AUTOMATIC GRADING ELECTRONIC CONTROLLER

Abstract

A skid steer control box used with a dozer blade attachment and laser control system that integrates the laser controller and native skid steer controller as they affect a selected solenoid related to a hydraulic valve.

Claims

1. An electronic controller for controlling a skid steer vehicle having an automatic grading control system comprising: a skid steer vehicle with a manual electronic control configured to allow an operator to manually control the skid steer vehicle with a joystick; the manual electronic control is electronically connected to the electronic controller through a first relay; the automatic grading control system is electronically connected to the electronic controller through a second relay; the first relay and second relay are electronically connected to a solenoid/servo that effects a movement of an implement attached to the skid steer vehicle; the first relay is biased to isolate the manual electronic control from the solenoid/servo and the second relay is biased to connect the automatic grading control system to the solenoid/servo when there is no signal from the manual electronic control; when a signal from the manual electronic control is received by the first relay the first relay electronically connects the manual electronic control to the solenoid/servo and simultaneously the second relay isolates the automatic grading control system from the solenoid/servo.

2. The electronic controller in claim 1 further characterized in that when the manual electronic control is isolated from the solenoid/servo any signal from the automatic grading control system is first sent to a comparator causing the comparator to send a conditioned power from a source other than directly from the automatic grading control system to the solenoid/servo.

3. An electronic controller for controlling a skid steer vehicle having an automatic grading control system comprising: a skid steer vehicle with a manual electronic control configured to allow an operator to manually control the skid steer vehicle with a joystick; the manual electronic control is electronically connected to the electronic controller through a relay; the automatic grading control system is electronically connected to the electronic controller through the relay; the relay is electronically connected to a solenoid/servo that effects a movement of an implement attached to the skid steer vehicle; the relay is biased to isolate the manual electronic control from the solenoid/servo and the relay is biased to connect the automatic grading control system to the solenoid/servo when there is no signal from the manual electronic control; when a signal from the manual electronic control is received by the relay the relay electronically connects the manual electronic control to the solenoid/servo and simultaneously the relay isolates the automatic grading control system from the solenoid/servo.

4. The electronic controller in claim 3 further characterized in that when the manual electronic control is isolated from the solenoid/servo any signal from the automatic grading control system is first sent to a comparator causing the comparator to send a conditioned power from a source other than directly from the automatic grading control system to the solenoid/servo.

Description

IV. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] With the above and other related objects in view, the invention consists in the details of construction and combination of parts as will be more fully understood from the following description, when read in conjunction with the accompanying drawings.

[0017] The drawings show several closely related versions of the invention. Differences are primarily in the specific resistance needed to integrate with a particular laser controller manufacturer's voltage and current usage for their system. The varied resisters and diodes are to accommodate variances between competing brands of systems but function materially the same in circuitry.

[0018] Differences are adaptions within the inventive scope of the invention as are applied to different manufacturers of skid steer vehicles and laser grading control systems. Varying voltage, amps and resistance can affect the specific degree of resistance needed in the present electronic controller adapter as used on skid steer vehicles.

[0019] FIG. 1 shows a flow chart of an example of a controller in context with a vehicle.

[0020] FIG. 2 shows a circuit diagram of a specific implementation of the controller.

[0021] FIG. 3 shows a circuit diagram of another specific implementation of the controller.

[0022] FIG. 4 shows a circuit diagram of another implementation of the controller adapted to fit other machines.

V. DETAILED DESCRIPTION

[0023] While this invention may be embodied in many different forms, there are described in detail herein specific embodiments of the invention. This description is an exemplary of the principles of the invention and is not intended to limit the invention to the particular embodiments illustrated and described.

[0024] For the purpose of this disclosure, like reference numerals in the figures shall refer to like features unless otherwise indicated or is obvious by context.

[0025] The subject device and method of use is sometimes referred to as the device, the invention, the controller, the electronics, the box, the machine or other similar terms. These terms may be used interchangeably as context requires and from use the intent becomes apparent. The masculine can sometimes refer to the feminine and neuter and vice versa. The plural may include the singular and singular the plural as appropriate from a fair and reasonable interpretation in the situation.

[0026] There are more than a dozen of compact track loader manufacturers. For example, Caterpillar, John Deere, Bob Cat, JCP, Case, New Holland, IHI, Kubota, Wacker Neuson, Forway, Messersi, Sunward, Takeuchi, Racoon, and Gehl each make small to medium commercial vehicles used in various construction, maintenance and utility roles.

[0027] With several automatic grading equipment manufacturers there are many combinations of vehicles and auto-graders. The systems may use differing voltage, proprietary equipment or systems that make many combinations not compatible. The present controller device the ability to use any combination of vehicle and auto-grader now is readily available to consumers.

[0028] To automate the loaders there are various systems that use GPS, lasers or a combination GPS/laser. In the prior art the automation systems are designed to operate the rise (solenoid up) and lower (solenoid down) valves on the compact loaders. In some factory designed adaptations, for example in the Bob Cat machine, instead of using two solenoids it uses an actuator to raise and lower specific hydraulic actuators to control the implement attached to the vehicle.

[0029] In some machines two circuits have to be used to automate the vehicles because of the two control valves operating with 12 Vdc on one (for example coming from the laser control computer) and the actuator (for example the native drive control computer and actuator integral to the vehicle) operating with 5 Vdc on the other.

[0030] A solution for this is shown in the circuit diagram shown in FIG. 2. It allows automation of the Bob Cat type taking into account a few specific factors. Bob Cat uses an actuator that works with 5 Vdc. Bob Cat uses an actuator position sensor, shown in the circle in FIG. 2. The laser guided automation system (for example a common one sold as Top Con have outputs of solenoid up and solenoid down with 12 Vdc and an idle measure voltage of about 2.06 Vdc. These values are merely illustrative of how one particular machine works as an enabling example and not intended to be limiting. Each machine may have its own operating voltage, amperage, resistance that are readily measurable or in product specification literature that is available from the manufacturer.

[0031] The circuit example in FIG. 2 uses four relays DPDT (double pole double throw). Relay RL-1 simulates actuator position sensor or connects the actuator position sensor. Relay RL-2 is to bypass the automation system by Top Con or other laser control system brands and applies voltage from Bob Cat instead of being supplied to the actuator from the laser control computer.

[0032] Essentially this makes the current generated by the laser control computer to be merely signals to cause the comparator, CP1 or CP2 depending on the direction of input, to release a current compatible with the native system on the vehicle. This generates far less waste heat and provides constant and instant power to the actuator to allow it to function consistently.

[0033] J3 represents the signal input from the native drive control computer that derives commands from manual input, such as a steering joystick manipulated by the operator of the vehicle. The From Top Con input is the controlling signals generated by the laser grading computer that feed into the comparators CP1 for up movement and CP2 for down movement of the implement. In the case of laser grading the implement is typically a dozer blade.

[0034] Continuing on the example in FIG. 2, the comparator for the direction of movement dictated by the laser computer sends the power supplied by the battery on the machine, for example, instead of the voltage from the laser controller which can be not compatible with the native computer system power or be irregular in voltage if the supply it uses varies.

[0035] The power from the appropriate comparator is then sent to the actuator to control the implement. However, if at any time the operator puts a manual input to the controls the native computer send a signal toward the actuator and also simultaneously causes the relays to switch and disconnect and isolate the automatic laser computer from the actuator and allow the native computer to control the vehicle from the operator's manual inputs. This avoids overvolting the laser computer or the native vehicle computer, which could cause a fault or error code to generate and cause the vehicle and grader to malfunction.

[0036] The comparator may be supplied nominal 12v power stepped down to the voltage and power of the native controller as shown in the box in the middle of FIG. 2. The output of the laser controller computer acts as a signal to the comparator and not to pass through to the actuator. The correct power is supplied by the comparator from the corrected 5v battery source. Of course, any of the specific voltages and electrical factors may be suited to the specifics of the laser computer and the native vehicle electronics as is well known in the electronic arts.

[0037] To install the controller the original cable from the main computer on the skid steer is removed from one of the servos. In the case of controlling a dozer blade on some skid steer vehicles the affected servo is for the main arm control. It could be other controlling servos alternatively or in addition to the main control arm. The cable to the main arm servo is unhooked and connected to the controller. Another set of cables is connected on one side to the controller and on the other side to the main arm servo. The controller is connected to the solenoid for the main arm.

[0038] In another version of the device any signal sent to the main arm servo is now routed through the controller. The controller adjusts the voltage or current flow so that the main computer does not fault to an error. A series of diodes prevents the backflow of electricity to aid in over or under voltage prevention which can cause the main computer to fault and prevent the system from operating correctly.

[0039] A second controller can also be placed between the auxiliary solenoid and the controlling main computer and laser grade controller. In the same manner the cables are removed from the auxiliary solenoid and connected to the controller. The controller is then also connected to the auxiliary solenoid so that all controlling signals from the main skid steer computer and the laser control computer pass through the controller.

[0040] By using the device while the laser control computer is operating controlling the dozer blade the operator can use manual inputs on the traditional skid steer controls to temporarily override the laser controller. When the operator releases the control the laser computer can resume accurate dozer blade control.

[0041] The net resistance at specific points in the depicted circuits are adapted for specific brands of skid steer machines and laser controllers. Essentially, the resisters control the voltage flow so as to not overload either computer. The diodes work in combination to prevent electrical backflow into either computer so both computers can simultaneously control a selected servo and related hydraulic valve.

[0042] The photos show bundles of resisters to achieve a selected net resistance. These can be consolidated to fewer in number with the same computed resistance.

[0043] With the controller the automatic/manual selection on the laser grader controller remains functional. Essentially the manual selection stops the laser computer from generating system inputs. Still, while the laser grader computer is controlling the servo the operator can manually input control commands with the joystick or lever to override the actions of the laser computer.

[0044] The controller only affects the servo that it connects to. Other servos that don't have an intervening controller operate normally and are unaffected by the controller.

[0045] FIG. 1 shows a stylized example of an effective layout of the system comprised of the controller assembly 10, a laser mast 12, an automatic laser grading computer, a steering joystick 16, a bulldozer computer 18, a comparator 20, a power source 22, a relay 24, a relay 26, a solenoid or servo 28 and a hydraulic actuator 30.

[0046] The laser mast 12 and automatic grading computer 14 are operatively installed on the bulldozer. The term bulldozer is interchangeable with the terms skid steer, vehicle or tractor. The bulldozer has a computer 18 connected to a steering joystick from the factory to allow the operator to manually control the bulldozer.

[0047] A problem arises when the signal power sent from the auto-grading system does not match the voltage or amperage that the solenoid natively on the vehicle uses. The term solenoid is interchangeable with the terms actuator and servo because these parts perform similar functions in the scheme of controlling a bulldozer. The solenoid 28 in turn causes the hydraulic actuator 30 to move an implement connected to the vehicle, such as a dozer blade. The hydraulic actuator is intended to be used interchangeably with lineal actuator, other actuator, drive mechanism or other means to manipulate the

[0048] Continuing looking at FIG. 1, the controller assembly 12 is electronically between the solenoid/servo and the automatic and manual controller. A purpose of the system is to avoid the computer glitches that occur when the manual and automatic control systems compete for authority to control the vehicle.

[0049] A solution is to have a relay between the solenoid and each the manual and electronic control system. The pathway between the bulldozer computer 18 and the solenoid 28 is broken by the relay 26 when there is no control input into the bulldozer manual computer 18 from the joystick 16. The default condition is that the bulldozer computer 18 and solenoid 28 are not connected electronically because the relay 26 is biased in an open position.

[0050] At the same time, the relay 24 is biased closed allowing the automatic grader 14 to control the solenoid 28. However, when the joystick 16 is manipulated to manually control the bulldozer, that signal also switches the relay 24 open and the relay 26 closed so that the auto system is isolated and the manual computer 18 will control the bulldozer and avoids any conflict between the auto and manual systems.

[0051] Power source 22 that is other than directly from the automatic control computer 14 may be include with any version of the system. In this case, the automatic grading computer 14 signal is first sent to the comparator 20 as merely a signal and not as power to directly drive the solenoid. The comparator 20 receives the signal from the computer 14 and delivers the power from the power source 22 to the solenoid. This ensures that the power sent to the solenoid 28 is compatible in voltage and amperage with the solenoid 28 and not whatever power is supplied by the automatic grading computer 14.

[0052] It should be noted that the term joystick 16 in the specification and claims is intended to include any manner of manual vehicle control input, for example, steering wheel, levers, foot controls or other similar means known in the art to control a vehicle.

[0053] FIG. 4 shows an alternate version of the controller where one relay controls both the automatic and manual control systems. The natural state of the relay allows the automatic control system to control the solenoid. When the manual computer sends a signal to the relay as the joystick is moved the relay isolates the automatic system and allows the manual computer to control the implement.

[0054] A version of the invention can be fairly described as an electronic controller for controlling a skid steer vehicle having an automatic grading control system comprising a skid steer vehicle with a manual electronic control configured to allow an operator to manually control the skid steer vehicle with a joystick or other manual input device such as a steering wheel or lever. The manual electronic control is electronically connected to the electronic controller through a first relay. The automatic grading control system is electronically connected to the electronic controller through a second relay. The first relay and second relay are electronically connected to a solenoid/servo that effects a movement of an implement attached to the skid steer vehicle. The first relay is biased to isolate the manual electronic control from the solenoid/servo and the second relay is biased to connect the automatic grading control system to the solenoid/servo when there is no signal from the manual electronic control. When a signal from the manual electronic control is received by the first relay the first relay electronically connects the manual electronic control to the solenoid/servo and simultaneously the second relay isolates the automatic grading control system from the solenoid/servo.

[0055] Optionally any version of the electronic controller can also include a feature that when the manual electronic control is isolated from the solenoid/servo any signal from the automatic grading control system is first sent to a comparator causing the comparator to send a conditioned power from a source other than directly from the automatic grading control system to the solenoid/servo.

[0056] Another version of the invention can be fairly described as an electronic controller for controlling a skid steer vehicle having an automatic grading control system comprising a skid steer vehicle with a manual electronic control configured to allow an operator to manually control the skid steer vehicle with a joystick. The manual electronic control is electronically connected to the electronic controller through a relay. The automatic grading control system is electronically connected to the electronic controller through the relay. The relay is electronically connected to a solenoid/servo that effects a movement of an implement attached to the skid steer vehicle. The relay is biased to isolate the manual electronic control from the solenoid/servo and the relay is biased to connect the automatic grading control system to the solenoid/servo when there is no signal from the manual electronic control. When a signal from the manual electronic control is received by the relay the relay electronically connects the manual electronic control to the solenoid/servo and simultaneously the relay isolates the automatic grading control system from the solenoid/servo.

[0057] The foregoing description conveys the best understanding of the objectives and advantages of the present invention. Different embodiments may be made of the inventive concept of this invention. It is to be understood that all matter disclosed herein is to be interpreted merely as illustrative, and not in a limiting sense.