Apparatus and method for limiting movement of a work machine

Abstract

A work vehicle comprising a lift system, a coupling assembly, a proximity sensor, a linear actuator, and a monitoring system. The coupling assembly coupled to the movable arm and a work implement. The proximity sensor is configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement. The linear actuator is configured to send an extension signal indicative of a length of the linear actuator. The monitoring system configured to receive the proximity signal and the extension signal; determine a first condition of a first coupling step based on the signals received; perform a curling operation; retract a linear actuator on the coupling assembly in a second coupling step; receive an extension signal from a linear actuator sensor; and determine a second condition of the second coupling step based on the extension signal received.

What is claimed is: 
     
         1 . A non-transitory computer readable medium comprising a program instruction for permitting a monitoring system having a controller to indicate coupling of a work implement to a work vehicle including a lift system to which the work implement is attachable via a coupling assembly, the program instructions when executed comprising causing a processor of the controller to:
 receive a proximity signal from a proximity sensor indicative of a position of a first surface on the coupling assembly with a second surface on the work implement;   determine a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold;   perform a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes;   extend a linear actuator on the coupling assembly in a second coupling step, the extension moving at least one movable arm on the coupling assembly towards engagement with a catch on the work implement;   receive an extension signal from a linear actuator sensor indicative of a length the linear actuator is extended; and   determine a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.   
     
     
         2 . The non-transitory computer readable medium of  claim 1  further comprising reversing movement of the linear actuator if the linear actuator fails to fully extend. 
     
     
         3 . The non-transitory computer readable medium of  claim 1  further comprising outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change. 
     
     
         4 . The non-transitory computer readable medium of  claim 1  further comprising sending a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change. 
     
     
         5 . The non-transitory computer readable medium of  claim 1 , wherein the proximity sensor is one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor. 
     
     
         6 . The non-transitory computer readable medium of  claim 1  wherein the curling operation engages the coupling assembly with the work implement at a first and a second contact area. 
     
     
         7 . The non-transitory computer readable medium of  claim 1  wherein retracting the linear actuator of the coupling assembly creates a third contact area with the work implement. 
     
     
         8 . A work vehicle comprising:
 a frame;   a lift system including a movable arm secured to the frame;   a coupling assembly coupled to the movable arm, the coupling assembly operable via a linear actuator and attachable to a work implement;   a proximity sensor operatively coupled to the lift system and configured to send a proximity signal representative of a position of a first surface on the coupling assembly with a second surface on the work implement;   a linear actuator sensor operatively coupled to the coupling assembly and configured to send an extension signal indicative of a length of the linear actuator; and a   a monitoring system including a controller having a non-transitory computer readable medium having a program instruction configured to
 receive the proximity signal from the proximity sensor indicative of a position of a first surface on the coupling assembly with the second surface on the work implement; 
 determine a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when the distance between the first surface and the second surface crosses a threshold; 
 perform a curling operation with the lift system to latch a top portion of the work implement with the coupling assembly and fully engage the first surface and the second surface when the proximity sensor status changes; 
 retract a linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement; 
 receive an extension signal from a linear actuator sensor indicative of a length the linear actuator is extended; and 
 determine a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold. 
   
     
     
         9 . The work vehicle of  claim 8  wherein the monitoring system further comprises reversing movement of the linear actuator if the coupling status fails to change when the linear actuator is fully extended. 
     
     
         10 . The work vehicle of  claim 8  wherein the monitoring system further comprises outputting a signal indicating completion of an attachment of the work implement to the work vehicle when both the proximity sensor status and the coupling status change. 
     
     
         11 . The work vehicle of  claim 8  wherein the monitoring system further comprises sending a request signal to repeat a cycle through the program instructions if one or more of the proximity sensor status and the coupling status fails to change. 
     
     
         12 . The work vehicle of  claim 8  wherein the proximity sensor is one or more of a magnetic sensor, a lidar, an ultrasonic sensor, and an image sensor. 
     
     
         13 . The work vehicle of  claim 8  wherein the curling operation engages the coupling assembly with the work implement at a first and a second contact area. 
     
     
         14 . The work vehicle of  claim 8  wherein retracting the linear actuator of the coupling assembly creates a third contact area with the work implement. 
     
     
         15 . A method of indicating coupling of a work implement to a work vehicle, the work vehicle including a lift system to which the work implement is attachable via a coupling assembly, the method comprising:
 receiving proximity signals from a proximity sensor indicative of a position of first surface on the coupling assembly with a second surface on the work implement;   determining a first condition of a first coupling step based on the proximity signal received, the first coupling step including a proximity sensor status change when a distance between the first surface and the second surface crosses a threshold;   performing a curling operation with the lift system to latch a top portion of the work implement and fully engage the first surface and the second surface when the proximity sensor status changes;   retracting a linear actuator on the coupling assembly in a second coupling step, the retraction moving at least one protrusion on the coupling assembly towards engagement with a catch on the work implement;   receiving an extension signal from a linear actuator sensor indicative of a length the linear actuator is extended; and   determining a second condition of the second coupling step based on the extension signal received, the second coupling step including a coupling status change upon reaching an extension threshold.   
     
     
         16 . The method of  claim 15  further comprising reversing movement of the linear actuator if the coupling status fails to change when the linear actuator is fully extended. 
     
     
         17 . The method of  claim 15  further comprising outputting a signal indicating completion of coupling the work implement with the work vehicle when both the proximity sensor status and the coupling status change. 
     
     
         18 . The method of  claim 15  further comprising sending a signal a request signal to repeat a cycle through the program instruction if one or more of the proximity sensor status and the coupling status fails to change. 
     
     
         19 . The method of  claim 15  wherein the curling operation attaches the coupling assembly with the work implement at a first and a second contact area. 
     
     
         20 . The method of  claim 15 , wherein retracting the linear actuator of the coupling assembly creates a third contact areas with the work implement.