Adaptive work cycle control system

• US 20090228177A1
• Filed: 03/07/2008
• Published: 09/10/2009
• Est. Priority Date: 03/07/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Tozawa, Shoji, Kowta, Srinivas, King, Kevin D., Price, Robert J., Janardhan, Vijayakumar, Mintah, Brian, Venkateswaran, Parmesh
• Granted Patent: US 8,024,095 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool

Abstract

A control system for an excavation machine is disclosed. The control system may have a work tool movable to perform an excavation work cycle, at least one sensor configured to monitor a speed of the work tool and generate a signal indicative of the monitored speed, and a controller in communication with the at least one sensor. The controller may be configured to record the monitored speed of the work tool during each excavation work cycle, and compare the signal currently being generated to a maximum speed recorded for a previous excavation work cycle. The controller may be further configured to partition a current excavation work cycle into a plurality of segments based on the comparison.

Claims

1. A control system, comprising:

a work tool movable to perform an excavation work cycle;

at least one sensor configured to monitor a speed of the work tool and generate a signal indicative of the monitored speed; and

a controller in communication with the at least one sensor and being configured to;

record the monitored speed of the work tool during each excavation work cycle;

compare the signal currently being generated to a maximum speed recorded for a previous excavation work cycle; and

partition a current excavation work cycle into a plurality of segments based on the comparison.

2. The control system of claim 1, wherein:

the at least one sensor is a first sensor configured to monitor a first speed of the work tool and generate a first signal;

the control system further includes a second sensor configured to monitor a second speed of the work tool and generate a second signal; and

the controller is configured to partition the current excavation work cycle into the plurality of segments based further on the second signal.

3. The control system of claim 2, further including a third sensor configured to monitor a force of the work tool and generate a third signal, wherein the controller is configured to partition the current excavation work cycle into the plurality of segments based further on the third signal.

4. The control system of claim 3, wherein the controller is configured to partition the excavation work cycle into a dig segment, a first swing segment, a dump segment, and a second swing segment.

5. The control system of claim 4, wherein:

the first speed is a swing speed of the work tool;

the second speed is a pivot speed of the work tool; and

the controller is configured to partition the excavation work cycle between the dig segment and the first swing segment when the first signal currently being generated indicates a swing speed of the work tool in a first direction exceeding a predetermined amount of a maximum swing speed in the first direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot speed of the work tool in a second direction exceeding a threshold speed value, and the third signal currently being generated indicates a force of the work tool below a threshold force.

6. The control system of claim 5, wherein:

the predetermined amount is about 20% of the maximum swing speed achieved during the previous excavation work cycle; and

the threshold speed value is about 5°

/sec.

7. The control system of claim 5, wherein the controller is configured to partition the current excavation work cycle between the first swing segment and the dump segment when the first signal currently being generated indicates a swing speed of the work tool in the first direction dropping below a predetermined amount of the maximum swing speed in the first direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot speed of the work tool in the second direction dropping below a threshold speed value, and the third signal currently being generated indicates a force of the work tool exceeding a threshold force.

8. The control system of claim 5, wherein the controller is configured to partition the current excavation work cycle between the dump segment and the second swing segment when the first signal currently being generated indicates a swing speed of the work tool in a third direction opposite the first direction exceeding a predetermined amount of a maximum swing speed in the third direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot direction of the work tool in a fourth direction opposite the second direction, and the third signal currently being generated indicates a force of the work tool below a threshold force.

9. The control system of claim 8, wherein the controller is configured to partition the current excavation work cycle between the second swing segment and the dig segment when the first signal currently being generated indicates a swing speed of the work tool in the third direction dropping below a predetermined amount of a maximum swing speed in the third direction achieved during the previous excavation work cycle and the third signal currently being generated indicates a force of the work tool exceeding a threshold force.

10. The control system of claim 2, further including:

a linkage member operatively connected to the work tool;

a first actuator configured to swing the work tool in a first direction;

a second actuator configured to pivot the work tool in a second direction;

a third actuator configured to pivot the work tool relative to the linkage member; and

at least one operator input device configured to generate a signal indicative of an operator desired movement of at least one of the first, second, and third actuators,

wherein the first, second, and third sensors are associated with at least one of the linkage member, the first actuator, the second actuator, the third actuator, or the at least one operator input device to generate the first, second, and third signals.

11. The control system of claim 1, further including a timer, wherein the controller is in communication with the timer and configured to relate a complete excavation work cycle and each of the plurality of segments to an elapsed period of time.

12. A method of partitioning an excavation work cycle into a plurality of segments, the method comprising:

monitoring a speed of a work tool;

recording the monitored speed during each excavation work cycle;

comparing a current speed of the work tool to a maximum speed recorded for a previous excavation work cycle; and

partitioning a current excavation work cycle into a plurality of segments based on the comparison.

13. The method of claim 12, wherein the speed is a first speed and the method further includes:

monitoring a second speed of the work tool during each excavation work cycle;

monitoring a force of the work tool during each excavation work cycle; and

partitioning the current excavation work cycle into the plurality of segments based further on the second monitored speed, and the monitored force.

14. The method of claim 13, wherein partitioning includes partitioning the excavation work cycle into a dig segment, a first swing segment, a dump segment, and a second swing segment.

15. A machine, comprising:

a frame;

a boom member connected to swing and pivot relative to the frame;

a work tool operatively connected to the boom member;

a first sensor configured to monitor a swing speed of the boom member and generate a first signal indicative of the monitored swing speed;

a second sensor configured to monitor a pivot speed of the boom member and generate a second signal indicative of the monitored pivot speed;

a third sensor configured to monitor a force of the work tool and generate a third signal indicative of the monitored pivot speed; and

a controller in communication with the first, second, and third sensors and being configured to;

record the monitored swing speed of the work tool during each excavation work cycle;

compare the current swing speed to a maximum swing speed recorded for a previous excavation work cycle; and

partition a current excavation work cycle into a dig segment, a first swing segment, a dump segment and a second swing segment based on the comparison, the second signal, and the third signal.

16. The machine of claim 15, wherein the controller is configured to partition the excavation work cycle between the dig segment and the first swing segment when the first signal currently being generated indicates a swing speed of the boom member in a first direction exceeding a predetermined amount of a maximum swing speed in the first direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot speed of the boom member in a second direction exceeding a threshold speed value, and the third signal currently being generated indicates a force of the work tool below a threshold force.

17. The machine of claim 16, wherein:

the predetermined amount is about 20% of the maximum swing speed achieved during the previous excavation work cycle; and

the threshold speed value is about 5°

/sec.

18. The machine of claim 16, wherein the controller is configured to partition the current excavation work cycle between the first swing segment and the dump segment when the first signal currently being generated indicates a swing speed of the boom member in the first direction dropping below a predetermined amount of the maximum swing speed in the first direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot speed of the boom member in the second direction dropping below a threshold speed value, and the third signal currently being generated indicates a force of the work tool exceeding a threshold force.

19. The machine of claim 18, wherein the controller is configured to partition the current excavation work cycle between the dump segment and the second swing segment when the first signal currently being generated indicates a swing speed of the boom member in a third direction opposite the first direction exceeding a predetermined amount of a maximum swing speed in the third direction achieved during the previous excavation work cycle, the second signal currently being generated indicates a pivot direction of the boom member in a fourth direction opposite the second direction, and the third signal currently being generated indicates a force of the work tool below a threshold force.

20. The machine of claim 19, wherein the controller is configured to partition the current excavation work cycle between the second swing segment and the dig segment when the first signal currently being generated indicates a swing speed of the boom member in the third direction dropping below a predetermined amount of a maximum swing speed in the third direction achieved during the previous excavation work cycle and the third signal currently being generated indicates a force of the work tool exceeding a threshold force.