Enhanced tractor loader with variable speed control for electric actuation and automatic bucket leveling

Abstract

Devices, systems, and methods are provided for a detachable tractor apparatus with variable speed control for electric actuators. A method of controlling a tractor bucket may include receiving, by a device operatively connected to a tractor bucket, a first user input from a controller; receiving sensor data indicative of a first position of a first electric actuator operatively connected to a first lift arm of the tractor bucket and a second position of a second electric actuator operatively connected to a second lift arm of the tractor bucket; generating, based on the first user input, the first position, and the second position, one or more actuation commands for at least one of the first electric actuator or the second electric actuator; and causing actuation of the at least one of the first electric actuator or the second electric actuator by sending the one or more actuation commands to a motor.

What is claimed is: 
     
         1 . A method of controlling an electrically actuated bucket for a ridable tractor, the method comprising:
 receiving, by processing circuitry of a device operatively connected to a tractor bucket, a first user input from a controller;   receiving, by the processing circuitry, sensor data indicative of a first position of a first electric actuator operatively connected to a first lift arm of the tractor bucket and a second position of a second electric actuator operatively connected to a second lift arm of the tractor bucket;   generating, by the processing circuitry, based on the first user input, the first position, and the second position, one or more actuation commands for at least one of the first electric actuator or the second electric actuator; and   causing, by the processing circuitry, actuation of the at least one of the first electric actuator or the second electric actuator by sending the one or more actuation commands to at least one motor driver.   
     
     
         2 . The method of  claim 1 , further comprising:
 determining, based on the sensor data, that the tractor bucket is not level,   wherein generating the one or more actuation commands is based on the determination that the tractor bucket is not level.   
     
     
         3 . The method of  claim 2 , wherein the one or more actuation commands comprise a first actuation command to actuate the first electric actuator while the second electric actuator remains stationary. 
     
     
         4 . The method of  claim 3 , further comprising:
 receiving second sensor data indicative of a third position of the first electric actuator and a fourth position of the second electric actuator;   determining, based on the second sensor data, that the tractor bucket is level;   generating, based on the determination that the tractor bucket is level, one or more second actuation commands for the first electric actuator and the second electric actuator; and   causing synchronized actuation of the first electric actuator and the second electric actuator by sending the one or more second actuation commands to at least one motor driver.   
     
     
         5 . The method of  claim 1 , wherein the sensor data are received from a first sensor operatively connected to the first lift arm. 
     
     
         6 . The method of  claim 5 , wherein the sensor data are further received from a second sensor operatively connected to the second lift arm. 
     
     
         7 . The method of  claim 1 , wherein the sensor data are received from one or more sensors in or on at least one of the first electric actuator or the second electric actuator. 
     
     
         8 . The method of  claim 1 , wherein the controller comprises a joystick. 
     
     
         9 . A device for controlling an electrically actuated bucket for a ridable tractor, the device operatively connected to a tractor bucket and comprising memory coupled to processing circuitry, the processing circuitry configured to:
 receive a first user input from a controller;   receive sensor data indicative of a first position of a first electric actuator operatively connected to a first lift arm of a tractor bucket and a second position of a second electric actuator operatively connected to a second lift arm of the tractor bucket;   generate, based on the first user input, the first position, and the second position, one or more actuation commands for at least one of the first electric actuator or the second electric actuator; and   cause actuation of the at least one of the first electric actuator or the second electric actuator by sending the one or more actuation commands to at least one motor driver.   
     
     
         10 . The device of  claim 9 , wherein the processing circuitry is further configured to:
 determine, based on the sensor data, that the tractor bucket is not level,   wherein to generate the one or more actuation commands is based on the determination that the tractor bucket is not level.   
     
     
         11 . The device of  claim 10 , wherein the one or more actuation commands comprise a first actuation command to actuate the first electric actuator while the second electric actuator remains stationary. 
     
     
         12 . The device of  claim 11 , wherein the processing circuitry is further configured to:
 receive second sensor data indicative of a third position of the first electric actuator and a fourth position of the second electric actuator;   determine, based on the second sensor data, that the tractor bucket is level;   generate, based on the determination that the tractor bucket is level, one or more second actuation commands for the first electric actuator and the second electric actuator; and   cause synchronized actuation of the first electric actuator and the second electric actuator by sending the one or more second actuation commands to at least one motor driver.   
     
     
         13 . The device of  claim 9 , wherein the sensor data are received from a first sensor operatively connected to the first lift arm. 
     
     
         14 . The device of  claim 13 , wherein the sensor data are further received from a second sensor operatively connected to the second lift arm. 
     
     
         15 . The device of  claim 9 , wherein the sensor data are received from one or more sensors in or on at least one of the first electric actuator or the second electric actuator. 
     
     
         16 . The device of  claim 9 , wherein the controller comprises a joystick. 
     
     
         17 . A system for controlling a bucket for a ridable tractor, the system comprising:
 a tractor bucket connected to a first lift arm and to a second lift arm;   one or more electrical actuators configured to move the tractor bucket;   one or more sensors;   a controller; and   memory coupled to processing circuitry operatively connected to the tractor bucket, the processing circuitry configured to:   receive a first user input from a controller;   receive, from the one or more sensors, sensor data indicative of a first position of a first electric actuator operatively connected to the first lift arm and a second position of a second electric actuator operatively connected to the second lift arm;   generate, based on the first user input, the first position, and the second position, one or more actuation commands for at least one of the first electric actuator or the second electric actuator; and   cause actuation of the at least one of the first electric actuator or the second electric actuator by sending the one or more actuation commands to at least one motor driver.   
     
     
         18 . The system of  claim 17 , wherein the processing circuitry is further configured to:
 determine, based on the sensor data, that the tractor bucket is not level,   wherein to generate the one or more actuation commands is based on the determination that the tractor bucket is not level.   
     
     
         19 . The system of  claim 18 , wherein the one or more actuation commands comprise a first actuation command to actuate the first electric actuator while the second electric actuator remains stationary. 
     
     
         20 . The system of  claim 19 , wherein the processing circuitry is further configured to:
 receive, from the one or more sensors, second sensor data indicative of a third position of the first electric actuator and a fourth position of the second electric actuator;   determine, based on the second sensor data, that the tractor bucket is level;   generate, based on the determination that the tractor bucket is level, one or more second actuation commands for the first electric actuator and the second electric actuator; and   cause synchronized actuation of the first electric actuator and the second electric actuator by sending the one or more second actuation commands to at least one motor driver.