Automatic bucket loading using teaching and playback modes triggered by pile contact
First Claim
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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:
- sensing means for sensing parameters indicative of resistance to bucket movement through a material pile and producing sensed parameter signals;
command signal generating means for receiving said parameter signals, and triggering one of a learning mode for storing operator command signals and a playback mode for playing back stored operator command signals responsive to a sensed pile contact by comparison of said parameter signals with a set point; and
a hydraulic implement controller for modifying hydraulic fluid flow to said cylinders in response to said command signals.
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Abstract
An electrohydraulic control system for loading a bucket of an earthmoving machine includes sensors for sensing when the machine is crowding a pile of material to be loaded. A command signal generator monitors the sensed "crowd" parameters to trigger one of a learning or playback mode for hydraulic cylinder command signals when the parameter indicates pile contact.
66 Citations
8 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 parameters indicative of resistance to bucket movement through a material pile and producing sensed parameter signals; command signal generating means for receiving said parameter signals, and triggering one of a learning mode for storing operator command signals and a playback mode for playing back stored operator command signals responsive to a sensed pile contact by comparison of said parameter signals with a set point; 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, 6, 8)
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7. A method 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 method comprising:
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sensing parameters indicative of resistance to bucket movement through a material pile and producing sensed parameters signals; receiving said parameter signals, and triggering one of a learning mode for storing operator command signals and a playback mode for playing back stored operator command signals responsive to a sensed pile contact by comparison of said parameter signals with a set point; and modifying hydraulic fluid flow to said cylinders in response to said command signals.
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Specification