Systems and methods of implementing a cruise control mode for power machines

Abstract

Methods and systems of implementing a cruise control mode for power machines 100. One method may include, while a cruise control mode for a power machine 100 is activated, commanding a power source 120 of the power machine 100 to operate at a first speed such that the power machine 100 may perform a tractive operation and a workgroup operation. The method may include receiving an operator-commanded speed for the power source 120 while the power machine 100 performs the tractive operation and the workgroup operation. The method may include selectively commanding the power source 120 to operate at either the first speed or the operator-commanded speed.

Description

E2023-0016-W01SYSTEMS AND METHODS OF IMPLEMENTING A CRUISE CONTROL MODE FOR POWER MACHINESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of United States provisional application no. 63 / 708,485, filed 17 October 2024, which is hereby incorporated by reference in its entirety as though fully set forth hereinBACKGROUND

[0002] This disclosure is directed toward power machines. More particularly, the present disclosure is directed to power allocation systems and methods for power machines. Power machines, for the purposes of this disclosure, include any type of machine that generates power to accomplish a particular task or a variety of tasks. One type of power machine is a work vehicle. Work vehicles are generally self-propelled vehicles that have a work device, such as a lift arm (although some work vehicles can have other work devices) that can be manipulated to perform a work function. Work vehicles include telehandlers, loaders, excavators, utility vehicles, tractors including compact tractors, and trenchers, to name a few examples. Other types of power machines can include mini-loaders (e.g., mini track loaders), and mowers.

[0003] The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.SUMMARY

[0004] According to some aspects of the disclosure, a power machine is provided. The power machine may include a power source. The power machine may include a tractive system including a hydrostatic drive system arranged to be rotationally powered by the power source, the hydrostatic drive system including a hydraulic drive pump arranged to power a hydraulic drive motor. The power machine may include a workgroup system including a hydraulic actuator arranged to power a work element. The power machine may include one or more electronic controllers. The one or more electronic controllers may be configured to receive a first operating command to perform a first tractive operation with a tractive system of the power machine to move the power machineE2023-0016-W01 along a working surface, the first tractive operation corresponding to a first target rotational speed for the power source. The one or more electronic controllers may be configured to, in response to receiving the first operating command, command the power source to operate at the first target rotational speed to power the tractive system during the first tractive operation. The one or more electronic controllers may be configured to receive a second operating command to perform a first workgroup operation with the workgroup system during the first tractive operation. The one or more electronic controllers may be configured to selectively command the power source to operate at a power source speed during the first tractive operation and the first workgroup operation, including: in response to receiving an operator-commanded target rotational speed for the power source, commanding the power source to operate at a maximum of the first target rotational speed and the operator-commanded target rotational speed.

[0005] According to some aspects of the disclosure, a method for controlling a power machine is provided. The method may include activating, with one or more electronic controllers, a cruise control mode for the power machine. The method may include, to power a hydrostatic drive system of the power machine during a tractive operation to propel the power machine at a cruise control travel speed, controlling a power source of the power machine, with the one or more electronic controllers, to operate at a first target rotational speed. The method may include receiving, with the one or more electronic controllers, an operator throttle command that corresponds to a second target rotational speed of the power machine. The method may include receiving, with the one or more electronic controllers, a first operator command to perform a workgroup operation with a hydraulic work element of a workgroup system of the power machine. The method may include determining, with the one or more electronic controllers, a selected rotational speed based on determining the greater of the first target rotational speed and the second target rotational speed. The method may include, to provide power to a tractive system and the workgroup system during the tractive operation and the workgroup operation, controlling the power source, with the one or more electronic controllers, to operate at the selected rotational speed.

[0006] According to some aspects of the disclosure, a power machine is provided. The power machine may include a frame. The power machine may include an engine supported by the frame. The power machine may include a workgroup system supported by the frame, the workgroup system including a hydraulic actuator, a lift arm assembly configured to be moved relative to the frame by the hydraulic actuator, and a hydraulic workgroup pump arranged to power the hydraulicE2023-0016-W01 actuator, the hydraulic workgroup pump being mechanically coupled to a crankshaft of the engine to receive rotational power from the engine. The power machine may include a tractive system supported by the frame, the tractive system including a plurality of tractive elements configured to traverse a working surface. The power machine may include a transmission supported by the frame to provide power from the engine to the tractive system. The transmission may include a hydraulic drive motor arranged to power the tractive system. The transmission may include a hydraulic drive pump mechanically coupled to the crankshaft of the engine to receive rotational power from the engine and hydraulically coupled to the hydraulic drive motor to power the hydraulic drive motor.

[0007] The power machine may include one or more electronic controllers in communication with the engine, the transmission, and the workgroup system. The one or more electronic controllers may be configured to activate a cruise control mode for the power machine, the cruise control mode corresponding to a first cruise control travel speed for the power machine that corresponds to a first operational speed for the engine. The one or more electronic controllers may be configured to command the engine of the power machine to operate at the first operational speed such that the tractive system is powered by the transmission to propel the power machine at the first cruise control travel speed. The one or more electronic controllers may be configured to receive, while the tractive system is propelled, a first workgroup command to operate the lift arm assembly. The one or more electronic controllers may be configured to, in response to receiving the first workgroup command, command the engine to operate at a greater of the first operational speed or an operator-commanded operational speed.

[0008] This Summary and the Abstract are provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used as an aid in determining the scope of the claimed subject matter.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The following drawings are provided to help illustrate various features of non-limiting examples of the present disclosure and are not intended to limit the scope of the disclosure or exclude alternative implementations.E2023-0016-W01

[0010] FIG. 1 is a block diagram illustrating functional systems of an example power machine according to some examples of the disclosed technology.

[0011] FIG. 2 is a block diagram of an example configuration of the power machine of FIG. 1 in accordance with some configurations.

[0012] FIG. 3 is a perspective view of a telehandler that includes the systems represented by the block diagram of FIG. 2 in accordance with some configurations.

[0013] FIG. 4 is a block diagram of a controller in accordance with some configurations.

[0014] FIG. 5 is flowchart depicting a method of controlling a power machine in accordance with some configurations.DETAILED DESCRIPTION

[0015] The concepts disclosed in this discussion are described and illustrated by referring to exemplary implementations of the disclosed technology. These concepts, however, are not limited in their application to the details of construction and the arrangement of components in the illustrative examples and are capable of being practiced or being carried out in various other ways. The terminology in this document is used for the purpose of description and should not be regarded as limiting. Words such as “including,” “comprising,” and “having” and variations thereof as used herein are meant to encompass the items listed thereafter, equivalents thereof, as well as additional items.

[0016] Power machines, including, e.g., telehandlers, may include cruise control capabilities or modes. A cruise control mode generally allows an operator to set a desired target speed for travel over a working surface (e.g., ground terrain), and the power machine may then automatically control operation of a power source and a tractive system to travel at the target speed. In particular, a vehicle control module (e.g., hub or dedicated controller) may command an internal combustion engine or other power source to operate at a target rotational engine speed to efficiently achieve (and maintain) the target travel speed.

[0017] Power sources of power machines (e.g., internal combustion engine) may be configured to power one or more tractive elements and one or more workgroup elements of the power machine. For example, conventional power machines may include a hydraulic motor and corresponding hydraulic pump to power tractive elements with a hydrostatic drive circuit, and mayE2023-0016-W01 include a hydraulic pump (e.g., a dedicated implement pump) to power operation of hydraulic work elements (e.g., lift arm actuators, auxiliary hydraulics, etc.).

[0018] When cruise control is enabled, a control system of the power machine may request a lowest engine speed possible to maintain the target travel speed. However, in some cases, an operator of the power machine may also wish to conduct some workgroup operation while maintaining travel with the cruise control mode active. In such a case, the target engine speed for cruise control operation (i.e., for power of the tractive elements to provide a target travel speed) may result in insufficient power for a combination of the cruise control travel and the workgroup operation(s). As a result, for example, operators may experience undesirably slow hydraulic function of the workgroup.

[0019] In instances where the power machine is equipped with a hand throttle or other operator input device for throttle control, operators can provide input commands to increase the operating speed of a power source (e.g., by further opening a throttle of an internal combustion engine). During cruise control operations, some implementations of the disclosed technology may selectively prioritize response to operator throttle commands, including as can provide improved response for workgroup operations during continued travel under a cruise control mode. In particular, in response to receiving an operator throttle command, a vehicle control module may compare the target engine speed for cruise control operation (i.e., as specified for travel at the target travel speed) and a commanded engine speed corresponding to the operator throttle command (e.g., as input via a hand throttle) and selectively control the engine speed accordingly. For example, during a cruise control mode an engine controller may operate to selectively command a maximum of the cruise-control and commanded engine speeds (e.g., the minimum engine speed for efficient travel at cruise control speed, and the speed requested via a hand throttle input).

[0020] In some implementations, when the commanded engine speed is higher than necessary for the target travel speed under a cruise control mode, a transmission of a power machine may be adjusted accordingly to maintain the target travel speed while the engine operates at the higher operator-requested RPM. For example, a drive motor included in a hydrostatic transmission may be de-stroked during cruise control travel with operation of a corresponding engine at an elevated speed as requested by an operator. Thus, for example, appropriate hydraulic fluid flow forE2023-0016-W01 operator-commanded workgroup functionality can be provided without disruption of travel at a cruise control speed.

[0021] Although examples herein focus particularly on telehandlers, which, in some instances, may include electric telehandlers (e.g., battery-powered telehandlers), implementations of the disclosed technology can be practiced on a variety of power machines with a variety of groundengaging elements. In this regard, FIG. 1 is a block diagram that illustrates the basic systems of a power machine 100, which can be any of a number of different types of power machines and upon which the embodiments discussed below can be advantageously incorporated. The block diagram of FIG. 1 identifies various systems on power machine 100 and the relationship between various components and systems. In particular, the power machine 100 has a frame 110, a power source 120, a workgroup work element 130 and tractive work elements 140. The workgroup work element 130 can be operated to perform work tasks (e.g., mowing, digging, cutting, grading, etc.) and the tractive work elements 140 can be operated move the power machine over a support surface. In the illustrated example, the power machine 100 also includes an operator station 150 that provides an operating position for controlling the work elements of the power machine. In some examples, however, no operator station may be included.

[0022] A control system 160 is provided to interact with other systems of the power machine 100 to perform various tasks, including in response to control signals provided by an operator. For example, the control system 160 can be an integrated or distributed architecture of one or more controllers (e.g., one or more processor devices and one or more memories) that are collectively configured to receive operator input or other input signals (e.g., sensor data) and to output commands accordingly for power machine operations (e.g., workgroup operations, tractive operations, etc.).

[0023] Some power machines have work elements that can perform a dedicated task. For example, some power machines include a mower deck that can be attached to a main frame of the work vehicles in various ways (e.g., with a fixed mount, as an implement attached to a lift arm, etc.). Cutting elements of the mower deck can be controlled as needed. For example, the control system 160 can control the speed of one or more rotating blades, or a position of the mower deck relative to the frame, or the mower deck can be otherwise manipulated to perform mowing or other tasks.E2023-0016-W01

[0024] Some power machines can include other dedicated work elements, including cutting or drilling implements, buckets, grading blades, and others as variously known in the art. In some cases, work elements can be interchanged on a particular power machine (e.g., as attachable implements that can be supported by a lift arm, or otherwise). In this regard, for example, the power machine 100 as illustrated includes an implement interface 170, which provides a connection between the frame 110 or the work element 130 and an attachable implement. In some cases, the implement interface 170 can be a direct connection to secure an implement directly to the frame 110 or to the work element 130 (e.g., can be a pinned connection directly to a lift arm). In some cases, the implement interface 170 can include a linkage or other support structure, or can be formed as an implement carrier (e.g., which may be configured to secure and support various implements, and may itself be controllably movable relative to the frame 110 or the work element 130). In some examples, the implement interface 170 can be a pinned or other connection that secures a mower deck to a movable support structure, so that the mower deck can be supported at selected heights relative to the frame 110 (and the ground).

[0025] In some example, the frame 110 can be rigid (e.g., formed from a single member, a weldment, or other unified structure). In some examples, at least one portion of the frame 110 may be movable relative to another. For example, excavators can have an upper frame portion that rotates with respect to a lower frame portion, and some power machines can include articulated frames that are pivotable about one or more vertical (or other) axes. Articulated frames, for example, can be used to implement steering operations, provide improved following of terrain, or otherwise.

[0026] The frame 110 supports the power source 120, which can provide power to the work element 130 or the tractive elements 140. In some cases, the power source 120 can provide power for use by an implement attached at the implement interface 170. In some examples, power from the power source 120 can be provided directly to the work element 130, the tractive elements 140, or implement interfaces 170 (e.g., via direct mechanical or electrical connection). In some examples, power from the power source can be provided indirectly to the work element 130, the tractive elements 140, or the implement interfaces 170 (e.g., may be transferred via hydraulic operations, or a combination of electrical and hydraulic operations). In some examples, the control system 160 can control routing of power from the power source 120 to other systems (e.g., via aE2023-0016-W01 system of electronic, hydraulic, electro-hydraulic, or other control devices, including as generally known in the art).

[0027] In some examples, the power source 120 can include an engine (e.g., an internal combustion engine). In some examples, the power source 120 can include an electrical power source (e.g., a battery, a capacitor, a fuel cell, etc.). In some examples, hybrid power sources can be provided (e.g., with a combination of an engine and an electrical power source). In some examples, a power conversion system can be provided to convert power from the power source 120 into other forms useable by the work element 130, the tractive elements 140, or an implement at the implement interface 170. For example, a hydraulic system can be used to convert rotational output from the power source 120 into hydraulic power (e.g., to power hydrostatic or other operations). Similarly, an electrical system can be used to convert electrical output from the power source 120 into non-electrical power (e.g., rotational mechanical power, or hydraulic power via a coupled hydraulic system).

[0028] For simplicity of presentation, FIG. 1 shows the work element 130, but various examples can include various numbers of work elements. In some examples, as also discussed above, work elements can include mower decks or other similar equipment. In some examples, work elements can include lift arm assemblies or other similar systems. The tractive elements 140 are a special case of work elements and may be provided in various number and configuration. In some examples, tractive elements can be arranged and controllable for independent operation and can be steerable in some cases. In some examples, one or more tractive elements on a first side of the power machine 100 may be separately controllable from one or more tractive elements on a second side of the power machine 100 (e.g., controllable for rotation in opposite directions for “skid steer” operation). Tractive elements can be, for example, wheels attached to an axle, track assemblies, or other assemblies of known configurations to convey tractive power from the frame 110 to a supporting surface.

[0029] In some examples, the tractive elements 140 can be rigidly mounted to the frame 110 so as to be limited to rotation about one or more corresponding axles. In some examples, the tractive elements 140 can be pivotally mounted to the frame 110. In some power machines, including zeroradius turn mowers, one or more caster wheels or similar devices can be used in combination with rigidly mounted tractive elements, with the rigidly mounted tractive elements provide tractiveE2023-0016-W01 power and allowing the power machine to be steered via implementation of different groundengaging speeds at tractive elements on opposing sides of the power machine. Such an arrangement is referred to herein as a zero-radius turn configuration and can in particular be implemented on mowers, as further discussed below.

[0030] In some power machines, the operator station 150 is defined by an enclosed or partially enclosed cab. In some examples, the operation station 150 can include a standing or other platform (e.g., without overhead enclosure). In some example, the operator station 150 can be a remote station (e.g., as provided by a remote control device not attached to the frame 110). In some examples, the operator station 150 can be supported by the frame 110 by accessible by operators that are not (e.g., by an operator walking behind the power machine 100).

[0031] FIG. 2 illustrates an example of a telehandler 200 according to some configurations. The telehandler 200 may be an example of the power machine 100 of FIG. 1. Unless specifically noted otherwise, examples disclosed below can be practiced on a variety of power machines, with the telehandler 200 being only one of those power machines. For example, some or all of the concepts discussed below can be practiced on many other types of work vehicles such as various other loaders, excavators, trenchers, dozers, etc.

[0032] In the illustrated example, the telehandler 200 includes a frame 210 (e.g., as an example of the frame 110 of FIG. 1). The frame 210 may support a power source 220 (e.g., the power source 120 of FIG. 1) that can generate or otherwise provide power for operating various functions on the telehandler 200. The frame 210 may also support a control system 223 (e.g., the control system 160 of FIG. 1) that can control operation or functionality of the telehandler 200 (or component(s) thereof).

[0033] As illustrated in FIG. 2, the frame 210 may support a power conversion system 225 arranged to utilize the power from the power source 220 for useful power machine operations. In particular, the power conversion system 225 can include various components, including mechanical transmissions, hydraulic systems, various motors or actuators, or the like. In some examples, the power conversion system 225 includes a transmission 230. The transmission 230 may include a drive pump 235 and a drive motor 240. In some configurations, the transmission 230 may be a hydrostatic continuous variable transmission (CVT). In such configurations, the drive pump 235 may be a hydrostatic drive pump and the drive motor 240 may be a hydrostaticE2023-0016-W01 motor. Although not illustrated, in some instances, the drive pump 235 and the drive motor 240 may be coupled by one or more hydraulic lines that facilitate the transfer of hydraulic fluid between the drive pump 235 and the drive motor 240. As illustrated in FIG. 2, the transmission 230 (including, e.g., the drive pump 235 or the drive motor 240) may be powered by the power source 220. In some configurations, the transmission 230 (or component(s) thereof) may be controlled (via, e.g., the control system 223) to provide power to various components of the telehandler 200. Control of the transmission 230 (e.g., the drive pump 235 or the drive motor 240) is described in greater detail herein.

[0034] In some examples, as illustrated in FIG. 2, the transmission 230 may provide power to a tractive system 245 of the telehandler 200. The tractive system 245 may include one or more axles 250 (e.g., axles 250A, 250B of FIG. 2) and one or more corresponding tractive elements 255 (e.g., the axles 250A, 250B of FIG. 2). The tractive elements 255 may be examples of the tractive elements 140 of FIG. 1. As illustrated in FIG. 2, the axle 250A may control rotation or movement of the tractive element 255A while the axle 250B may control rotation or movement of the tractive element 255B. For instance, the drive motor 240 may provide power to the axles 250A, 250B such that corresponding tractive elements 255 A, 255B rotate, moving the telehandler 200 across a ground or working surface. In different examples, different arrangements of transmissions and tractive systems are possible (e.g., with dedicated motors for each axle or ground-engaging element, with particular motors powering rotation of multiple axles or ground-engaging elements, etc.)

[0035] As also illustrated in FIG. 2, the power source 220 may provide power to a workgroup system 260 of the telehandler 200. The workgroup system 260 may include one or more workgroup pumps 263, one or more workgroup actuators 265 (including, e.g., one or more workgroup motors 267, or one or more extendable actuators for lift, tilt, or other operations), one or more work elements 270 (e.g., the work element 130 of FIG. 1), and one or more implements 280. In some examples, the drive pump 235 and the workgroup pump 263 can be powered by a single rotational output of the power source 220 (e.g., can be powered in series by a crankshaft of an engine). The workgroup system 260 may include additional, fewer, or different components than those illustrated in FIG. 2 in various configurations and may perform additional functionality than the functionality described herein. Generally, these noted elements can be included individually or inE2023-0016-W01 pluralities, and discussion herein accordingly may refer to these elements in the singular or plural for convenience (e.g., collectively, the work elements 270, or individually, the work element 270).

[0036] In the illustrated example of FIG. 2, the power source 220 may power the workgroup pump 263 (e.g., a hydraulic pump) configured to provide pressurized hydraulic fluid to one or more components within a workgroup circuit of the telehandler 200 (e.g., one or more of the workgroup actuator 265, the workgroup motor 267, the work element 270, the implement 280, etc.) in order to perform an operation or work task. As one example, the workgroup actuator 265 may be a hydraulic actuator configured to raise or lower a lift arm (e.g., the work element 270), to extend or retract a telescoping boom (e.g., the work element 270), to tilt an implement carrier, etc. As another example, the workgroup actuator 265 or the work element 270 may be an actuator or work element, respectively, of an attachment or other auxiliary device (e.g., for powered rotation of a brush or other attachment).

[0037] The implement 280 may include, e.g., an auger, a bale fork, a bucket, a grapple, a flail cutter, a pallet fork, a snow blade, a snow pusher, a snow blower, a soil conditioner, a sweeper (or sweeper bucket), a truss boom, etc. The implement 280 can be included in an implement assembly that may variously include implement actuators (e.g., electric actuators or hydraulic actuators), implement carriers or other implement interfaces (e.g., the implement interface 170 of FIG. 1), one or more power couplers, and so on. Further, the implement 280 can in some cases include a moveable component, and can accordingly include one or more implement actuators. For example, when the implement 280 is a grapple, an auger, a sweeper, etc., the implement 280 may include a moveable component and one or more actuators configured to move the moveable component. Accordingly, in some examples, an implement actuator can be configured to extend, retract, pivot, or otherwise move arms or other working components of the implement 280.

[0038] The work elements 270 may include one or more lift arms, an implement carrier or other interface for the implement 280 for work operations. The work element(s) 270 can be manipulated via operation of the workgroup actuator(s) 265 to position the implement 280 for performing various operations. As described in greater detail herein with respect to FIG. 1 , the work element(s) 270 may generally be manipulated to pivot about an axis due to extension or retraction of one or more corresponding workgroup actuators 265, although other configurations are possible.E2023-0016-W01

[0039] FIG. 3 illustrates an example telehandler 200, which is one particular example of a power machine 100 of FIG. 1, where the examples discussed below can be advantageously employed. To that end, features of the telehandler 200 described below include reference numbers that are generally similar to those used in FIGS. 1 and 2. For example, the telehandler 200 is described as having a frame 210, just as power machine 100 has a frame 110. However, the telehandler 200 as illustrated should not be considered limiting, and examples disclosed below can also be practiced on a variety of other power machines.

[0040] FIG. 3 illustrates a perspective view of the telehandler 200 in accordance with some configurations. As illustrated in FIG. 3, the frame 210 of the telehandler 200 supports a power source 220 that is capable of generating or otherwise providing power for operating various functions on the telehandler 200. In some configurations, the power source 220 is an engine (e.g., an internal combustion engine). Alternatively, or in addition, in some configurations, the power source 220 may include an electric power source (e.g., a battery assembly, a capacitor assembly, a fuel cell, etc.). The power source 220 is illustrated in block diagram form and is generally located within the frame 210.

[0041] As noted herein, the frame 210 may support the work element 270. In the example of FIG. 3, the work element 270 is illustrated in the form of a lift arm assembly 330 (e.g., including a telescoping boom with a tiltable implement carrier). The lift arm assembly 330 may be powered by the power source 220 and may perform various work tasks. In some examples, the telehandler 200 may perform various work tasks using the implement 280 coupled to the work element 270 (via, e.g., an implement carrier or interface). As one example, as illustrated FIG. 3, the implement 280 may be a pallet fork 335, which is coupled to the lift arm assembly 330 via an implement carrier or interface 340 (e.g., the implement interface 170 of FIG. 1). As also illustrated in FIG. 3, the frame 210 may support the tractive system 245 (e.g., one or more tractive elements 255, illustrated in FIG. 3 as wheels). The tractive system 245 may also powered by power source 220 and can propel the telehandler 200 over a support surface.

[0042] The lift arm assembly 330 illustrated in FIG. 3 is one example of many different types of lift arm assemblies that can be attached to a power machine, such as the telehandler 200. The lift arm assembly 330 may be moveable using the workgroup actuator(s) 265 (e.g., hydraulic cylinders), to change position of the lift arm assembly 330 along a lift path with respect to theE2023-0016-W01 frame 210 (e.g., to raise and lower the lift arm assembly 330 as desired). Other lift arm assemblies can have different geometries and can be coupled to the frame 210 in various ways to provide various lift paths. For example, some lift arm assemblies are configured to provide a vertical lift path, while other lift arm assemblies are configured to provide a radial lift path. Some lift arm assemblies can have an extendable or telescoping portion. Some power machines can have a plurality of lift arm assemblies attached to their frames, with each lift arm assembly being movable independent of the other(s). In one particular example, the lift arm assembly 330 of the telehandler 200 may be offset (e.g., laterally offset) to one side of the telehandler 200, with an operator station 380 (e.g., the operator station 150) arranged laterally from the lift arm assembly 330, as illustrated in FIG. 3. Unless specifically stated otherwise, none of the inventive concepts set forth in this discussion are limited by the type or number of lift arm assemblies that are coupled to a particular power machine.

[0043] As mentioned herein, the telehandler 200 includes the operator station 380 (e.g., the operator station 150 of FIG. 1), from which an operator can manipulate various control devices to cause the telehandler 200 to perform various work functions. In some examples, the operator station 380 includes an operator seat and one or more operation input / output devices (also referred to herein as control devices). An operation input / output device may include, e.g., one or more control levels, foot pedals, hand throttles, steering wheels, joysticks, etc. An operator can manipulate the control device(s) to control various machine functions, including, e.g., a steering function, a drive function, an auxiliary hydraulic function (i.e., pressurized hydraulic flow made selectively available to an operably coupled implement), a workgroup function (e.g., to extend, retract, pivot, or otherwise move the implement 280 or other working components of the implement 280), etc.

[0044] In some configurations, the control devices may include various human-machine interfaces or components thereof, including, e.g., buttons, switches, levers, sliders, pedals, touchscreens, and the like that can be stand-alone devices (such as, e.g., hand-operated levers or foot-operated pedals), incorporated into hand grips, or incorporated into display panels, which may be included on a dashboard, including programmable input devices. Actuation of the control device(s) can generate command signals in the form of electrical signals, hydraulic signals, or mechanical signals. The command signals generated in response to operator interaction with the control device(s) are provided to various components on the telehandler 200 for controlling variousE2023-0016-W01 functions on the telehandler 200 (e.g., to or via one or more electronic controllers of a larger electronic control system). Among the functions that can be controlled via the control device(s) include control of the tractive system 245, the workgroup system 260 (e.g., the lift arm assembly 330 of FIG. 3), the transmission 230, etc.

[0045] Other power machines, including walk behind power machines may not have a cab nor an operator compartment (e.g., the operator station 380), nor a seat. The operator position on such power machines is generally defined relative to a position where an operator can access and manipulate relevant operator input devices (e.g., the control devices).

[0046] As noted herein, in some configurations, the telehandler 200 may include the control system 223 (e.g., the control system 160 of FIG. 1) that can control operation or functionality of the telehandler 200 (or component(s) thereof). The control system 223 may include one or more control devices or controllers. For instance, FIG. 4 illustrates an example controller 400 of the control system 223.

[0047] In the illustrated example of FIG. 4, the controller 400 includes one or more electronic processors 405 (for example, a microprocessor, an application-specific integrated circuit (“ASIC”), or another suitable electronic device), a memory 410 (for example, a non-transitory, computer-readable medium), and a communication interface 415. The electronic processor 405, the memory 410, and the communication interface 415 communicate over one or more communication lines or buses. The controller 400 may include additional components than those illustrated in FIG. 4 in various configurations and may perform additional functionality than the functionality described herein. As one example, in some embodiments, the functionality described herein as being performed by the controller 400 may be distributed among other components or devices (e.g., one or more electronic processors).

[0048] The communication interface 415 allows the controller 400 to communicate with devices external to the controller 400. For example, as illustrated in FIG. 2, the controller 400 may communicate with the power source 220, the workgroup system 260 (or component(s) therein), the transmission 230, other components or systems of the telehandler 200, or a combination thereof through the communication interface 415.

[0049] The communication interface 415 may include a port for receiving a wired connection to an external device (for example, a universal serial bus (“USB”) cabled and the like), a transceiverE2023-0016-W01 for establishing a wireless connection to an external device (for example, over one or more communication networks, such as the Internet, local area network (“LAN”), a wide area network (“WAN”), and the like), or a combination thereof. In some configurations, the controller 400 can be a dedicated or stand-alone controller. In some configurations, the controller 400 can be part of a system of multiple distinct controllers (e.g., a hub controller, a drive controller, a workgroup controller, etc.) or can be formed by a system of multiple distinct controllers (e.g., also with hub, drive, and workgroup controllers, etc.), where the multiple distinct controllers communicate via a controller area network (“CAN”) bus.

[0050] The electronic processor 405 is configured to access and execute computer-readable instructions (“software”) stored in the memory 410. The software may include firmware, one or more applications, program data, filters, rules, one or more program modules, and other executable instructions. For example, the software may include instructions and associated data for performing a set of functions, including the methods described herein.

[0051] FIG. 5 is a flowchart illustrating a method 500 for controlling a power machine (e.g., the telehandler 200) according to some configurations. In some configurations, the method 500 can be performed by the control system 223 (e.g., the controller 400) and, in particular, by the electronic processor 405 of the controller 400. However, as noted above, the functionality described with respect to the method 500 may be performed by other devices or can be distributed among a plurality of devices or components (e.g., one or more electronic processors). The method 500 is described herein with reference to the telehandler 200 (e.g., the power machine 100 of FIG. 1). However, as noted herein, unless specifically noted otherwise, the systems and methods disclosed herein can be practiced on a variety of power machines, with the telehandler 200 being only one of those power machines. For example, some or all of the concepts discussed herein can be practiced on many other types of work vehicles, such as, e.g., various other loaders, excavators, trenchers, dozers, mowers, etc.

[0052] At operation 505, the controller 400 may receive a request to initiate a cruise control mode for the telehandler 200. As used herein, “cruise control mode” may refer to an automated operating mode in which a travel speed of a power machine (e.g., the telehandler 200) is maintained (or attempted to be maintained) based on a speed setting or parameter without continuous operator interaction (e.g., without an operator actuating a throttle pedal). For example,E2023-0016-W01 in some examples, a cruise control mode for the telehandler 200 may include performing a cruise control operation in which the tractive system 245 (along with other power machine systems) is controlled based on a target constant travel speed for the telehandler 200. For example, pump or motor displacements of a hydrostatic drive system may be set in correspondence with a target constant engine speed to provide a target constant ground-engagement speed for tractive elements of the tractive system 245.

[0053] In some examples, an operator of the telehandler 200 may activate the cruise control mode for the telehandler 200 by interacting with an operator input device of the telehandler 200. Such an interaction may trigger a request to initiate the cruise control mode for the telehandler 200. As one example, the operator may interact with a switch included in the operator station 380 of the telehandler 200. In some examples, when the switch is “ON” the cruise control mode is active and when the switch is “OFF” the cruise control mode is inactive (e.g., has no effect on machine operation). In some examples, cruise control mode can be implemented automatically or otherwise based on sensed or determined states of a power machine.

[0054] In some configurations, an operator of the telehandler 200 may be prompted (or may opt) to provide one or more operating parameters or other settings for the cruise control mode (also referred to herein as cruise control param eter(s)). As one example, the operator of the telehandler 200 may be prompted to provide a speed command setting. The speed command may be a target travel speed for the telehandler 200 (e.g., the tractive system 245) while the telehandler 200 operates in the cruise control mode, and in some cases may be selectable from a range of travel speeds. In some instances, the operator of the telehandler 200 may be prompted for the cruise control parameter(s) via a prompt displayed to the operator via a display device (e.g., a user interface (“UI”) or graphical user interface (“GUI”) displayed thereon) included in the operator station 380 of the telehandler 200. An operator may provide the cruise control parameter(s) using the operator input device(s) of the telehandler 200, including, e.g., a joystick, one or more buttons on a joystick, etc.

[0055] In some instances, the telehandler 200 may provide feedback to the operator, such as, e g., as the operator provides the cruise control parameter(s). As one example, a display device of the telehandler 200 may display a UI or GUI that provides information regarding the cruise control mode, including, e.g., present cruise control parameter(s), minimum cruise control parameter(s),E2023-0016-W01 maximum cruise control parameter(s), whether the cruise control mode is in an active mode, an inactive mode, or a standby mode, etc. As one specific example, the display device may display a number line or bar with an indicator of a present cruise control parameter. As an operator adjusts the cruise control parameter, the indicator of the present cruise control parameter may “move” along the number line to reflect the operator’s adjustments. As another example, the display device may display an icon or symbol representing whether the cruise control mode is in an active mode, an inactive mode, or a standby mode, etc. For instance, the display device may display a cruise control icon in a first color (e.g., green) when the cruise control mode is in an active mode, in a second color (e.g., white) when the cruise control mode is in an inactive mode, in a third color (e.g., yellow) when the cruise control mode is in a standby mode, etc.

[0056] Accordingly, in some instances, the controller 400 may receive a request to initiate the cruise control mode (e.g., from the operator input device(s) of the telehandler 200). As appropriate, the controller 400 may then activate the cruise control mode for the telehandler 200 based on the request. For examples, as generally discussed above, the controller 400 may set a particular target engine speed for cruise control operation and, as applicable, a corresponding set of hydrostatic pump and motor displacements. The power machine can then be operated at those set points so that the power machine is controlled to travel at a target constant travel speed. It will be understood by those of skill in the art that an engine speed or pump / motor displacement may transition gradually rather than instantaneously between a present value and a commanded value, and that actual travel speed may vary relative to a commanded (set) travel speed during a cruise control mode (e.g., may vary during acceleration to the commanded travel speed, or due to variations in ground-engaging power requirements, etc.). Unless otherwise specified, discussion below of cruise control mode relates to steady state operation, with the engine at (and controlled to) the target engine speed and the power machine traveling at (and controlled to) the target cruise control travel speed.

[0057] At operation 510, the controller 400 may receive a first operating command to perform a first tractive operation with the tractive system 245. The first operating command may also be referred to herein as a tractive operating command. The tractive operating command may be utilized to control the tractive system 245, such as, e.g., to move the telehandler 200 along a working surface. As two examples, the tractive operating command may indicate a target travel speed for the telehandler 200 while the cruise control mode is active, or may indicate a commandedE2023-0016-W01 forward or rearward movement over a support surface with a particular speed (e.g., a target cruise control speed or speed range).

[0058] In some instances, the controller 400 may receive the tractive operating command from an operator input device. As one specific example, an operator of the telehandler 200 may provide the tractive operating command by interacting with a foot pedal or a joystick of the telehandler 200, where the tractive operating command may be an electronic command signal caused by the operator’s interaction with the foot pedal. Alternatively, or in addition, in some instances, the controller 400 may retrieve the tractive operating command from a storage location (e.g., the memory 410 or another storage location) or via a remote connection. For example, an operator of the telehandler 200 may have pre-set a constant target travel speed (or speed range) to be implemented when the cruise control mode is active. As such, in some instances, the tractive operating command may be a predetermined or pre-set operating command that the controller 400 may access and utilize as part of implementing the cruise control mode. In some instances, a tractive command (like other commands discussed herein) can be received as a pre-programmed command or a signal from a separate controller (e.g., a remote travel controller).

[0059] At operation 515, the controller 400 may control the power source 220 based on the first operating command (e.g., the tractive operating command). In some configurations, the controller 400 may determine an operating parameter (e.g., a first operating parameter) for the power source 220 based on the tractive operating command. For example, the first operating parameter may correspond to an amount of power to be produced by the power source 220 so that the telehandler 200 may perform a particular tractive operation (e.g., travel in a cruise control mode, in response to received tractive operating command). In this regard, as one example, the first operating parameter may include an operating speed (e.g., a target rotational speed) for the power source 220. For example, a target engine speed may be set for cruise control operation such that the power source 220 efficiently provides a sufficient amount of power to the tractive system 245 (e.g., via the transmission 230) to move the telehandler 200 at a constant target travel speed. As such, in some configurations, the first operating parameter may be based on or correspond to the tractive operating command. Likewise, in some configurations, the first operating parameter may be a target rotational speed for the power source 220 that corresponds to a first tractive operation (e.g., as implemented in response to receiving the first operating command).E2023-0016-W01

[0060] In some instances, the controller 400 may determine the first operating parameter to be a minimum rotational speed that achieves the constant target travel speed for performance of the first tractive operation. By implementing this minimum rotational speed, the technology disclosed herein may optimize fuel consumption and efficiency, while also reducing noise levels, pollutant emissions, and the like.

[0061] In some configurations, the controller 400 may control the power source 220 using the first operating parameter. For instance, the controller 400 may control the power source 220 by commanding the power source 220 to operate at the operating parameter, such as, e.g., a target rotational speed that corresponds to a target travel speed (e.g., the first operating command). In some examples, the controller 400 may provide one or more control signals to the power source 220, where the control signal(s) represent the first operating parameters. Responsive to receiving the control signal(s), the power source 220 may operate in accordance with the control signal(s), and, in particular, in accordance with the first operating parameter. As one example, when the first operating parameter is a target rotational speed that corresponds to the target travel speed, the power source 220, responsive to the control signal(s), may operate with the target rotational speed as a speed control set point, and may accordingly provide power for cruise control travel.

[0062] In some examples, responsive to receiving power from the power source 220, the tractive system 245 may be controlled to operate in accordance with the first operating command (e.g., to operate to provide a target travel speed). For example, using power from the power source 220, while a cruise control mode is active, the tractive system 245 may operate with set points based on target travel speeds (e.g., with pump and motor displacements set to provide rotational output, given particular rotational input, at a speed corresponding to a cruise control target speed).

[0063] At operation 520, the controller 400 may receive a second operating command to perform a second, workgroup operation with the workgroup system 260. The second operating command may also be referred to herein as the workgroup operating command. In some instances, the controller 400 may receive the workgroup operating command while the cruise control mode is active for the telehandler 200 (e.g., while the tractive system 245 performs a tractive operation at a target travel speed). For example, as described herein, an operator of the telehandler 200 may sometimes request movement of the workgroup system 260, while the tractive system 245 performs a tractive operation with the cruise control mode active.E2023-0016-W01

[0064] The workgroup operating command may be utilized to control the workgroup system 260 to perform a workgroup operation, such as, e.g., a lift operation, a tilt operation, an auxiliary or attachment operation, etc. In some examples, the workgroup operating command may be a request to control movement of the workgroup system 260 (e.g., the work element 270), such as, e.g., lifting or lowering of a lift arm, tilting an attachment coupled to a lift arm, operating a powered attachment, etc. In some instances, the workgroup operating command may indicate a speed at which the requested movement is to be performed (e.g., by indicating a requested hydraulic flow rate for a particular actuator).

[0065] Accordingly, in some instances, the workgroup operating command may include a position-related command (e.g., a requested change in position), a speed-related command (e.g., a requested target speed at which to perform the requested change in position), or other corresponding commands. As one example, with respect to the workgroup actuator 265 when configured as a linear actuator, the workgroup operating command may include an extension or retraction amount or a target speed at which the workgroup actuator 265 is to extend or retract.

[0066] In some instances, the controller 400 may receive the workgroup operating command from an operator input device. As one specific example, an operator of the telehandler 200 may provide the workgroup operating command by interacting with a joystick or foot pedal included in the operator station 380 of the telehandler 200, where the workgroup operating command may be an electronic command signal caused by the operator’s interaction with the hand throttle.

[0067] As noted herein, in some cases, when an operator of the telehandler 200 requests performance of the tractive operation and the workgroup operation, the first target rotational speed utilized to control the power source 220 may result in undesirably slow performance of the workgroup operation by the workgroup system 260 (e.g., due to lack of power at a hydraulic pump to operate a corresponding workgroup actuator). In some examples, the operator may request additional power to counter the slow performance of the workgroup operation (e.g., to increase the speed at which the workgroup operation is performed). For example, the operator may request a second target rotational speed for a power source corresponding to increased power.

[0068] In some configurations, the controller 400 may receive an operator-commanded target rotational speed command for the power source 220, also referred to herein as an operator- commanded target rotational speed. The operator-commanded target rotational speed commandE2023-0016-W01 generally corresponds to a second target rotational speed for the power source 220 (also referred to herein as an operator-commanded target rotational speed), which may be different than the first target rotational speed. For example, the second target rotational speed may be larger (i.e., faster) than the first target rotational speed for cruise control operation. In some implementations, the controller 400 may receive or otherwise operate under the operator-commanded target rotational speed command while the telehandler 200 is performing the tractive operation and the workgroup operation. For example, an operator may command a second target rotational speed for the power source 220 with a manual input before or after operating in a cruise control mode, and before or after commanding a workgroup operation.

[0069] In some configurations, the operator-commanded target rotational speed command may be an operator throttle command. For example, an operator may indirectly specify a second target rotational speed for the power source 220 by specifying a particular throttle position for an internal combustion engine of the power source 220 (e.g., with a hand throttle lever or other input device).

[0070] To ensure sufficient power for commanded operations (e.g., cruise control travel and one or more workgroup operations), the controller 400 may determine whether to control a speed of the power source 220 in accordance with the first operating command (e.g., based on the first target rotational speed) or in accordance with the second operating command (e.g., based on the operator- commanded target rotational speed). In this regard, for example, the controller 400 can compare target power source speeds corresponding to the operating commands and selectively control the engine accordingly. For example, during operation in a cruise control mode, the controller 400 may control an engine to operate at a maximum (i.e., fastest) speed of the target speeds that correspond to the received tractive and workgroup commands.

[0071] As a particular example, and also described above, an operator may request movement of the workgroup system 260 (e.g., the work element 270) while the cruise control mode is active and the tractive system 245 is performing a tractive operation accordingly. In such instances, the first target rotational speed for the power source 220 (e.g., a minimum rotational speed to achieve a target travel speed) may result in undesirable functioning of the workgroup system 260 (e.g., diminished speed or other low performance of the workgroup operation). Accordingly, in some configurations, the technology disclosed herein may determine how to prioritize or otherwise balance different operator commands while the telehandler 200 operates in a cruise control mode,E2023-0016-W01 and is requested to perform a tractive operation and a workgroup operation. For instance, the technology disclosed herein may selective control a power source (e.g., an engine) to operate at a target speed that is a maximum of a target cruise control rotational speed and an operator- commanded target rotational speed.

[0072] In some configurations, the controller 400 may determine how to prioritize speed commands (e.g., the tractive operating command or the selected rotational speed command) based on an operating mode of the telehandler 200. A present operating mode of the telehandler 200 may relate to a present work task or objective to be accomplished by the telehandler 200. As one example, an operating mode of the telehandler 200 may be a roading mode (or a traveling mode), where the present work task or objective to be accomplished by the telehandler 200 is roading (e.g., a tractive operation). As another example, an operating mode of the telehandler 200 may be a working mode (or a non-roading mode), where the present work task or objective to be accomplished by the telehandler 200 relates to operation of the workgroup system 260, such as, e.g., lifting, lowering, or tilting the implement 280 with the work element 270, or other workgroup operation.

[0073] In some configurations, the controller 400 may monitor (or otherwise evaluate) operational data related to the telehandler 200 in order to determine a present operating mode of the telehandler 200. In some examples, the operational data may include a present travel speed of the telehandler 200. In some instances, the target travel speed (or the tractive operating command) may be the present travel speed. Accordingly, in some configurations, the controller 400 may determine a present operating mode of the telehandler 200 based on the tractive operating command. Alternatively, or in addition, in some configurations, the controller 400 may determine the present travel speed based on sensed speed data (e.g., collected using a speed sensor).

[0074] As one example, when the telehandler 200 is moving at a slow or lower speed, the controller 400 may determine that the present operating mode of the telehandler 200 is a working mode (e.g., a non-roading mode). As another example, when the telehandler 200 is moving at a fast or higher speed, the controller 400 may determine that the present operating mode of the telehandler 200 is a roading mode.

[0075] In particular, in some configurations, the controller 400 may determine the present operating mode of the telehandler 200 using one or more speed thresholds or criteria. As oneE2023-0016-W01 example, the controller 400 may compare a present travel speed of the telehandler 200 to a threshold speed value. In this example, when the present travel speed is below the threshold speed value, the controller 400 may determine that the present operating mode of the telehandler 200 is a working mode (e.g., a non-roading mode), and, when the present travel speed is above the threshold speed value, the controller 400 may determine that the present operating mode of the telehandler 200 is a roading mode. As another example, the controller 400 may compare the present travel speed of the telehandler to one or more speed ranges. In this example, when the present travel speed is within a first speed range (e.g., 0-20 kph), the controller 400 may determine that the present operating mode of the telehandler 200 is in a working mode (e.g., a non-roading mode), and, when the present travel speed is within a second speed range (e.g., 20-40 kph), the controller 400 may determine that the present operating mode of the telehandler 200 is in a roading mode.

[0076] After determining the present operating mode of the telehandler 200, the controller 400 may then determine how to prioritize speed commands accordingly (e g., to select between first and second target rotational speeds for a power source, as specified by first and second operating commands). For instance, when the present operating mode of the telehandler 200 is the roading mode, the controller 400 may prioritize the tractive operating command (e.g., by commanding the power source 220 to operate at the first target rotational speed). By prioritizing the tractive operating command, performance of the tractive operation may be prioritized over performance of the workgroup operation (e.g., the selected rotational speed command). For instance, the controller 400 may control (or command) the power source 220 to operate at the first target rotational speed in order to efficiently provide sufficient power to the tractive system 245 such that the tractive system 245 may perform the tractive operation at the target travel speed, although workgroup operation may accordingly be under-powered.

[0077] In some examples, when the present operating mode of the telehandler 200 is the working mode (e.g., the non-roading mode), the controller 400 may prioritize a different rotational speed command (e.g., by commanding the power source 220 to operate at the operator-commanded target rotational speed). For example, by prioritizing an operator-commanded target rotational speed, performance of the workgroup operation (e.g., the selected rotational speed command) may be prioritized, despite potential for loss of efficiency or other detriment to performance of the tractive operation. For instance, the controller 400 may control (or command) the power source 220 toE2023-0016-W01 operate at the operator-commanded target rotational speed in order to provide sufficient power to the workgroup system 260 such that the workgroup system 260 may perform the workgroup operation at the requested speed.

[0078] Alternatively, or in addition, as also discussed above, the controller 400 may selectively prioritize power source speed commands based on comparison of the magnitude of the target power source speeds (e.g., to select between a cruise control engine speed and an operator- commanded engine speed). For example, to compare target engine speeds, the controller 400 may determine which of two (or more) target engine speeds is larger (i.e., faster). For instance, in some configurations, the controller 400 may determine which is greater: the first target rotational speed or the operator-commanded target rotational speed. The controller 400 may then prioritize the greater of the first target rotational speed or the operator-commanded target rotational speed by commanding the power source 220 to operate at the greater of the first target rotational speed or the operator-commanded target rotational speed (e.g., to thus operate at an operator-commanded engine speed during continued cruise control travel.

[0079] In other words, in some configurations, the controller 400 may compare the tractive operating command and the workgroup operating command (e.g., by comparing requested engine speeds thereof) to determine whether to control the power source 220 based on the tractive operating command or whether to control the power source 220 based on the workgroup operating command (e.g., by commanding the engine to operate at the corresponding target speed). In some particular cases, as also discussed above, the controller 400 may determine to control the power source 220 based on the operating command associated with the highest requested power source speed.

[0080] In some examples, selection between a cruise control target rotational speed and an operator-commanded target rotational speed may be based upon a travel speed of a power machine (or requested travel speed). As one example, during travel within a first range of target travel speeds (e.g., during cruise control or other travel at 2 kph, or lower, to 20 kph), the controller 400 may prioritize workgroup operation by selecting the maximum of a cruise-control and an operator- commanded engine speed. In contrast, during travel within a second range of target ravel speeds (e.g., during cruise control or other travel at more than 20 kph), the controller 400 may prioritize travel operation by controlling engine speed to efficiently maintain travel speed (e.g., to operate atE2023-0016-W01 a target cruise control rotational speed), although relatively little excess power may be available for workgroup operations. In some cases, in a second range of travel (e.g., at elevated speeds, as above), the controller 400 may control the engine based on a cruise control target rotational speed rather than a larger operator-requested rotational speed to prioritize travel speed, or may implement a reduced scale of the requested travel speed increase (e.g., to provide a proportionally decreased change for a given operator input, relative to a derated maximum operator input signal).

[0081] In some implementations, operator input may indicate whether to prioritize cruise control travel or workgroup operation. For example, some implementations may include input interfaces to receive operator input to select between a working mode and a roading mode (e.g., as also discussed above). In some examples, operator input at a throttle control may similarly indicate a requested prioritization. For example, where an operator throttle command (provided via, e.g., a foot input) remains unchanged during a workgroup command, a cruise control rotational speed may be targeted for an engine. In contrast, a work-commanded rotational speed may be targeted when an operator provides both a workgroup command (provided via, e.g., a hand input) and an increased throttle command (provided via, e.g., a foot input). In some examples, generally when in cruise control mode, applying a foot control command may increase the travel speed.

[0082] Once a power source rotational speed has been selected (e.g., based on prioritizing of cruise control or workgroup operation), the controller 400 may then control the power source 220 based on the selected speed (e.g., may command the power source 220 to the selected speed, at operation 525). For instance, when the controller 400 prioritizes the tractive operating command (or the first target rotational speed associated therewith), the controller 400 may then control the power source 220 to operate at the first target rotational speed. When the controller 400 prioritizes the selected rotational speed command (or the operator-commanded target rotational speed associated therewith), the controller 400 may then control the power source 220 to operate at the operator-commanded target rotational speed.

[0083] In some configurations, the controller 400 may further control the transmission 230 based on a target travel speed (e.g., a cruise control travel speed) or other factors (e.g., in response to engine droop). Thus, in some cases, the controller 400 may control the transmission 230 in response to determining that an operator-commanded target rotational speed for an engine is greater than a cruise-control target rotational speed. For example, as noted above, the controllerE2023-0016-W01400 may control an engine to operate at an operator-commanded target rotational speed that is higher than a target cruise control rotational speed and may correspondingly control the transmission 230 to maintain a target cruise control travel speed (e.g., by reducing pump displacement or increasing motor displacement).

[0084] Further, in some cases, displacement of one or more of the drive pump 235 or the drive motor 240 can be adjusted once travel speed has reached a target cruise control travel speed to allow further reduction in engine speed - and corresponding increase in efficiency of operation. Thus, for example, a cruise control target rotational speed for an engine may be variable in some cases, in conjunction with corresponding control of pump or motor displacement (e.g., to maintain a constant travel speed with reduced power consumption via correlated adjustment of both pump and motor displacement).

[0085] Similarly, in some cases, an engine speed can be controlled to prioritize travel speed during cruise control operation. For example, a target engine speed for cruise control operation may be varied from a constant target speed based on an insufficiency of power for a commanded tractive operation (e.g., as indicated by a reduction in travel speed below a target). Thus, for example, destroking of the transmission 230 may be avoided while a target travel speed is still maintained.

[0086] Thus, generally, implementations of the method 500 can provide cruise control travel with control of the transmission 230 (e.g., at operation 530) in combination with control of the power source 220 (e.g., at operation 525, based on a comparison of cruise control and operator- commanded speeds). In particular, the controller 400 may control the transmission 230 to maintain a target travel speed during a tractive (e.g., cruise control) operation, while also controlling the power source 220 to operate at an (increased) operator-commanded target rotational speed. Correspondingly, at the commanded (increased) rotational speed, the power source 220 provide sufficient power to the workgroup system 260 for a desirable speed of operation. Further, with corresponding adjustment of the transmission 230, the tractive system 245 may continue to operate at a target travel speed - rather than an increased speed corresponding to the increased power source speed - and may correspondingly be prevented from receiving excess power (e.g., to the detriment of operations with the workgroup system 260).E2023-0016-W01

[0087] The controller 400 may control the transmission 230 according to approaches generally known in the art to operate with different output speeds or at different powers. For example, the controller 400 may control the transmission 230 by adjusting displacements or other operational characteristics of hydrostatic drive pumps or motors of the transmission 230.

[0088] In particular, in some examples, the controller 400 may adjust a displacement of the drive motor 240, e.g., by adjusting a swash plate, to provide an output rotational speed corresponding to a tractive operating command (e.g., to provide a corresponding ground-engagement speed based on a target travel speed during cruise control operation). Alternatively, or in addition, the controller may adjust a displacement of the drive pump 235, to increase or decrease an output flow provided to the drive motor 240 (and corresponding operational power of the transmission 230). Accordingly, in some configurations, the controller 400 may control the transmission 230 in combination with the power source 220 to provide a target output speed or power for a commanded tractive operation (e.g., for cruise control travel at a target travel speed, including while operating with an operator-commanded engine speed).

[0089] Further, displacement of the workgroup pump 263 can also be controlled in some examples, including to selectively prioritize travel or workgroup operations. For example, during some operations (e.g., at operation 535), displacement of the workgroup pump 263 can be selectively reduced from a present setting (e.g., a maximum displacement or other default) in response to reduction of engine power (e.g., engine droop) or loss of travel speed relative to a target speed. Such a reduction, for example, can be implemented during cruise control travel to prioritize travel speed (e.g., can be implemented in response a reduction in actual travel speed by a threshold percentage below a cruise control target speed) or to otherwise reduce power demand for a commanded workgroup operation. Thus, for example, the controller 400 may in some cases command the power source 220 to a cruise control rotational speed and may correspondingly reduce a displacement of the workgroup pump 263 to prioritize availability of power for a commanded tractive operation.

[0090] In some implementations, devices or systems disclosed herein can be utilized or configured for operation using methods embodying aspects of the present disclosure. Correspondingly, description herein of particular features, capabilities, or intended purposes of a device or system is generally intended to inherently include disclosure of a method of using suchE2023-0016-W01 features for the intended purposes, a method of implementing such capabilities, and a method of configuring disclosed (or otherwise known) components to support these purposes or capabilities. Similarly, unless otherwise indicated or limited, discussion herein of any method of manufacturing or using a particular device or system, including configuring the device or system for operation, is intended to inherently include disclosure, as examples of the disclosed technology, of the utilized features and implemented capabilities of such device or system.

[0091] Certain operations of methods according to the present disclosure, or of systems executing those methods, may be represented schematically in the figures or otherwise discussed herein. Unless otherwise specified or limited, representation in the figures of particular operations in particular spatial order may not necessarily require those operations to be executed in a particular sequence corresponding to the particular spatial order. Correspondingly, certain operations represented in the figures, or otherwise disclosed herein, can be executed in different orders than are expressly illustrated or described, as appropriate for particular implementations of the present disclosure. Further, in some examples, certain operations can be executed in parallel or omitted entirely.

[0092] As used herein, unless otherwise limited or defined, “or” indicates a non-exclusive list of components or operations that can be present in any variety of combinations, rather than an exclusive list of components that can be present only as alternatives to each other. For example, a list of “A, B, or C” indicates options of A; B; C; A and B; A and C; B and C; and A, B, and C. Correspondingly, the term “or” as used herein is intended to indicate exclusive alternatives only when preceded by terms of exclusivity, such as “either,” “one of,” “only one of,” or “exactly one of.” For example, a list of “one of A, B, or C” indicates options of A, but not B and C; B, but not A and C; and C, but not A and B. A list preceded by “one or more” (and variations thereon) and including “or” to separate listed elements indicates options of one or more of any or all of the listed elements. For example, the phrases “one or more of A, B, or C” and “at least one of A, B, or C” indicate options of: one or more A; one or more B; one or more C; one or more A and one or more B; one or more B and one or more C; one or more A and one or more C; and one or more of A, one or more of B, and one or more of C. Similarly, a list preceded by “a plurality of’ (and variations thereon) and including “or” to separate listed elements indicates options of multiple instances of any or all of the listed elements. For example, the phrases “a plurality of A, B, or C” and “two or more of A, B, or C” indicate options of: A and B; B and C; A and C; and A, B, and C.E2023-0016-W01

[0093] In some examples, aspects of the disclosed technology, including computerized implementations of methods according to the disclosed technology, can be implemented as a system, method, apparatus, or article of manufacture using standard programming or engineering techniques to produce software, firmware, hardware, or any combination thereof to control a processor device (e.g., a serial or parallel general purpose or specialized processor chip, a single- or multi-core chip, a microprocessor, a field programmable gate array, any variety of combinations of a control unit, arithmetic logic unit, and processor register, and so on), a computer (e.g., a processor device operatively coupled to a memory), or another electronically operated controller to implement aspects detailed herein. Accordingly, for example, aspects of the disclosed technology can be implemented as a set of instructions, tangibly embodied on a non-transitory computer-readable media, such that a processor device can implement the instructions based upon reading the instructions from the computer-readable media. Some examples of the disclosed technology can include (or utilize) a control device such as an automation device, a special purpose or general purpose computer including various computer hardware, software, firmware, and so on, consistent with the discussion below. As specific examples, a control device can include a processor, a microcontroller, a field-programmable gate array, a programmable logic controller, logic gates etc., and other typical components that are known in the art for implementation of appropriate functionality (e.g., memory, communication systems, power sources, user interfaces and other inputs, etc.). In some examples, a control device can include a centralized hub controller that receives, processes and (re)transmits control signals and other data to and from other distributed control devices (e.g., an engine controller, an implement controller, a drive controller, etc.), including as part of a hub-and-spoke architecture or otherwise.

[0094] The term “article of manufacture” as used herein is intended to encompass a computer program accessible from any computer-readable device, carrier (e.g., non-transitory signals), or media (e.g., non-transitory media). For example, computer-readable media can include but are not limited to magnetic storage devices (e.g., hard disk, floppy disk, magnetic strips, and so on), optical disks (e.g., compact disk (CD), digital versatile disk (DVD), and so on), smart cards, and flash memory devices (e.g., card, stick, and so on). Additionally, it should be appreciated that a carrier wave can be employed to carry computer-readable electronic data such as those used in transmitting and receiving electronic mail or in accessing a network such as the Internet or a localE2023-0016-W01 area network (LAN). Those skilled in the art will recognize that many modifications may be made to these configurations without departing from the scope or spirit of the claimed subject matter.

[0095] Certain operations of methods according to the disclosed technology, or of systems executing those methods, may be represented schematically in the FIGS., or otherwise discussed herein. Unless otherwise specified or limited, representation in the FIGS, of particular operations in particular spatial order may not necessarily require those operations to be executed in a particular sequence corresponding to the particular spatial order. Correspondingly, certain operations represented in the FIGS., or otherwise disclosed herein, can be executed in different orders than are expressly illustrated or described, as appropriate for particular examples of the disclosed technology. Further, in some examples, certain operations can be executed in parallel, including by dedicated parallel processing devices, or separate computing devices configured to interoperate as part of a large system.

[0096] As used herein in the context of computer implementation, unless otherwise specified or limited, the terms “component,” “system,” “module,” “block,” “stage,” “device,” and the like are intended to encompass part or all of computer-related systems that include hardware, software, a combination of hardware and software, or software in execution. For example, a component may be, but is not limited to being, a processor device, a process being executed (or executable) by a processor device, an object, an executable, a thread of execution, a computer program, or a computer. By way of illustration, both an application running on a computer and the computer can be a component. One or more components (or system, module, and so on) may reside within a process or thread of execution, may be localized on one computer, may be distributed between two or more computers or other processor devices, or may be included within another component (or system, module, and so on).

[0097] Unless otherwise specified or limited, the terms “about” and “approximately,” as used herein with respect to a reference value, refer to variations from the reference value of ± 15% or less (e.g., ± 10%, ± 5%, etc.), inclusive of the endpoints of the range. Similarly, the term “substantially equal” (and the like) as used herein with respect to a reference value refers to variations from the reference value of less than ± 30% (e.g., ± 20%, ± 10%, ± 5%) inclusive. Where specified, “substantially” can indicate in particular a variation in one numerical direction relative to a reference value. For example, “substantially less” than a reference value (and the like)E2023-0016-W01 indicates a value that is reduced from the reference value by 30% or more, and “substantially more” than a reference value (and the like) indicates a value that is increased from the reference value by 30% or more.

[0098] Also as used herein in the context of power machines, unless otherwise defined or limited, “tractive” or “drive” designate actuators and other work elements of a power machine that can be powered by a power source to cause movement of the power machine over terrain (e.g., wheeled or tracked ground-engaging elements, motors configured to power ground-engaging elements, and related assemblies). In contrast, “workgroup” is used to refer to actuators or other work elements of a power machine corresponding to powered operation of work elements that are not configured to provide powered travel over terrain (e g., lift arm structures, attached implements, motors or other actuators to power movement of lift arm structures or attached implements, auxiliary power take-off interfaces, and related assemblies). Thus, tractive (or drive) actuators are arranged to power travel of a power machine whereas workgroup actuators are arranged to power non-travel work operations of the power machine. Correspondingly, discussion of workgroup functions refers to one or more functions provided by movement of one or more workgroup elements of a power machine, whereas discussion of tractive (or drive) functions refer to one or more functions provided for movement of the power machine itself over terrain.

[0099] Although the presently disclosed technology has been described with reference to preferred implementations, workers skilled in the art will recognize that changes may be made in form and detail without departing from the scope of the discussion.

Claims

E2023-0016-W01CLAIMS1. A power machine comprising: a power source; a tractive system including a hydrostatic drive system arranged to be rotationally powered by the power source, the hydrostatic drive system including a hydraulic drive pump arranged to power a hydraulic drive motor; a workgroup system including a hydraulic actuator arranged to power a work element; and one or more electronic controllers configured to: receive a first operating command to perform a first tractive operation with a tractive system of the power machine to move the power machine along a working surface, the first tractive operation corresponding to a first target rotational speed for the power source; in response to receiving the first operating command, commanding the power source to operate at the first target rotational speed to power the tractive system during the first tractive operation; receive a second operating command to perform a first workgroup operation with the workgroup system during the first tractive operation; and selectively commanding the power source to operate at a power source speed during the first tractive operation and the first workgroup operation, including: in response to receiving an operator-commanded target rotational speed for the power source, commanding the power source to operate at a maximum of: the first target rotational speed and the operator-commanded target rotational speed.

2. The power machine of claim 1, wherein selectively commanding the power source to operate at the power source speed during the first tractive operation and the first workgroup operation further includes:E2023-0016-W01 commanding the power source to operate at the first target rotational speed in response to one or more of: not receiving an operator-commanded target rotational speed for the power source, or being in a reading mode for operation of the power source.

3. The power machine of claim 1, wherein the first tractive operation is a cruise control operation in which the tractive system is controlled based on a constant target travel speed for the power machine.

4. The power machine of claim 3, wherein the one or more electronic controllers are configured to determine the first target rotational speed as a minimum rotational speed of the power source to provide the constant target travel speed with the tractive system.

5. The power machine of claim 1, wherein the one or more electronic controllers are configured to, while commanding the power source to operate at the operator-commanded target rotational speed, control a displacement of one or more of the hydraulic drive motor or the hydraulic drive pump to maintain a constant travel speed of for the power machine.

6. The power machine of claim 1, further comprising: a manual throttle input, engageable by an operator to provide a throttle command for the power source; wherein the operator-commanded target rotational speed is received via the manual throttle input.

7. The power machine of claim 6, wherein the manual throttle input is a hand throttle included in the operator station of the power machine.

8. The power machine of claim 1, wherein commanding the power source to operate at the maximum of the first target rotational speed and the operator-commanded target rotational speed is further in response to a travel speed or a commanded travel speed of the first tractive operation being within a first speed range.E2023-0016-W019. The power machine of claim 8, wherein the one or more electronic controllers are further configured to command the power source to operate at the first target rotational speed in response to a travel speed or a commanded travel speed of the first tractive operation being within a second speed range that includes higher speeds than the first speed range.

10. The power machine of claim 1, wherein the one or more electronic controllers are further configured to: command the power source to operate at the maximum of the first target rotational speed and the operator-commanded target rotational speed further in response to receiving, from an operator input device of the power machine, a request to activate a cruise control mode for the power machine.

11. A method for controlling a power machine, the method comprising: activating, with one or more electronic controllers, a cruise control mode for the power machine; to power a hydrostatic drive system of the power machine during a tractive operation to propel the power machine at a cruise control travel speed, controlling a power source of the power machine, with the one or more electronic controllers, to operate at a first target rotational speed; receiving, with the one or more electronic controllers, an operator throttle command that corresponds to a second target rotational speed of the power machine; receiving, with the one or more electronic controllers, a first operator command to perform a workgroup operation with a hydraulic work element of a workgroup system of the power machine; determining, with the one or more electronic controllers, a selected rotational speed based on determining the greater of the first target rotational speed and the second target rotational speed; and to provide power to a tractive system and the workgroup system during the tractive operation and the workgroup operation, controlling the power source, with the one or more electronic controllers, to operate at the selected rotational speed.E2023-0016-W0112. The method of claim 11, wherein the selected rotational speed is determined based on the second target rotational speed being the greater of the first and second target rotational speeds; and wherein the method further comprises: while controlling the power source to operate at the selected rotational speed, adjusting a displacement of one or more of a motor or a pump included in the hydrostatic drive system.

13. The method of claim 11, wherein the power source is controlled to operate at the selected rotational speed in response to receiving, with the one or more electronic controllers, an operator command from an operator input device of the power machine to activate a cruise control mode for the power machine.

14. The method of claim 11, wherein the power source is controlled to operate at the selected rotational speed in response to determining, with the one or more electronic controllers, that a travel speed or a commanded travel speed of the power machine is within a first speed range.

15. A power machine, the power machine comprising: a frame; an engine supported by the frame; a workgroup system supported by the frame, the workgroup system including a hydraulic actuator, a lift arm assembly configured to be moved relative to the frame by the hydraulic actuator, and a hydraulic workgroup pump arranged to power the hydraulic actuator, the hydraulic workgroup pump being mechanically coupled to a crankshaft of the engine to receive rotational power from the engine; a tractive system supported by the frame, the tractive system including a plurality of tractive elements configured to traverse a working surface; a transmission supported by the frame to provide power from the engine to the tractive system, the transmission including: a hydraulic drive motor arranged to power the tractive system; andE2023-0016-W01 a hydraulic drive pump mechanically coupled to the crankshaft of the engine to receive rotational power from the engine and hydraulically coupled to the hydraulic drive motor to power the hydraulic drive motor; and one or more electronic controllers in communication with the engine, the transmission, and the workgroup system, the one or more electronic controllers configured to: activate a cruise control mode for the power machine, the cruise control mode corresponding to a first cruise control travel speed for the power machine that corresponds to a first operational speed for the engine; command the engine of the power machine to operate at the first operational speed such that the tractive system is powered by the transmission to propel the power machine at the first cruise control travel speed; receive, while the tractive system is propelled, a first workgroup command to operate the lift arm assembly; and in response to receiving the first workgroup command, command the engine to operate at a greater of the first operational speed or an operator-commanded operational speed.

16. The power machine of claim 15, wherein the operator-commanded operational speed is determined based on an operator input that specifies an operator-commanded throttle setting for the engine.

17. The power machine of claim 15, wherein the transmission is a hydrostatic continuously variable transmission; and wherein the one or more electronic controllers are further configured to, while commanding the engine to operate at the greater of the first operational speed or the operator- commanded operational speed, vary a displacement of the transmission based on the first cruise control travel speed.

18. The power machine of claim 15, wherein activating the cruise control mode is based on receiving an operator input that requests the cruise control mode.E2023-0016-W0119. The power machine of claim 17, wherein the power machine is a telehandler.

20. The power machine of claim 19, wherein the hydraulic actuator includes one of a lift actuator or a tilt actuator of the lift arm assembly.

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