Self-adapting excavation control system and method
First Claim
1. A control system for automatically controlling a work implement of an excavating machine through a machine 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:
- memory means for storing a plurality of command signal magnitudes for controlling at least one hydraulic cylinder, the command signal magnitudes being represented by a plurality of control curves, each control curve corresponding to a material condition setting that is representative of a condition of an excavated material;
logic means for selecting one of the plurality of control curves responsive to a determined said material condition setting indicated by the condition of the excavated material and producing command signals having a magnitude dictated by the selected said control curve; and
actuating means for receiving the command signals and responsively actuating predetermined ones of the hydraulic cylinders to perform the work cycle.
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Accused Products
Abstract
A control system for automatically controlling a work implement of an excavating machine through a machine work cycle in disclosed. The work implement including a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder. A plurality of command signal magnitudes associated with at least one hydraulic cylinder are stored. The command signal magnitudes are represented by a plurality of control curves, where each control curve is responsive to a material condition setting that is representative of a predetermined condition of the excavating material. A microprocessor selects one of the plurality of control curves and responsively produces a command signal having a magnitude dictated by the selected control curve. A electrohydraulic system receives the command signal and controllably actuates predetermined ones of the hydraulic cylinders to perform the work cycle.
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Citations
19 Claims
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1. A control system for automatically controlling a work implement of an excavating machine through a machine 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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memory means for storing a plurality of command signal magnitudes for controlling at least one hydraulic cylinder, the command signal magnitudes being represented by a plurality of control curves, each control curve corresponding to a material condition setting that is representative of a condition of an excavated material; logic means for selecting one of the plurality of control curves responsive to a determined said material condition setting indicated by the condition of the excavated material and producing command signals having a magnitude dictated by the selected said control curve; and actuating means for receiving the command signals and responsively actuating predetermined ones of the hydraulic cylinders to perform the work cycle. - 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 a machine 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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storing a plurality of command signal magnitudes associated with at least one hydraulic cylinder, the command signal magnitudes being represented by a plurality of control curves, each control curve corresponding to a material condition setting that is representative of a condition of an excavated material; selecting one of the plurality of control curves responsive to a material condition setting determined from said excavated material condition and producing a command signal having a magnitude dictated by the selected control curve, responsive to a force imposed on a said hydraulic cylinder; receiving the command signal and controllably actuating predetermined ones of the hydraulic cylinders in response to said command signal to perform the work cycle. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A control system for automatically controlling a work implement through a machine work cycle, said implement having a bucket controllably actuated by at least one hydraulic cylinder, comprising:
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memory means for storing a plurality of command signal magnitudes for controlling said at least one hydraulic cylinder, said command signal magnitudes being described in correspondence with respective hydraulic cylinder pressures by a plurality of control curves, each control curve corresponding to a material condition setting that is representative of a condition of an excavated material; logic means for selecting one of the plurality of control curves responsive to a determined said material condition setting indicated by the condition of the excavated material and responsively producing command signals having a magnitude dictated by the selected said control curve; and actuating means for receiving the command signals and responsively actuating predetermined ones of the hydraulic cylinders to perform the work cycle. - View Dependent Claims (17, 18, 19)
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Specification