Tool control system

• US 20090198382A1
• Filed: 01/31/2008
• Published: 08/06/2009
• Est. Priority Date: 01/31/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Stanek, Daniel Francis, Koch, Roger Dale
• Granted Patent: US 8,244,438 B2
• Time in Patent Office: Days
• US Class Current: 700/275
• CPC Class Codes: E02F 3/432 for keeping the bucket in a predetermined position or attitude
• CPC Class Codes: E02F 3/433 horizontal, e.g. self-levelling
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/22 Hydraulic or pneumatic drives for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22
• CPC Class Codes: E02F 9/2296 Systems with a variable displacement pump

Abstract

A tool control system is disclosed. The control system may have a first actuator configured to control a first linkage. The control system may further have a second actuator configured to control a second linkage. The control system may also have a third actuator configured to control a work tool, wherein the second linkage is connected to the work tool and movably connected to the first linkage. The control system may still further have a plurality of operator input devices configured to provide operator control of the first, second, and third actuators. The control system may also have a controller in communication with the first, second, and third actuators and the plurality of operator input devices. The controller may be configured to receive a desired tool path for the work tool. The controller may also be configured to control movement of the first, second, and third actuators based on operator input received from fewer than all of the plurality of operator input devices to move the work tool along the desired tool path.

Claims

1. A tool control system, comprising:

a first actuator configured to control a first linkage;

a second actuator configured to control a second linkage;

a third actuator configured to control a work tool, wherein the second linkage is connected to the work tool and movably connected to the first linkage;

a plurality of operator input devices configured to provide operator control of the first, second, and third actuators;

a controller in communication with the first, second, and third actuators and the plurality of operator input devices, the controller configured to;

receive a desired tool path for the work tool; and

control movement of the first, second, and third actuators based on operator input received from fewer than all of the plurality of operator input devices to move the work tool along the desired tool path.

2. The system of claim 1, wherein the first linkage is a boom member and the second linkage is a stick member.

3. The system of claim 1, wherein the first actuator is a swing actuator configured to control side-to-side movement of the first linkage.

4. The system of claim 1, further including at least one sensor configured to monitor movement of the work tool relative to the desired tool path.

5. The system of claim 4, wherein the desired tool path corresponds to a tool axis of the work tool.

6. The system of claim 4, wherein the controller is further configured to:

receive work tool movement data from the at least one sensor and determine an actual position of the work tool;

determine a discrepancy value between the actual position of the work tool and the desired tool path; and

control movement of at least one of the first and second actuators to reduce the discrepancy value to below a predetermined value.

7. The system of claim 1, wherein the controller is figured to control movement of the first, second, and third actuators based on operator input received from a single operator input device.

8. The system of claim 1, wherein the controller if further configured to receive a work tool characteristic of the work tool.

9. The system of claim 8, wherein the desired tool path relates to the work tool characteristic.

10. The system of claim 1, wherein the controller is further configured to receive a desired angle for the work tool.

11. A method of controlling movement of a work tool, comprising:

determining a tool axis of the work tool;

setting a desired tool path relative to the tool axis;

receiving operator input from a single operator input device regarding a desired movement of the work tool along the tool axis; and

controlling movement of the work tool about multiple axes along the desired tool path based on the operator input.

12. The method of claim 11, further including:

monitoring movement of the work tool to determine an actual position of the work tool;

determining a discrepancy value between the actual position of the work tool and the desired tool path; and

modifying movement of the work tool to reduce the discrepancy value to below a predetermined value.

13. The method of claim 12, wherein determining the tool axis further includes receiving a tool identification characteristic of the work tool and correlating the characteristic to the tool axis.

14. The method of claim 13, wherein receiving the tool identification characteristic is automatically detected.

15. The method of claim 11, wherein setting the desired tool path relative to a tool axis of the work tool further includes aligning the desired tool path generally coaxial with the tool axis.

16. The method of claim 12, wherein determining the actual position of the work tool further includes referencing a table that maps actuator data to work tool position.

17. The method of claim 12, wherein movement of the work tool is modified based on inverse kinematics calculations.

18. A machine, comprising:

a base frame;

a work tool;

a boom member pivotally connected to the base frame;

a first actuator configured to control movement of the boom member;

a stick member pivotally connected to the boom member;

a second actuator configured to control movement of the stick member;

a work tool pivotally connected to the stick member;

a third actuator configured to control movement of the work tool;

a first operator input device movable by an operator to command operation of at least one of the first, second, and third actuators;

a second operator input device movable by an operator to command operation of at least one of the first, second, and third actuators; and

a controller configured to receive input from one of the first and second operator input devices and control movement of the first, second, and third actuators such that the work tool moves along a desired tool path corresponding with a primary axis of the work tool.

19. The machine of claim 18, further including at least one sensor configured to monitor movement of the work tool relative to the desired tool path and determine an actual position of the work tool, wherein the controller is further configured to determine a discrepancy value between actual position of the work tool and the desired tool path.

20. The machine of claim 19, wherein controller is further configured to determine the actual position of the work tool by referencing a table that maps actuator data to work tool position.