GB2622611A - Method of operating work machine with interchangeable implement - Google Patents

Method of operating work machine with interchangeable implement Download PDF

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Publication number
GB2622611A
GB2622611A GB2213854.9A GB202213854A GB2622611A GB 2622611 A GB2622611 A GB 2622611A GB 202213854 A GB202213854 A GB 202213854A GB 2622611 A GB2622611 A GB 2622611A
Authority
GB
United Kingdom
Prior art keywords
implement
identifier
data
assembly
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
GB2213854.9A
Other versions
GB202213854D0 (en
Inventor
Kinoshita Fujio
Akiyama Seiichi
John Moberg Carl
A Matzelle Richard
Selvaraj Indhu
Veeraiyan Yesudass
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar SARL
Original Assignee
Caterpillar SARL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caterpillar SARL filed Critical Caterpillar SARL
Priority to GB2213854.9A priority Critical patent/GB2622611A/en
Publication of GB202213854D0 publication Critical patent/GB202213854D0/en
Publication of GB2622611A publication Critical patent/GB2622611A/en
Pending legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A method and device for operating a working machine 100 configured to couple an arm 110 to an interchangeable implement 120. A controller obtains an identifier associated with an implement coupled to the working machine, compares the identifier to a list of stored identifiers, which is associated with an implement model and implement data. The identifier implement data is loaded from which a work mode is activated. The implement may comprise a first 121 and second 122 implement, with the identifier comprising a first identifier and a second identifier and the implement data for the implement comprises data for a combination of the fist and second implement. The identifier may be detected by wireless communication such as Bluetooth. A user may input the identifier.

Description

Method of operating work machine with interchangeable implement
Field of the disclosure
The disclosure relates to the field of work vehicles.
Background
Certain work vehicles are known to have interchangeable tools. For example, an excavator may have interchangeable hydraulic tools such as buckets, hammers, grapples, or other tools. Typically, an operator of the work vehicle selects appropriate control settings (such as hydraulic pressure settings) for the particular interchangeable tool, either from preset settings or by manually inputting parameters of the tool. The parameters might include dimensions of the work tool. A particular mode of operation might require the operator to measure the work tool and manually enter its dimensions, for example. Otherwise, an operator might manually input or select a part number or model number of the work tool.
This method of operation requires the operator to accurately select or input the setting or parameters, and/or accurately measure the work tool.
Summary of the disclosure
Against this background, there is provided: a method of operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly. The method comprises obtaining at least one identifier of a first implement assembly coupled to the work vehicle. The method further comprises comparing the at least one identifier to a list of stored identifiers, wherein each stored identifier is associated with an implement model and each implement model is associated with implement data. The method further comprises loading implement data for the first implement assembly based on the at least one identifier. The method further comprises activating a work mode based on the implement data.
In this way, it is possible to activate a work mode based on a particular interchangeable implement assembly, which may comprise one or more implements. The work mode may, for example, be based on control settings for the interchangeable implement assembly and/or on dimensions of the interchangeable implement assembly. The work mode may be activated with less risk of operator error than conventional means. Work modes may be activated for combinations of more than one implement.
There is also provided: a device for operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly, wherein the device comprises a controller configured to obtain at least one identifier of a first implement assembly coupled to the work vehicle. The controller is further configured to compare the at least one identifier to a list of stored identifiers, wherein each stored identifier is associated with an implement model and each implement model is associated with implement data. The controller is further configured to load implement data for the first implement assembly based on the at least one identifier. The controller is further configured to activate a work mode based on the implement data.
Brief description of the drawings
A specific embodiment of the disclosure will now be described, by way of example only, with reference to the accompanying drawings in which: Figure 1 shows a schematic diagram of a work vehicle comprising an arm, wherein a distal end of the arm is configured to attach to an interchangeable implement assembly.
Figure 2 shows a flow chart illustrating a method of operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly, in accordance with an embodiment of the present disclosure.
Detailed description
With reference to Figure 1, a work vehicle 100 comprises an arm 110. A distal end of the arm 110 is configured to couple to an interchangeable implement assembly 120 (indicated by the dotted oval). The interchangeable implement may comprise one or more implement components. Figure 1 shows an example of an interchangeable implement assembly 120 comprising a first implement component 121, a second implement component 122 and a third implement component 123. The interchangeable implement assembly 120 is shown in an exploded view, with dashed lines showing that the first implement component 121 is configured to couple to the distal end of the arm 110, the second implement component 122 is configured couple to the first implement component 121 and the third implement component 123 is configured couple to the second implement component 122.
The arm 110 of the work vehicle 100 may comprise a boom. The boom may be fixed or may be movable with respect to the body of the work vehicle 100. In an example, the boom may be hydraulically movable. The boom may be a fixed length or may be extendable. The boom may be articulated. The arm 110 may also comprise a member (or stick) coupled to a distal end of the boom, wherein a distal end of the member is configured to couple to the interchangeable implement assembly 120. The arm may comprise a stick configured to be movable with respect to the work vehicle. The arm may comprise any configuration of boom and/or stick.
The work vehicle 100 shown in Figure 1 comprises a cab 130 and wheels 140. Figure 1 shows one example of a work vehicle 100 comprising an arm 110, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly. The work vehicle may comprise any other type of work vehicle with any configuration of arm. The arm 110 shown in Figure 1 comprises a stick, but as described above the arm may alternatively comprise a boom and a stick.
The work vehicle 100 may be used with particular settings corresponding to a particular interchangeable implement assembly 120. The work vehicle 100 may be usable with a plurality of different interchangeable implement assemblies. Different settings may be used for different interchangeable implement assemblies.
A method of operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly, is illustrated in Figure 2. The method comprises step 210 of obtaining at least one identifier of a first implement assembly coupled to the work vehicle. At step 220, the at least one identifier is compared to a list of stored identifiers. Each stored identifier is associated with an implement model 4 -and each implement model is associated with implement data. Step 230 comprises loading implement data for the first implement assembly based on the at least one identifier. At step 240, a work mode is activated based on the implement data.
The first implement assembly comprises one or more implements. In an event that the first implement assembly comprises more than one implement, step 210 may comprise obtaining an identifier for each implement of the first implement assembly. Step 220 may then comprise comparing each identifier to the list of stored identifiers. Step 230 may comprise loading implement data for each implement. Otherwise, the implement data loaded at step 230 may comprise implement data for the combination of the implements, i.e. for the first implement assembly as a whole. The work mode may be based on the implement data for the first implement assembly as a whole.
For example, the first implement assembly may comprise a first implement and a second implement. The at least one identifier may comprise a first identifier and a second identifier.
The implement data for the first implement assembly may comprise data for a combination of the first implement and the second implement.
The step of obtaining the at least one identifier may comprise obtaining the at least one identifier via a user input device, wherein an operator visually obtains the at least one identifier from a visible indication on the first implement assembly. The operator may enter the at least one identifier into a user input device, or may select the at least one identifier from a list on a user input device. In an embodiment, the step of obtaining the at least one identifier may comprise detecting the at least one identifier via wireless communication.
The step of obtaining the at least one identifier may comprise detecting the at least one identifier via Bluetooth communication.
In an embodiment where the step of obtaining the at least one identifier comprises detecting the at least one identifier via wireless communication, the method may comprise using a mobile device to scan for identifiers within range. Otherwise, the method may comprise using a receiver on the work vehicle to receive the wireless communication. The identifiers may comprise a Bluetooth tag, RFID tag, or other detectable tag.
In an embodiment, the step of obtaining the at least one identifier may comprise one or both of detecting the at least one identifier via wireless communication and an operator
-
visually obtaining the at least one identifier from a visible indication on the first implement assembly. For example, in an event that the first implement assembly comprises a first implement and a second implement, a first identifier may be obtained for the first implement by detecting the first identifier by wireless communication. The second identifier may be obtained for the second implement by an operator visually obtaining the second identifier.
In an embodiment, the step of obtaining the at least one identifier may comprise a first stage of attempting to detect the at least one identifier via wireless communication. In an event that one or more identifiers are not detected via wireless communication, the step of obtaining the at least one identifier may comprise a second stage of an operator visually obtaining the at least one identifier from a visible indication on the first implement assembly.
The at least one identifier may comprise a unique identifier for the first implement assembly. In an event that the first implement assembly comprises more than one implement, the at least one identifier may comprise a unique identifier for each implement. Otherwise, the at least one identifier may comprise an implement model identifier, such that the at least one identifier is not unique to the specific implement but is indicative of the type and particular model of the implement. In an event that the least one identifier comprises an implement model identifier, each of the stored identifiers may be associated directly with implement data. In an event that the at least one identifier comprises a unique identifier, each of the stored identifiers may be associated with an implement model, wherein the implement model is associated with the implement data. Each implement model may have multiple stored identifiers associated with it (for example in an event that there are multiple tools of the same model used on a worksite).
In an embodiment, the list of stored identifiers may be configured to be updated remotely. The list of stored identifiers may be updated in response to a request by an operator, in response to an instruction from a remote controller, or each time the method is carried out.
In an embodiment, the implement data may be stored on the electric work vehicle. In another embodiment, the implement data may be downloaded after the one or more identifiers have been compared to the stored list of identifiers (i.e. after the implement model or models of the first implement assembly have been identified). Downloading the implement data may be via a wireless communication. 6 -
In use, an operator may initiate the method of operating the work vehicle after the first implement assembly has been coupled to the arm of the work vehicle. The operator may initiate the method via a user input device. The work vehicle may comprise the user input device (for example in the cab of the work vehicle), or the user input device may comprise a mobile device.
As described above, a work machine may comprise an arm wherein a distal end of the arm is configured to couple to an interchangeable implement assembly. The arm may comprise a boom and/or a stick. In an event that the arm comprises a boom and a stick, a distal end of the stick may be configured to couple to an interchangeable implement assembly.
The interchangeable implement assembly may comprise one or more implements. In an event that the interchangeable implement assembly comprises more than one implement, the distal end of the arm is configured to couple to a first implement of the interchangeable implement assembly. The first implement is configured to couple to a second implement of the interchangeable implement assembly. In an event that the interchangeable implement assembly comprises a third implement, the second implement is configured to couple to the third implement, and so on.
Several interchangeable implement assemblies will be described below, by way of example only.
The interchangeable implement assembly may comprise a first implement comprising a work tool.
The interchangeable implement assembly may comprise a first implement comprising a coupler or quick coupler. The interchangeable implement assembly may comprise a second implement comprising a work tool, wherein the work tool is configured to couple to the quick coupler.
The interchangeable implement assembly may comprise a first implement comprising a tilt device. The interchangeable implement assembly may comprise a second implement comprising a work tool, wherein the work tool is configured to couple to the tilt device. 7 -
The interchangeable implement assembly may comprise a first implement comprising a coupler or quick coupler. The interchangeable implement assembly may comprise a second implement comprising a tilt device, wherein the tilt device is configured to couple to the quick coupler. The interchangeable implement assembly may comprise a third implement comprising a work tool, wherein the work tool is configured to couple to the tilt device.
The tilt device may comprise, for example, a tilt bucket, tilt rotator or tilt hitch. The tilt device may comprise a coupler or quick coupler configured to couple to a work tool.
The interchangeable implement assembly may comprise a bracket between implements.
Examples of work tools include a bucket, hammer, thumb, IRS, clamshell, orange peel grapple, demolition and sorting grapple, shear, pulveriser, multi-processor, crusher, vibratory compactor, mulcher, mechanical grapple, rake, ripper, compaction wheel, pallet fork, any hydro-mechanical work tool, or other work tool.
In an embodiment the implement data may comprise tool control setting parameters. In another embodiment the implement data may comprise work tool dimension data. In another embodiment, the implement data may comprise both tool control setting parameters and work tool dimension data. In another embodiment, the implement data may comprise either tool control setting parameters or work tool dimension data. Whether the implement data comprises tool control setting parameters or work tool dimension data may depend on the implement model. Whether the implement data comprises tool control setting parameters or work tool dimension data may depend on a mode of operation chosen by an operator.
In an embodiment, the work mode may comprise tool settings such as hydraulic settings. Hydraulic settings may comprise one or more of maximum flow or flows, maximum pressure or pressures, or other setting. The work mode may comprise control settings, for example based on the size of the work tools, to assist in precise usage of the work tool.
In an event that the first implement assembly comprises more than one implement, the work mode may be based on the combination of the more than one implement. For example, the work mode may differ depending on whether a particular work tool is coupled 8 -directly to the distal end of the arm of the work vehicle or the particular work tool is coupled to the distal end of the arm via a coupler. In an event that the first implement assembly comprises more than one implement, the work mode may not be based on all the implements. For example, the work mode may be the same in an event that a particular work tool is coupled directly to the distal end of the arm of the work vehicle or in the event that the particular work tool is coupled to the distal end of the arm via a coupler. Whether the work mode is based on some or all of the implements may depend on the type of work tool. For example, hydraulic settings may be the same for a bucket coupled directly to the arm and for a bucket coupled to the arm via a coupler. However, work tool dimension data may differ between a hammer coupled directly to the distal end of the arm, and a hammer coupled to the distal end of the arm via a coupler, so if the work mode is based on dimensions then a different work mode will be required depending on the presence or absence of the coupler.
As described above, the step of obtaining the at least one identifier may comprise detecting the at least one identifier via wireless communication, for example by using a mobile device to scan for identifiers within range or by using a receiver on the work vehicle. The method may further comprise sending a location of the mobile device or work vehicle to a controller.
In an embodiment, the method may further comprise notifying an operator that a work tool calibration is recommended for the first implement assembly that has been identified.

Claims (15)

  1. CLAIMS: 1 A method of operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly, and wherein the method comprises: obtaining at least one identifier of a first implement assembly coupled to the work vehicle; comparing the at least one identifier to a list of stored identifiers, wherein each stored identifier is associated with an implement model and each implement model is associated with implement data; loading implement data for the first implement assembly based on the at least one identifier; and activating a work mode based on the implement data.
  2. 2. The method of claim 1 wherein: the first implement assembly comprises a first implement and a second implement; the at least one identifier comprises a first identifier and a second identifier: and the implement data for the first implement assembly comprises data for a combination of the first implement and the second implement.
  3. 3. The method of claim 1 or 2 wherein the step of obtaining the at least one identifier comprises detecting the at least one identifier via wireless communication
  4. 4. The method of claim 3 wherein the step of obtaining the at least one identifier comprises detecting the at least one identifier via Bluetooth communication.
  5. 5. The method of any preceding claim wherein the step of obtaining the at least one identifier comprises obtaining the at least one identifier via a user input device.
  6. 6. The method of any preceding claim wherein the at least one identifier comprises a unique identifier for the first implement assembly.
  7. 7. The method of any of claims 1 to 5 wherein the at least one identifier comprises an implement model identifier.
  8. 8. The method of any preceding claim wherein the list of stored identifiers is configured to be updated remotely.
  9. 9. The method of any preceding claim wherein loading the implement data comprises downloading the implement data via a wireless communication.
  10. 10. A device for operating a work vehicle comprising an arm, wherein a distal end of the arm is configured to couple to an interchangeable implement assembly, wherein the device comprises a controller configured to: obtain at least one identifier of a first implement assembly coupled to the work vehicle; compare the at least one identifier to a list of stored identifiers, wherein each stored identifier is associated with an implement model and each implement model is associated with implement data; load implement data for the first implement assembly based on the at least one identifier; and activate a work mode based on the implement data.
  11. 11. The device of claim 10 wherein: the first implement assembly comprises a first implement and a second implement; the at least one identifier comprises a first identifier and a second identifier; and the implement data for the first implement assembly comprises data for a combination of the first implement and the second implement.
  12. 12. The device of claim 10 or 11 wherein the controller is configured to obtain the at least one identifier by detecting the at least one identifier via wireless communication
  13. 13. The device of claim 12 wherein controller is configured to obtain the at least one identifier via Bluetooth communication.
  14. 14. The device of any preceding claim wherein the controller is configured to obtain the at least one identifier via a user input device.
  15. 15. The device of any preceding claim wherein the at least one identifier comprises a unique identifier for the first implement assembly.
GB2213854.9A 2022-09-22 2022-09-22 Method of operating work machine with interchangeable implement Pending GB2622611A (en)

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Application Number Priority Date Filing Date Title
GB2213854.9A GB2622611A (en) 2022-09-22 2022-09-22 Method of operating work machine with interchangeable implement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2213854.9A GB2622611A (en) 2022-09-22 2022-09-22 Method of operating work machine with interchangeable implement

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GB202213854D0 GB202213854D0 (en) 2022-11-09
GB2622611A true GB2622611A (en) 2024-03-27

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060129280A1 (en) * 2004-12-10 2006-06-15 Caterpillar S.A.R.L. Work machine operating system and method
US9938693B1 (en) * 2016-12-15 2018-04-10 Caterpillar Inc. Asset tracking and work tool identification
US20210123218A1 (en) * 2019-10-29 2021-04-29 Caterpillar Inc. System and Method for Coupled Work Tool Identification
US20210381194A1 (en) * 2020-06-03 2021-12-09 Deere & Company Image-based attachment identification and position detection

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060129280A1 (en) * 2004-12-10 2006-06-15 Caterpillar S.A.R.L. Work machine operating system and method
US9938693B1 (en) * 2016-12-15 2018-04-10 Caterpillar Inc. Asset tracking and work tool identification
US20210123218A1 (en) * 2019-10-29 2021-04-29 Caterpillar Inc. System and Method for Coupled Work Tool Identification
US20210381194A1 (en) * 2020-06-03 2021-12-09 Deere & Company Image-based attachment identification and position detection

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