Automatic excavation control system and method
First Claim
1. A control system for automatically controlling a work implement of an excavating machine throughout a machine work cycle, wherein said work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, said hydraulic cylinders containing pressurized hydraulic fluid, each said hydraulic cylinder having a movable portion extendable between a first retracted position and a plurality of second positions in response to the pressure of hydraulic fluid contained therein, said control system comprising:
- means for producing respective position signals in response to the position of each of said boom, stick and bucket;
position logic means for receiving said position signals, comparing each of said received position signals to a plurality of predetermined position setpoints, and producing a respective responsive position correction signal;
means for producing respective pressure signals in response to the hydraulic fluid pressure of each of said boom, stick and bucket hydraulic cylinders;
force logic means for receiving said pressure signals and responsively computing a correlative force signal for each of said boom, stick and bucket hydraulic cylinders and for comparing each of said correlative force signals with a plurality of predetermined force setpoints thereto, and delivering a respective responsive for correction signal; and
actuating means for receiving said position and force correction signals, and controllably actuating said work implement to perform said work cycle in response thereto.
1 Assignment
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Accused Products
Abstract
A control system and method automatically controls a work implement of an excavating machine to perform a complete excavation work cycle. In performing the work cycle, the control system automatically extends the work implement down into the trench, completes a dig stroke, captures the excavated material, swings the work implement to dump, dumps the load, returns the work implement to the trench, and repeats the work cycle until a trench is excavated according to operator programmed specifications. The control system monitors the position of the work implement and the forces exerted on the work implement and controllably actuates the work implement according to predetermined position and force setpoints.
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Citations
28 Claims
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1. A control system for automatically controlling a work implement of an excavating machine throughout a machine work cycle, wherein said work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, said hydraulic cylinders containing pressurized hydraulic fluid, each said hydraulic cylinder having a movable portion extendable between a first retracted position and a plurality of second positions in response to the pressure of hydraulic fluid contained therein, said control system comprising:
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means for producing respective position signals in response to the position of each of said boom, stick and bucket; position logic means for receiving said position signals, comparing each of said received position signals to a plurality of predetermined position setpoints, and producing a respective responsive position correction signal; means for producing respective pressure signals in response to the hydraulic fluid pressure of each of said boom, stick and bucket hydraulic cylinders; force logic means for receiving said pressure signals and responsively computing a correlative force signal for each of said boom, stick and bucket hydraulic cylinders and for comparing each of said correlative force signals with a plurality of predetermined force setpoints thereto, and delivering a respective responsive for correction signal; and actuating means for receiving said position and force correction signals, and controllably actuating said work implement to perform said work cycle in response thereto. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A control system for automatically controlling a work implement of an excavating machine throughout a machine work cycle, said work implement including at least two linkages, each linkage being controllably actuated by at least one hydraulic cylinder, each said hydraulic cylinder containing pressurized hydraulic fluid and having a movable portion extendable between a first retracted position and a plurality of second positions in response to the pressure of hydraulic fluid therein, comprising:
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means for producing respective position signals in response to the position of each of said linkages; position logic means for receiving said position signals, comparing each of said received position signals to a plurality of predetermined position setpoints, and producing a responsive position correction signal; means for producing respective pressure signals in response to the hydraulic pressure of each of said hydraulic cylinders; force logic means for receiving said pressure signal, and responsively computing a correlative force signal for each of said hydraulic cylinders, and for comparing each of said correlative force signals to a plurality of predetermined force setpoints, and responsively delivering a force correction signal; and actuating means for receiving said position and force correction signals, and controllably actuating said at least two linkages of said work implement to perform said work cycle in response thereto. - View Dependent Claims (26, 27, 28)
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Specification