Patent ID: 11965314
Assignee: CNH INDUSTRIAL AMERICA LLC
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 5:
6. A control method for actuating the movement of an attachment attached to a boom in a work vehicle powered by a motor;
wherein actuating the attachment occurs by means of a joystick controlled by an operator, a movement of the joystick in a predetermined control area according to a preset attachment actuation axis causing the actuation of the attachment by hydraulic actuating means,
wherein the hydraulic actuating means include an hydraulic cylinder operatively connected the attachment, 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 attachment 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 attachment 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 attachment actuation axis and a signal or data indicative of the position of the attachment along an attachment 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 attachment actuation axis in a first time instant and a neutral position of the joystick along the preset attachment actuation axis;
based on the signal or data indicative of the position of the attachment along the attachment travel path, determining a first position of the attachment along an attachment travel path in the first time instant;
based on the signal or data indicative of the position of the attachment along the attachment travel path, determining a second position of the attachment along the attachment travel path in a second time instant, successive with respect to the first time instant;
determining an attachment position difference between the second position and the first position of the attachment;
if the determined attachment position difference is lower than a predetermined attachment 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 attachment.