Coordinated control for a work implement

• US 5,424,623 A
• Filed: 05/13/1993
• Issued: 06/13/1995
• Est. Priority Date: 05/13/1993
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Anderson, Paul D., League, Richard B., Allen, William E., Bradbury, Walter J., Hadank, John M.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/060,667
• Time in Patent Office: 761 Days
• Field of Search: 318/568.11, 318/568.16, 318/568.17, 318/568.18, 318/568.2, 318/590, 318/568.19, 74/471 XY, 91/358 R, 91/359, 91/361, 91/508, 91/513, 180/324, 364/424.07, 414/694, 414/695, 414/695.5, 414/695.8, 414/699
• US Class Current: 318/568.18
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: E02F 9/2004 Control mechanisms, e.g. control levers control levers per se G05G
• CPC Class Codes: G05B 2219/35438 Joystick
• CPC Class Codes: G05B 2219/39002 Move tip of arm on straight line
• CPC Class Codes: G05B 2219/45012 Excavator
• CPC Class Codes: Y10T 74/20201 Control moves in two planes

Abstract

The present invention provides, an apparatus for controllably moving a vehicle'"'"'s work implement. The work implement includes a first appendage pivotally connected to the vehicle, and a second appendage pivotally connected to the first appendage. The apparatus senses the geometry of the work implement and responsibly producing a plurality of position signal and produces one of a manual control mode signal and an automatic control mode signal. An operator interface produces first and second lever command signals indicative of desired movement of the work implement. The apparatus receives the one control mode signal and the first and second lever control signals and responsively produces linear motion of the end point of the second appendage along first and second work axes if the one control mode signal is equal to the automatic control mode signal.

Claims

1. An apparatus for controllably moving a vehicle'"'"'s work implement having a first appendage pivotally connected to the vehicle, and a second appendage having first and second end points and being pivotally connected to the first appendage at the first end point, comprising:

means for sensing the geometry of the work implement and responsively producing a plurality of position signals;

means for producing one of a manual control mode signal and an automatic control mode signal;

operator interface means for producing first and second lever command signals indicative of desired movement of the work implement;

logic means for receiving said one control mode signal and said first and second lever control signals, responsively producing linear motion of the second end point of the second appendage along first and second work axes in response to said one control mode signal being equal to said automatic control mode signal, and responsively producing angular motion of said first and second appendages in proportion to said first and second lever command signals, respectively, in response to said one control signal being equal to said manual control mode signal, said logic means including;

means for receiving said position signals;

responsively calculating a plurality of mode value signals, wherein said mode value signals are in terms of angular velocities of the work implement in response to said one control mode signal being equal to the automatic control mode signal;

means for responsively calculating a plurality of angular-to-linear value signal, wherein said angular-to-linear value signals are in terms of linear velocity over angular velocity in response to said one control mode signal being equal to the automatic control mode signal; and

means for calculating a plurality of transformation signals as a function of said angular-to-linear value and mode value signals; and

for calculating a plurality of cylinder velocity command signals as a function of said mode value signals and said angular-to-linear value signals; and

,

actuating means for receiving said cylinder velocity command signals and responsively actuating the work implement.

2. An apparatus, as set forth in claim 1, wherein said first and second lever command signals being indicative of desired movement along an X axis and a Y axis respectively, in response to said one control mode being equal to said automatic control mode signal, wherein said X and Y axes are perpendicular.

3. An apparatus, as set forth in claim 1, including a third appendage pivotally connected to the second end point of the second appendage, said third appendage having an angular relationship with a horizontal plane, and wherein:

said operator interface means include means for producing a third lever command signal and

said control mode signal producing means includes means for producing an automatic control with bucket attitude control mode signal.

4. An apparatus, as set forth in claim 3, including means for producing a slope angle signal indicative of a desired slope angle and wherein:

said third lever command signal being indicative of a desired angular velocity of said third appendage in response to said one control mode signal being equal to the manual control mode signal; and

said first and second lever command signals being indicative of desired movement along an X axis and a Y axis, respectively, and said third lever command signal being indicative of a desired angular velocity of said third appendage in response to said one control mode signal being equal to said automatic control mode signal, said X and Y axes being perpendicular.

5. An apparatus, as set forth in claim 3, including means for producing a slope angle signal indicative of a desired slope angle and wherein:

said control mode signal producing means includes means for producing a slope finish control mode signal and a slope finish with bucket attitude control mode signal;

said first and second lever command signals being indicative of desired movement along an X axis and a Y axis, respectively, in response to said one control mode signal being equal to said automatic control with bucket attitude mode signal, said X and Y axes being perpendicular and said logic means being adapted to maintain said angular relationship;

said first and second lever command signals being indicative of desired movement along an X'"'"' axis and a Y'"'"' axis, respectively, and said third lever command signal being indicative of a desired angular velocity of said third appendage in response to said one control mode signal being equal to said slope finish control mode signal, said X'"'"' and Y'"'"' axes being perpendicular, said X'"'"' axis having a angular relationship with said horizontal plane proportional to said slope angle signal; and

said first and second lever command signals being indicative of desired movement along an X'"'"' axis and a Y'"'"' axis, respectively, in response to said one control mode signal being equal to said slope finish with bucket attitude control mode signal, said X'"'"' and Y'"'"' axes being perpendicular, said X'"'"' axis having an angular relationship with said horizontal plane proportional to said slope angle signal and said logic means being adapted to maintain said angular relationship.

6. An apparatus, as set forth in claim 3, including means for producing a slope angle signal indicative of a desired slope angle and wherein:

said control mode signal producing means includes means for producing a slope finish control mode signal and a slope finish with bucket attitude control mode signal;

said first, second, and third lever command signals being indicative of desired angular velocities of the first, second and, third appendages, respectively, in response to said one control mode signal being equal to the manual control mode signal;

said first and second lever command signals being indicative of desired movement along an X axis and a Y axis, respectively, and said third lever command signal being indicative of a desired angular velocity of said third appendage in response to said one control mode signal being equal to said automatic control-mode signal, said X and Y axes being perpendicular;

said first and second lever command signals being indicative of desired movement along an X axis and a Y axis, respectively, in response to said one control mode signal being equal to said automatic control with bucket attitude control mode signal, said X and Y axes being perpendicular and said logic means being adapted to maintain said angular relationship;

said first and second lever command signals being indicative of desired movement along an X'"'"' axis and a Y'"'"' axis, respectively, and said third lever command signal being indicative of a desired angular velocity of said third appendage in response to said one control mode signal being equal to said slope finish control mode signal, said X'"'"' and Y'"'"' axes being perpendicular, said X'"'"' axis having an angular relationship with said horizontal plane proportional to said slope angle signal; and

said first and second lever command signals being indicative of desired movement along an X'"'"' axis and a Y'"'"' axis, respectively, in response to said one control mode signal being equal to said slope finish with bucket attitude control mode signal, said X'"'"' and Y'"'"' axes being perpendicular, said X'"'"' axis having an angular relationship with said horizontal plane proportional to said slope angle signal and said logic means being adapted to maintain said angular relationship.

7. A method for controllably moving a vehicle'"'"'s work implement having a first appendage pivotally connected to the vehicle, and a second appendage having first and second end points and being pivotally connected to the first appendage at the first end point, including the steps of:

sensing the geometry of said work implement and responsively producing a plurality of position signals;

sensing movement of first and second control levers and responsively producing first and second lever command signals;

producing a control signal in response to receiving one of a manual control mode signal and an automatic control mode signal;

receiving said control mode signal and said first and second lever command signals;

responsively producing linear motion of the second end point of the second appendage along first and second work axes in response said control signal being equal to said automatic control mode signal;

responsively producing angular motion of said first and second appendages in proportion to said first and second lever command signals, respectively, in response to said control signal being equal to said manual control mode signal;

wherein said motion producing steps include the steps of;

calculating a mode value signal corresponding to each transformation signal as a function of said mode signal, said first and second lever command signals, and said position signals, wherein said mode value signals are in terms of angular velocities of the work implement in response to the mode signal being equal to the automatic control mode signal,

calculating an angular-to-linear value signal corresponding to each transformation signal as a function of said mode signal, said first and second lever command signals, and said position signals, wherein said angular-to-linear value signals are in terms of linear velocity over angular velocity in response to the mode signal being equal to the automatic control mode signal, and

calculating a plurality of transformation signals as a function of said angular-to-linear value and mode value signals.