CONTROL SYSTEM WITH A RE-ASSIGNABLE USER INPUT INTERFACE BETWEEN A STANDARD H PATTERN AND AN UPDATED H-PATTERN CONFIGURATION ON A WORK MACHINE

Description

TECHNICAL FIELD

The present disclosure relates to a re-assignable user input interface for a work machine with a standard H-pattern and an updated H-pattern configuration in a grading attachment mode, or more specifically, a re-assignable user input from in a standard mode using a standard configuration to a grading attachment mode (such as a dozer blade attachment or a box blade attachment) in an updated configuration for a compact track loader/skid steer.

BACKGROUND

Compact track loaders and skid steers are versatile work machines that can be manipulated to perform a variety of functions. However, this advantage can also be cumbersome for the operator due to challenges with learning various control patterns for the different attachments towards different functionalities. For example, the use of a pair of joysticks on the compact track loader can be set to either an ISO pattern, hand and foot control pattern, or an H-pattern. The ISO pattern consolidates driving controls on the left hand side and attachment/boom function controls on the right hand side of the user input interface. In contrast, the H-pattern configuration has driving controls and attachment/boom function controls distributed between both the left hand side and the right hand side of the user interface. However, when an attachment, such as the dozer blade attachment or a box blade attachment (typically found on larger work machines such as a dozer crawler whose primary operation is grading), is coupled to the compact track loader, the user input interface in the H-patten maintains the movement configuration of a compact track loader when in a standard mode, and thereby can create inefficiencies during use. Operators who are adept at operating a crawler dozer (a much larger work machine with a dissimilar user input interface from a compact track loader) may prefer operating a compact track loader with a similar form and feel of the crawler dozer. Therein lies a need to facilitate a quick adaptation of the movement command configuration for the compact track loader using H-pattern controls with its pre-existing control members already integrated with the work machine when using grading oriented attachments such as a dozer blade attachment or a box blade attachment with these smaller work machines. The following disclosure addresses this issue.

SUMMARY

According to an aspect of the present disclosure, a control system for a work machine with a re-assignable user input interface includes a frame, a ground-engaging mechanism, a boom assembly, an attachment coupler, an attachment, a hydraulic system, an operator cab, and a controller. The boom assembly has a pair of boom arms pivotally and directly connected to the frame and moveable relative to the frame by a pair of boom hydraulic cylinders. The attachment coupler is coupled to a distal section of the boom arms and is moveable relative to the frame by a pair of pitch hydraulic cylinders. The attachment is coupled to the attachment coupler. The hydraulic system includes a pump. The hydraulic system is communicatively coupled to a controller and is coupled to one or more of a pair of boom hydraulic cylinders, a pair of pitch hydraulic cylinders, and an attachment-based hydraulic cylinder detachably coupled to the hydraulic system. The hydraulic pump delivers fluid through a plurality of flow paths. The plurality of flow paths is coupled to one or more of the pair of boom hydraulic cylinders, the pair of pitch hydraulic cylinders, and the attachment-based hydraulic cylinders. An operator cab is coupled to the frame and comprises a user input interface. The user input interface comprises a left joystick and a right joystick to operate in an H-pattern configuration. The controller is communicatively coupled to the user input interface enabling an operator to command movement of an attachment relative to the frame using one or more of the boom hydraulic cylinder, the pitch hydraulic cylinders, and the attachment-based hydraulic cylinders in a standard mode using a standard configuration or in a grading attachment mode using an updated configuration.

The standard configuration in the standard mode comprises moving the left joystick in a fore direction actuating the left ground-engaging mechanism to move in a forward direction and in the aft direction actuating the left ground-engage mechanism to move in the reverse direction. The standard configuration also includes moving the left joystick transverse to the fore-aft direction to actuate the boom cylinders to lift and lower the boom relative to the frame. Furthermore, moving the right joystick in a fore direction actuates the right ground-engaging mechanism to move in the forward direction and in the aft direction actuating the right ground-engaging mechanism to move in the reverse direction. Moving the right joystick transverse to the fore-aft direction actuates the pitch hydraulic cylinders to curl the attachment and in a second direction actuates the pitch hydraulic cylinders to dump the attachment, relative to the frame.

The updated configuration comprises moving the left joystick in a fore direction actuating the left ground-engaging mechanism to move in a forward direction and in the aft direction actuating the left ground-engaging mechanism to move in the reverse direction. Moving the left joystick transverse to the fore-aft direction actuates the pitch hydraulic cylinders and the boom hydraulic cylinders to lift and lower an attachment relative to the frame wherein the attachment is a dozer blade attachment. Additionally, moving the right joystick in the fore direction actuates the right ground-engaging mechanism to move forward and in the aft direction actuates the right ground-engaging mechanism to move in the reverse direction. Moving the right joystick transverse to the fore-aft direction actuates the tilt hydraulic cylinders in tilting the attachment relative to the frame in a radial direction about the forward portion of the boom assembly.

The updated configuration further comprises a roller switch on the right joystick for actuating angular movement of the attachment relative to the frame. The user input interface further comprises a toggle switch that enables the operator to toggle between the standard configuration and the updated configuration.

In an alternative embodiment, the updated configuration in the grading attachment mode when the attachment is a box blade attachment, the updated configuration comprises moving the left joystick in the fore direction actuating the left ground-engaging mechanism to move in a forward direction and in the aft direction actuating the left ground-engaging mechanism to move in the reverse direction. The configuration also includes moving the left joystick transverse to the fore-aft direction actuates movement of the box blade attachment with the attachment-based lift hydraulic cylinders, the pitch hydraulic cylinders, and the boom hydraulic cylinders to lift and lower the attachment relative to the frame. The updated configuration further includes moving the right joystick in the fore direction actuating the right ground-engaging mechanism to move in the forward direction and in the aft direction actuating the right ground-engaging mechanism to move in the reverse direction; and moving the right joystick transverse to the fore-aft direction actuates the attachment-based tilt hydraulic cylinders 515 in tilting the attachment relative to the frame in a radial direction about a forward portion of the boom assembly.

The updated configuration in this alternative embodiment comprises a roller switch on the right joystick for actuating an attachment-based wheel hydraulic cylinder on the box blade attachment for movement of an attachment-based wheel relative to the frame.

A method of re-assigning the control system for a compact track loader that extends in the fore-aft direction comprises the following steps. In a first step, the method includes receiving, at one or more processors, an input indicative of the attachment type coupled to the boom assembly. The boom assembly is coupled to the frame and has a pair of boom arms pivotally and directly connected to the frame. The boom assembly is moveable relative to the frame by a pair of boom hydraulic cylinders. The next step includes, receiving, at one or more processors, an operator input via a left joystick and a right joystick in an H-pattern configuration, wherein the operator input is indicative of a target movement of an attachment coupled to the boom assembly. Then, the method includes controlling, using one or more processors, a valve assembly to direct a flow of fluid delivered by a hydraulic pump to one or more of the pair of boom hydraulic cylinders, the pair of pitch hydraulic cylinders, and an attachment-based hydraulic cylinder through a plurality of flow paths in a standard mode using a standard configuration or in a grading attachment mode using an updated configuration, the mode based on the input indicative of the attachment type coupled.

The method may further comprise identifying the attachment type as a dozer blade attachment by the controller, enabling an operator to command movement of the dozer blade attachment using a user input interface in the updated configuration to raise the dozer blade attachment wherein raising the dozer blade attachment includes determining a boom assembly position, determining an engagement of the boom assembly with a boom stop, and actuating the pitch hydraulic cylinders to curl the dozer blade attachment to a calibrated angle if the boom assembly is engaged to a boom stop, and finally actuating the boom hydraulic cylinders to lift the dozer blade attachment to a maximum height. In reverse, when the method comprises of identifying the attachment type as a dozer blade attachment by the controller, enabling an operator to command movement of the dozer blade attachment using a user input interface in the updated configuration to lower the dozer blade attachment. Lowering the dozer blade attachment includes determining a boom assembly position, determining engagement of the boom assembly with a boom stop, actuating the boom hydraulic cylinders if the boom is not engaged to a boom stop to lower the dozer blade attachment until the boom engages the boom stop, and actuating the pitch hydraulic cylinders if the boom is engaged to the boom stop to uncurl the dozer blade attachment.

In an alternative embodiment, the method when identifying the attachment type as a box blade attachment, enabling, by the controller, an operator to command movement of the box blade attachment using a user input interface in the updated configuration to raise the box blade attachment. Raising of the box blade attachment includes determining a boom assembly position, determining engagement of the boom assembly with a boom stop, determining a box blade attachment position, and actuating the attachment-based lift hydraulic cylinders only if boom is not engaged to the boom stop to raise the box blade attachment until a maximum height is reached. The method then includes actuating the pitch hydraulic cylinders to curl the blade until a calibrated angle is reached and actuate the boom hydraulic cylinders to lift the box blade attachment. In reverse, when lowering the box blade attachment, the method includes identifying the attachment type as a box blade attachment, enabling an operator to command movement of the dozer blade attachment using a user input interface in the updated configuration to lower the box blade attachment. Lowering of the box blade attachment includes determining a boom assembly position, determining engagement of the boom assembly with a boom stop, determining a box blade attachment position, actuating boom hydraulic cylinders if the boom is not engaged to a boom stop to lower the box blade attachment until a lowest point is reached, and actuating the pitch hydraulic cylinders to uncurl the box blade attachment until a calibrated angle is reached. The method finally includes actuating the attachment-based lift hydraulic cylinders to a lowered position.

Other features and aspects will become apparent by consideration of the detailed description, claims, and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The detailed description of the drawings refers to the accompanying figures.

FIG. 1 is a perspective view of a compact track loader work machine with a dozer blade attachment, according to one embodiment of the present disclosure.

FIG. 2 is a block diagram of the re-assignable control system for a work machine for use with a dozer blade attachment.

FIG. 3A is a schematic of joystick movement according to a standard configuration, of a work machine.

FIG. 3B is a schematic of joystick movement according to an updated configuration, of a work machine with a dozer blade attachment.

FIG. 4 is a flowchart detailing the method for controlling the re-assignable system for a compact track loader with a dozer blade attachment when using the updated configuration.

FIG. 5 is a perspective view of a compact track loader work machine with a box blade attachment, according to another embodiment of the present disclosure.

FIG. 6 is a block diagram of the re-assignable control system for a work machine for use with a box blade attachment.

FIG. 7 is schematic of joystick movement according to an updated configuration, of a work machine with a box blade attachment.

FIG. 8A is a flowchart detailing the method for raising the dozer blade attachment with the re-assignable system for a compact track loader when using the updated configuration.

FIG. 8B is a flowchart detailing the method for lowering the dozer blade attachment with the re-assignable system for a compact track loader when using the updated configuration.

FIG. 9A is a flowchart detailing the method for raising the box blade attachment with the re-assignable system for a compact track loader when using the updated configuration.

FIG. 9B is a flowchart detailing the method for lowering the box blade attachment with the re-assignable system for a compact track loader when using the updated configuration.

As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “at least one of” or “one or more of” indicated configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example,

DETAILED DESCRIPTION

The present description generally relates to a control system with a re-assignable user input interface on work machines at a worksite.

FIG. 1 illustrates a work machine 100, extending in a fore-aft direction 115, depicted as a compact track loader with an attachment 105 operatively coupled to the work machine 100. The work machine 100, as shown, has a frame 110, having a front-end section 120, or portion, and a rear-end section 125, or portion. The work machine includes a ground-engaging mechanism 155 that supports the frame 110 and an operator cab supported on the frame 110, wherein the ground-engaging mechanism 155 is operable to support the frame 110 on a surface 135. The ground-engaging mechanism 155 includes tracks, but other embodiments can include two or more wheels (i.e. a left side and a right side) that engage the surface 135. Work machine 100 may be operated to engage the surface 135 and cut and move material to achieve simple or complex features on a surface 135. As used herein, directions with regard to work machine 100 may be referred to from the perspective of an operator seated within the operator cab 160, the left of work machine 100 is to the left of such an operator; the right of work machine 100 is to the right of such an operator, the front or fore of work machine 100 is the direction such an operator faces, the rear or aft of work machine is behind such an operator, the top of work machine is above such an operator, and the bottom of work machine is below such an operator. The direction an operator faces on a compact track loader is towards the attachment 105. In order to turn, the ground-engaging mechanism 155 on the left side of the work machine may be operated at a different speed, or in a different direction, from the ground-engaging mechanism 155 on the right side of the work machine 100. Thereby making the H-pattern controls conducive to maneuvering the work easily during grading operations. In a conventional compact track loader, the operator can manipulate controls from inside an operator cab 160 to drive the tracks on the right or left side of the work machine 100. The movement for work machine 100 may be referred to as roll 130 or the roll direction, pitch 145 or the pitch direction, and yaw 140 or the yaw direction.

The work machine 100 comprises a boom assembly 170 coupled to the frame 110. An attachment 105, or work tool, may be pivotally coupled at a forward portion 175 of the boom assembly 170, while a rear portion 180 of the boom assembly 170 is pivotally coupled to the frame 110. The frame 110 comprises a mainframe 112 and a track frame 114 (in other work machines the track frame may alternatively be referred to as a frame for a ground-engaging mechanism). The attachment 105 is illustrated as a type of grading attachment, or more specifically a dozer blade attachment 107 (shown in FIG. 1), but may be any number of work tools such as bucket. However, within the context of the present embodiment, the dozer blade attachment attachment 107 and a box blade attachment 505 are of relevance. The attachment 105 may be coupled to the boom assembly 170 through an attachment coupler 185, such as Deere and Company's Quik-Tatch, which is an industry standard configuration and a coupler universally applicable to many Deere attachments and several after-market attachments. The attachment coupler 185 is coupled to a forward portion 175 of the boom assembly 170.

The boom assembly 170 comprises a first pair of boom arms 190 pivotally coupled to the frame 110 (one each on a left side and a right side of the operator cab 160) and moveable relative to the frame 110 by a pair of boom hydraulic cylinders 200, which conventionally lifts and lowers the boom arms 190 and correspondingly the attachment 105 in either a vertical or radial path depending on the boom assembly 170 coupling to the frame 110. The attachment coupler 185 is moveable relative to the frame 110 by a pair of pitch hydraulic cylinders 205. The frame 110 of the work machine 100 further comprises a hydraulic coupler 210 on the front end section 120 of the work machine 100 to couple one or more attachment-based hydraulic cylinders 215 (shown in FIG. 2) to drive movement of or actuate auxiliary functions of an attachment 105 such as the angle hydraulic cylinders 216 and the tilt hydraulic cylinders 217 (shown in FIG. 2) of a dozer blade attachment, which may have its own sub-controller 242 aside from the controller on the work machine 100 and its own diverter valve 244. The attachment coupler 185 enables the mechanical coupling of the attachment to the frame 110. The hydraulic coupler 210, contrary to the attachment coupler 185, enables the hydraulic coupling of an attachment-based hydraulic cylinder(s) 215 to the hydraulic system 220 (shown in FIG. 2) of the work machine 100. Please note that not all attachments will have one or more attachment-based hydraulic cylinders 215 and therefore may not use the hydraulic coupler 210.

Generally, a controller 240 (and sub-controllers 242) may be provided, for control of various aspects of the operation of the work machine 100, in general). The controller 240 may be operable as a computing device with associated processor devices and memory architectures, as a hard-wired computing circuit (or circuits), as a programmable circuit, as a hydraulic, electrical or electro-hydraulic controller, or otherwise. As such, the controller 240 may be operable to execute various computational and control functionality with respect to the work machine 100 (or other machinery). In some embodiments, the controller 240 may be operable to receive input signals in various formats (e.g., as hydraulic signals, voltage signals, current signals, and so on), and to output command signals 235 in various formats (e.g., as hydraulic signals, voltage signals, current signals, mechanical movements, and so on). In some embodiments, the controller 240 (or a portion thereof) may be operable as an assembly of hydraulic components (e.g., valves, flow lines, pistons and cylinders, and so on), such that control of various devices (e.g., pumps or motors) may be affected with, and based upon, hydraulic, mechanical, or other signals and movements.

The controller 240 may be in electronic, hydraulic, mechanical, or other communication with various other systems or devices of the feller buncher 20 (or other machinery). For example, the controller 240 may be in electronic or hydraulic communication with various actuators, sensors, and other devices within (or outside of) the feller buncher 20, including various devices associated with the pumps 230, valves 235, and so on. The controller 240 may communicate with other systems or devices (including other controllers) in various known ways, including via a CAN bus (not shown) via wireless or hydraulic communication means, or otherwise. An exemplary location for the controller 240 is depicted in FIG. 1.

The dozer blade attachment 107 typically comprises of a large, sturdy blade usually made of a heavy-duty steel and designed to withstand the rigors of pushing and moving materials. The angle hydraulic cylinders 216 allow for vertical movement relative to the frame 110, enabling the blade 107 to be raised or lowered to a target depth penetration into the soil for pushing and moving. The tilt hydraulic cylinders 217 move the blade 107 relative to the frame 110 in a radial direction about the forward portion of the boom assembly 170.

FIG. 2 is a schematic of the control system 201 with a re-assignable user input interface 245 for controlling the hydraulic cylinders (200, 205, 215) including hydraulic and electrical components as it applies to the dozer blade attachment. Each of the pair of boom hydraulic cylinders 200, pair of pitch hydraulic cylinders 205, and the attachment-based hydraulic cylinder(s) 215 are coupled to hydraulic control valve 225 (hereinafter also referred to as “valve assembly”), which may be positioned in a portion of the work machine 100. The attachment-based hydraulic cylinders 215 may receive command signals 235 from the controller 240 located on the work machine. Hydraulic control valve 225 may also be referred to as a valve assembly or manifold. Hydraulic control valve 225 receives pressurized hydraulic fluid 235 from hydraulic pump 230, which generally may be coupled to the engine or alternative power source 165, and directs such hydraulic fluid 235 to the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, the attachment-based hydraulic cylinder(s) 215, and other hydraulic circuits or functions of the work machine (e.g. the hydrostatic drive motors for the left and right-side tracks). Hydraulic control valve 225 may meter such hydraulic fluid 235 out to control the flow rate of hydraulic fluid 235 to each hydraulic circuit to which it is connected. Alternatively, hydraulic control valve 225 may not meter such fluid out but may instead only selectively provide flow to these functions while metering is performed by another component (e.g. a variable displacement hydraulic pump). Hydraulic control valve 225 may meter such fluid out through a plurality of flow paths or spools, whose positions control the flow of hydraulic fluid, and other hydraulic logic. The spools may be actuated by solenoids, pilots (e.g. pressurized hydraulic fluid acting on the spool), the pressure upstream or downstream of the spool, or some combination of these or other uses. The controller 240 of the work machine 100 actuates these solenoids by sending a specific current to each. In this way, the controller 240 may actuate an attachment 105 by issuing electrical command signals 235 to direct hydraulic fluid 235 flow from the hydraulic pump 230 to the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, and the attachment-based hydraulic cylinder(s) 215.

Controller 240, which may also be referred to as a vehicle control unit (VCU), is in communication with a number of components on the work machine, including the hydraulic system 220, electrical components such as the user input interface 245 from within the operator cab 160 (shown in FIG. 1), and other components. Controller 240 is electrically coupled to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between controller 240 and the remainder of the work machine 100, or possibly even wirelessly. Controller 240 may be coupled to other controllers, such as the engine control unit (ECU), through a controller area network (CAN), or such as a sub-controller 242 of an attachment 105 wherein the sub-controller 242 interprets command signals 235 from the controller 240 to control movement of the auxiliary hydraulic cylinders located on an attachment 105. Controller may then send and receive messages over the CAN to communicate with other components of the CAN. The controller 240 may send command signals 235 to actuate the attachment 105 by sending a command signal to actuate an input from the user input interface 245 from the operator cab 160. In this embodiment, the operator uses a joystick 250 to issue commands to actuate an attachment 105, and the joystick 250 may generate hydraulic pressure signals communicated to hydraulic control valve 225 to cause actuation of the attachment 105. In such a configuration, controller 240 may be in communication with electrical devices (solenoids, motors) which may be actuated by a joystick 250 in operator cab 160. Other alternative inputs on a user input interface 245 with electric, or hydraulic pressure signals may include switches, buttons, roller tabs, sliding tabs, infinity switches, touchscreens, foot pedals, virtual operative signaling, for example. However, the preferred embodiment of the user input interface 245 are the left joystick 250a and the right joystick 250b as shown in FIGS. 3A and 3B.

The hydraulic system 220, communicatively coupled to the controller 240, is operable to operate the work machine 100 and operate the attachment 105 coupled to the work machine 100, including, without limitation, the attachment's lift mechanism, tilt mechanism, roll mechanism, pitch mechanism and auxiliary mechanisms, for example. This may also include moving the work machine in forward and reverse directions, moving the work machine left and right, and controlling the speed of the work machine's travel.

Summarily, the hydraulic pump 230 may be coupled to one or more of the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, and auxiliary hydraulic cylinder(s) 215, wherein one or more of the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, and the auxiliary hydraulic cylinders 215, may actuate the attachment 105 depending on the configuration of the attachment (i.e. the coupling of a first attachment versus a second attachment wherein the first attachment may be a bucket and the second attachment is a grading attachment, the dozer blade attachment). A similar control system for the second attachment or the updated configuration is shown in FIG. 6. This second embodiment applies to a box blade attachment 505 and is discussed in more detail below. The hydraulic pump 230 may deliver fluid through the plurality of flow paths, the plurality of flow paths coupled to one or more of the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, and the auxiliary hydraulic cylinder(s) 215 (i.e. the angle hydraulic cylinders 216 and the tilt hydraulic cylinders 217).

The user input interface 245 comprises of a left joystick 250a and a right joystick 250b to operate the movement of the attachment 105 relative to the frame 110 of the work machine 100. In the standard configuration 202, shown in FIG. 3A, moving the left joystick 250a in a fore direction 131 actuates the left ground-engaging mechanism 155 to move in a forward direction and in the aft direction 132 actuating the left ground-engaging mechanism 155 to move in the reverse direction. Moving the left joystick transverse (146 and 147) to the fore-aft direction (131 and 132) actuates the boom hydraulic cylinders 200 to lift and lower the boom arms 190 relative to the frame 110. Moving the right joystick 250b in a fore direction 131 actuates the right ground-engaging mechanism 155 to move in the forward direction and in the aft direction 132 to actuate the right ground-engaging mechanism in the reverse direction. Moving the right joystick 250b transverse (146 and 147) to the fore-aft direction (131 and 132) actuates the pitch hydraulic cylinders to curl or dump the attachment 105 relative to the frame 110.

Now turning to the updated configuration 302 for a first embodiment (i.e. use of a dozer blade attachment) in the grading attachment mode shown in FIG. 3B, (i.e. the H-pattern configuration) moving the left joystick 250a in a fore direction 131 actuates the left ground-engaging mechanism 155 to move in a forward direction and moving the left joystick 250b in the aft direction actuates the left ground-engaging mechanism 155 to move in the reverse direction. Also, moving the left joystick 250a transverse (146 and 147) to the fore-aft direction (131 and 132) actuates the pitch hydraulic cylinders 205 and the boom hydraulic cylinders 200 to lift and lower an attachment 105 relative to the frame 110. That is, to lift the dozer blade attachment 107, the dozer blade attachment 107 initially is moved upwards using the pitch hydraulic cylinders 205, and followed by the boom hydraulic cylinders 200 for continued movement upwards with one sweeping movement of the left joystick 250a. The transition from the pitch hydraulic cylinders 205 to the boom hydraulic cylinders 200 may have some overlap with each other and operate simultaneously. The same is done in reverse when lowering the dozer blade attachment 107 towards the ground surface 135. That is, initially the dozer blade attachment 107 begins to lower relative to the frame 110 by actuating the boom hydraulic cylinders 200, and actuating (rotating or uncurling) the pitch hydraulic cylinder 205. Again, there may be some overlap in movement during the transition of actuations. Furthermore, similar to lifting the dozer blade attachment 107, lowering the dozer blade attachment is advantageously done in a singular movement and hold of the left joystick 250a. Now turning to the right joystick 250b, moving the right joystick 250b in a fore direction 131 actuates the right ground-engaging mechanism 155 to move in the forward direction, and moving the right joystick 250b in the aft direction 132 actuates the right ground-engaging mechanism 155 to move in the reverse direction. Also, moving the right joystick 250b transverse (146 and 147) to the fore-aft direction (131 and 132) actuates the tilt hydraulic cylinders 217 in tilting the dozer blade attachment 107 relative to the frame 110 in a radial direction about the forward portion 175 of the boom assembly 170. This updated configuration 302 of the dozer blade attachment 107 further comprises a roller switch 304 on the joystick 250b to actuate angular movement of the attachment 105 relative to the frame 110, wherein angular movement 216 (seen in FIG. 5 for demonstration purposes) can be defined as movement in a substantially yaw direction 140.

The user input interface 245 may further comprise of a toggle switch 306 that enables the operator to toggle between the standard configuration 202 and the updated configuration 302.

FIG. 4 discloses a flowchart providing an overview of the method 400 for controlling the re-assignable system 201 for a compact track loader from a standard configuration 202 to an updated configuration 302. In a first step 410, the method 400 includes receiving at one or more processors 242, an input indicative of the coupling of one of a first attachment 105a and a second attachment 105b to the boom assembly 170. The first attachment 105a can be referred to as one form of an attachment using a standard configuration (such as a bucket) whereas the second attachment (105b) can be referred to as grading attachment (such as a dozer blade attachment 107 and a box blade attachment 505). Collectively, the standard attachments and grading attachments may be referred to as an attachment type. In a next step 420, the method 400 includes receiving, an operator input via a left joystick 250a and a right joystick 250b, both of which operate in the H-pattern configuration. The operator input is indicative of a target movement of the attachment 105 coupled to the boom assembly 170. In step 430, the method 400 includes controlling, using the one or more processors 242, a valve assembly 225 to direct a flow of fluid 235 delivered by a hydraulic pump 230 to one or more of the pair of boom hydraulic cylinders 200, the pair of pitch hydraulic cylinders 205, and an attachment-based hydraulic cylinder 215 through a plurality of flow paths, in a standard mode using a standard configuration 202 for a first attachment (such as a bucket) or in a grading attachment mode using an updated configuration 302 for a second attachment (such as dozer blade attachment 107 or a box blade attachment 505), as the user input interface is in an H-pattern configuration.

FIG. 5 is a perspective view of a compact track loader work machine with a box blade attachment 505, according to another embodiment of the present disclosure. The box blade attachment 505 is a grading attachment which may engage the ground or material to move or shape it. Similar to a dozer blade attachment, the box blade attachment 505 may be used to move material from one location to another and to create features on the ground, including flat areas, grades, hills, roads, or more complexly shaped features. The box blade attachment 505 has different attachment-based hydraulic cylinders 215 from a dozer blade attachment 107 where the box blade attachment 505 may be hydraulically actuated to lift or lower 510, roll left or roll right 515 (which may be referred to as tilt left and tilt right), and angle left or angle right in the direction of yaw 216. FIG. 6 is a block diagram of the re-assignable system 201 for a work machine for use with the box blade attachment 505.

Now turning to FIGS. 6 and 7 with continued reference to FIG. 5, a schematic of joystick movement according to an updated configuration 302 when the box blade attachment 505 is coupled to the work machine is shown. This updated configuration 302 to operate a box blade attachment 505 includes the following. Moving the left joystick 250a in the fore direction 131 actuates the left ground-engaging mechanism 155 to move in a forward direction, and moving the left joystick 250a in the aft direction actuates the left ground-engaging mechanism 155 to move in the reverse direction. Moving the left joystick 250a transverse to the fore-aft direction (131, 132) actuates the box blade attachment 505 to move upwards and downwards relative to the frame 110. That is, to lift the box blade attachment 505 away from the ground surface 135, the box blade attachment 505 initially is moved upwards using the attachment-based lift hydraulic cylinders 510, followed by curling using the pitch hydraulic cylinders 205, and followed by the boom hydraulic cylinders 200 for continued movement upwards with one sweeping movement of the left joystick 250a. The transition from actuation of the attachment-based lift hydraulic cylinders 510 to the pitch hydraulic cylinders 205, may have some overlap with each other. However, the boom hydraulic cylinders 200 will only actuate after both the box blade portion of the box blade attachment 505 and the attachment based wheels 530 are disengaged from the ground surface 135. The same is done in reverse when lowering the box blade attachment 505 towards the ground surface 135. That is, initially the box blade attachment 505 begins to lower towards the ground surface 135 relative to the frame 110 by actuating the boom hydraulic cylinders 200, and subsequently actuating the pitch hydraulic cylinder 205 (to uncurl/rotate) such that the bottom surface of the box blade portion aligns (runs parallel) with the bottom surface of the frame 110 and/or the attachment based wheels 530 engage the ground surface 135. An attachment-based inertial measurement unit and a frame based inertial measurement unit can assist in guiding the alignment. Thereafter, the the attachment-based lift hydraulic cylinders 510 lower the box blade portion of the box blade attachment 505 towards the ground surface 135. Again, lowering the box blade attachment is advantageously done in a singular movement and hold of the left joystick 250a. Now turning to the right joystick 250b, moving the joystick 250b in the fore direction 131 actuates the right ground-engaging mechanism 155 to move in the forward direction 131 and in the aft direction 132 actuates the right ground-engaging mechanism 155 to move in the reverse direction 132. Moving the joystick 250b transverse to the fore-aft direction (131, 132) actuates the attachment-based tilt hydraulic cylinders 515 in tilting the box blade attachment 505 relative to the frame 110 in a radial direction 130 about the forward portion 175 of the boom assembly 170. The roller switch 304 on the joystick 250b actuates the attachment-based wheel hydraulic cylinders 250 located on the box blade attachment 505 for movement of the attachment-based wheels 530 relative to the frame 110. The attachment based hydraulic cylinders receive (510, 515, 520) command signals 235 from a sub-controller 242 located on the attachment 505 wherein the command signals 235 originate from the user input interface 245 coupled to the controller 240. The sub-controller 242 directs flow through one or more hydraulic control valves 225b located on the box blade attachment 505 to actuate one or more of the lift, tilt and wheel hydraulic cylinders (510, 515, 520).

FIG. 8A is a flowchart detailing the method 800 for raising the dozer blade attachment 107 with the re-assignable system 201 for a compact track loader when using the updated configuration 302. The method 800 includes identifying the attachment type as a dozer blade attachment 107 coupled to the work machine 100. This identification may be performed autonomously by sensing an indicator on the attachment or an image capturing device on the work machine, or actively identified by an operator. The method 800 includes enabling the operator to command movement of the dozer blade attachment 107 using a user input interface 245 in the updated configuration 302 to raise the dozer blade attachment 107. In step 810, the method includes determining the boom assembly 170 position. If the boom assembly 170 is resting on the stops in step 820, the controller 240 actuates the pitch hydraulic cylinders 205 in step 840 to disengage from the stops (i.e. indicating the dozer blade attachment pitching away from the ground surface 135), and subsequently actuates the boom hydraulic cylinders 200 in step 850 to continue raising the dozer blade attachment 107 away from the ground surface 135. However, if the controller 240 determines the boom assembly 170 is not engaged with the stops, the method 800 proceeds directly to actuating the boom hydraulic 200 cylinders in step 850 till a maximum height or the desired height is reached. Please note when referring to the boom assembly 170 resting on stops in step 820, this can refer to the boom assembly 170 mechanically resting on stops or alternatively the boom assembly being at a lower limit calibration point.

Alternatively, as seen in FIG. 8B, a flowchart detailing the method 801 for lowering the dozer blade attachment 107 with the re-assignable system 201 for a compact track loader when using the updated configuration 302 is shown. In step 810, the method 801 includes determining the boom assembly 170 position. If the boom assembly 170 is resting on the stops in step 870 (i.e. mechanically resting on stops or already at the lower limit calibration point), the controller 240 actuates the pitch hydraulic cylinders 205 in step 895 to position the dozer blade attachment 107. However, if the controller 240 determines the boom assembly 170 is not engaged with the stops as seen in step 880, the method 801 proceeds to actuate the boom hydraulic cylinders 200 to lower the dozer blade attachment 107 in step 890, and before actuating the pitch hydraulic cylinders 205 to position the dozer blade attachment 107 in step 895. There may be some overlap in the transition from actuation of one hydraulic cylinder to another.

FIG. 9A is a flowchart detailing the method 900 for raising the box blade attachment 505 with the re-assignable system 201 for a compact track loader when using the updated configuration 302. The method 900 includes identifying the attachment 105 type as a box blade attachment 505 coupled to the work machine 100. The method 900 includes enabling an operator to command movement of the box blade attachment 505 using a user input interface 245 in the updated configuration 302 to raise the box blade attachment 505 (seen in FIG. 4, step 430). In step 910, the method includes determining the boom assembly 170 position. If the boom assembly 170 is resting on the stops (or the lower limit calibration point) in step 920, the controller 240 checks the position of the box blade portion of the box blade attachment 505 in step 940. In step 950, if it is determined if the box blade 505 is already at a maximum height (i.e. lifted to its maximum height using the attachment-based lift cylinders 510), the method 900 proceeds with checking the pitch hydraulic cylinders 205 to see if positioned at a maximum curl. If this is determined to be false, the controller proceeds with actuating the pitch hydraulic cylinders 205 to maximum curl at step 980 to ensure the wheels of the box blade attachment 505 disengage from the ground surface 135. Once in a max curl position, and since both the attachment-based wheels 530 and the box blade attachment itself are now disengaged from the ground surface 135, the method 901 proceeds to step 990 to actuate the boom hydraulic cylinder 200 to continue raising the box blade attachment 505. Alternatively and returning to step 910, if the controller 240 determines the boom assembly 170 is not engaged with the stops in step 930 or at the lower limit calibration point, the method 901 proceeds directly to actuating the boom hydraulic cylinders 200 as shown in step 990. Note, the pitch hydraulic cylinders 205 actuate to lift attachment-based wheels 530 off the ground surface 135 only after the attachment based lift cylinders 510 have reached a calibrated or predetermined maximum height. If the boom assembly 170 is disengaged from stops, the pitch hydraulic cylinders 205 and the attachment-based lift cylinders 510 have already moved into position (i.e. disengaged both the box portion and the wheels 530 of the box blade attachment 505 from the ground surface).

Alternatively, as seen in FIG. 9B, a flowchart detailing the method 901 for lowering the box blade attachment 505 with the re-assignable system 201 for a compact track loader when using the updated configuration 302 is shown. In step 910, the method 901 includes determining the boom assembly 170 position. If the boom assembly 170 resting on stops according to the check in step 920 (i.e. the boom assembly 170 is at the lower limit calibration point), the method 901 checks the box blade attachment 505 position in step 940 and determines if the pitch hydraulic cylinders 205 are in the calibrated grade position angle in step 945 using IMUs from placed both on the attachment 505 and the frame 110 each. This accounts for lowering the box blade attachment 505 with care when the work machine 100 is on an incline. If the box blade attachment 505 is not at the calibrated grade position angle, the controller 240 actuates the pitch hydraulic cylinders 205 in step 980 until the calibrated position is reached, thereby aligning the bottom surface of the box blade attachment with the bottom surface of the frame 110. Once in position, the controller 240 actuates the attachment-based lift cylinders 510 to lower the box blade attachment 505 until a lowest point is reached. However, if the controller 240 determines the boom assembly 170 is not engaged with the stops in step 930, the method 901 proceeds to actuate the boom hydraulic cylinders 200 to lower the box blade attachment 505 in step 990 by actuating the boom hydraulic cylinders 200, then actuating the pitch hydraulic cylinders in step 980 to align to the box blade attachment to the calibrated grade position and lower the attachment-based wheels 530, and finally actuating the attachment-based lift cylinders 216 in step 960 to lower the box blade attachment.

Without in any way limiting the scope, interpretation, or application of the claims appearing below, a technical effect of the embodiments shown herein is that the H-pattern configuration is better equipped and conducive to work machine movement. That is, the case of control of maneuvering the ground-engaging mechanism or travel of the machine is especially operator friendly. Thus, it should be appreciated that in the instance of operation according to H-pattern, straight forward driving (or any driving other than spinning in a circle) requires a user to simultaneously operate both the left joystick 250a and the right joystick 250b.

In contrary, the ISO configuration and its consolidation of boom and attachment control on one joystick or user input device enables control in attachment movement with only one hand. Now returning to the H-pattern, the H-pattern configuration advantageously works well with functions typically used with a dozer blade attachment wherein movement of the work machine is required like grading operations, as opposed to remaining substantially stationary. These functions include earth-moving, grading, pushing material, cutting and scraping surfaces, backfilling, and snow removal. The disclosed modification of the H-pattern, or reassignment or the user input interface in controls advantageously enables the H-pattern control configuration for a dozer blade attachment and the box blade attachment.

These advantages further include a reduction in the number of work machines on a worksite because of increased versatility (box blade attachments may generally be used with AG tractors or compact track loaders with external control members); reduction in the number of joysticks on a work machine because additive detachable control members are no longer required to utilize a third party attachment with the work machine; reduction in the required spend by an equipment lessee or equipment company owner; reduction in labor training because of the adaptation of H-pattern configurations based on the function of the attachment optimized.

As used herein, “e.g.” is utilized to non-exhaustively list examples and carries the same meaning as alternative illustrative phrases such as “including,” “including, but not limited to,” and “including without limitation.” As used herein, unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of,” “at least one of,” “at least,” or a like phrase, indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” and “one or more of A, B, and C” each indicate the possibility of only A, only B, only C, or any combination of two or more of A, B, and C (A and B; A and C; B and C; or A, B, and C). As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, “comprises,” “includes,” and like phrases are intended to specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.