Automatic digging and loading system for a work machine

• US 20060245896A1
• Filed: 03/31/2005
• Published: 11/02/2006
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Ingram, Richard G., Berry, Jeffrey Kent, Krone, John James, Alshaer, Bassam Jameel, Harris, Jared James
• Granted Patent: US 7,555,855 B2
• Time in Patent Office: Days
• US Class Current: 414/685
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence

Abstract

An automatic loading control system for loading a work implement of a work machine with material from a pile may include a lift sensor configured to monitor a lift actuator and communicate a lift signal. The system may also include a tilt sensor configured to monitor a tilt actuator and communicate a tilt signal. A speed sensor may be configured to communicate a speed signal indicative of a speed of the work machine. A control module may be configured to receive the lift signal, the tilt signal, and the speed signal and generate a signal to control a rim-pull based on at least one of a lift velocity of the lift actuator, a tilt velocity of the tilt actuator, and a work machine velocity to facilitate movement of the work implement through the pile.

Claims

1. An automatic loading control system for loading a work implement of a work machine with material from a pile, comprising:

a lift sensor configured to monitor a lift actuator and communicate a lift signal;

a tilt sensor configured to monitor a tilt actuator and communicate a tilt signal;

a speed sensor configured to communicate a speed signal indicative of a speed of the work machine; and

a control module configured to receive the lift signal, the tilt signal, and the speed signal and generate a signal to control a rim-pull based on at least one of a lift velocity of the lift actuator, a tilt velocity of the tilt actuator, and a work machine velocity to facilitate movement of the work implement through the pile.

2. The loading control system of claim 1, wherein the control module is configured to determine at least one of the lift velocity, the tilt velocity and the work machine velocity based on the respective lift signal, tilt signal, and speed signal.

3. The loading control system of claim 1, wherein at least one of the lift signal, the tilt signal, and the speed signal are indicative of velocity monitored by the lift sensor, the tilt sensor, and the speed sensor.

4. The loading control system of claim 1, including a clutch configured to adjust the rim-pull, the control module being configured to generate a control signal to operate the clutch.

5. The loading control system of claim 1, wherein the control module is configured to generate a control signal to reduce the rim-pull when the work machine velocity falls below a pre-designated threshold.

6. The loading control system of claim 5, wherein the control module is configured to generate a tilt command signal to increase the tilt velocity when the work machine velocity falls below a pre-designated threshold.

7. The loading control system of claim 1, wherein the controller is configured to generate a tilt control signal to provide a desired tilt velocity when the lift, tilt, and speed velocities are at or below a pre-designated threshold.

8. The loading control system of claim 1, wherein the control module is configured to detect when a front of the work machine touches a pile of material being loaded in the work implement.

9. The loading control system of claim 8, wherein the controller is configured to generate a signal to reduce the rim-pull when the front of the work machine touches the pile.

10. The loading control system of claim 1, wherein the control module is configured to generate a control signal to increase the rim-pull when the tilt velocity is above a pre-designated threshold when loading the work implement.

11. The loading control system of claim 1, wherein the control module is configured to generate a control signal to decrease the rim-pull when the tilt velocity and the work machine velocity are below pre-designated thresholds when loading the work implement.

12. The loading control system of claim 1, wherein the control module is configured to generate a control signal to reduce the rim-pull when the lift and tilt signals indicate that the lift and tilt actuators are extended beyond a pre-designated position.

13. A method of controlling an automatic bucket control system for loading a work implement of a work machine with material from a pile, comprising:

monitoring a lift actuator and communicating a lift signal;

monitoring a tilt actuator and communicating a tilt signal;

communicating a speed signal indicative of a speed of the work machine; and

generating a signal to control a rim-pull based on at least one of a lift velocity of the lift actuator, a tilt velocity of the tilt actuator, and a work machine velocity to facilitate movement of the work implement through the pile.

14. The method of claim 13, including determining at least one of the lift velocity, the tilt velocity, and the work machine velocity based on the respective lift signal, tilt signal, and speed signal.

15. The method of claim 13, wherein monitoring a lift actuator includes monitoring a velocity of the lift actuator, and wherein monitoring a tilt actuator includes monitoring a velocity of the tilt actuator.

16. The method of claim 13, wherein controlling the rim-pull includes controlling engagement of a clutch.

17. The method of claim 13, wherein generating a signal to control the rim-pull includes generating a control signal to reduce the rim-pull when the work machine velocity falls below a pre-designated threshold.

18. The method of claim 17, further including generating a tilt command signal to increase the tilt velocity when the work machine velocity falls below a pre-designated threshold.

19. The method of claim 13, further including generating a tilt control signal to provide a desired tilt velocity when the lift, tilt, and speed velocities are at or below a pre-designated threshold.

20. The method of claim 13, further including detecting when a front of the work machine touches a pile of material being loaded in the work implement.

21. The method of claim 20, further including generating a signal to reduce the rim-pull when the front of the work machine touches the pile.

22. The method of claim 13, further including increasing the rim-pull when the tilt velocity is above a pre-designated threshold when loading the work implement.

23. The method of claim 13, further including decreasing the rim-pull when the tilt velocity and the work machine velocity are below pre-designated thresholds when loading the work implement.

24. The method of claim 13, further including reducing the rim-pull when the lift and tilt signals indicate that the lift and tilt actuators are extended beyond a pre-designated position.

25. An automatic loading control system for loading a work implement of a work machine, comprising:

a lift sensor configured to monitor a lift actuator and communicate a lift signal;

a tilt sensor configured to monitor a tilt actuator and communicate a tilt signal;

a speed sensor configured to communicate a speed signal indicative of a speed of the work machine; and

a control module configured to receive the lift signal, the tilt signal, and the speed signal and generate a control signal to repetitively increase and decrease at least one of a lift velocity and a tilt velocity of the work implement to facilitate entry of the work implement into a pile of material while loading the work implement.

26. The loading control system of claim 25, wherein the control module is configured to generate the control signal to incrementally decrease the at least one of the lift velocity and the tilt velocity when the at least one of the lift velocity and the tilt velocity achieves a desired velocity.

27. The loading control system of claim 26, wherein the control module is configured to generate the control signal to incrementally increase the at least one of the lift velocity and the tilt velocity when the at least one of the lift velocity and the tilt velocity achieves the decreased velocity.

28. The loading control system of claim 25, wherein the control module is configured to generate the control signal to incrementally increase or decrease the at least one of the lift velocity and the tilt velocity when the work implement moves a pre-selected distance.

29. The loading control system of claim 25, wherein the control module is configured to generate the control signal to incrementally increase or decrease the at least one of the lift velocity and the tilt velocity when the work implement has moved at the at least one of the lift velocity and the tilt velocity for a pre-selected length of time.

30. A method of controlling an automatic bucket control system for loading a work implement of a work machine, comprising:

monitoring a lift actuator and communicating a lift signal;

monitoring a tilt actuator and communicating a tilt signal;

communicating a speed signal indicative of a speed of the work machine; and

generating a control signal to repetitively increase and decrease at least one of a lift velocity and a tilt velocity of the work implement to facilitate entry of the work implement into a pile of material while loading the work implement.

31. The method of claim 30, wherein generating a control signal to incrementally decrease the at least one of the lift velocity and the tilt velocity occurs when the at least one of the lift velocity and the tilt velocity achieves a desired velocity.

32. The method of claim 31, wherein generating the control signal to incrementally increase the at least one of the lift velocity and the tilt velocity occurs when the at least one of the lift velocity and the tilt velocity achieves a desired velocity.

33. The method of claim 30, wherein generating the control signal to incrementally increase or decrease the at least one of the lift velocity and the tilt velocity occurs when the work implement moves a pre-selected distance.

34. The method of claim 30, wherein generating the control signal to incrementally increase or decrease the at least one of the lift velocity and the tilt velocity occurs when the work implement has moved at the at least one of the lift velocity and the tilt velocity for a pre-selected length of time.

35. A method for controlling a work machine during loading of a work implement with material from a pile of material, the method comprising:

detecting when the work implement enters the pile of material;

determining ground engaging devices of the work machine reach the pile of material; and

generating a signal to effect movement of the work implement in response to the determination that the ground engaging devices reached the pile of material.

36. The method of claim 35, including reducing the ground speed of the work machine in response to the determination that the ground engaging devices reached the pile of material.

37. The method of claim 35, wherein determining when the ground engaging devices of the work machine reach the pile of material includes determining a distance traveled by the work machine since the work implement entered the pile of material.

38. The method of claim 37, wherein determining a distance traveled by the work machine since the work implement entered the pile of material includes:

monitoring the velocity of the work machine; and

calculating the distance traveled based upon the monitored velocity over time.