Repositioning assist for an excavating operation

• US 7,634,863 B2
• Filed: 11/30/2006
• Issued: 12/22/2009
• Est. Priority Date: 11/30/2006
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Price, Robert J., Koch, Roger D., Alig, Jeffrey S., Stanek, Daniel
• Primary Examiner(s): PEZZUTO, ROBERT ERIC
• Application Number:
  US11/606,171
• Publication Number:
  US 20080133094A1
• Time in Patent Office: 1,118 Days
• Field of Search: 373/48, 374/66, 374/14, 371/95, 172 2- 11, 701/35, 701/50, 414/699
• US Class Current: 37/348
• CPC Class Codes: E02F 9/2041 Automatic repositioning of implements, i.e. memorising determined positions of the implement for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence
• CPC Class Codes: E02F 9/26 Indicating devices E02F5/145 takes precedence
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A method is provided for enhancing the repositioning of an excavating machine, including an excavating assemblage, from one set-up position to a next, subsequent set-up position. A joystick is controlled in implement control mode to operate at least one of a boom, a stick, and a bucket of the excavating assemblage during a first excavating phase from a first machine set-up position. The first excavating phase is terminated and, during a machine repositioning phase, the machine is moved to a second machine set-up position for a second excavating phase at the second machine set-up position. After terminating the first excavating phase and before moving the machine to the second machine set-up position, an input/display device is accessed and activated to convert the joystick from implement control mode to machine control mode. At least machine steering and machine propulsion are controlled with the joystick set in the machine control mode during the machine repositioning phase. Before beginning the second excavating phase, an input/display device is accessed and activated to convert the joystick from machine control mode to implement control mode. The joystick is controlled in implement control mode to operate the excavating assemblage during the second excavating phase from the second machine set-up position.

Claims

1. A method of enhancing the repositioning of an excavating machine, including an excavating assemblage, from one set-up position to a next, subsequent set-up position, comprising:

controlling a joystick in implement control mode to operate at least one of a boom, a stick, and a bucket of the excavating assemblage during a first excavating phase from a first machine set-up position;

terminating the first excavating phase and, during a machine repositioning phase, moving the machine to a second machine set-up position for a second excavating phase at the second machine set-up position;

after terminating the first excavating phase and before moving the machine to the second machine set-up position, accessing and activating an input/display device to convert the joystick from implement control mode to machine control mode;

controlling at least machine steering and machine propulsion with the joystick set in the machine control mode during the machine repositioning phase;

before beginning the second excavating phase, accessing and activating the input/display device to convert the joystick from machine control mode to implement control mode; and

controlling the joystick in implement control mode to operate the excavating assemblage during the second excavating phase from the second machine set-up position.

2. The method of claim 1, wherein the excavating assemblage is mounted at the rear of the excavating machine, and wherein controlling a joystick in implement control mode includes controlling from an operator seat facing toward the rear of the excavating machine.

3. The method of claim 2, wherein controlling at least machine steering and machine propulsion with the joystick set in the machine control mode includes controlling from the operator seat facing toward the rear of the excavating machine.

4. The method of claim 3, wherein accessing and activating the input/display device includes activating a virtual button on a touch screen, and includes activating the virtual button from the operator seat facing toward the rear of the excavating machine.

5. The method of claim 4, wherein controlling the joystick in implement control mode includes controlling left and right joysticks from the operator seat facing toward the rear of the excavating machine with one of the left and right joysticks controlling the stick and a swing mechanism, and the other of the left and right joysticks controlling the boom and the bucket.

6. The method of claim 1, wherein the input/display device includes a touch screen display, and further including activating a virtual button on the touch screen display to initiate an automated machine preparation for repositioning mode after terminating the first excavating phase and before moving the machine to a second machine set-up position for a second excavating phase.

7. The method of claim 1, further including, after terminating the first excavating phase, and before moving the machine to the second machine set-up position, initiating an automated machine preparation for repositioning mode for preparing the machine for repositioning to the second set-up position for the second excavating phase.

8. The method of claim 1, further including

determining a target distance to the second machine set-up position;

initiating a machine repositioning phase;

moving the machine toward the second machine set-up position;

determining when the machine has traveled the target distance; and

stopping the machine under automated machine control at the second machine set-up position.

9. A system for enhancing the repositioning of an excavating machine from one set-up position to a next, subsequent set-up position during excavation of an elongated trench, comprising:

an excavating assemblage, including a boom, a stick, and a bucket, configured to excavate during an excavating phase from a first machine set-up position;

a ground transportation assembly configured to move the machine to a second machine set-up position during a machine repositioning phase, for an excavating phase at the second machine set-up position;

a control system including a control module configured to send signals to machine components and receive signals from machine components;

at least one joystick configured to be set in an implement control mode permitting control of movement of at least one of the boom, stick, and bucket during an excavating phase, and configured to be set in a machine control mode permitting control of at least machine steering and machine propulsion during a machine repositioning phase; and

an input/display device configured to be accessed and activated by an operator to send a signal to the control module to activate conversion of the at least one joystick from the implement control mode to the machine control mode, and configured to be accessed and activated by the operator to send a signal to the control module to activate conversion of the at least one joystick from the machine control mode to the implement control mode.

10. The system of claim 9, wherein the excavating assemblage is mounted at the rear of the excavating machine, further including:

a front loader assembly mounted at the front of the machine.

11. The system of claim 10, wherein the excavating machine includes a tractor and a cab mounted on the tractor, and wherein the control module, the input/display device, and the at least one joystick are mounted in the cab.

12. The system of claim 11, further including a steering wheel and a pedal located in the cab and configured to permit steering of the machine and control of engine speed during machine transportation.

13. The system of claim 12, further including an operator seat mounted in the cab and movable from a position facing toward the machine front and giving operator access to the steering wheel and pedal from the seat, to a position facing toward the machine rear and giving operator access to the at least one joystick and the input/display device.

14. The system of claim 13, wherein the at least one joystick includes left and right joysticks positioned proximate the operator seat and accessible to an operator when the operator seat is facing toward the machine rear.

15. The system of claim 9, wherein the input/display device includes a touch screen display and a virtual button configured to send a signal to the control module to initiate automated control of machine steering and machine propulsion.

16. A machine for excavating during a plurality of excavating phases at a plurality of set-up positions, comprising:

an engine, a steering assembly, and a transmission mounted on the machine;

a ground transportation assembly mounted on the machine and configured to move the machine between a first machine set-up position and a second machine set-up position during a machine repositioning phase;

an excavating assemblage, including a boom pivoted to the machine, a stick pivoted to the boom, and a bucket pivoted to the stick, configured to excavate during an excavating phase from the first machine set-up position;

a control system including a control module configured to send signals to and receive signals from machine components including at least the engine, the steering assembly, the transmission, and the excavating assemblage;

a joystick configured to be set in an implement control mode permitting control of movement of at least one of the boom, the stick, and the bucket during an excavating phase, and configured to be set in a machine control mode permitting control of at least the steering assembly and engine speed during a machine repositioning phase; and

a touch screen display including a virtual button configured to send a signal to the control module to activate conversion of the joystick from the implement control mode to the machine control mode, and including a virtual button configured to send a signal to the control module to activate conversion of the joystick from the machine control mode to the implement control mode.

17. The machine of claim 16, wherein the machine is a backhoe loader including a tractor with a front loader assembly mounted at the front of the tractor, a pair of stabilizers, and the excavating assembly mounted at the rear of the tractor, and wherein the control module is further configured to send signals to the front loader assembly and the pair of stabilizers for stabilizing and leveling the machine prior to an excavating phase.

18. The machine of claim 16, further including:

an operator station including a seat movable to a position facing toward the machine front and movable to a position facing toward the machine rear;

wherein the touch screen display is positioned proximate the operator station so as to enable an operator to access and activate the virtual button when the operator is in the seat and the seat is in a position facing toward the machine rear.

19. The machine of claim 18, wherein the joystick is mounted so as to enable an operator to operate the joystick when the operator is in the seat and the seat is in a position facing toward the machine rear.

20. The machine of claim 16, wherein the machine is a backhoe loader including a tractor with the excavating assemblage mounted at the rear of the tractor, further including:

a front loader assembly mounted at the front of the tractor;

a pair of stabilizers mounted on the tractor,

a cab on the tractor including an operator seat movable to a position facing toward the machine front and movable to a position facing toward the machine rear;

wherein the control module is further configured to send signals to the front loader assembly and the pair of stabilizers for stabilizing and leveling the machine prior to an excavating phase; and

wherein the touch screen display and joystick are positioned proximate the operator seat and positioned to enable an operator to access and activate the virtual button and operate the joystick when the operator is in the seat and the seat is in a position facing toward the machine rear.