Teaching automatic excavation control system and method
First Claim
1. A control system for automatically controlling a work implement of an excavating machine through an excavation work cycle, the work implement including a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, the hydraulic cylinders containing pressurized hydraulic fluid, the control system comprising:
- an operator control element adapted to produce an operator control signal indicative of a desired velocity of one of the hydraulic cylinders, said control signal including a control signal magnitude;
actuating means for controllably actuating predetermined ones of the hydraulic cylinders to perform an excavation work cycle in response to the control signal;
means for producing signals indicative of at least one force associated with at least one of the hydraulic cylinders;
means for receiving the operator control signals, comparing the control signal magnitudes to predetermined control signal magnitudes, and determining operating parameters associated with predetermined portions of the work cycle; and
means for receiving the operator control signals and force signals, and responsively producing command signals to the actuating means to automatically perform subsequent work cycles in accordance with the determined operating parameters.
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Accused Products
Abstract
According to one aspect of the present invention, a control system for automatically controlling a work implement of an excavating machine through an excavation work cycle is provided. The work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, the hydraulic cylinders containing pressurized hydraulic fluid. The control system includes an operator control element adapted to produce an operator control signal indicative of a desired velocity of one of the hydraulic cylinders. An electrohydraulic valve actuates predetermined ones of the hydraulic cylinders to perform an excavation work cycle in response to the control signal. A sensor produces signals indicative of the forces associated with at least one of the hydraulic cylinders. A logic device receives the operator control signals, compares the control signal magnitudes to predetermined control signal magnitudes, and determines operating parameters associated with predetermined portions of the work cycle. Finally, the logic device receives the operator control signals and force signals, and responsively produces command signals to the electrohydraulic valve to automatically perform subsequent work cycles in accordance with the determined operating parameters.
158 Citations
10 Claims
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1. A control system for automatically controlling a work implement of an excavating machine through an excavation work cycle, the work implement including a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, the hydraulic cylinders containing pressurized hydraulic fluid, the control system comprising:
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an operator control element adapted to produce an operator control signal indicative of a desired velocity of one of the hydraulic cylinders, said control signal including a control signal magnitude; actuating means for controllably actuating predetermined ones of the hydraulic cylinders to perform an excavation work cycle in response to the control signal; means for producing signals indicative of at least one force associated with at least one of the hydraulic cylinders; means for receiving the operator control signals, comparing the control signal magnitudes to predetermined control signal magnitudes, and determining operating parameters associated with predetermined portions of the work cycle; and means for receiving the operator control signals and force signals, and responsively producing command signals to the actuating means to automatically perform subsequent work cycles in accordance with the determined operating parameters. - View Dependent Claims (2, 3, 4, 5)
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6. A method for automatically controlling a work implement of an excavating machine through an excavation work cycle, the work implement including a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, the hydraulic cylinders containing pressurized hydraulic fluid, the method comprising the steps of:
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producing an operator control signal indicative of a desired velocity of one of the hydraulic cylinders, said control signal including a control signal magnitude; controllably actuating predetermined ones of the hydraulic cylinders to perform an excavation work cycle in response to the control signal; producing signals indicative of at lease one force associated with at least one of the hydraulic cylinders; receiving the operator control signals, comparing the control signal magnitudes to predetermined control signal magnitudes, and determining operating parameters associated with predetermined portions of the work cycle; and receiving the operator control signals and force signals, and responsively producing command signals to automatically perform subsequent work cycles in accordance with the determined operating parameters. - View Dependent Claims (7, 8, 9, 10)
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Specification