METHOD AND SYSTEM FOR MACHINERY CONTROL
First Claim
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1. A method for controlling an excavation device in one or more of the following phases of operation:
- digging, moving to spoil, dumping, recovery and return, the method including the steps of;
(a) providing a finite state machine having state variables reflecting the different phases of operation, including, digging, dumping, moving to dump location, return to dig, and bucket recover;
(b) determining current machine state depending on the position of the device; and
(c) modifying the operational behaviour of a one or more subordinate controllers in response to the current state.
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Abstract
A method for controlling an excavation device in one or more of the following phases of operation: digging, moving to spoil, dumping, recovery and return, the method including the steps of: providing a finite state machine having state variables reflecting the different phases of operation, including, digging, dumping, moving to dump location, return to dig, and bucket recover; determining current machine state depending on the position of the device; and modifying the operational behaviour of a one or more subordinate controllers in response to the current state.
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30 Claims
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1. A method for controlling an excavation device in one or more of the following phases of operation:
- digging, moving to spoil, dumping, recovery and return, the method including the steps of;
(a) providing a finite state machine having state variables reflecting the different phases of operation, including, digging, dumping, moving to dump location, return to dig, and bucket recover; (b) determining current machine state depending on the position of the device; and (c) modifying the operational behaviour of a one or more subordinate controllers in response to the current state. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 15, 16)
- digging, moving to spoil, dumping, recovery and return, the method including the steps of;
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14. A method for controlling an excavation device, substantially as herein described with reference to any one of the embodiments of the invention illustrated in the accompanying drawings and/or examples.
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17. A system for controlling an excavation device in one or more of the following phases of operation:
- digging, moving to spoil, dumping, recovery and return, the system including;
a finite state machine having state variables reflecting the different phases of operation, including, digging, dumping, moving to dump location, return to dig, and bucket recover; a current machine state variable of the finite state machine determined depending on the position of the excavation device; and modification means for modifying the operational behaviour of one or more subordinate controllers in response to the current state. - View Dependent Claims (18, 19, 20, 22, 23, 24, 25, 26, 27, 28)
- digging, moving to spoil, dumping, recovery and return, the system including;
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29. A system for controlling an excavation device, substantially as herein described with reference to any one of the embodiments of the invention illustrated in the accompanying drawings and/or examples.
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30. A method for controlling an excavation device in one or more of the following phases of operation:
- digging, moving to spoil, dumping, recovery and return.
Specification