Method for developing an algorithm to efficiently control an autonomous excavating linkage
First Claim
1. A control system for movement of a work implement from a dig location to a dump location, the work implement having a boom defined by a boom joint angle θ
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boom and controllably moved by actuation of a boom hydraulic cylinder, a stick defined by a stick joint angle θ
stick and controllably moved by actuation of a stick hydraulic cylinder, a bucket defined by a bucket joint angle θ
bucket and controllably moved by a bucket hydraulic cylinder, and a swing casting defined by a swing joint angle θ
swing, the control system comprises;
(a) a central processing unit and a memory device;
(b) an initialization module stored on said memory device and adapted to determine initial and final joint angles for an initial cycle of the work implement indicative of the dig and dump locations, respectively;
(c) a hydraulic valve connected to said central processing unit and to the work implement;
(d) a fuzzy control module stored on said memory device, said fuzzy control module comprising a first fuzzy controller adapted to instruct the central processing unit in a finite state manner to output a first de-fuzzified control signal to said hydraulic valve to cause the work implement to smoothly move from the dig location to the dump location while minimizing energy requirements; and
(e) wherein said first fuzzy controller comprises a second fuzzifier adapted to generate a first fuzzified delta linkage inertia value in response to a change between initial and final linkage inertia values.
1 Assignment
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Accused Products
Abstract
The present invention is a control system for controlling movement of a work implement from a dig location to a dump location. The work implement has at least four degrees of freedom defined by a swing joint angle θswing, a boom joint angle θboom, a stick joint angle θstick, and a bucket joint angle θbucket. In one embodiment, the control system comprises a central processing unit and a memory device. The control system further comprises an initialization module stored on the memory device and adapted to determine specified initial and final joint angles for an initial cycle of the work implement indicative of the specified dig and dump locations, respectively. The control system further comprises a hydraulic valve connected to the central processing unit and to the work implement. The control system further comprises a fuzzy control module stored on the memory device. The fuzzy control module comprises a fuzzy-logic swing valve control module, a fuzzy-logic boom valve control module and a fuzzy-logic stick valve control module each adapted to instruct the central processing unit in a finite state manner to output at least one control signal to the hydraulic valve to cause the work implement to smoothly move from the dig location to the dump location while minimizing energy requirements.
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Citations
14 Claims
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1. A control system for movement of a work implement from a dig location to a dump location, the work implement having a boom defined by a boom joint angle θ
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boom and controllably moved by actuation of a boom hydraulic cylinder, a stick defined by a stick joint angle θ
stick and controllably moved by actuation of a stick hydraulic cylinder, a bucket defined by a bucket joint angle θ
bucket and controllably moved by a bucket hydraulic cylinder, and a swing casting defined by a swing joint angle θ
swing, the control system comprises;(a) a central processing unit and a memory device;
(b) an initialization module stored on said memory device and adapted to determine initial and final joint angles for an initial cycle of the work implement indicative of the dig and dump locations, respectively;
(c) a hydraulic valve connected to said central processing unit and to the work implement;
(d) a fuzzy control module stored on said memory device, said fuzzy control module comprising a first fuzzy controller adapted to instruct the central processing unit in a finite state manner to output a first de-fuzzified control signal to said hydraulic valve to cause the work implement to smoothly move from the dig location to the dump location while minimizing energy requirements; and
(e) wherein said first fuzzy controller comprises a second fuzzifier adapted to generate a first fuzzified delta linkage inertia value in response to a change between initial and final linkage inertia values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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boom and controllably moved by actuation of a boom hydraulic cylinder, a stick defined by a stick joint angle θ
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14. A method for controlling movement of a work implement having at least one hydraulic valve from a specified dig location to a specified dump location, the method comprising the steps of:
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(a) determining specified initial and final joint angles for an initial cycle of the work implement indicative of the specified dig and dump locations, respectively;
(b) entering a delta joint angle value into a first fuzzifier;
(c) entering a delta linkage inertia value into a second fuzzifier;
(d) generating a fuzzified delta joint angle value;
(e) generating a fuzzified delta linkage inertia value;
(f) inferring from a rule base a first fuzzified hydraulic valve control signal based upon said fuzzified delta joint angle value and said fuzzified delta linkage inertia value;
(g) generating a de-fuzzified hydraulic valve control signal; and
(h) outputting said de-fuzzified hydraulic valve control signal to the hydraulic valve to control movement of the work implement.
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Specification