Control for hydraulically operated construction machine having multiple tandem articulated members

• US 5,572,809 A
• Filed: 03/30/1995
• Issued: 11/12/1996
• Est. Priority Date: 03/30/1995
• Status: Expired due to Term

• Current Assignee: Hexagon Holdings Incorporated
• Original Assignee: Laser Alignment, Inc. (Hexagon AB)
• Inventors: Walstra, Eric J., Steenwyk, Timothy E.
• Primary Examiner(s): Reese, Randolph A.
• Assistant Examiner(s): Beach, Thomas A.
• Application Number:
  US08/414,991
• Time in Patent Office: 593 Days
• Field of Search: 37/348, 37/464, 37/906, 37/907, 364/424.07, 172/2, 172/4, 172/4.5, 172/7, 414/694, 414/695.5, 414/699, 414/786
• US Class Current: 37/348
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
• CPC Class Codes: G05B 2219/39002 Move tip of arm on straight line
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: G05B 2219/40151 Time delay, problems caused by time delay between local and remote
• CPC Class Codes: G05B 2219/41273 Hydraulic
• CPC Class Codes: G05B 2219/42033 Kind of servo controller
• CPC Class Codes: G05B 2219/45012 Excavator
• CPC Class Codes: Y10S 37/907 Automatic leveling excavators

Abstract

An apparatus and method for controlling a hydraulically operated construction machine, having a plurality of tandem articulated members which are controlled in a manner that movement of one of the members is controlled in response to movement of another of the members, in order to move the members in a predetermined pattern. The members are controlled in response to the anticipated future movement of the another member. Anticipated future movement of the another member may be determined, for example, as a function of the present position and velocity of the another member and system delay in movement of the another member. Where the another member is controlled manually by an operator control lever coupled with a manual hydraulic control valve, anticipated future movement may be determined by monitoring actuation of the control lever.

Claims

1. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member at least in part with an electronic control as a function at least of said anticipated future movement of said second member wherein said second member is manually controlled by a hydraulic valve which is responsible to an operator control lever and wherein said determining anticipated future movement of said second member includes monitoring actuation of said control lever in order to provide an input to said electronic control.

2. The method of claim 1 wherein said monitoring actuation of said control lever includes determining a magnitude of actuation of said control lever.

3. The method of claim 1 wherein said controlling includes initiating movement of said first member in response to actuation of said control lever.

4. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member as a function at least of said anticipated future movement of said second member;

wherein said anticipated future movement of said second member is a function at least of present position and velocity of said second member and system delay in movement of said second member.

5. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member, wherein said second member is controlled by an operator control lever and wherein said determining anticipated future movement of said second member includes monitoring actuation of said control lever; and

controlling said first member as a function at least of said anticipated future movement of said second member;

wherein said controlling includes initiating movement of said second member after a predetermined delay in response to actuation of said control lever.

6. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member as a function at least of said anticipated future movement of said second member and as a function of the present position and the derivative and integral of said position of said present first member.

7. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm at least in part with an electronic control as a function at least of said anticipated future movement, wherein the operator lever is coupled with a manual hydraulic control valve that manually operates the hydraulic cylinder of said one of said boom and arm and wherein said determining anticipated future movement of said one of said boom and arm includes monitoring actuation of said control lever in order to provide an input to said electronic control.

8. The method of claim 7 wherein said monitoring actuation of said control lever includes determining a magnitude of actuation of said control lever.

9. The method of claim 7 further including determining anticipated future movement of said bucket and wherein said controlling is further a function of said anticipated future movement of said bucket.

10. The method of claim 7 further including calibrating said bucket cutting edge by locating said cutting edge at a reference datum and determining a position of said cutting edge during said locating.

11. The method of claim 7 further including calibrating said bucket cutting edge by receiving a rotating laser plane and determining a position of said cutting edge during said receiving.

12. The method of claim 11 wherein said receiving includes providing a laser receiver on one of said boom and arm.

13. The method of claim 7 including providing another operator lever for operating the hydraulic cylinder of the other of said boom and arm and inhibiting said controlling in response to significant actuation of said another operator lever.

14. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement;

wherein said anticipated future movement of said one of said boom and arm is a function at least of the present position and velocity of said one of said boom and arm and system delay in movement of said one of said boom and arm.

15. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said other of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement and as a function of the present position and the integral and derivative of said position of said other of said boom and arm.

16. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm;

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement of said one of said boom and arm; and

determining anticipated future movement of said bucket and wherein said controlling is further a function of said anticipated future movement of said bucket, wherein said anticipated future movement of said bucket is a function at least of the present position and velocity of said bucket and system delay in movement of said bucket.

17. The method of claim 16 wherein said controlling is further a function of at least one of a target height and slope.

18. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement;

wherein said controlling includes limiting movement of said cutting edge below a given velocity.

19. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of said arm, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm, including:

receiving a user input selection of a desired cutting depth;

monitoring movement of said bucket, said arm, and said boom;

determining an anticipated boom target position for said boom as a function of the selected desired cutting depth and the position, velocity, and system delay of each of said bucket and said arm; and

controlling said boom to move in the direction of said anticipated boom target position.

20. The method of claim 19 wherein said controlling includes comparing the position of said boom with said anticipated boom target position to determine a boom error and moving said boom as a function of the value of said boom error and the integral and derivative of said boom error.

21. The method of claim 19 wherein said determining said anticipated boom target position further includes monitoring said operator lever and determining said anticipated boom target position further as a function of actuation of said operator level.

22. The method of claim 21 wherein said determining includes determining said anticipated boom target position as a function of a magnitude of actuation of said operator level.

23. The method of claim 19 including providing another operator lever for operating said boom hydraulic cylinder and inhibiting said controlling in response to significant actuation of said boom operating lever.

24. The method of claim 19 further including calibrating said bucket cutting edge by receiving a rotating laser plane and determining a position of said cutting edge during said receiving.

25. The method of claim 24 wherein said receiving includes providing a laser receiver on one of said boom and said arm.

26. The method of claim 19 further including calibrating said bucket cutting edge by locating said cutting edge at a reference datum and determining a position of said cutting edge during said locating.

27. A hydraulically operated construction machine having a body, a plurality of tandem articulated members extending from said body, a hydraulic drive system for moving said members with respect to each other subject to a system delay, and a control for said hydraulic drive system which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, comprising:

position encoders on said first and second members, said position encoders monitoring the positions of said first and second members; and

a control computer that is programmed to respond to said encoders to determine an anticipated boom target position for said first member as a function of the position, velocity, and system delay of said second member, said computer further being programmed to compare the position of said first member to said anticipated target position in order to control movement of said first member.

28. The hydraulically operated construction machine in claim 27 wherein said computer controls movement of said first member as a function of the value of said comparison and the integral and derivative of said comparison.

29. The hydraulically operated construction machine in claim 27 further including an operator control lever for manually controlling movement of said second member in response to actuation of said control lever and a monitor for said control lever, said computer being programmed to respond to said monitor in order to determine said anticipated boom target position also as a function of actuation of the control lever.

30. The hydraulically operated construction machine in claim 29 wherein said monitor provides a variable indication of the magnitude of actuation of the control lever.

31. The hydraulically operated construction machine in claim 27 further including an operator panel for receiving a user input selection of a target position of said second member and wherein said computer is programmed to respond to said control panel in order to determine said anticipated boom target position for said first member also as a function of the selected target position.

32. A hydraulic excavator control for a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an arm operator lever for operating the hydraulic cylinder of said arm and a bucket operating lever for operating the hydraulic cylinder of the bucket, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm and bucket, comprising:

position encoders for monitoring the positions of said boom, arm, and bucket; and

a control computer programmed to respond to said encoders in order to develop commands to operate said boom as a function of the position, velocity, and system delay of each of said arm and said bucket and the position of said boom.

33. The hydraulic excavator control in claim 32 wherein said computer is programmed to determine a boom error by comparing said boom position with an anticipated boom target position value and develops said commands as a function of the value of said boom error and the integral and derivative of said boom error.

34. The hydraulic excavator control in claim 32 further including a monitor for said control lever and wherein said computer is programmed to be responsive to said monitor in developing said commands to operate said boom.

35. A hydraulic excavator control for a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an arm operator lever for operating the hydraulic cylinder of said arm and a bucket operating lever for operating the hydraulic cylinder of the bucket, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm and bucket, comprising:

position encoders for monitoring the positions of said boom, arm, and bucket;

a manual hydraulic valve directly coupled with said lever in order to manually operate the hydraulic cylinder of the arm;

a control lever monitor for actuation of said arm control lever; and

a control computer programmed to be responsive to said encoders and said monitor in order to develop commands to operate said boom as a function of the position of said arm and bucket and actuation of said arm control lever.

36. A hydraulic excavator control for a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an arm operator lever for operating the hydraulic cylinder of said arm and a bucket operating lever for operating the hydraulic cylinder of the bucket, the hydraulic cylinder of said boom being automatically controlled in response to movement of said arm and bucket, comprising:

position encoders for monitoring the positions of said boom, arm, and bucket;

a control lever monitor for actuation of said arm control lever; and

a control computer programmed to be responsive to said encoders and said monitor in order to develop commands to operate said boom as a function of the position of said arm and bucket and actuation of said arm control lever;

wherein said hydraulic control system includes a primary operating system including pilot-operated valves for supplying high pressure fluid to said cylinders and a pilot system including said arm operating lever for supplying low pressure fluid to said pilot-operated valves, and wherein said monitor is a hydraulic pressure sensor connectable with said pilot system at said control lever.

37. The hydraulic excavator control in claim 36 including an electrically controlled valve connected hydraulically in parallel with said pilot valve for said boom and wherein said commands to operate said boom are supplied to said electrically controlled valve.