Work machine self protection system
AssigneeDeere & Company
InventorLance R. Sherlock
Life of this patent
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Abstract
A work machine includes a controllable subsystem, the controllable subsystem having an actuator configured to actuate a movable element of the subsystem. The work machine also includes a control system configured to generate and send control signals to the controllable subsystem actuator, wherein the control signals cause an actuation of the actuator. The work machine also includes a self protection system configured to prevent the control system from sending a control signal to the actuator that would cause a collision between the controllable subsystem and a portion work machine.
Claims20
A mobile work machine, comprising:
- a frame;
- a set of ground engaging elements movably supported by the frame and driven by an engine to drive movement of the mobile work machine;
- a movable element movably supported by the frame to move relative to the frame;
- an actuator coupled to the movable element to controllably drive movement of the movable element;
- a control system that generates an actuator control signal, indicative of a commanded movement of the actuator, and provides the actuator control signal to the actuator to control the actuator to perform the commanded movement;
- and
- a self-protection system, coupled to the control system, that determines whether the commanded movement will result in contact between the movable element and a protected portion of the mobile work machine and, if so, generates a limit signal, limiting the commanded movement to avoid the contact.
A method of controlling a mobile work machine, comprising:
- receiving an operator input indicative of a commanded movement of an actuator that drives movement of a movable element coupled to a frame of the mobile work machine;
- determining whether the commanded movement will result in contact between the movable element and a protected portion of the mobile work machine;
- if so, generating a limit signal, limiting the commanded movement to avoid the contact;
- providing the limit signal to the actuator to control the actuator to drive limited movement of the movable element to avoid the contact.
A control system on a mobile work machine, comprising:
- control logic that generates an actuator control signal, indicative of a commanded movement of an actuator coupled to a movable element to controllably drive movement of the movable element, and provides the actuator control signal to the actuator to control the actuator to perform the commanded movement;
- collision logic that determines whether the commanded movement will result in contact between the movable element and a protected portion of the mobile work machine;
- and
- limit logic that if the commanded movement will result in contact between the movable element and a protected portion of the mobile work machine, generates a limit signal, limiting the commanded movement to avoid the contact.
Dependencies are inferred from the claim text.