US 11,965,314 B2
Control methods for actuating the movement of a boom or an attachment in a work vehicle, corresponding control systems and work vehicles comprising such control systems
Adriano Garramone, Lecce (IT); Andrea Gravili, Lecce (IT); Stefano Liberti, Lecce (IT); and Antonio Venezia, Turin (IT)
Assigned to CNH Industrial America LLC, New Holland, PA (US)
Filed by CNH Industrial America LLC, New Holland, PA (US)
Filed on Nov. 1, 2021, as Appl. No. 17/516,324.
Prior Publication US 2022/0136213 A1, May 5, 2022
Int. Cl. E02F 3/43 (2006.01); E02F 9/20 (2006.01); E02F 9/22 (2006.01)
CPC E02F 9/2228 (2013.01) [E02F 9/2267 (2013.01); E02F 9/2271 (2013.01); E02F 9/2004 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A control method for actuating the movement of a boom in a work vehicle powered by a motor;
wherein actuating the boom occurs by means of a joystick controlled by an operator, a movement of the joystick in a predetermined control area according to a preset boom actuation axis causing the actuation of the boom by hydraulic actuating means,
wherein the hydraulic actuating means include an hydraulic cylinder operatively connected the boom, and a directional solenoid valve whose opening degree is adapted to control the flow of a working fluid to the hydraulic cylinder;
the rate of actuation of the boom being controlled by the opening degree of the directional solenoid valve by means of a driving current thereof as a function of a component of the position of the joystick along the preset boom actuation axis in the control area;
the control method comprising the steps of:
acquiring, a signal or data indicative of the position of the joystick along the preset boom actuation axis and a signal or data indicative of the position of the boom along a boom travel path over time;
based on the signal or data indicative of the position of the joystick, determining a joystick position difference between the actual component of the position of the joystick along the preset boom actuation axis in a first time instant and a neutral position of the joystick along the preset boom actuation axis;
based on the signal or data indicative of the position of the boom, determining a first position of the boom along the boom travel path in the first time instant;
based on the signal or data indicative of the position of the boom, detecting a second position of the boom along the boom travel path in a second time instant, successive with respect to the first time instant;
determining a boom position difference between the second position and the first position of the boom;
if the determined boom position difference is lower than a predetermined boom position difference threshold and the determined joystick position difference is higher than predetermined joystick position difference threshold, supplying a reduced driving current or a null driving current to the directional solenoid valve so as to slow down or stop the movement of the boom.