Grapple control system and method

Abstract

A system comprising a work machine and an attachment. The work machine includes one or more machine sensors configured to obtain machine data related to one or more components of the work machine. The attachment is configured to be removably coupled to the work machine. The attachment includes an identification module configured to wirelessly transmit identification information to the work machine when the attachment is coupled to the work machine. The work machine is configured to determine one or more attachment characteristics of the attachment based on the identification information transmitted to the work machine from the identification module.

What is claimed is: 
     
         1 . A system for grabbing objects, the system comprising:
 a work machine, wherein the work machine comprises one or more machine sensors configured to obtain machine data related to one or more components of the work machine; and   an attachment configured to be removably coupled with the work machine,   wherein the attachment includes an identification module configured to wirelessly transmit identification information to the work machine when the attachment is coupled to the work machine,   wherein the attachment includes a first portion and a second portion configured to actuate, such that the first portion and the second portion are configured to cooperatively grab and hold on to an object,   wherein the work machine comprises a hydraulic system configured to provide hydraulic fluid to the attachment at a grabbing pressure to selectively cause the first portion or the second portion to actuate to cooperatively grab and hold on to the object,   wherein the work machine is configured to determine if the attachment is currently grabbing the object, and is further configured to maintain the hydraulic pressure of the hydraulic fluid provided to the attachment at the grabbing pressure if the attachment is determined to be currently grabbing the object.   
     
     
         2 . The system of  claim 1 , wherein the attachment comprises a grapple. 
     
     
         3 . The system of  claim 1 , wherein the work machine includes a control element configured to be selectively activated by an operator of the work machine to provide the hydraulic fluid from the work machine to the attachment. 
     
     
         4 . The system of  claim 3 , wherein the control element is a button positioned on a joystick of the work machine. 
     
     
         5 . The system of  claim 4 , wherein a control system of the work machine determines if the attachment is currently grabbing the object by monitoring whether the button is activated by the operator for more than a minimum amount of time. 
     
     
         6 . The system of  claim 5 , wherein the minimum amount of time is about 2 seconds, and wherein the work machine is configured to monitor the control element via a position sensor associated with the control element. 
     
     
         7 . The system of  claim 1 , wherein the attachment is a grapple that includes at least one hydraulic cylinder comprising a rod and a barrel, wherein the cylinder is configured to selectively actuate the first portion of the grapple with respect to the second portion of the grapple. 
     
     
         8 . The system of  claim 7 , wherein a control system of the work machine is configured to determine whether the grapple is currently grabbing the object by determining whether the rod is extending from the barrel of the cylinder by a maximum or a minimum amount. 
     
     
         9 . The system of  claim 8 , upon the control system determining that the rod is extending from the nail cylinder by the maximum or the minimum amount, then the control system determines that the grapple is not currently grabbing the object and the work machine is not configured to maintain the hydraulic pressure of the hydraulic fluid provided to the grapple at the grabbing pressure. 
     
     
         10 . The system of  claim 8 , upon the control system determining that the rod is not extending from the nail cylinder by the maximum or the minimum amount, then the control system determines that the grapple is currently grabbing the object and the work machine is configured to maintain the hydraulic pressure of the hydraulic fluid provided to the grapple at the grabbing pressure. 
     
     
         11 . The system of  claim 10 , wherein upon the control system of the work machine determining that the grapple is currently grabbing the object, the work machine is configured to increase the hydraulic pressure of the hydraulic fluid provided to the grapple when the hydraulic pressure falls a predefined amount below the grabbing pressure. 
     
     
         12 . The system of  claim 11 , wherein the grabbing pressure is about 22 MPa and wherein the predefined amount is about 4 MPa. 
     
     
         13 . A method of grabbing and moving objects, the method comprising the steps of:
 (a) providing a work machine and an attachment, wherein the work machine comprises one or more machine sensors configured to obtain machine data related to one or more components of the work machine;   (b) removably coupling the attachment with the work machine, wherein the attachment includes a first portion and/or a second portion configured to selectively actuate, such that the first portion and the second portion are configured to cooperatively grab and hold onto an object;   (c) wirelessly transmitting, via an identification module associated with the attachment, identification information to the work machine;   (d) providing hydraulic power, via a hydraulic system of the work machine, to the attachment at a grabbing pressure to cause the first portion and/or the second portion to actuate to cooperatively grab and hold onto the object;   (e) determining if the attachment is currently grabbing the object; and   (f) if the attachment is determined to be currently grabbing the object in step (e), then maintaining the hydraulic pressure of the hydraulic power provided to the attachment at the grabbing pressure.   
     
     
         14 . The method of  claim 13 , wherein said determining of step (e) is performed by monitoring whether a button on a joystick of the work machine is activated for more than a minimum amount of time. 
     
     
         15 . The method of  claim 13 , wherein the attachment is a grapple that includes at least one hydraulic cylinder comprising a rod and a barrel, wherein said providing of step (d) includes the cylinder actuating the first portion of the grapple with respect to the second portion of the grapple. 
     
     
         16 . The method of  claim 15 , wherein said determining of step (e) is performed by a control system of the work machine determining whether the rod is extending from the barrel of the cylinder by a maximum or a minimum amount. 
     
     
         17 . The method of  claim 16 , upon the control system determining that the rod is extending from the nail cylinder by the maximum or the minimum amount, then the control system determines that the grapple is not currently grabbing the object and the work machine is not configured to maintain the hydraulic pressure of the hydraulic fluid provided to the grapple at the grabbing pressure. 
     
     
         18 . The method of  claim 16 , upon the control system determining that the rod is not extending from the nail cylinder by the maximum or the minimum amount, then the control system determines that the grapple is currently grabbing the object and the work machine maintains the hydraulic pressure of the hydraulic fluid provided to the grapple at the grabbing pressure. 
     
     
         19 . The method of  claim 18 , wherein upon the control system of the work machine determining that the grapple is currently grabbing the object and the work machine is configured to increase the hydraulic pressure of the hydraulic fluid provided to the grapple when the hydraulic pressure falls a predefined amount below the grabbing pressure. 
     
     
         20 . The method of  claim 19 , wherein the grabbing pressure is about 22 MPa and wherein the predefined amount is about 4 MPa.