Tool control system

• US 8,244,438 B2
• Filed: 01/31/2008
• Issued: 08/14/2012
• Est. Priority Date: 01/31/2008
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koch, Roger Dale, Stanek, Daniel Francis
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US12/010,987
• Publication Number:
  US 20090198382A1
• Time in Patent Office: 1,657 Days
• Field of Search: 701/50, 700/275, 212/284
• US Class Current: 701/50
• CPC Class Codes: E02F 3/432 for keeping the bucket in a predetermined position or attitude
• CPC Class Codes: E02F 3/433 horizontal, e.g. self-levelling
• CPC Class Codes: E02F 9/2037 Coordinating the movements of the implement and of the frame
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/22 Hydraulic or pneumatic drives for dipper or bucket arm position control E02F3/43, for blade position control for graders E02F3/844; for turntables E02F9/121; for fork-lift trucks B66F9/22
• CPC Class Codes: E02F 9/2296 Systems with a variable displacement pump

Abstract

A tool control system is disclosed. The control system may have a first actuator configured to control a first linkage. The control system may further have a second actuator configured to control a second linkage. The control system may also have a third actuator configured to control a work tool, wherein the second linkage is connected to the work tool and movably connected to the first linkage. The control system may still further have a plurality of operator input devices configured to provide operator control of the first, second, and third actuators. The control system may also have a controller in communication with the first, second, and third actuators and the plurality of operator input devices. The controller may be configured to receive a desired tool path for the work tool. The controller may also be configured to control movement of the first, second, and third actuators based on operator input received from fewer than all of the plurality of operator input devices to move the work tool along the desired tool path.

Claims

1. A tool control system, comprising:

a first actuator configured to control movement of a first linkage;

a second actuator configured to control movement of a second linkage;

a third actuator configured to control movement of a work tool, wherein the second linkage is connected to the work tool and movably connected to the first linkage;

a plurality of operator input devices configured to provide operator input to the movement of the first linkage, the second linkage, and the work tool; and

a controller in communication with the first, second, and third actuators and the plurality of operator input devices, the controller being configured to move the work tool in a desired tool path using multiple control modes, the controller being further configured to receive identification data that identifies a type of the work tool and to select one of a first control mode or a second control mode of the multiple control modes based on the received identification data, the second control mode being different from the first control mode, wherein

in the first control mode, movement of an operator input device of the plurality of operator input devices in a first direction moves the work tool along a first path, and

in the second control mode, movement of the operator input device in the first direction moves the work tool along a second path different from the first path.

2. The system of claim 1, wherein the first linkage is a boom member and the second linkage is a stick member.

3. The system of claim 1, wherein the first actuator is a swing actuator configured to control side-to-side movement of the first linkage.

4. The system of claim 1, further including at least one sensor configured to monitor movement of the work tool relative to the desired tool path.

5. The system of claim 4, wherein the desired tool path corresponds to a tool axis of the work tool.

6. The system of claim 4, wherein the controller is further configured to:

receive work tool movement data from the at least one sensor and determine an actual position of the work tool;

determine a discrepancy value between the actual position of the work tool and the desired tool path; and

control movement of at least one of the first and second actuators to reduce the discrepancy value to below a predetermined value.

7. The system of claim 1, wherein the second linkage is pivotally connected to the first linkage and the work tool.

8. The system of claim 1, wherein the controller if is further configured to receive the identification data from the work tool.

9. The system of claim 8, wherein the the controller is configured to receive the identification data from a graphical user interface.

10. The system of claim 1, wherein the controller is further configured to receive a desired angle for the work tool.

11. The system of claim 1, wherein the first path is movement of the work tool along a linear axis and the second path is movement of the work tool along a curved axis.

12. A tool control system of a machine, comprising:

a boom member pivotally connected to frame of the machine;

a first actuator configured to control movement of the boom member;

a stick member pivotally connected to the boom member;

a second actuator configured to control movement of the stick member;

a work tool pivotally connected to the stick member;

a third actuator configured to control movement of the work tool;

a first operator input device and a second operator input device, the first and the second operator input devices being movable by an operator to actuate at least one of the first, second, and third actuators; and

a controller configured to detect a type of the work tool coupled to the machine and selectively operate in one of a first operating mode and a second operating mode based on the detected type, wherein in the first operating mode, moving the first operator input device in a first direction moves the work tool along a first path, and in the second operating mode, moving the first operator input device in the first direction moves the work tool in a second path different from the first path.

13. The tool control system of claim 12, wherein in the second operating mode, the controller is further configured to use sensor inputs to determine an actual position of the work tool as the work tool moves in the second tool path, and determine a discrepancy value between the actual position of the work tool and a desired tool path.

14. The tool control system of claim 13, wherein the controller is further configured to adjust the movement of the work tool to decrease the discrepancy value.

15. The tool control system of claim 12, further including one or more sensors configured to monitor a position and a velocity of the work tool.

16. The tool control system of claim 12, wherein the controller is configured to detect the type of the work tool based on a communication from the work tool.

17. The tool control system of claim 12, wherein the controller is configured to detect the type of the work tool based on input from an operator of the machine.

18. The tool control system of claim 12, wherein the first path is movement of the work tool along a linear axis and the second path is movement of the work tool along a curved axis.

19. A method of operating a tool control system, comprising:

actuating a first actuator to move a first linkage;

actuating a second actuator to move a second linkage;

actuating a third actuator to move a work tool, wherein the second linkage is connected to the work tool and movably connected to the first linkage;

receiving operator input to control the movement of the first linkage, the second linkage, and the work tool using a plurality of operator input devices;

communicating to the tool control system, identification data that identifies a type of the work tool; and

selecting using the control system, one of a first control mode or a second control mode based on the identification data, the second control mode being different from the first control mode, wherein

in the first control mode, movement of an operator input device of the plurality of operator input devices in a first direction moves the work tool along a first path, and

in the second control mode, movement of the operator input device in the first direction moves the work tool along a second path different from the first path.

20. The method of claim 19, wherein communicating to the control system includes transfer of identification data from the work tool to the control system.