WORK TOOL VIBRATION SYSTEM, APPARATUS, AND METHOD

Abstract

A utility vehicle for moving a material comprising a frame including a first motion detection apparatus, a work tool movably coupled with an arm, where the arm is movably coupled with the frame, a second motion detection apparatus coupled with the work tool, a vibration apparatus coupled with the work tool, and a controller in communication with the motion detection apparatus and the vibration apparatus, wherein the controller includes a processor and a memory having a work tool vibration algorithm stored thereon, wherein the processor is operatable to execute the work tool vibration algorithm to receive motion data from the motion detection apparatus, analyze the motion data to determine if the motion data represents a movement of the motion detection apparatus that drops below a threshold movement level, actuate the vibration apparatus to vibrate the work tool.

Claims

1. A utility vehicle for moving a material comprising: a frame including a first motion detection apparatus; a work tool movably coupled with an arm, where the arm is movably coupled with the frame; a second motion detection apparatus coupled with the work tool; a vibration apparatus coupled with the work tool; and a controller in communication with the motion detection apparatus and the vibration apparatus, wherein the controller includes a processor and a memory having a work tool vibration algorithm stored thereon, wherein the processor is operatable to execute the work tool vibration algorithm to: receive motion data from the motion detection apparatus, analyze the motion data to determine if the motion data represents a movement of the motion detection apparatus that drops below a threshold movement level, actuate the vibration apparatus to vibrate the work tool.

2. The utility vehicle of claim 1, wherein analyzing the motion data to determine if the motion data represents a movement of the motion detection apparatus drops below a threshold movement level includes analyzing a commanded cylinder velocity with a delivered cylinder velocity.

3. The utility vehicle of claim 1, wherein the tool comprises a bucket.

4. The utility vehicle of claim 1, wherein the vibration apparatus comprises a hydraulic cylinder commanded to oscillate to alternate between extension and retraction.

5. The utility vehicle of claim 1, wherein the vibration apparatus comprises an electric actuator.

6. The utility vehicle of claim 1, wherein the motion detection apparatus comprises an inertial measurement unit (IMU).

7. The utility vehicle of claim 6, wherein the pressure sensor is coupled with a hydraulic cylinder coupled with the work tool.

8. The utility vehicle of claim 1, wherein the motion detection apparatus comprises a pressure sensor.

9. A work tool system for a utility vehicle, the work tool system comprising: a work tool movably coupled with a frame of the utility vehicle; a motion detection apparatus; a vibration apparatus coupled with the work tool; and a controller in communication with the motion detection apparatus and the vibration apparatus, wherein the controller includes a processor and a memory having a work tool vibration algorithm stored thereon, wherein the processor is operatable to execute the work tool vibration algorithm to: receive motion data from the motion detection apparatus, analyze the motion data to determine if the motion data represents a movement of the motion detection apparatus that drops below a threshold movement level, actuate the vibration apparatus to vibrate the work tool.

10. The system of claim 9, wherein analyzing the motion data to determine if the motion data represents a movement of the motion detection apparatus drops below a threshold movement level includes analyzing a commanded cylinder velocity with a delivered cylinder velocity.

11. The system of claim 9, wherein the motion detection apparatus is coupled with the work tool and a second motion detection apparatus is coupled with the frame.

12. The system of claim 9, wherein the vibration apparatus comprises a hydraulic cylinder commanded to alternate oscillating between extension and retraction of the hydraulic cylinder.

13. The system of claim 9, wherein the vibration apparatus comprises an electric actuator.

14. The system of claim 9, wherein the motion detection apparatus comprises an inertial measurement unit (IMU).

15. The system of claim 9, wherein the motion detection apparatus comprises a pressure sensor.

16. A method of operating a utility vehicle, the method comprising: receiving motion data from a motion detection apparatus, analyzing the motion data with a controller to determine when the motion data represents a movement of a motion detection apparatus dropping below a threshold movement level, and actuating the vibration apparatus to vibrate a work tool.

17. The method of claim 16, wherein analyzing the motion data with a controller to determine when the motion data with a controller to determine when the motion data represents a movement of a motion detection apparatus dropping below a threshold movement level includes analyzing a commanded cylinder velocity with a delivered cylinder velocity.

18. The method of claim 16, wherein the vibration apparatus comprises a hydraulic cylinder commanded to alternate oscillating between extension and retraction of the hydraulic cylinder.

19. The method of claim 16, wherein the motion detection apparatus comprises an inertial measurement unit (IMU) or a pressure sensor.

20. The method of claim 16, wherein the vibration apparatus comprises an eccentric rotating mass electric motor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The detailed description of the drawings refers to the accompanying figures.

[0009] FIG. 1 is an isometric view of an excavator, consistent with embodiments of the present disclosure.

[0010] FIGS. 2A-C are side views of an excavator engaging material with a bucket, consistent with embodiments of the present disclosure.

[0011] FIG. 3 a schematic view of a work tool vibration system, consistent with embodiments of the present disclosure.

[0012] FIG. 4 is a workflow for the work tool vibration system, consistent with embodiments of the present disclosure.

[0013] FIG. 5 is a flow diagram for a method of vibrating a work tool, consistent with embodiments of the present disclosure.

[0014] Like reference numerals are used to indicate like elements throughout the several figures.

DETAILED DESCRIPTION

[0015] FIG. 1 is an isometric view of an excavator, consistent with embodiments of the present disclosure. A utility vehicle (e.g., an excavator) 10 is shown that includes a frame 11, a work tool (e.g., a bucket) 12, a bucket cylinder 14A, an arm 16, an arm cylinder 14B, a boom 18, and a boom cylinder 14C. Some embodiments can have a single boom cylinder or multiple boom cylinders 14C. The embodiments described here are discussed with reference to an excavator, but could also apply to other utility vehicles with similar configurations including, for example, wheel loaders, crawler loaders, backhoes, skid steer loaders and compact track loaders, and loaders and backhoes attached to tractors.

[0016] In the embodiment shown in the figures here and primary discussed, the work tool is a bucket and the excavator has an arm and a boom. In other utility vehicles, the configuration may be a different configuration (e.g., a wheel loader, or a skid steer loader and compact track loader) but the general idea is the same. Other work tools that could benefit from vibrations to aid in penetrating material that is challenging for the work tool could also benefit from this, including, but not limited to, augers, blades, scrapers, moldboards, etc.

[0017] FIGS. 2A-C are side views of an excavator engaging material with a bucket, consistent with embodiments of the present disclosure. The bucket 12 can be used to engage (i.e., scoop, grab, load, etc.) a material 22 on a surface 24. In FIG. 2A, the bucket 12 can be positioned through movements of the utility vehicle 10 (shown here as an excavator), including the arm 16, the boom 18, and the boom cylinder 14C (not shown in FIGS. 2A-C, see FIG. 1) to be proximate a material 22. The material could be, for example, dirt, soil, rocks, sand, gravel, or other materials that are stored in piles. In some embodiments, the bucket 12 may engage the surface 24 directly such as the operation of digging a trench or a hole or other similar operation.

[0018] FIG. 2B shoes the bucket 12 started to engage deeper into the material 22. As the bucket moves into the material 22, it can become harder to move the bucket into the material 22 because of resistance (the size of the excavator, available hydraulic power, the density of the material, friction of the material, etc.).

[0019] FIG. 2C shows the bucket 12 being vibrated by alternating movements of the bucket cylinder 14Aas the bucket cylinder 14A extends and retracts, that causes the bucket 12 to move back and forth. This back and forth movement of the bucket can be done rapidly to vibrate or shake the bucket. As the bucket 12 vibrates, the bucket can more easily continue into the material 22. The easier movement of the bucket 12 into the material 22 can be beneficial as it allows for more higher percentages of fullness of the bucket (i.e., improve material flow into the bucket) which increases productivity. The easier movement of the bucket 12 into the material 22 can also prevent and/or limit stalling the engine of the machine when attempting to fill the bucket with a difficult scoop of material, this may also reduce the need to reposition the excavator as frequently and/or as many times, which may also improve productivity.

[0020] FIG. 3 a schematic view of a work tool vibration system, consistent with embodiments of the present disclosure. The utility vehicle 10 can include the frame 11 (i.e., a chassis) with a frame inertial measurement unit (IMU) 26A, the bucket 12 including a bucket IMU 26B, the bucket cylinder 14A, the arm 16 including an arm IMU 26C, the arm cylinder 14B, the boom 18 including a boom IMU 26D, the boom cylinder 14C, a hydraulic pressure sensor 28, an electronic processor 30 (i.e., a controller), a non-transitory computer-readable memory 32, an operator interface 34,

[0021] Each of the IMUs (the frame IMU 26A, the bucket IMU 26B, the arm IMU 26C, and the boom IMU 26D) can be used to track aspects of the various components (the bucket 12, the arm 16, the boom 18) with respect to each other and with respect to the frame 11. The aspects include, for example, a relative position of the components with respect to each other, based on IMU position, can be determined and a relative speed, with respect to another IMU can be determined.

[0022] For example, a speed (i.e., a velocity) of the bucket 12 (e.g., a can be determined relative to the frame based on differences in locations of the bucket IMU 26B compared to the frame IMU 26A over a given time period. This also applies to all combinations of the IMUs and their respective component (e.g., a relative speed of the bucket 12 with respect to the arm 16, a relative speed of the arm with respect to the boom, and a relative speed of the arm and/or boom with respect to the frame, or any combination of these).

[0023] As an example, if an operator commands the bucket 12 and arm 16 to move into material 22 as shown in FIG. 2C at maximum velocity, the utility vehicle 10 will attempt to do that until conditions generate something less than maximum velocity of the bucket-excessive resistance between the bucket 12 and the material 22. The resistance will cause the bucket velocity (and/or the arm velocity and/or the boom velocity) as monitored by the bucket IMU 26B (and/or the arm IMU 26C and/or the boom IMU 26D) to drop, which can then cause the bucket vibration to automatically kick in, and vibrate the bucket 12 by rapidly extending and retracting the bucket cylinder 14A (and/or doing the same maneuver with the arm cylinder 14B and/or or boom cylinder 14C). This can be considered a vibration apparatus.

[0024] In another embodiment, the bucket 12 could include an eccentric rotating mass (ERM) electric motor. When a bucket velocity (and/or the arm velocity and/or the boom velocity) as monitored by the bucket IMU 26B (and/or the arm IMU 26C and/or the boom IMU 26D) to drop, which can then cause the ERM to actuate, which can induce vibrations in the bucket.

[0025] A bucket velocity, based on the bucket IMU movement, can be monitored. When the bucket velocity drops below a threshold (e.g., becomes stationary, no movement) the controller can send signals to the bucket cylinder 14A to alternate between extending and retracting in close succession to cause the bucket 12 to vibrate as shown in FIG. 2C. The alternating directions of the bucket cylinder can be executed more quickly by the work tool vibration system automatically commanding the bucket cylinder movements than an operator may be able to do using the operator controls.

[0026] In some embodiments, an arm velocity can be used as the threshold metric to cause the controller to send a signal to generate vibration of the bucket and/or arm 16 by alternating extension and retraction of the arm cylinder 14B.

[0027] In other embodiments, a boom velocity can be used as the threshold metric to cause the controller to send a signal to generate vibration of the bucket and/or arm and/or boom by alternating extension and retraction of the boom cylinder 14C.

[0028] In another embodiment, hydraulic pressure sensors can be used to monitor one or more of a hydraulic pressure of the bucket cylinder 14A, the arm cylinder 14B, and the boom cylinder 14C. Increases in hydraulic pressure levels can indicate when the excavator is digging, and specific pressure values (e.g., a threshold hydraulic pressure) can indicate when the excavator is about to stall and/or stalling. When the threshold hydraulic pressure is reached the work tool vibration system can activate and vibrate one or more of the hydraulic cylinders (e.g., the bucket cylinder, the arm cylinder, and/or the boom cylinder) as described herein.

[0029] The operator interface 34 can include controls to engage/disengage a work tool vibration system. The work tool vibration system could be engaged by the operator activating a physical switch (e.g., button, or similar, etc.) or a virtual switch (e.g., an icon on a touch screen). The work tool vibration system could also be passively engaged where it would be available, but would only activate when the desired conditions are detected and the system automatically engages without operator input (e.g., automatic engagement of the work tool vibration).

[0030] Also, a number of operator interface (i.e., user interface (UI)) displays have been discussed. The UI displays can take a wide variety of different forms and can have a wide variety of different user actuatable input mechanisms disposed thereon. For instance, the user actuatable input mechanisms can be text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. The mechanisms can also be actuated in a wide variety of different ways. For instance, the mechanisms can be actuated using a point and click device (such as a track ball or mouse). The mechanisms can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. The mechanisms can also be actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which the mechanisms are displayed is a touch sensitive screen, the mechanisms can be actuated using touch gestures. Also, where the device that displays the mechanisms has speech recognition components, the mechanisms can be actuated using speech commands.

[0031] An electronic processor 30 is provided and configured to perform an operation by monitoring movement of the bucket 12 relative to the frame 11 and automatically vibrating the bucket 12 when a movement threshold is reached. The electronic processor 30 may be arranged locally as part of the utility vehicle 10 or remotely at a remote processing center (not shown). In various embodiments, the electronic processor 30 may comprise a processor, a microprocessor, a microcontroller, a controller, a central processing unit, a programmable logic array, a programmable logic controller, or other suitable programmable circuitry that is adapted to perform data processing and/or system control operations. The electronic processor 30 executes or otherwise relies upon computer software applications, components, programs, objects, modules, or data structures, etc. Software routines resident in the included memory of the electronic processor 30 or other memory are executed in response to signals received.

[0032] A number of data stores have also been discussed. It will be noted the data stores can each be broken into multiple data stores. All can be local to the systems accessing them, all can be remote, or some can be local while others are remote. All of these configurations are contemplated herein.

[0033] The computer software applications, in other embodiments, may be located in the cloud (e.g., a server or other remote computer arrangement). The executed software includes one or more specific applications, components, programs, objects, modules, or sequences of instructions typically referred to as program code. The program code includes one or more instructions located in memory and other storage devices which execute the instructions which are resident in memory, which are responsive to other instructions generated by the system, or which are provided by an operator interface 34 operated by the user (e.g., located in the frame 11 or at a remote location). The electronic processor 30 is configured to execute the stored program instructions.

[0034] FIG. 4 is a diagram showing a workflow for the work tool vibration system, consistent with embodiments of the present disclosure. The work tool vibration system 100 can include a step 110 of where the machine (e.g., the excavator) measure states and values are compared with conditions that indicate digging in material, a step 112 regarding is the dig function engaged with material, a step 114 where machine measured states and values are compared with predicted states and values when the machine is not stalled, a step 116 where the system evaluates whether the dig function is stalled or stalling, a step 118 where the work tool vibration system vibrates the bucket (e.g., vibrates the cutting surface of the bucket), and a step 120 where the work tool system does not vibrate the bucket (e.g., does not vibrate the bucket cutting surface) because the system does not detect a stall of the machine in digging.

[0035] Step 110 can include comparing, for example, movement information of the bucket 12, the arm 16, the boom 18, based on the bucket IMU 26B, the arm IMU 26C, and the boom IMU 26D relative to the frame IMU 26A. Various movements (bucket curling/uncurling, arm moving back and forth, boom moving up and down) can be used to determine if the excavator 10 is digging into material.

[0036] In another embodiment, the machine states and values considered in the step 110 can include hydraulic cylinder pressures for one or more of the bucket cylinder 14A, the arm cylinder 14B and/or the boom cylinder 14C using a hydraulic pressure sensor 28 (could be one or more pressure sensors) to monitor pressures that indicate the excavator is digging (e.g., increasing cylinder pressure can indicate the bucket 12 is digging into material).

[0037] Based on the information from step 110, step 112 can be used to determine if the dig function of the excavator is being engaged. For example, no or low cylinder pressure values can represent no digging and higher/increasing cylinder pressure values can indicate the bucket of the excavator is digging into material.

[0038] Similar to step 110, the step 114 can use the movement information of the bucket 12, the arm 16, the boom 18, based on the bucket IMU 26B, the arm IMU 26C, and the boom IMU 26D relative to the frame IMU 26A to evaluate for when the excavator is not stalled (operating as desired) when digging into material. This also applies to the hydraulic cylinder pressures as described above.

[0039] The system 100 can then evaluate at the step 116, based on the machine measured states and values determine if the dig function is stalled or stalling. For example, if the velocity of any one of the IMUs 26A-C at zero but a dig command is being given or if the hydraulic cylinder pressure rapidly rises and/or hits a set point that could indicate an approaching stall of the excavator.

[0040] If, at step 116 a stall or stalling conditions are found, the system 100 can automatically vibrate the bucket 12 (as described above) by extending and retracting any combination of the hydraulic cylinders 14A-C as indicated by step 118.

[0041] If, at step 116 no stall or stalling conditions are found based on the machine measure states, the system 100 may not execute a vibration of the bucket as indicated in step 120 and proceed on to step 110, repeating the steps of system 100 shown in FIG. 4.

[0042] FIG. 5 is a flow diagram for a method of vibrating a work tool, consistent with embodiments of the present disclosure. A method 200 can include a step 202 of receiving motion data from a motion detection apparatus, a step 204 of analyzing the motion data with a controller to determine when the motion data represents a movement of a motion detection apparatus dropping below a threshold movement level, a step 206 of actuating a vibration apparatus to vibrate a work tool.

[0043] The step 204 can also include wherein analyzing the motion data with a controller to determine when the motion data with a controller to determine when the motion data represents a movement of a motion detection apparatus dropping below a threshold movement level includes analyzing a commanded cylinder velocity with a delivered cylinder velocity.

[0044] In the method 200 the vibration apparatus can comprise a hydraulic cylinder commanded to alternate oscillating between extension and retraction of the hydraulic cylinder. In some embodiments other actuators could be used (e.g., electric actuators) to vibrate the bucket.

[0045] As used herein, e.g. is utilized to non-exhaustively list examples and carries the same meaning as alternative illustrative phrases such as including, including, but not limited to, and including without limitation. Unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., and) and that are also preceded by the phrase one or more of or at least one of indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, at least one of A, B, and C or one or more of A, B, and C indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0046] Those having ordinary skill in the art will recognize that terms such as above, below, upward, downward, top, bottom, etc., are used descriptively for the figures, and do not represent limitations on the scope of the disclosure, as defined by the appended claims. Furthermore, the teachings may be described herein in terms of functional and/or logical block components and/or various processing steps. It should be realized that such block components may be comprised of any number of hardware, software, and/or firmware components configured to perform the specified functions.

[0047] Terms of degree, such as generally, substantially or approximately are understood by those of ordinary skill to refer to reasonable ranges outside of a given value or orientation, for example, general tolerances or positional relationships associated with manufacturing, assembly, and use of the described embodiments.

[0048] While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a limiting sense. Rather, other variations and modifications may be made without departing from the scope and spirit of the present disclosure as defined in the appended claims.