, by referencing a second stored set of values, or via a second instruction received via the operator control device.

[0064] In some implementations, the controller can cause exit-cut operations to be performed by: in response to detecting an exit-cut control command provided via an exit-cut control of the operator control device, performing operations. The operations can include, in response to determining that the exit-cut control is disengaged, performing an exit-cut rotor control operations to extend the rotor, and while the rotor is extended and the exit-cut control is engaged, causing the set of extendable legs to move toward a second set of target positions for the set of extendable legs. In some implementations, the controller can be configured to perform exit-cut rotor control operations in response to determining that the exit-cut control has been disengaged for at least N seconds after being engaged. In some implementations, the controller can determine the second set of target positions for the set of extendable legs using a set of non-contact sensors.

[0065] In some implementations, the controller comprises, at least in part, one or more of a steering electronic control module (ECM), a machine ECM, or a transmission ECM.

[0066] In some implementations, the controller is configured to verify that a starting-state condition has been met prior to performing return-to-cut or exit-cut operations. In some implementations, the starting-state condition pertains to at least one of an engine state, rotor state, component calibration state, or travel speed of the travel rotary mixer.

[0067] In some implementations, at least one of the controller or the operator control device are remote relative to the travel rotary mixer.INDUSTRIAL APPLICABILITY

[0068] Disclosed herein is a rotor control system for a travel rotary mixer including a set of extendable legs, a rotor having a set of extendable attachments, an operator control device, and a controller. The controller can generate control signals to cause return-to-cut operations to be performed. For example, in response to detecting a return-to-cut control command via the operator control device and while a return-to-cut control remains engaged, the mixer can be lifted, and in response to determining that the return-to-cut control is disengaged, the controller can determine a target rotor position and cause the set of extendable attachments to bring the rotor to the target rotor position. In some implementations, the controller can be further configured to cause automatic return-to-cut operations to be performed in response to an operator interaction with a small set of controls sufficient to case the operation to be automatically performed.Remarks

[0069] The terms “example,”“embodiment,” and “implementation” are used interchangeably. For example, references to “one example” or “an example” in the disclosure can be, but are not necessarily, references to the same implementation, and such references mean at least one of the implementations. The appearances of the phrase “in one example” are not necessarily all referring to the same example, nor are separate or alternative examples mutually exclusive of other examples. A feature, structure, or characteristic described in connection with an example can be included in another example of the disclosure. Moreover, various features are described that can be exhibited by some examples and not by others. Similarly, various requirements are described that can be requirements for some examples but not for other examples.

[0070] The terminology used herein should be interpreted in its broadest reasonable manner, even though it is being used in conjunction with certain specific examples of the invention. The terms used in the disclosure generally have their ordinary meanings in the relevant technical art, within the context of the disclosure, and in the specific context where each term is used. A recital of alternative language or synonyms does not exclude the use of other synonyms. Special significance should not be placed upon whether or not a term is elaborated or discussed herein. The use of highlighting has no influence on the scope and meaning of a term. Further, it will be appreciated that the same thing can be said in more than one way.

[0071] Unless the context clearly requires otherwise, throughout the description and the claims, the words “comprise,”“comprising,” and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense—that is to say, in the sense of “including, but not limited to.” As used herein, the terms “connected,”“coupled,” and any variants thereof mean any connection or coupling, either direct or indirect, between two or more elements; the coupling or connection between the elements can be physical, logical, or a combination thereof. Additionally, the words “herein,”“above,”“below,” and words of similar import can refer to this application as a whole and not to any particular portions of this application. Where context permits, words in the above Detailed Description using the singular or plural number may also include the plural or singular number, respectively. The word “or” in reference to a list of two or more items covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list. The term “module” refers broadly to software components, firmware components, and / or hardware components.

[0072] While specific examples of technology are described above for illustrative purposes, various equivalent modifications are possible within the scope of the invention, as those skilled in the relevant art will recognize. For example, while processes or blocks are presented in a given order, alternative implementations can perform routines having steps, or employ systems having blocks, in a different order, and some processes or blocks may be deleted, moved, added, subdivided, combined, and / or modified to provide alternative or sub-combinations. Each of these processes or blocks can be implemented in a variety of different ways. Also, while processes or blocks are at times shown as being performed in series, these processes or blocks can instead be performed or implemented in parallel or can be performed at different times. Further, any specific numbers noted herein are only examples such that alternative implementations can employ differing values or ranges.

[0073] Details of the disclosed implementations can vary considerably in specific implementations while still being encompassed by the disclosed teachings. As noted above, particular terminology used when describing features or aspects of the invention should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the invention with which that terminology is associated. In general, the terms used in the following claims should not be construed to limit the invention to the specific examples disclosed herein unless the above Detailed Description explicitly defines such terms. Accordingly, the actual scope of the invention encompasses not only the disclosed examples but also all equivalent ways of practicing or implementing the invention under the claims. Some alternative implementations can include additional elements to those implementations described above or include fewer elements.

[0074] Any patents and applications and other references noted above, and any that may be listed in accompanying filing papers, are incorporated herein by reference in their entireties, except for any subject matter disclaimers or disavowals, and except to the extent that the incorporated material is inconsistent with the express disclosure herein, in which case the language in this disclosure controls. Aspects of the invention can be modified to employ the systems, functions, and concepts of the various references described above to provide yet further implementations of the invention.

[0075] To reduce the number of claims, certain implementations are presented below in certain claim forms, but the applicant contemplates various aspects of an invention in other forms. For example, aspects of a claim can be recited in a means-plus-function form or in other forms, such as being embodied in a computer-readable medium. A claim intended to be interpreted as a means-plus-function claim will use the words “means for.” However, the use of the term “for” in any other context is not intended to invoke a similar interpretation. The applicant reserves the right to pursue such additional claim forms either in this application or in a continuing application.

Claims

1. A rotor control system for a rotary mixer having a set of extendable legs, the rotor control system comprising:a rotor configured to extend from a rotor chamber of the rotary mixer, wherein the rotor is movably coupled to the rotary mixer via a set of extendable attachments;an operator control device; anda controller comprising at least one processor and at least one memory unit, the at least one memory unit having instructions stored thereon that, when executed by the at least one processor, cause the controller to cause return-to-cut operations to be performed by, in response to detecting a return-to-cut control command via a return-to-cut control of the operator control device, performing operations comprising:while the return-to-cut control remains engaged, causing the set of extendable legs to move toward a first set of target positions for the set of extendable legs; andin response to determining that the return-to-cut control is disengaged, determining a target rotor position, andcausing the set of extendable attachments to bring the rotor to the target rotor position.

2. The rotor control system of claim 1, wherein the instructions further cause the controller, while the return-to-cut control remains engaged, to determine the first set of target positions for the set of extendable legs using a first set of sensors, by referencing a first stored set of values, or via a first instruction received via the operator control device.

3. The rotor control system of claim 2, wherein the instructions further cause the controller to determine the target rotor position using a second set of sensors, by referencing a second stored set of values, or via a second instruction received via the operator control device.

4. The rotor control system of claim 1, wherein the instructions further cause the controller to cause exit-cut operations to be performed by:in response to detecting an exit-cut control command provided via an exit-cut control of the operator control device, performing operations comprising:in response to determining that the exit-cut control is disengaged, performing an exit-cut rotor control operation to extend the rotor; andwhile the rotor is extended and the exit-cut control is engaged, causing the set of extendable legs to move toward a second set of target positions for the set of extendable legs.

5. The rotor control system of claim 4, wherein the instructions further cause the controller to perform exit-cut rotor control operations in response to determining that the exit-cut control has been disengaged for at least N seconds after being engaged.

6. The rotor control system of claim 4, wherein the instructions further cause the controller to determine the second set of target positions for the set of extendable legs using a set of sensors.

7. The rotor control system of claim 1, wherein the controller comprises, at least in part, one or more of an electronic control module (ECM).

8. The rotor control system of claim 1, wherein the controller is configured to verify that a starting-state condition has been met prior to performing return-to-cut or exit-cut operations.

9. The rotor control system of claim 8, wherein the starting-state condition pertains to at least one of an engine state, rotor state, component calibration state, or travel speed of the rotary mixer.

10. The rotor control system of claim 1, wherein at least one of the controller or the operator control device are remote relative to the rotary mixer.

11. One or more non-transitory, computer-readable media having instructions stored thereon that, when executed by at least one processor of a computing system, perform operations comprising:in response to detecting a return-to-cut control command via a return-to-cut control of an operator control device of a rotary mixer, performing operations comprising:while the return-to-cut control remains engaged, causing a set of extendable legs of the rotary mixer to move toward a first set of target positions for the set of extendable legs; andin response to determining that the return-to-cut control is disengaged, determining a target rotor position for a rotor of the rotary mixer, andcausing a set of extendable attachments coupled to the rotor to bring the rotor to the target rotor position.

12. The media of claim 11, wherein the instructions further cause operations to be performed, the operations comprising: while the return-to-cut control remains engaged, determining the first set of target positions for the set of extendable legs using a first set of sensors, by referencing a first stored set of values, or via a first instruction received via the operator control device.

13. The media of claim 12, wherein the instructions further cause operations to be performed, the operations comprising: determining the target rotor position using a second set of sensors, by referencing a second stored set of values, or via a second instruction received via the operator control device.

14. The media of claim 11, wherein the instructions further cause exit-cut operations to be performed, the operations comprising:in response to detecting an exit-cut control command provided via an exit-cut control of the operator control device:in response to determining that the exit-cut control is disengaged, performing an exit-cut rotor control operation to extend the rotor; andwhile the rotor is extended and the exit-cut control is engaged, causing the set of extendable legs to move toward a second set of target positions for the set of extendable legs.

15. The media of claim 11, the media comprising, at least in part, one or more of an electronic control module (ECM).

16. A computer-implemented method performed by a controller for a rotary mixer, the method comprising:in response to detecting a return-to-cut control command via a return-to-cut control of an operator control device of the rotary mixer, performing operations comprising:while the return-to-cut control remains engaged, causing a set of extendable legs of the rotary mixer to move toward a first set of target positions for the set of extendable legs; andin response to determining that the return-to-cut control is disengaged, determining a target rotor position for a rotor of the rotary mixer, andcausing a set of extendable attachments coupled to the rotor to bring the rotor to the target rotor position.

17. The method of claim 16, further comprising: while the return-to-cut control remains engaged, determining the first set of target positions for the set of extendable legs using a first set of sensors, by referencing a first stored set of values, or via a first instruction received via the operator control device.

18. The method of claim 17, further comprising: determining the target rotor position using a second set of sensors, by referencing a second stored set of values, or via a second instruction received via the operator control device.

19. The method of claim 16, further comprising:in response to detecting an exit-cut control command provided via an exit-cut control of the operator control device:in response to determining that the exit-cut control is disengaged, performing an exit-cut rotor control operation to extend the rotor; andwhile the rotor is extended and the exit-cut control is engaged, causing the set of extendable legs to move toward a second set of target positions for the set of extendable legs.

20. The method of claim 16, wherein the method is performed at least in part by one or more of an electronic control module (ECM), a machine ECM, or a transmission ECM.

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