EP4374017A1

EP4374017A1 - Dynamically transitioning between a first lifting mode and a second lifting mode

Info

Publication number: EP4374017A1
Application number: EP22751953.5A
Authority: EP
Inventors: Jason D. Bell
Original assignee: Caterpillar Inc
Current assignee: Caterpillar Inc
Priority date: 2021-07-21
Filing date: 2022-07-19
Publication date: 2024-05-29
Also published as: JP2024526608A; WO2023003836A1; US20230021987A1

Abstract

A controller may receive a first input indicating that a machine is performing a lifting operation. The controller may determine that the machine is operating in a first lifting mode associated with a first lifting capacity during the lifting operation. In the first lifting mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value. The controller may receive sensor data indicating a current value for the pressure, during the lifting operation. The controller may determine that the current value is approaching the second value. The controller may receive a second input indicating that the machine is continuing to perform the lifting operation. The controller may cause, based on the second input, the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity.

Description

DYNAMICALLY TRANSITIONING BETWEEN A FIRST LIFTING MODE AND A SECOND LIFTING MODE

Technical Field The present disclosure relates generally to performing a lifting operation and, for example, to dynamically transitioning between lifting modes during the lifting operation.

Background

An excavator may perform a lifting operation to lift an object using a hydraulic system. The lifting operation may be performed in a standard lifting mode or in a heavy lifting mode that provides additional lifting capacity with respect to the standard lift mode. Typically, the operator manually selects the standard lifting mode or the heavy lift mode to perform the lifting operation. The operator selects the standard lifting mode or the heavy lift mode based on an estimated size of the object, an estimated distance between the excavator and the object, a location of the object with respect to a plane associated with the machine (e.g., above grade or below grade), among other examples.

In some instances, the operator may select an incorrect lifting mode (e.g., a lifting mode that is not optimal). For example, the operator may select the standard lifting mode when the heavy lifting mode is more appropriate for the lifting operation. Selecting the incorrect lifting mode may cause unintended operations of components (of the machine) used to perform the lifting operation. For example, selecting the incorrect lifting mode may cause a movement of the components to be suspended (or stalled) when a value of a pressure, of a hydraulic pump (of the hydraulic system), reaches a maximum value associated with the standard lifting mode. The movement of the components being suspended in this manner may be referred to as a stall condition. The movement of the components may be suspended because the pressure, associated with the maximum value, is insufficient to enable further lifting of the object. A productivity of the machine may be negatively affected when the movement of the components is suspended in this manner.

Additionally, or alternatively to the movement of the components being suspended, selecting the incorrect lifting mode may cause excessive strain on the hydraulic system and/or various components of the machine. As a result of the excessive strain, the hydraulic system and/or the various components may be subject to accelerated wear and tear. In some instances, selecting the heavy lifting mode (when the standard lifting is more appropriate for the lifting operation) results in reduced maximum cylinder velocities, which may reduce productivity of the machine.

U.S. Patent No. 9,435,105 (the ‘105 patent) discloses selectively operating a machine according to a first operating mode, wherein in the first operating mode a hydraulic pump is operably controlled to produce a fluid pressure between a first pressure and a second pressure. The ‘105 patent further discloses sending a signal to a controller, the signal corresponding to a request for a fluid pressure greater than the second pressure. The ‘105 patent discloses transitioning from the first operating mode to a second operating mode and increasing the fluid pressure from the second pressure to a third pressure during the transition.

While the ‘105 patent discloses transitioning from the first operating mode to the second operating mode, the ‘105 patent discloses that the second operating mode can be configured as a software-enabled feature that requires operator input to enable or activate. The ‘105 patent also discloses that, in other aspects, however, the second operating mode can be configured such that if a stall condition is detected, the controller automatically transitions the machine to the second operating mode.

The present disclosure solves one or more of the problems set forth above and/or other problems in the art. Summary

In some implementations, a method performed by a controller of a machine includes receiving a first input indicating that the machine is performing a lifting operation; determining that the machine is operating in a first lifting mode associated with a first lifting capacity during the lifting operation, wherein, in the first lifting mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value; receiving, from a sensor device, sensor data indicating a current value for the pressure of the hydraulic pump, during the lifting operation; determining that the current value is approaching the second value; receiving a second input indicating that the machine is continuing to perform the lifting operation, after determining that the current value is approaching the second value; and causing, based on the second input, the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, wherein the second lifting capacity exceeds the first lifting capacity.

In some implementations, a system comprising: a sensor device of a machine; and a controller, of the machine, connected to the sensor device and configured to: receive an input indicating that the machine is to perform a lifting operation; cause the machine to operate in a first lifting mode associated with a first lifting capacity based on receiving the input, wherein, in the first lifting mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value; receive, from the sensor device, sensor data indicating a current value for the pressure of the hydraulic pump during the lifting operation; determine that the current value satisfies a threshold value between the first value and the second value; determine that the machine is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value; and cause the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, prior to the current value reaching the second value and based on determining that the machine is continuing to perform the lifting operation, wherein the second lifting capacity exceeds the first lifting capacity. In some implementations, a machine includes a hydraulic pump; a sensor device; and a controller configured to: receive, from the sensor device, sensor data indicating a current value for a pressure of the hydraulic pump during a lifting operation, wherein the machine is operating in a first lifting mode during the lifting operation, and wherein, in the first lifting mode, the pressure of the hydraulic pump is between a first value and a second value that exceeds the first value; determine that the current value satisfies a threshold value between the first value and the second value; determine that the machine is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value; determine that additional lift capacity is to be enabled for the lifting operation based on determining that the machine is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value; and cause the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, based on determining that additional lift capacity is to be enabled for the lifting operation, wherein the second lifting capacity exceeds the first lifting capacity.

Brief Description Of The Drawings

Fig. l is a diagram of an example machine described herein.

Fig. 2 is a diagram of an example system described herein.

Fig. 3 is a flowchart of an example process relating to dynamically transitioning between lifting modes.

Detailed Description

The present disclosure is directed to dynamically transitioning between two lifting modes. For example, a controller, of a machine, may receive an input indicating that the machine is performing a lifting operation. In some situations, the input may be received from one or more operator controls of the machine. The lifting operation may be performed based on fluid supplied by a hydraulic pump of the machine (e.g., hydraulic fluid that is pressurized by the hydraulic pump). The lifting operation may be performed based on a movement of one or more components of the machine to cause a movement of an object.

For example, the lifting operation may be performed based on a movement of a boom of the machine, a movement of a stick of the machine, and/or a movement of a machine work tool (e.g., a bucket) of the machine. For instance, the lifting operation may include a vertical lift of the object (e.g., vertical movements of the boom), a lift and pull in of the object (e.g., a vertical movement of the boom and an inward movement of the stick), among other examples.

In some examples, the lifting operation may be initially performed in a first lifting mode associated with a first lifting capacity. In the first lifting mode, a pressure (of the fluid) supplied the hydraulic pump may be between a first value and a second value that exceeds the first value. The controller may receive, from a sensor device, sensor data indicating a current value for the pressure of the hydraulic pump during the lifting operation and determine that the current value satisfies a threshold value between the first value and the second value. Based on determining that the current value satisfies the threshold value, the controller may determine that the current value is increasing and approaching the second value.

The controller may determine whether the machine is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value. If the controller determines that the machine is continuing to perform the lifting operation, the controller may determine that the current value is likely to exceed the second value. Accordingly, the controller may cause the machine to transition from operating in the first lifting mode to operating in a second lifting mode, prior to the current value reaching the second value. The second lifting mode may be associated with a second lifting capacity that exceeds the first lifting capacity. For example, in the second lifting mode, the pressure of the hydraulic pump of the machine may be between a third value and a fourth value that exceeds the third value. The third value (e.g., a minimum value for the pressure in the second lifting mode) may exceed the second value (e.g., a maximum value for the pressure in the first lifting mode). When operating in the second lifting mode, the pressure may be momentarily between the third value and the fourth value based on the dynamics of the lifting operation (e.g., speed of lift, momentarily overcoming friction/suction to free object, among other examples).

By causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode in this manner, the controller may prevent unintended operations of components (e.g., the boom, the stick, and the machine work tool) of the machine during the lifting operation, prevent accelerated wear and tear of the components, among other examples. In some examples, the controller may provide a notification indicating that the machine has transitioned from operating in the first lifting mode to operating in the second lifting mode. The notification may be provided via an operator cabin of the machine, provided to a back office system, and/or provided to a device of a remote operator of the machine.

The term “machine” may refer to a machine that performs an operation associated with an industry such as, for example, mining, construction, farming, transportation, or another industry. Moreover, one or more implements may be connected to the machine. As an example, a machine may include a construction vehicle, a work vehicle, or a similar vehicle associated with the industries described above.

Fig. 1 is a diagram of an example machine 100 described herein. As shown in Fig. 1, machine 100 is embodied as an earth moving machine, such as an excavator. Alternatively, the machine 100 may be another type of machine, such as a dozer.

As shown in Fig. 1, machine 100 includes ground engaging members 110, a machine body 115, and an operator cabin 120. Ground engaging members 110 may include tracks (as shown in Fig. 1), wheels, rollers, and/or the like, for propelling machine 100. Ground engaging members 110 are mounted a rotating frame (not shown) and are driven by one or more engines and drive trains (not shown). Machine body 115 is mounted on the rotating frame (not shown). Operator cabin 120 is supported by machine body 115 mounted on the rotating frame. Operator cabin 120 includes an integrated display (not shown) and operator controls 125, such as, for example, an integrated joystick. Operator controls 125 may include one or more input components. In some examples, the controller may provide a notification indicating that the machine has transitioned from operating in the first lifting mode to operating in the second lifting mode.

For an autonomous machine, operator controls 125 may not be designed for use by an operator and, rather, may be designed to operate independently from an operator. In this case, for example, operator controls 125 may include one or more input components that provide an input signal for use by another component without any operator input. Swivel element 125 may include one or more components that enable the rotating frame (and machine body 115) to rotate (or swivel). For example, swivel element 125 may enable the rotating frame (and machine body 115) to rotate (or swivel) with respect to ground engaging members 110.

As shown in Fig. 1, machine 100 includes a boom 130, a stick 135, and a machine work tool 140. Boom 130 is pivotally mounted at its proximal end to machine body 115 and is articulated relative to machine body 115 by one or more fluid actuation cylinders (e.g., hydraulic or pneumatic cylinders), electric motors, and/or other electro-mechanical components. Stick 135 is pivotally mounted at a distal end of boom 130 and is articulated relative to boom 130 by one or more fluid actuation cylinders, electric motors, and/or other electro-mechanical components. Boom 130 and/or stick 135 may be referred to as a linkage. Machine work tool 140 is mounted at a distal end of stick 135 and may be articulated relative to stick 135 by one or more fluid actuation cylinders, electric motors, and/or other electro-mechanical components. Machine work tool 140 may be a bucket (as shown in Fig. 1) or another type of tool or implement that may be mounted on stick 135. Machine work tool 140 may be referred to as an implement. As shown in Fig. 1, machine 100 includes a controller 145 (e.g., an electronic control module (ECM), a computer vision controller, an autonomy controller, among other examples), one or more inertial measurement units (IMUs) 150 (referred to herein individually as “IMU 150,” and collectively referred to as “IMUs 150”), a hydraulic pump 155, a hydraulic pressure sensor system 160, and one or more hydraulic cylinders 165. Controller 145 may control and/or monitor operations of machine 100. For example, controller 145 may control and/or monitor the operations of machine 100 based on signals from operator controls 125, signals from IMUs 150, and/or signals from hydraulic pressure sensor system 160.

As shown in Fig. 1, IMUs 150 are installed at different positions on components or portions of machine 100, such as, for example, on machine body 115, boom 130, stick 135, and machine work tool 140. An IMU 150 includes one or more devices that are capable of receiving, generating, storing, processing, and/or providing signals indicating a position and orientation of a component, of machine 100, on which the IMU 150 is installed. For example, IMU 150 may include one or more accelerometers and/or one or more gyroscopes. The one or more accelerometers and/or the one or more gyroscopes generate and provide signals that can be used to determine a position and orientation of the IMU 150 relative to a frame of reference and, accordingly, a position and orientation of the component. While the example discussed herein refers to IMUs 150, the present disclosure is applicable to using one or more other types of sensor devices that may be used to determine a position and orientation of a component of machine 100.

Hydraulic pump 155 may be configured to provide fluid (e.g., hydraulic fluid that is pressurized by hydraulic pump 155) to cause the one or more fluid actuation cylinders (e.g., one or more hydraulic cylinders 165) to articulate boom 130, stick 135, and/or machine work tool 140, as described above. Hydraulic pressure sensor system 160 may include one or more sensor devices configured to generate, store, process, and/or provide signals regarding one or more components of machine 100. For example, the one or more sensor devices may include one or more pressure sensor devices. The one or more sensor devices may be configured to generate sensor data identifying a pressure of hydraulic pump 155, sensor data identifying a pressure (e.g., of hydraulic fluid) associated with a movement of boom 130, sensor data identifying a pressure (e.g., of hydraulic fluid) associated with a movement of stick 135, and/or sensor data identifying a pressure (e.g., of hydraulic fluid) associated with a movement of machine work tool 140.

As indicated above, Fig. 1 is provided as an example. Other examples may differ from what was described in connection with Fig. 1.

Fig. 2 is a diagram of an example system 200 described herein.

As shown in Fig. 2, system 200 includes controller 145 and hydraulic pressure sensor system 160. Hydraulic pressure sensor system 160 may include one or more sensor devices configured to generate, store, process, and/or provide signals regarding one or more components of machine 100, as explained above. As shown in Fig. 2, hydraulic pressure sensor system 160 may include a first sensor device 210, a second sensor device 220, a third sensor device 230, and a fourth sensor device 240.

First sensor device 210 may be configured to generate first sensor data identifying a value for a pressure of hydraulic pump 155 (e.g., a pressure of the hydraulic fluid supplied by hydraulic pump 155). Second sensor device 220 may be configured to generate second sensor data identifying a value for a pressure (e.g., of hydraulic fluid) associated with the movement of boom 130 (e.g., a pressure of the hydraulic fluid that actuates one or more hydraulic cylinders to articulate boom 130). Third sensor device 230 may be configured to generate third sensor data identifying a value for a pressure (e.g., of hydraulic fluid) associated with the movement of stick 135 (e.g., a pressure of the hydraulic fluid that actuates one or more hydraulic cylinders to articulate stick 135). Fourth sensor device 240 may be configured to generate fourth sensor data identifying a value for a pressure (e.g., of hydraulic fluid) associated with the movement of machine work tool 140 (e.g., a pressure of the hydraulic fluid that actuates one or more hydraulic cylinders to articulate machine work tool 140). Boom 130, stick 135, and machine work tool 140 may be components of a lifting mechanism of machine 100. In some situations, the lifting mechanism may include different components, additional components, or fewer components than boom 130, stick 135, and machine work tool 140. The first sensor data, the second sensor data, the third sensor data, and/or the fourth sensor data may be collectively referred to as “sensor data.”

First sensor device 210, second sensor device 220, third sensor device 230, and/or fourth sensor device 240 may provide the sensor data to controller 145 periodically (e.g., every five seconds, ten seconds, among examples) and/or based on a triggering event (e.g., based on a request from controller 145, based on an indication that machine 100 is performing a lifting operation, based on an indication of the movement of boom 130, stick 135, and/or machine work tool 140, among other examples).

Controller 145 may be configured to cause machine 100 to dynamically transition between the first lifting mode and the second lifting mode during a lifting operation, based on input from operator controls 125 and/or based on the sensor data from first sensor device 210, second sensor device 220, third sensor device 230, and/or fourth sensor device 240. For example, controller 145 may receive an input indicating that machine 100 is performing the lifting operation. In some situations, the input may be received from operator controls 125. The input may be generated by operator controls 125 as a result of operator controls 125 being actuated to perform the lifting operation. In some examples, machine 100 may be operated by a device located remotely with respect to machine 100. In such examples, controller 145 may receive the input from the device. The input, from the device, may be generated as part of instructions (or commands) to control machine 100 to perform the lifting operation.

In some instances, controller 145 may determine that machine 100 is performing the lifting operation based on the sensor data provided by second sensor device 220, third sensor device 230, and/or fourth sensor device 240. For example, the second sensor data, provided by second sensor device 220, may indicate that boom 130 is being used to perform the lifting operation. For instance, the second sensor data may indicate that the pressure (associated with the movement of boom 130) satisfies a boom pressure threshold.

Similarly, the third sensor data, provided by third sensor device 230, may indicate that stick 135 is being used to perform the lifting operation.

For instance, the third sensor data may indicate that the pressure (associated with the movement of stick 135) satisfies a stick pressure threshold. Similarly, the fourth sensor data, provided by fourth sensor device 240, may indicate that machine work tool 140 is being used to perform the lifting operation. For instance, the second sensor data may indicate that the pressure (associated with the movement of machine work tool 140) satisfies a tool pressure threshold.

In some implementations, machine 100 may be configured to operate in the first lifting mode as a default configuration. In other words, machine 100 may be configured to initiate lifting operations in the first lifting mode. In this regard, after determining that machine 100 is performing the lifting operation, controller 145 may cause machine 100 to operate in the first lifting mode. Machine 100 may be configured in this manner because, in the first lifting mode, machine 100 may be capable of performing lifting operations within a particular range of motion with respect to machine 100. For example, in the first lifting mode, machine 100 may be capable of lifting objects from a ground surface to a particular location within a particular vertical distance from the ground surface or within a particular horizontal distance from machine 100, whereas in the second lifting mode, machine 100 either might not be capable of the same actions or might not be able to perform those actions as quickly or over the same distance. Accordingly, machine 100 may configured to initiate lifting operations in the first lifting mode to preserve resources of machine 100 that would have been allocated to enable machine 100 to operate in the second lifting mode, in the event the lifting operation may be performed in the first lifting mode.

The first lifting mode may be associated with a first lifting capacity. The second lifting mode may be associated with a second lifting capacity that exceeds the first lifting capacity. In the first lifting mode, the pressure of hydraulic pump 155 (e.g., the pressure of the hydraulic fluid supplied by hydraulic pump 155) may be between a first value and a second value that exceeds the first value. The second value may be a maximum value of the pressure of hydraulic pump 155 in the first lifting mode. In the second lifting mode, the pressure of hydraulic pump 155 may be between a third value and a fourth value that exceeds the third value. The fourth value may be a maximum value of the pressure of hydraulic pump 155 in the second lifting mode. The third value may exceed the second value.

As explained in more detail below, after the lifting operation has been initiated in the first lifting mode, controller 145 may determine if additional lifting capacity is to be enabled for the lifting operation. If controller 145 determines that additional lifting capacity is to be enabled for the lifting operation, controller 145 may cause machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode. As will be explained in detail hereafter, such transition from the first lifting mode to the second lifting mode can be performed automatically by the controller 145 taking into consideration to the operator’s input(s) to the operator controls 125, meaning the operator need not specifically command (e.g., press a button) the machine 100 to change lifting modes.

In some implementations, machine 100 may not be configured in the default configuration (e.g., configured to initiate lifting operations in the first lifting mode). In this regard, after determining that machine 100 is performing the lifting operation, controller 145 may determine whether machine 100 is operating in the first lifting mode or in the second lifting mode during the lifting operation. For example, based on determining that machine 100 is performing the lifting operation, controller 145 may obtain (e.g., from a memory of machine 100) lifting mode information identifying a current lifting mode of machine 100. Controller 145 may determine whether machine 100 is operating in the first lifting mode or in the second lifting mode based on the lifting mode information.

In some examples, the lifting mode information may be updated based on selection (e.g., by the operator) of the first lifting mode or the second lifting mode. In some examples, the lifting mode information may be updated (e.g., by controller 145) as controller 145 causes machine 100 to transition between the first lifting mode and the second lifting mode. Such transition can be performed automatically by the controller 145 taking into consideration the operator’s input(s) to the operator controls 125, meaning the operator need not specifically command (e.g., press a button) the machine 100 to change lifting modes, as explained in greater detail hereafter.

Assume that controller 145 determines that machine 100 is operating in the first lifting mode (e.g., based on the default configuration and/or based on the lifting mode information indicating that machine 100 is operating in the first lifting mode). After determining that machine 100 is performing the lifting operation in the first lifting mode, controller 145 may monitor the pressure of hydraulic pump 155 to determine whether additional lifting capacity is to be enabled for the lifting operation as machine 100 continues to perform the lifting operation. Controller 145 may cause machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that additional lifting capacity is to be enabled for the lifting operation, as explained in more detail below.

In some examples, controller 145 may receive the first sensor data from first sensor device 210. The first sensor data may indicate a current value of the pressure of hydraulic pump 155. Controller 145 may receive the first sensor data periodically and/or based on the triggering event, as explained above. Controller 145 may compare the current value and a threshold value and may determine whether to cause machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode. Controller 145 may be pre configured with information identifying the threshold value, may receive the information identifying the threshold value from a device of the operator of machine 100, and/or may receive the information identifying the threshold value from the back office system, among other examples.

The threshold value may be a value between the first value and the second value of the pressure of hydraulic pump 155 when machine 100 is operating in the first lifting mode. The threshold value may be closer to the second value than to the first value. The threshold value may correspond to a value that, when satisfied by the current value, indicates that additional lifting capacity is to be enabled for the lifting operation. In other words, the threshold value may be a value that, when satisfied by the current value, indicates that the current value may likely exceed the second value.

If the current value does not satisfy the threshold value, controller 145 may continue to monitor the pressure of hydraulic pump 155 and may take no action with respect to causing machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode.

Assume the current value satisfies the threshold value. In this regard, controller 145 may determine whether machine 100 is continuing to perform the lifting operation. For example, controller 145 may receive an input from operator controls 125 and may determine whether the input indicates that machine 100 is continuing to perform the lifting operation. For instance, controller 145 may determine whether the input is indicating that operator controls 125 are being actuated to perform the lifting operation. Additionally, or alternatively to receive an input from operator controls 125, machine 100 may receive an input from a device located remotely with respect to machine 100 (e.g., a remote control device of machine 100) and may determine whether the input indicates that the device is providing instructions (or commands) to cause machine 100 to continue to perform the lifting operation.

Additionally, or alternatively, machine 100 may receive the sensor data from second sensor device 220, third sensor device 230, and/or fourth sensor device 240 and may determine whether the sensor data indicates that machine 100 is continuing to perform the lifting operation. For example, controller 145 may determine that machine 100 is continuing to perform the lifting operation when the second sensor data indicates that the pressure (associated with the movement of boom 130) satisfies the boom pressure threshold, when the third sensor data indicates that the pressure (associated with the movement of stick 135) satisfies the stick pressure threshold, and/or when the fourth sensor data indicates that the pressure (associated with the movement of machine work tool 140) satisfies a tool pressure threshold. Controller 145 may be pre-configured with information identifying the above thresholds, may receive the information identifying the above thresholds from a device of an operator of machine 100, may receive the information identifying the above thresholds from the back office system, among other examples.

If controller 145 determines that machine 100 is not continuing to perform the lifting operation, controller 145 may take no action with respect to causing machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode. Additionally, or alternatively, controller 145 may continue to monitor the pressure of hydraulic pump 155.

In the event controller 145 determines that machine 100 is continuing to perform the lifting operation, controller 145 may determine that the pressure of hydraulic pump 155 is likely to continue to increase and exceed the second value. Based on determining that the pressure of hydraulic pump 155 is likely to continue to increase and exceed the second value, controller 145 may determine that additional lifting capacity is to be enabled for the lifting operation (e.g., to prevent a stall condition). Accordingly, controller 145 may cause machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode. For example, controller 145 may cause machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode prior to the pressure reaching the second value.

By causing machine 100 to transition in this manner (e.g., prior to the pressure reaching the second value), controller 145 may prevent unintended operation of boom 130, stick 135, and machine work tool 140 during the lifting operation such as could require operator attention and thereby affect operator control of the machine 100. For example, controller 145 may prevent a stall condition (e.g., a temporary stall condition) during the lifting operation. The stall condition may refer to a movement of boom 130, stick 135, and machine work tool 140 being suspended during the lifting operation because the pressure is insufficient to lift the object. Additionally, or alternatively, by causing machine 100 to transition in this manner (e.g., prior to the pressure reaching the second value), controller 145 may prevent a strain on boom 130, stick 135, machine work tool 140, and/or other components of machine 100, thereby preventing accelerated wear and tear.

In some examples, controller 145 may be configured to cause one or more valves, associated with hydraulic pump 155, to be adjusted to enable hydraulic pump 155 to increase the pressure (of the hydraulic fluid) to a value that exceeds the second value (of the first lifting mode). For example, controller 145 may enable hydraulic pump 155 to increase the pressure (of the hydraulic fluid) to a value between the third value (of the second lifting mode) and the fourth value (of the second lifting mode). In some instances, controller 145 may enable hydraulic pump 155 to increase the pressure using an electronically controlled pressure regulating valve (e.g., a two-stage pressure regulating valve).

In some examples, controller 145 may adjust a pump flow associated with hydraulic pump 155, as part of causing machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode. For example, controller 145 may decrease the pump flow associated with hydraulic pump 155, as the pressure increases. Machine 100 will operate at the decreased pump flow until machine 100 transitions from operating in the second lifting mode to operating in the first lifting mode. In some instances, decreasing the pump flow may result in decreasing a velocity of a hydraulic cylinder (e.g., hydraulic cylinder 165) associated with performing the lifting operation. The velocity of the hydraulic cylinder may be decreased if a cylinder flow (associated with the hydraulic cylinder) is reduced due to the pump flow being decreased.. For example, in the first lifting mode, the velocity of the hydraulic cylinder may be a first velocity. In this regard, when causing machine 100 to transition from operating in the first lifting mode to operating in the second lifting mode, controller 145 may cause the velocity of the hydraulic cylinder to be decreased (or reduced) toward (or to) a second velocity, as the pressure of the hydraulic pump increases. In some instances, controller 145 may cause the velocity of the hydraulic cylinder to be decreased at rate that is based on (e.g., proportional to) a rate at which the pressure of the hydraulic pump increases.

In some instances, after machine 100 has transitioned from operating in the first lifting mode to operating in the second lifting mode, controller 145 may perform one or more actions. For example, controller 145 may provide a notification indicating that machine 100 has transitioned from operating in the first lifting mode to operating in the second lifting mode. The notification may be provided via operator cabin 120 (e.g., via the integrated display), provided to a back office system, and/or provided to a device of a remote operator of machine 100.

Additionally, or alternatively to providing the notification, controller 145 may determine whether to cause machine 100 to transition from operating in the second lifting mode to operating in the first lifting mode. For example, controller 145 may determine whether machine 100 is continuing to perform the lifting operation, in a manner similar to the manner described above. Additionally, or alternatively, controller 145 may determine whether machine 100 is stationary. For example, controller 145 may determine whether machine 100 is stationary based on data from an IMU 150 and/or based on data from one or more other devices of machine 100 (e.g., data from a speedometer, data from a motion sensor device, among other examples).

In the event that controller 145 receives an input indicating that machine 100 is no longer performing the lifting operation (e.g., an input indicating that the lifting operation is completed) and/or that controller 145 receives an input indicating that machine 100 is stationary, controller 145 may cause machine 100 to transition from operating in the second lifting mode to operating in the first lifting mode based on the second input and/or the third input. By causing machine 100 to transition from operating in the second lifting mode to operating in the first lifting mode, controller 145 may preserve resources of machine 100 that would have been allocated to enable machine 100 to operate in the second lifting mode. While the foregoing example has been described with respect to performing a lifting operation, the present disclosure is applicable to other operations, for example other object moving operations, such as a digging operation. Additionally, while the foregoing example has been described with respect to the first lifting mode and the second lifting mode, the present disclosure may be applicable to more than two lifting modes. In some examples, a proportional pressure regulating valve may be used and may enable numerous relief pressures between the pressures for the first lifting mode and the second lifting mode.

The number and arrangement of devices shown in Fig. 2 are provided as an example. In practice, there may be additional devices, fewer devices, different devices, or differently arranged devices than those shown in Fig. 2. Furthermore, two or more devices shown in Fig. 2 may be implemented within a single device, or a single device shown in Fig. 2 may be implemented as multiple, distributed devices. Additionally, or alternatively, a set of devices (e.g., one or more devices) of system 200 may perform one or more functions described as being performed by another set of devices of system 200.

Fig. 3 is a flowchart of an example process 300 relating to dynamically transitioning between lifting modes. In some implementations, one or more process blocks of Fig. 3 may be performed by a controller (e.g., controller 145). In some implementations, one or more process blocks of Fig. 3 may be performed by another device or a group of devices separate from or including the controller, such as operator controls (e.g., operator controls 125), a first sensor device (e.g., first sensor device 210), a second sensor device (e.g., second sensor device 220), a third sensor device (e.g., third sensor device 230), and/or a fourth sensor device (e.g., fourth sensor device 240).

As shown in Fig. 3, process 300 may include receiving a first input indicating that the machine is performing a lifting operation (block 310). For example, the controller may receive a first input indicating that the machine is performing a lifting operation, as described above. Receiving the first input comprises receiving the first input from one or more operator controls of the machine. The lifting operation is performed using at least one of a boom of the machine, a stick of the machine, or a machine work tool of the machine.

As further shown in Fig. 3, process 300 may include determining that the machine is operating in a first lifting mode associated with a first lifting capacity during the lifting operation, wherein, in the first lifting mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value (block 320). For example, the controller may determine that the machine is operating in a first lifting mode associated with a first lifting capacity during the lifting operation, wherein, in the first lifting mode, a pressure of a hydraulic pump of the machine is between a first value and a second value that exceeds the first value, as described above.

As further shown in Fig. 3, process 300 may include receiving, from a sensor device, sensor data indicating a current value for the pressure of the hydraulic pump, during the lifting operation (block 330). For example, the controller may receive, from a sensor device, sensor data indicating a current value for the pressure of the hydraulic pump, during the lifting operation, as described above.

As further shown in Fig. 3, process 300 may include determining that the current value is approaching the second value (block 340). For example, the controller may determine that the current value is approaching the second value, as described above.

As further shown in Fig. 3, process 300 may include receiving a second input indicating that the machine is continuing to perform the lifting operation, after determining that the current value is approaching the second value (block 350). For example, the controller may receive a second input indicating that the machine is continuing to perform the lifting operation, after determining that the current value is approaching the second value, as described above. Receiving the second input comprises receiving the second input from the one or more operator controls of the machine. As further shown in Fig. 3, process 300 may include causing, based on the second input, the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, wherein the second lifting capacity exceeds the first lifting capacity (block 360). For example, the controller may cause, based on the second input, the machine to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, wherein the second lifting capacity exceeds the first lifting capacity, as described above. In some implementations, the second lifting capacity exceeds the first lifting capacity.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode to enable the current value of the pressure to be increased to a value that exceeds the second value, wherein, in the second lifting mode, the pressure of the hydraulic pump of the machine is between a third value and a fourth value that exceeds the third value, and wherein the third value exceeds the second value.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode prior to the pressure reaching the second value.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises determining that additional lifting capacity is to be provided for the lifting operation based on the second input indicating that the machine is continuing to perform the lifting operation, after determining that the pressure is the current value is approaching the second value, and causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that the additional lifting capacity is to be provided for the lifting operation.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises determining that the current value satisfies a threshold value, wherein the threshold value is between the first value and the second value, and causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that the current value satisfies the threshold value.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises causing the velocity of the hydraulic cylinder to be decreased from the first velocity to a second velocity associated with the second lifting mode.

Causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode comprises decreasing a pump flow, associated with the hydraulic pump, as the pressure of the hydraulic pump increases, after determining that the machine is continuing to perform the lifting operation.

As further shown in Fig. 3, process 300 may include providing a notification indicating that the machine has transitioned from operating in the first lifting mode to operating in the second lifting mode (block 370). For example, the controller may provide a notification indicating that the machine has transitioned from operating in the first lifting mode to operating in the second lifting mode.

Although Fig. 3 shows example blocks of process 300, in some implementations, process 300 may include additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in Fig. 3. Additionally, or alternatively, two or more of the blocks of process 300 may be performed in parallel.

Industrial Applicability

The present disclosure is directed to dynamically and automatically transitioning between a first lifting mode and a second lifting mode during a lifting operation of a machine. The first lifting mode may be associated with a first lifting capacity and the second lifting mode may be associated with a second lifting capacity that exceeds the first lifting capacity. In the first lifting mode, a pressure (of a fluid) supplied by a hydraulic pump (of the machine) may be between a first value and a second value that exceeds the first value. In the second lifting mode, the pressure may be between a third value and a fourth value that exceeds the third value. The third value exceeds the second value.

A controller of the machine may cause the machine to transition from operating in the first lifting mode to operating in the second lifting mode without operator intervention when the controller determines that the machine is continuing to perform the lifting operation, after the controller has determined that a current value of the pressure satisfies a threshold value. The controller may cause the machine to transition prior to the current value reaching the second value of the first lifting mode (e.g., prior to the current value of the pressure reaching a maximum value for the pressure in the first lifting mode).

Typically, an operator selects a lifting mode for a lifting operation. However, the operator may select an incorrect lifting mode. Selecting the incorrect lifting mode may cause unintended operation of components (of the machine) used to perform the lifting operation. For instance, selecting the incorrect lifting mode may cause a movement of the components to be suspended (or stalled) when a value of a pressure, of the hydraulic system, reaches a maximum value associated with the standard lifting mode. Additionally, or alternatively, selecting the incorrect lifting mode may cause a strain on various components of the machine. As a result of the strain, the various components may be subject to accelerated wear and tear.

The present disclosure resolves these issues by causing the machine to transition automatically and without the need for operator intervention from operating in the first lifting mode to operating in the second lifting mode prior to the current value of the pressure reaching a maximum value for the pressure in the first lifting mode. By causing the machine to transition from operating in the first lifting mode to operating in the second lifting mode in this manner, the controller may prevent unintended operations of components (e.g., a boom, a stick, and a machine work tool) of the machine used during the lifting operation, may prevent accelerated wear and tear of the components, among other examples. The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementations to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure or may be acquired from practice of the implementations.

Furthermore, any of the implementations described herein may be combined unless the foregoing disclosure expressly provides a reason that one or more implementations cannot be combined. Even though particular combinations of features are recited in the claims and/or disclosed in the specification, these combinations are not intended to limit the disclosure of various implementations. Although each dependent claim listed below may directly depend on only one claim, the disclosure of various implementations includes each dependent claim in combination with every other claim in the claim set.

As used herein, “a,” “an,” and a "set" are intended to include one or more items, and may be used interchangeably with “one or more.” Further, as used herein, the article “the” is intended to include one or more items referenced in connection with the article “the” and may be used interchangeably with “the one or more.” Further, the phrase “based on” is intended to mean “based, at least in part, on” unless explicitly stated otherwise. Also, as used herein, the term “or” is intended to be inclusive when used in a series and may be used interchangeably with “and/or,” unless explicitly stated otherwise (e.g., if used in combination with “either” or “only one of’). Further, spatially relative terms, such as “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature’s relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the apparatus, device, and/or element in use or operation in addition to the orientation depicted in the figures. The apparatus may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may likewise be interpreted accordingly.

Claims

1. A method performed by a controller (145) of a machine (100), the method comprising: receiving a first input indicating that the machine (100) is performing a lifting operation; determining that the machine (100) is operating in a first lifting mode associated with a first lifting capacity during the lifting operation, wherein, in the first lifting mode, a pressure of a hydraulic pump (155) of the machine (100) is between a first value and a second value that exceeds the first value; receiving, from a sensor device (210), sensor data indicating a current value for the pressure of the hydraulic pump (155), during the lifting operation; determining that the current value is approaching the second value; receiving a second input indicating that the machine (100) is continuing to perform the lifting operation, after determining that the current value is approaching the second value; and causing, based on the second input, the machine (100) to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, wherein the second lifting capacity exceeds the first lifting capacity.

2. The method according to claim 1, wherein causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode comprises: causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode to enable the current value of the pressure to be increased to a value that exceeds the second value; wherein, in the second lifting mode, the pressure of the hydraulic pump (155) of the machine (100) is between a third value and a fourth value that exceeds the third value; and wherein the third value exceeds the second value.

3. The method according to any one of claims 1 and 2, wherein causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode comprises: causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode prior to the pressure reaching the second value.

4. The method according to any one of claims 1-3, wherein causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode comprises: determining that additional lifting capacity is to be provided for the lifting operation based on the second input indicating that the machine (100) is continuing to perform the lifting operation, after determining that the pressure of the current value is approaching the second value; and causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that the additional lifting capacity is to be provided for the lifting operation.

5. The method according to any one of claims 1-4, wherein causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode comprises: determining that the current value satisfies a threshold value, wherein the threshold value is between the first value and the second value; and causing the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that the current value satisfies the threshold value.

6. A system comprising: a sensor device (210) of a machine; and a controller (145), of the machine (100), connected to the sensor device and configured to: receive an input indicating that the machine (100) is to perform a lifting operation; cause the machine (100) to operate in a first lifting mode associated with a first lifting capacity based on receiving the input, wherein, in the first lifting mode, a pressure of a hydraulic pump (155) of the machine (100) is between a first value and a second value that exceeds the first value; receive, from the sensor device (210), sensor data indicating a current value for the pressure of the hydraulic pump (155) during the lifting operation; determine that the current value satisfies a threshold value between the first value and the second value; determine that the machine (100) is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value; and cause the machine (100) to transition from operating in the first lifting mode to operating in a second lifting mode associated with a second lifting capacity, prior to the current value reaching the second value and based on determining that the machine (100) is continuing to perform the lifting operation, wherein the second lifting capacity exceeds the first lifting capacity.

7. The system according to claim 6, wherein, to cause the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode, the controller (145) is configured to: decrease a pump flow, associated with the hydraulic pump, as the pressure of the hydraulic pump (155) increases, after determining that the machine (100) is continuing to perform the lifting operation.

8. The system according to any one of claims 6 and 7, wherein the input indicating that the machine (100) is to perform the lifting operation is a first input; and wherein the controller (145) is configured to: receive a second input indicating that the lifting operation is completed; receive a third input indicating that the machine (100) is stationary; and cause the machine (100) to transition from operating in the second lifting mode to operating in the first lifting mode based on at least one of the second input or the third input.

9. The system according to any one of claims 6-8, wherein, to cause the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode, the controller (145) is configured to: determine that additional lifting capacity is to be enabled for the lifting operation based on determining that the machine (100) is continuing to perform the lifting operation, after determining that the current value satisfies the threshold value; and cause the machine (100) to transition from operating in the first lifting mode to operating in the second lifting mode based on determining that additional lifting capacity is to be enabled for the lifting operation.

10. The system according to any one of claims 6-9, wherein the controller (145) is further configured to: provide a notification indicating that the machine (100) has transitioned from operating in the first lifting mode to operating in the second lifting mode.