Force feedback control for backhoe

• US 5,019,761 A
• Filed: 02/21/1989
• Issued: 05/28/1991
• Est. Priority Date: 02/21/1989
• Status: Expired due to Term

• Current Assignee: Kraft, Brett W.
• Original Assignee: Kraft, Brett W.
• Inventors: Kraft, Brett W.
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US07/313,958
• Time in Patent Office: 826 Days
• Field of Search: 318/560-646, 414/695-699, 414/700, 414/705, 414/715, 414/718, 414/719, 414/720, 414/721, 414/722, 414/723, 414/724, 414/725, 414/729, 414/730, 414/731, 414/732, 414/733, 414/734 , 414/735, 414/728, 364/424.07, 364/513, 364/174, 364/167.01, 901/2, 901/3, 901/9, 901/21, 901/22, 901/25, 901/29, 901/32, 901/28, 901/38, 901/46, 901/48, 172/4.5, 172/430, 172/431, 172/DIG. 3, 172/1
• US Class Current: 318/568.11
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05B 2219/45012 Excavator

Abstract

A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.

Claims

1. A force reflecting control system for an earthworking implement including an implement frame with an earthworking tool articulated thereto and a tool actuator connected between said implement frame and said tool, said system comprising:

(a) an operator input device including an operator frame with an operator control element articulated thereto;

(b) an operator position sensor coupled between said operator frame and said element and providing an element position signal;

(c) a feedback motor connected between said operator frame and said element and operable to apply a counter articulation force between said operator frame and said element;

(d) a tool position sensor adapted for operative coupling between an earthworking implement frame and an earthworking tool articulated thereto, said tool position sensor providing a tool position signal;

(e) a tool load sensor adapted for operative coupling to a tool actuator connected between said implement frame and said tool and providing a load signal having a parameter indicative of a resistance to articulation of said tool relative to said implement frame upon activation of said tool actuator;

(f) control means having said element position sensor, said feedback motor, said tool position sensor, and said tool load sensor coupled thereto and adapted for coupling of said tool actuator thereto;

(g) said control means activating said tool actuator to urge said tool to articulate said tool relative to said implement frame in substantial synchronism with an proportion to an articulation of said operator element relative to said operator frame; and

(h) said control means activating said feedback motor to apply said counter articulation force between said element and said operator frame in proportion to said parameter of said load signal to thereby reflect to said operator element said resistance to articulation of said tool relative to said implement frame.

2. A system as set forth in claim 1 wherein said control means includes:

(a) master control means coupled to said operator position sensor and said feedback motor;

(b) slave control means coupled to said tool actuator, said tool position sensor, and said tool load sensor; and

(c) communication link means interfacing said master control means with said slave control means, said communication link means communicating a command signal from said master control system to said slave control system to cause said articulation of said tool in response to articulation of said operator control element and said load signal from said slave control means to said master control means to activate said feedback motor.

3. A system as set forth in claim 1 wherein:

(a) said control means is selectively operable to vary the proportion of articulation of said tool to articulation of said operator element.

4. A system as set forth in claim 1 wherein:

(a) said control means is selectively operable to offset articulation of said tool to articulation of said operator element.

5. A system as set forth in claim 1 wherein:

(a) said control means is selectively operable to establish boundaries to the articulation of said tool.

6. A system as set forth in claim 1 wherein:

(a) said tool is articulated to said implement frame by tool articulation means having a selected plurality of degrees of freedom;

(b) said operator control element is articulated to said operator frame by element articulation means having said selected plurality of degrees of freedom; and

(c) said control means is operative to cause said tool to articulate through said degrees of freedom in substantial synchronism with the articulation of said element through said degrees of freedom.

7. A system as set forth in claim 6 wherein:

(a) said control means is selectively operable to prevent articulation of said tool through a selected one of said degrees of freedom.

8. A system as set forth in claim 6 wherein:

(a) said control means is selectively operable to record a sequence command signals representing a sequence of articulations of said tool, recall said sequence of command signals at a subsequent time, and cause the articulation of said tool through said sequence of articulations.

9. A system as set forth in claim 1 wherein:

(a) said earthworking implement is a backhoe including a backhoe frame; and

(b) said earthworking tool is a backhoe bucket articulated to said backhoe frame.

10. An earthworking implement comprising:

(a) an earthworking implement frame;

(b) an earthworking implement tool;

(c) an implement arm articulating said tool to said implement frame and providing at least two implement joints of articulation among implement members including said implement frame, said tool, and said implement arm to provide at least two degrees of freedom between said tool and said implement frame;

(d) a plurality of implement actuators associated respectively with said implement joints, each actuator being connected between implement members connected by a respective implement joint and operable to cause relative articulation of said implement members through said implement joint;

(e) a plurality of implement joint position sensors associated respectively said implement joints, each implement joint position sensor being coupled with the implement members connected by a respective implement joint and providing a respective implement joint position signal indicating said articulation of said implement members connected by said implement joint;

(f) a plurality of implement joint load sensors associated respectively with said implement joints, each joint load sensor being coupled with the actuator associated with a respective implement joint and providing a respective joint load signal having a parameter indicating a resistance to said articulation of said implement members connected by said implement joint;

(g) an operator frame corresponding to said implement frame;

(h) an operator control handle corresponding to said tool;

(i) an operator arm articulating said handle to said operator frame and providing at least two operator joints of articulation among operator members including said operator frame, said handle, and said operator arm;

said operator arm and said operator joints corresponding respectively to said implement arm and said implement joints;

(j) a plurality of operator joint position sensors associated respectively said operator joints, each operator joint sensor being coupled with the operator members connected by a respective operator joint and providing a respective operator joint position signal indicating said articulation of said operator members connected by said operator joint;

(k) a plurality of feedback motors associated respectively with said operator, each feedback motor being connected to the operator members connected by a respective operator joint and operable to apply a counter articulation force between said operator members connected by said operator joint;

(l) control means having said actuators, said implement joint position sensors, said implement joint load sensors, said operator joint position sensors, and said feedback motors connected thereto;

(m) said control means activating one of said actuators to articulate the implement members connected by an associated implement joint through said implement joint in substantial synchronism with and proportion to an articulation of the operator members associated with a corresponding operator joint through said operator joint; and

(n) said control means activating one of said feedback motors to apply said counter articulation force to the operator members connected by an associated operator joint in proportion to said parameter of the load signal of the implement joint corresponding to said operator joint.

11. A system as set forth in claim 10 wherein said control means includes:

(a) master control means coupled to said operator joint sensors and said feedback motors;

(b) slave control means coupled to said implement implement actuators, said implement joint position sensors, and said implement joint load sensors; and

(c) communication link means interfacing said master control means with said slave control means, said communication link means communicating a command signal from said master control system to said slave control system to cause said articulation of said implement joints in response to articulation of respective ones of said operator joints and communicating said load signal from said slave control means to said master control means to activate said feedback motors.

12. An implement as set forth in claim 10 wherein:

(a) said implement arm includes first and second implement arm segments articulated by an implement joint; and

(b) said operator arm includes first and second operator arm segments articulated by an operator joint.

13. A system as set forth in claim 12 wherein:

(a) said earthworking implement is a backhoe including a backhoe frame;

(b) said implement arm is a backhoe arm;

(c) said earthworking tool is a backhoe bucket articulated to said backhoe frame by said backhoe arm;

(d) a first implement arm segment of said backhoe arm is a backhoe boom articulated to said backhoe frame by a swing joint and a boom elevation joint, said swing joint providing for pivoting said backhoe arm about a vertical swing axis, and said boom elevation joint providing for pivoting said boom about a horizontal boom elevation axis;

(e) a second implement arm segment of said backhoe arm is a backhoe dipper arm pivotally connected to said boom by a crowd joint providing for pivoting of said dipper arm about a horizontal crowd axis; and

(f) said bucket is articulated to said dipper arm by a bucket rotation axis providing for pivoting said bucket about a horizontal bucket rotation axis.

14. An implement as set forth in claim 13 wherein said backhoe arm includes:

(a) a bucket yaw joint articulating said bucket to said dipper arm and providing for pivoting said bucket about a bucket yaw axis positioned in a plane perpendicular to said bucket rotation axis.

15. An implement as set forth in claim 13 wherein said backhoe arm includes:

(a) a bucket wrist joint articulating said bucket to said dipper arm and providing for pivoting said bucket about a bucket wrist axis positioned in a plane perpendicular to said bucket rotation axis.