# US 2021/0340724 A1 · Work vehicle magnetorheological fluid joystick systems providing machine state feedback

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- Number: US 2021/0340724 A1
- Document ID: US20210340724A1
- Status: Published application
- Kind: A1
- Application number: 16/916,800
- Filed: 2020-06-30
- Published: 2021-11-04
- Earliest claimed: 2020-05-01
- Assignees: Deere & Company
- Applicants: Deere & Company
- Inventors: Aaron R. Kenkel; Todd F. Velde; Mark E. Breutzman; Jeffrey M. Stenoish; Matthew Sbai
- Web page: https://patentgrep.com/patent/US20210340724A1

## CPC

- E02F 9/2004: {Control mechanisms, e.g. control levers (control levers per se G05G)}
- E02F 9/2012: {Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation}
- E02F 9/2029: {Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence)}
- E02F 9/24: Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)}
- E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)}
- F15B 13/01: Locking-valves or other detent {i.e. load-holding} devices
- F16F 9/535: {Magnetorheological [MR] fluid dampers (springs comprising magnetorheological [MR] elastomers F16F1/361)}
- F16F 15/002: {characterised by the control method or circuitry (control of mechanical oscillations per se G05D19/00)}
- G05G 1/015: Arrangements for indicating the position of a controlling member (means for continuously detecting pedal position G05G1/38; means for detecting position through tactile feedback G05G5/03)
- G05G 5/02: Means preventing undesired movements of a controlling member which can be moved in two or more separate steps or ways, e.g. restricting to a stepwise movement or to a particular sequence of movements (G05G5/28 takes precedence)
- G05G 5/03: Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce (arrangements for indicating the position of the controlling member G05G1/015)
- G05G 5/05: Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops (G05G5/28 takes precedence)
- G05G 5/12: for holding members in an indefinite number of positions, e.g. by a toothed quadrant (G05G5/28 takes precedence)
- G05G 9/047: the controlling member being movable by hand about orthogonal axes, e.g. joysticks {(for switches H01H25/04)}
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- E02F 3/32: working downwardly and towards the machine, e.g. with backhoes
- E02F 3/7609: {Scraper blade mounted forwardly of the tractor on a pair of pivoting arms which are linked to the sides of the tractor, e.g. bulldozers}
- E02F 3/7636: {Graders with the scraper blade mounted under the tractor chassis}
- E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)}
- E02F 9/261: {Surveying the work-site to be treated}
- F16F 2224/045: magnetorheological
- G05G 1/04: Controlling members for hand actuation by pivoting movement, e.g. levers
- G05G 2009/04707: {with ball joint}
- G05G 2009/04718: {with cardan or gimbal type joint}
- G05G 2009/04751: {Position sensor for linear movement}
- G05G 2009/04766: {providing feel, e.g. indexing means, means to create counterforce}
- G05G 2505/00: Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- F15B: SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F16F: SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- G05G: CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY ("Bowden" or like mechanisms F16C1/10; gearings or mechanisms not peculiar to this purpose F16H; speed changing or reversing mechanisms for gearings conveying rotary motion F16H59/00 - F16H63/00)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

Embodiments of a work vehicle magnetorheological fluid (MRF) joystick system include a joystick device, an MRF joystick resistance mechanism, a controller architecture, and a work vehicle sensor configured to provide sensor data indicative of an operational parameter pertaining to work vehicle. The MRF joystick resistance mechanism is controllable to vary an MRF resistance force resisting movement of a joystick included in the joystick device relative to a base housing thereof. The controller architecture is configured to: (i) monitor for variations in the operational parameter utilizing the sensor data; and (ii) provide tactile feedback through the joystick device indicative of the operational parameter by selectively commanding the MRF joystick resistance mechanism to adjust the MRF resistance force impeding joystick movement based, at least in part, on variations in the operational parameter.

## Claims

### Claim 1

A work vehicle magnetorheological fluid (MRF) joystick system utilized onboard a work vehicle, the work vehicle MRF joystick system comprising:
a joystick device, comprising:
a base housing;
a joystick movably mounted to the base housing; and
a joystick position sensor configured to monitor movement of the joystick relative to the base housing;
an MRF joystick resistance mechanism controllable to vary an MRF resistance force impeding joystick movement relative to the base housing in at least one degree of freedom;
a work vehicle sensor configured to provide sensor data indicative of an operational parameter pertaining to work vehicle; and
a controller architecture coupled to the joystick position sensor, to the MRF joystick resistance mechanism, and to the work vehicle sensor, the controller architecture configured to:
monitor for variations in the operational parameter utilizing the sensor data; and
provide tactile feedback through the joystick device indicative of the operational parameter by selectively commanding the MRF joystick resistance mechanism to adjust the MRF resistance force based, at least in part, on variations in the operational parameter.

### Claim 2 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the operational parameter comprises a hydraulic load placed on the work vehicle; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to increase the MRF resistance force as the hydraulic load increases.

### Claim 3 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the work vehicle comprises an electrohydraulic (EH) actuation system and an implement movable utilizing the EH actuation system;
wherein the operational parameter comprises a circuit pressure of the EH actuation system; and
wherein the work vehicle sensor comprises a pressure sensor configured to monitor the circuit pressure.

### Claim 4 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the work vehicle comprises a load-carrying component;
wherein the operational parameter comprises a material weight borne by load-carrying component; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to increase the MRF resistance force as the material weight increases.

### Claim 5 (depends on 4)

The work vehicle MRF joystick system of claim 4, wherein the load-carrying component of the work vehicle comprises a boom-mounted implement; and
wherein the controller architecture is configured to increase the MRF resistance force in a manner impeding joystick movements raising the boom-mounted implement.

### Claim 6 (depends on 4)

The work vehicle MRF joystick system of claim 4, wherein the load-carrying component comprises a receptacle of the work vehicle; and
wherein the operational parameter comprises a payload weight held by the receptacle.

### Claim 7 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the work vehicle comprises a bucket;
wherein the work vehicle sensor is configured to monitor a current fill weight of the bucket; and
wherein the controller architecture is configured to:
establish a target tipoff weight to which the bucket is desirably filled; and
selectively vary the MRF resistance force based of a differential between the target tipoff weight and the current fill weight of the bucket.

### Claim 8 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the operational parameter comprises a ground speed of the work vehicle; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to increase the MRF resistance force as the ground speed of the work vehicle increases.

### Claim 9 (depends on 8)

The work vehicle MRF joystick system of claim 8, wherein the MRF resistance force impedes joystick movement controlling at least one of work vehicle heading and work vehicle ground speed.

### Claim 10 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the work vehicle comprises a movable component having motion stop point;
wherein the operational parameter comprises displacement of the movable component relative to the motion stop point; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to selectively increase the MRF resistance force as the movable component approaches the motion stop point.

### Claim 11 (depends on 10)

The work vehicle MRF joystick system of claim 10, wherein the movable component comprises a hydraulic cylinder having a stroke limit or an articulable joint of a boom assembly.

### Claim 12 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the work vehicle comprises an electrohydraulic (EH) actuation system containing a pilot valve; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to selectively vary the MRF resistance force in a manner providing tactile feedback indicating when the pilot valve initially opens.

### Claim 13 (depends on 1)

The work vehicle MRF joystick system of claim 1, wherein the joystick device is utilized to control movement of the work vehicle;
wherein the operational parameter comprises a current motion state of the work vehicle; and
wherein the controller architecture is configured to:
determine when motion of the joystick in an operator input direction at a detected rate will result in an undesirably abrupt change in the current motion state of the work vehicle; and
when determining when motion of the joystick in an operator input direction at a detected rate will result in an undesirably abrupt change in the current motion state of the work vehicle, command the MRF joystick resistance mechanism to increase the MRF resistance force to impede continued movement of the joystick in the operator input direction.

### Claim 14 (depends on 13)

The work vehicle MRF joystick system of claim 13, wherein the joystick device is utilized to control at least one of a ground speed of the work vehicle and a heading of the work vehicle.

### Claim 15 (depends on 13)

The work vehicle MRF joystick system of claim 13, wherein the work vehicle comprises boom assembly attached to a chassis of the work vehicle; and
wherein the joystick device is utilized to control movement of the boom assembly.

### Claim 16

A work vehicle magnetorheological fluid (MRF) joystick system utilized onboard a work vehicle, the work vehicle MRF joystick system comprising:
a joystick device, comprising:
a base housing;
a joystick movably mounted to the base housing; and
a joystick position sensor configured to monitor movement of the joystick relative to the base housing;
an MRF joystick resistance mechanism controllable to vary an MRF resistance force impeding joystick movement relative to the base housing in at least one degree of freedom; and
a controller architecture coupled to the joystick position sensor and to the MRF joystick resistance mechanism, the controller architecture configured to:
monitor a current ground speed of the work vehicle; and
selectively command the MRF joystick resistance mechanism to adjust the MRF resistance force based, at least in part, on the current ground speed of the work vehicle.

### Claim 17 (depends on 16)

The work vehicle MRF joystick system of claim 16, wherein the controller architecture is configured to command the MRF joystick resistance mechanism to progressively increase the MRF resistance force impeding joystick rotation about a first axis as the current ground speed of the work vehicle increases.

### Claim 18 (depends on 17)

The work vehicle MRF joystick system of claim 17, wherein the joystick device is controllable is steer the work vehicle by rotation of the joystick about the first axis.

### Claim 19

A work vehicle magnetorheological fluid (MRF) joystick system utilized onboard a work vehicle having a boom-mounted implement, the work vehicle MRF joystick system comprising:
a joystick device, comprising:
a base housing;
a joystick movably mounted to the base housing; and
a joystick position sensor configured to monitor movement of the joystick relative to the base housing;
an MRF joystick resistance mechanism controllable to vary an MRF resistance force impeding joystick movement relative to the base housing in at least one degree of freedom; and
a controller architecture coupled to the joystick position sensor and to the MRF joystick resistance mechanism, the controller architecture configured to:
estimate a variable load resisting movement of the boom-mounted implement in at least one direction; and
selectively command the MRF joystick resistance mechanism to increase the MRF resistance force as the variable load increases.

### Claim 20 (depends on 19)

The work vehicle MRF joystick system of claim 19, wherein the variable load comprises a material weight carried by the boom-mounted implement; and
wherein the controller architecture is configured to command the MRF joystick resistance mechanism to increase the MRF resistance force in a manner impeding joystick motions raising the boom-mounted implement.