System and method for automatic bucket loading using crowd factors
First Claim
1. A control system for automatically controlling a bucket of an earthmoving machine to capture material, the bucket being controllably actuated by a hydraulic tilt cylinder and lift cylinder, the system comprising:
- sensing means for sensing machine parameters representing resistance to bucket movement through a material pile and generating machine parameter signals;
command signal generating means for receiving said machine parameter signals, responsively determining crowd factors corresponding to machine drive line torque, and generating tilt command signals in proportion to said crowd factors; and
a hydraulic implement controller for modifying hydraulic fluid flow to said cylinders in response to said command signals.
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Accused Products
Abstract
An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for producing machine parameter signals representative of how strongly the machine is crowding the pile of material to be loaded. A command signal generator monitors crowd factors corresponding to the sensed parameters to determine when the bucket contacts the pile, then generates bucket lift hydraulic cylinder command signals to maintain a traction force. The command signal generator next determines from the crowd factors when the pile is engaged near the machine capacity, then generates bucket tilt hydraulic cylinder command signals in proportion to the monitored crowd factors to rack the bucket at rates calculated to efficiently capture the material.
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Citations
19 Claims
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1. A control system for automatically controlling a bucket of an earthmoving machine to capture material, the bucket being controllably actuated by a hydraulic tilt cylinder and lift cylinder, the system comprising:
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sensing means for sensing machine parameters representing resistance to bucket movement through a material pile and generating machine parameter signals; command signal generating means for receiving said machine parameter signals, responsively determining crowd factors corresponding to machine drive line torque, and generating tilt command signals in proportion to said crowd factors; and a hydraulic implement controller for modifying hydraulic fluid flow to said cylinders in response to said command signals. - View Dependent Claims (2, 3, 4, 5)
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6. A control system for automatically controlling a bucket of an earthmoving machine to capture material, the bucket being controllably actuated by a hydraulic tilt cylinder and lift cylinder, said earthmoving machine including a drive line having a torque converter and transmission, the control system comprising:
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sensing means for sensing machine parameters representing resistance to bucket movement through a material pile, said sensing means comprising speed sensors for producing speed signals representative of engine and drive line speeds; command signal generating means for receiving the speed signals and determining crowd factors corresponding to torque converter output torque, and generating tilt command signals in response to said torque crowd factors; and a hydraulic implement controller for modifying hydraulic fluid flow to said cylinders in response to said command signals. - View Dependent Claims (7, 8, 9, 10)
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11. A method for automatically controlling a work implement of an earthworking machine to capture material, the work implement including an engine, a torque converter, a drive line and a bucket, the bucket being controllably actuated by a lift hydraulic cylinder and a tilt hydraulic cylinder, the method comprising the steps of:
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producing signals representative of sensed hydraulic pressures in the lift hydraulic cylinder; producing signals representative of engine and drive line speeds; calculating torque converter output torque from said speed signals; determining when the machine engages a pile of material by comparison of crowd factors corresponding to at least said torque converter output with first predetermined set points; and generating tilt commands as a function of said crowd factors, for controllably extending the tilt cylinder to tilt the bucket to capture the material. - View Dependent Claims (12, 13)
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14. A method for automatically controlling a work implement of an earthworking machine to capture material, the work implement including a bucket and a drive train, the drive train having an engine, a torque converter, a transmission, and rotatable members to move the bucket of the earthworking machine into a pile of the material, the bucket being controllably actuated by a lift hydraulic cylinder and a tilt hydraulic cylinder, the method comprising the steps of;
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determining crowd factors corresponding to sensed machine parameters indicative of a degree to which the machine crowds the pile, said machine parameters including drive line torque; generating tilt commands in proportion to said crowd factors corresponding to drive line torgue; and controllably extending the tilt cylinder to tilt the bucket to capture the material responsive to said tilt commands. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification