Ripper autodig system implementing machine acceleration control
First Claim
1. A control system for a machine having a power source, a traction device, and a ripping tool, comprising:
- a slip sensor configured to generate at least one signal indicative of machine slippage;
at least one actuator operable to move the ripping tool; and
a controller in communication with the slip sensor, the at least one actuator, and the power source, the controller being configured to;
receive at least one operator input indicative of an acceptable slip value;
determine an actual machine slippage based on the at least one signal;
directly and separately regulate a fueling of the power source and a movement of the ripping tool during an excavation process based on the acceptable slip value and the actual machine slippage, including lowering the ripping tool into a work surface until the actual machine slippage is within a desired value;
reduce fueling to decrease a machine travel speed in response to the actual machine slippage exceeding the acceptable slip value; and
raise the ripping tool away from the work surface in response to machine slippage only if progressive reduction of the fueling decreases the machine travel speed to a reference value without reducing the actual machine slippage below the acceptable slip value.
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Accused Products
Abstract
A control system for a machine having a power source, a traction device, and a ripping tool is disclosed. The control system may have a slip sensor configured to generate at least one signal indicative of machine slippage, and at least one actuator operable to position the ripping tool. The control system may also have a controller in communication with the slip sensor, the at least one actuator, and the power source. The controller may be configured to receive at least one operator input indicative of an acceptable slip value, and determine actual machine slippage based on the at least one signal. The controller may also be configured to directly and separately regulate a speed of the machine and a position of the ripping tool during an excavation process based on the acceptable slip value and actual machine slippage.
106 Citations
22 Claims
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1. A control system for a machine having a power source, a traction device, and a ripping tool, comprising:
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a slip sensor configured to generate at least one signal indicative of machine slippage; at least one actuator operable to move the ripping tool; and a controller in communication with the slip sensor, the at least one actuator, and the power source, the controller being configured to; receive at least one operator input indicative of an acceptable slip value; determine an actual machine slippage based on the at least one signal; directly and separately regulate a fueling of the power source and a movement of the ripping tool during an excavation process based on the acceptable slip value and the actual machine slippage, including lowering the ripping tool into a work surface until the actual machine slippage is within a desired value; reduce fueling to decrease a machine travel speed in response to the actual machine slippage exceeding the acceptable slip value; and raise the ripping tool away from the work surface in response to machine slippage only if progressive reduction of the fueling decreases the machine travel speed to a reference value without reducing the actual machine slippage below the acceptable slip value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of autonomously controlling a ripping tool of a mobile machine, comprising:
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receiving a threshold machine slip value; adjusting a current travel speed to a first threshold speed less than a maximum excavation travel speed; determining a first actual machine slippage; lowering the ripping tool into a work surface while determining the first actual machine slippage until the first actual machine slippage is within a desired value; adjusting an angle of the ripping tool after the ripping tool has been lowered into the work surface; increasing the current travel speed after the angle of the ripping tool has been adjusted; determining a second actual machine slippage after increasing the current travel speed; reducing the current travel speed while determining the second actual machine slippage until the second actual machine slippage is within a desired amount of the threshold machine slip value or until the current travel speed is within a desired amount of a second threshold speed greater than a minimum excavation travel speed; and raising the ripping tool away from the work surface in response to machine slippage only if the second actual machine slippage still exceeds the threshold slip value after the current travel speed has been reduced to the second threshold speed. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A machine, comprising:
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a power source configured to generate a power output; a traction device driven by the power output to propel the machine; a ripping tool movable to disrupt a work surface; an actuator coupled to move the ripping tool; a travel speed sensor configured to generate a first signal indicative of a machine travel speed; a traction device speed sensor configured to generate a second signal indicative of a traction device speed; and a controller in communication with the power source, the actuator, the travel speed sensor, and the traction device speed sensor, the controller being configured to; receive at least one operator input indicative of a threshold slip value; determine an actual machine slippage based on the first and second signals; and directly and separately regulate a fueling of the power source and a movement of the ripping tool during an excavation process based on the threshold slip value and the actual machine slippage, including raising the ripping tool away from the work surface in response to slippage only if the actual machine slippage exceeds the threshold slip value by the predetermined amount after reduction of the fueling of the power source to decrease the machine travel speed to a reference value. - View Dependent Claims (21, 22)
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Specification