Uninterrupted automatic position control of work implements during override of target settings
A system and method are provided for automatically controlling operating characteristics for a work vehicle such as a dozer having a controllable blade. User-selectable transitions between manual and automatic control modes are enabled, with control based on a settable target value for an operating characteristic, e.g., blade elevation. During the manual control mode, a magnitude of manual adjustment via a user interface tool corresponds to a velocity of adjustment from a previous setting to a new setting for the target value. During the automatic control mode, a magnitude of manual adjustment via the user interface tool corresponds to an amount of adjustment from the previous setting to the new setting. Also during the automatic control mode, control signals associated with the operating characteristic are continuously generated based on at least the first target value and uninterrupted by any manual adjustments via the user interface tool to the first target value.
1 . A method of automatically controlling one or more operating characteristics for a self-propelled work vehicle comprising a work implement adjustable in position relative to a frame of the work vehicle and a user interface tool manually translatable from a neutral position along at least a first trajectory, the method comprising:
enabling a user-selectable transition of control of at least the work implement between a manual control mode and an automatic control mode;
wherein during the manual control mode a magnitude of manual adjustment by operator input via a user interface tool along the first trajectory corresponds to a velocity of adjustment of at least one of the operating characteristics with respect to the work implement;
establishing during the manual control mode a first setting of a target value for the at least one of the operating characteristics with respect to the work implement;
wherein upon transitioning from the manual control mode to the automatic control mode, the first setting of the target value corresponds to the neutral position for the user interface tool;
during the automatic control mode, continuously determining a magnitude of manual translation of the user interface tool in a first direction from the neutral position along the first trajectory, wherein each determined magnitude of manual translation corresponds to a respective amount of adjustment from the first setting to a respective new setting of the target value for the at least one of the operating characteristics; and
the method further comprising, during the automatic control mode, continuously generating control signals to controllably adjust the at least one of the one or more operating characteristics to the first target value or the respective new value for a current position of the user interface tool, wherein the automatic control mode and the continuous generation of control signals are uninterrupted by the manual translation of the user interface tool.
2 . The method of claim 1 , wherein the work implement comprises a front-mounted work implement configured to work a terrain to at least a target mainfall and a target cross-slope, and wherein an actuator associated with the work implement is configured, responsive to the generated control signals, to controllably adjust an operating characteristic comprising elevation of the work implement to the first target value.
3 . The method of claim 2 , wherein the user interface tool is manually translatable from the neutral position along at least two different trajectories, wherein translation along a first trajectory for the user interface tool corresponds to changes in elevation for the work implement, and wherein translation along a second trajectory for the user interface tool corresponds to changes in tilt for the work implement.
4 . The method of claim 3 , wherein the transition of control from the automatic control mode to the manual control mode is executed at least responsive to manual translation of the user interface tool at least a threshold distance from the neutral position.
5 . The method of claim 4 , wherein the user interface tool comprises a joystick that is manually translatable from the neutral position along the at least two trajectories, and a button associated with the joystick wherein the transition of control between the manual control mode and the automatic control mode is further executed at least responsive to manual engagement of the button.
6 . A self-propelled work vehicle comprising:
a frame supported by one or more ground engaging units;
a work implement adjustable in position relative to the frame;
an operator station comprising a user interface tool manually translatable from a neutral position along at least a first trajectory; and
a controller configured to
execute a user-selected transition of control of at least the work implement between a manual control mode and an automatic control mode;
wherein during the manual control mode a magnitude of manual adjustment by operator input via the user interface tool along the first trajectory corresponds to a velocity of adjustment of at least one of the operating characteristics with respect to the work implement;
establish during the manual control mode a first setting of a target value for the at least one of the operating characteristics with respect to the work implement;
wherein upon transitioning from the manual control mode to the automatic control mode, the first setting of the target value corresponds to the neutral position for the user interface tool;
during the automatic control mode, continuously determine a magnitude of manual translation of the user interface tool in a first direction from the neutral position along the first trajectory, wherein each determined magnitude of manual translation corresponds to a respective amount of adjustment from the first setting to a respective new setting of the target value for the at least one of the operating characteristics; and
the controller is further configured, during the automatic control mode, to continuously generate control signals to controllably adjust the at least one of the one or more operating characteristics to the first target value or the respective new value for a current position of the user interface tool, wherein the automatic control mode and the continuous generation of control signals are uninterrupted by the manual translation of the user interface tool.
7 . The work vehicle of claim 6 , wherein the work implement comprises a front-mounted work implement configured to work a terrain to at least a target mainfall and a target cross-slope, and wherein an actuator associated with the work implement is configured, responsive to the generated control signals, to controllably adjust an operating characteristic comprising elevation of the work implement to the first target value.
8 . The work vehicle of claim 7 , wherein the user interface tool is manually translatable from the neutral position along at least two different trajectories, wherein translation along a first trajectory for the user interface tool corresponds to changes in elevation for the work implement, and wherein translation along a second trajectory for the user interface tool corresponds to changes in tilt for the work implement.
9 . The work vehicle of claim 8 , wherein the transition of control from the automatic control mode to the manual control mode is executed at least responsive to manual translation of the user interface tool at least a threshold distance from the neutral position.
10 . The work vehicle of claim 9 , wherein the user interface tool comprises a joystick that is manually translatable from the neutral position along the at least two trajectories, and a button associated with the joystick wherein the transition of control between the manual control mode and the automatic control mode is further executed at least responsive to manual engagement of the button.
11 . The work vehicle of claim 6 , further comprising a display unit associated with the operator station, wherein the controller is configured to generate at least one display value on the display unit representative of an intended adjustment to the first target value, dependent on the selected control mode.
12 . A control system for automatically controlling one or more operating characteristics for a self-propelled work vehicle, the work vehicle comprising a frame supported by one or more ground engaging units, a work implement adjustable in position relative to the frame, and an operator station comprising a user interface tool manually translatable from a neutral position along at least a first trajectory, the system comprising:
one or more processors functionally linked to the user interface tool and configured to:
determine a user-selected transition of control of at least the work implement between a manual control mode and an automatic control mode;
wherein during the manual control mode a magnitude of manual adjustment by operator input via the user interface tool along the first trajectory corresponds to a velocity of adjustment of at least one of the operating characteristics with respect to the work implement;
establish during the manual control mode a first setting of a target value for the at least one of the operating characteristics with respect to the work implement;
wherein upon transitioning from the manual control mode to the automatic control mode, the first setting of the target value corresponds to the neutral position for the user interface tool;
during the automatic control mode, continuously determine a magnitude of manual translation of the user interface tool in a first direction from the neutral position along the first trajectory, wherein each determined magnitude of manual translation corresponds to a respective amount of adjustment from the first setting to a respective new setting of the target value for the at least one of the operating characteristics; and
during the automatic control mode, to continuously direct the generation of control signals to controllably adjust the at least one of the one or more operating characteristics to the first target value or the respective new value for a current position of the user interface tool, wherein the automatic control mode and the continuous generation of control signals are uninterrupted by the manual translation of the user interface tool.
13 . The system of claim 12 , wherein the work implement comprises a front-mounted work implement configured to work a terrain to at least a target mainfall and a target cross-slope, and wherein an actuator associated with the work implement is configured, responsive to the generated control signals, to controllably adjust an operating characteristic comprising elevation of the work implement to the first target value.
14 . The system of claim 13 , wherein the user interface tool is manually translatable from the neutral position along at least two different trajectories, wherein translation along a first trajectory for the user interface tool corresponds to changes in elevation for the work implement, and wherein translation along a second trajectory for the user interface tool corresponds to changes in tilt for the work implement.
15 . The system of claim 14 , wherein the transition of control from the automatic control mode to the manual control mode is executed at least responsive to manual translation of the user interface tool at least a threshold distance from the neutral position.
16 . The system of claim 15 , wherein the user interface tool comprises a joystick that is manually translatable from the neutral position along the at least two trajectories, and a button associated with the joystick wherein the transition of control between the manual control mode and the automatic control mode is further executed at least responsive to manual engagement of the button.
17 . The system of claim 12 , the work vehicle further comprising a display unit associated with the operator station, wherein the one or more processors are configured to direct the generation of at least one display value on the display unit representative of an intended adjustment to the first target value, dependent on the selected control mode.