Control system for a machine

• US 8,527,158 B2
• Filed: 11/18/2010
• Issued: 09/03/2013
• Est. Priority Date: 11/18/2010
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Faivre, Joseph, Post, Lyle
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US12/949,602
• Publication Number:
  US 20120130599A1
• Time in Patent Office: 1,020 Days
• Field of Search: None
• US Class Current: 701/50
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A control system and method operate to store target signals indicative of end of travel positions of components of a machine. The positions and velocities of the components of a machine are determined at least in part based upon signals received from sensors and command signals are generated to control movement of the components based upon input from an operator, proximate to the end of travel positions and the velocities of the components. Command signals are transmitted to control movement of the components. Multiple end of travel positions may also be defined.

Claims

1. A control system for controlling movement of a work tool of a machine near a desired end of travel position of the work tool, the machine including a boom member operatively connected to a frame, a stick member operatively connected to the boom member and the work tool operatively connected to the stick member, the control system comprising:

a controller configured to;

store target signals indicative of end of travel positions of the boom member, the stick member and the frame;

receive signals indicative of actuation of an operator input device associated with the machine, the operator input device actuation signals indicating a desired movement of the work tool;

determine positions and velocities of the boom member, the stick member and the frame based at least in part upon signals received from sensors on the machine;

compare desired speeds of movement of the boom member, the stick member and the frame based upon the operator input device actuation signals to a data map including speeds of movement of the boom member, the stick member and the frame based upon proximity to their respective end of travel positions and the velocities of the boom member, the stick member and the frame;

generate command signals to control movement of the boom member, the stick member and the frame based upon whichever movements are slower as between the desired speeds of movement and the data map speeds of movement upon the work tool moving towards the end of travel position;

generate command signals to control movement of the boom member, the stick member and the frame at the desired speeds of movement upon the work tool moving away from the end of travel position; and

transmit the command signals to the control system to control movement of the boom member, the stick member and the frame near the desired end of travel position of the work tool.

2. The control system of claim 1, wherein the controller is further configured to store signals indicative of positions of the boom member, the stick member and the frame as the target signals based upon positioning of the work tool at the desired end of travel position and actuation of a target operator input device associated with the machine.

3. The control system of claim 1, wherein the controller is further configured to store automatically the target signals upon entering a learning mode and the work tool performing a predetermined operation.

4. The control system of claim 1, wherein the controller is further configured to generate signals indicative of desired end positions of the boom member, the stick member and the frame at least in part based upon predetermined dimensions and a global positioning signal of the machine together with predetermined dimensions and a global positioning signal of a target machine positioned near the desired end of travel position of the work tool and store the generated signals as the target signals.

5. The control system of claim 4, wherein the target machine includes a load receiving structure and the predetermined dimensions include a height of the load receiving structure relative to a ground reference together with dimensions thereof.

6. The control system of claim 1, wherein the controller is further configured to store the target signals based upon at least two of three modes of operation, including:

a first mode including actuation of a target operator input device to store signals indicative of positions of the boom member, the stick member and the frame as the target signals;

a second mode in which moving the work tool to a dumping orientation automatically stores signals indicative of positions of the boom member, the stick member and the frame as the target signals; and

a third mode including generation of signals indicative of desired end positions of the boom member, the stick member and the frame at least in part based upon predetermined dimensions and a global positioning signal of the machine together with predetermined dimensions and a global positioning signal of a target machine near the desired end of travel position of the work tool and storage of the generated signals as the target signals.

7. The control system of claim 1, wherein the work tool is a bucket, the desired end of travel position is a first dump position of the bucket, and the controller is further configured to:

establish a second dump position of the bucket generally laterally spaced from the first dump position by storing second target signals indicative of second end of travel positions of the boom member, the stick member and the frame with the work tool positioned at the second dump position;

receive second signals indicative of actuation of the operator input device on the machine, the second operator input device actuation signals indicating a desired movement of the work tool towards the second dump position;

determine positions and velocities of the boom member, the stick member and the frame based at least in part upon signals received from the sensors on the machine;

generate second command signals to control movement of the boom member, the stick member and the frame based upon the second operator input device actuation signals, proximity of the boom member, the stick member and the frame to their respective second end of travel positions and the velocities of the boom member, the stick member and the frame;

transmit the second command signals to the control system to control movement of the boom member, the stick member and the frame near the second dump position; and

operate in a predetermined sequence controlling movement near the first dump position and the second dump position such that the bucket alternates dump positions between the first dump position and the second dump position upon dumping the bucket at the first dump position and the second dump position.

8. The control system of claim 1, wherein the controller is further configured to store pitch and roll target signals indicative of pitch and roll target positions of the machine relative to an global reference and generate the command signals in part based upon proximity of the machine to the pitch and roll target positions.

9. A machine, comprising:

a frame, and a frame sensor operatively connected to the frame;

a boom member operatively connected to the frame, and a boom sensor operatively connected to the boom member;

a stick member operatively connected to the boom member, and a stick sensor operatively connected to the stick member;

a work tool movable to a desired end of travel position and operatively connected to the stick member, and a work tool sensor operatively connected to the work tool;

a control system configured to move the boom member, the stick member and frame;

an operator input device; and

a controller configured to;

store target signals indicative of end of travel positions of the boom member, the stick member and the frame;

receive signals indicative of actuation of an operator input device associated with the machine, the operator input device actuation signals indicating a desired movement of the work tool;

determine positions and velocities of the boom member, the stick member and the frame based at least in part upon signals received from sensors on the machine;

compare desired speeds of movement of the boom member, the stick member and the frame based upon the operator input device actuation signals to a data map including speeds of movement of the boom member, the stick member and the frame based upon proximity to their respective end of travel positions and the velocities of the boom member, the stick member and the frame;

generate command signals to control movement of the boom member, the stick member and the frame based upon whichever movements are slower as between the desired speeds of movement and the data map speeds of movement upon the work tool moving towards the end of travel position;

generate command signals to control movement of the boom member, the stick member and the frame at the desired speeds of movement upon the work tool moving away from the end of travel position; and

transmit the command signals to the control system to control movement of the boom member, the stick member and the frame near the desired end of travel position of the work tool.

10. The machine of claim 9, wherein the controller is further configured to store signals indicative of positions of the boom member, the stick member and the frame as the target signals based upon positioning of the work tool at the desired end of travel position and actuation of a target operator input device associated with the machine.

11. The machine of claim 9, wherein the controller is further configured to generate signals indicative of desired positions of the boom member, the stick member and the frame at least in part based upon predetermined dimensions and a global positioning signal of the machine together with predetermined dimensions and a global positioning signal of a target machine positioned near the desired end of travel position of the work tool and store the generated signals as the target signals.

12. The machine of claim 9, wherein the machine further includes pitch and roll sensors and the controller is further configured to store pitch and roll target signals from the pitch and roll sensors indicative of pitch and roll target positions of the machine relative to an global reference and generate the command signals at least in part based upon proximity of the machine to the pitch and roll target positions.

13. A controller-implemented method of controlling movement of a work tool of a machine near a desired end of travel position of the work tool, the method comprising:

identifying a desired end of travel position of the work tool;

storing target signals within a controller indicative of end of travel positions of a work tool, a boom member, a stick member and a frame on the machine;

receiving signals at the controller indicative of actuation of an operator input device associated with the machine, the operator input device actuation signals indicating a desired movement of the work tool;

determining positions and velocities of the boom member, the stick member and the frame based at least in part upon signals received by the controller from sensors on the machine;

comparing desired speeds of movement of the boom member, the stick member and the frame based upon the operator input device actuation signals to a data map including speeds of movement of the boom member, the stick member and the frame based upon proximity to their respective end of travel positions and the velocities of the boom member, the stick member and the frame;

generating command signals within the controller to control movement of the boom member, the stick member and the frame based upon whichever movements are slower as between the desired speeds of movement and the data map speeds of movement upon the work tool moving towards the end of travel position;

generating command signals to control movement of the boom member, the stick member and the frame at the desired speeds of movement upon the work tool moving away from the end of travel position; and

transmitting the command signals from the controller to a control system to control movement of the boom member, the stick member and the frame near the desired end of travel position of the work tool.

14. The method of claim 13, further including the steps of positioning of the work tool at the desired end of travel position and actuating a target operator input device associated with the machine to store the target signals within the controller.

15. The method of claim 13, further including the step of storing automatically within the controller the target signals upon entering a learning mode and the work tool performing a predetermined operation.

16. The method of claim 13, further including the step of generating signals within the controller indicative of desired end positions of the boom member, the stick member and the frame at least in part based upon predetermined dimensions and a global positioning signal of the machine together with predetermined dimensions and a global positioning signal of a target machine positioned near the desired end of travel position of the work tool and storing the generated signals as the target signals.

17. The method of claim 13, wherein the storing step is based upon one of multiple modes of operation, a first mode including actuating a target operator input device to store signals indicative of positions of the boom member, the stick member and the frame as the target signals and a second mode including generating signals indicative of desired end positions of the boom member, the stick member and the frame at least in part based upon predetermined dimensions and a global positioning signal of the machine together with predetermined dimensions and a global positioning signal of a target machine positioned near the desired end of travel position of the work tool and storing the generated signals as the target signals.

18. The method of claim 13, wherein the work tool is a bucket, the desired end of travel position is a first dump position of the bucket, and further including the steps of:

identifying a second dump position of the bucket generally laterally spaced from the first dump position by storing second target signals within the controller indicative of second end of travel positions of the boom member, the stick member and the frame with the work tool positioned at the second dump position;

after dumping the bucket at the first dump position;

receiving second signals at the controller indicative of actuation of the operator input device on the machine, the second operator input device actuation signals indicating a desired movement of the work tool towards the second dump position,

determining positions and velocities of the boom member, the stick member and the frame based at least in part upon signals received by the controller from the sensors on the machine,

generating second command signals within the controller to control movement of the boom member, the stick member and the frame based upon the second operator input device actuation signals, proximity of the boom member, the stick member and the frame to their respective second end of travel positions and the velocities of the boom member, the stick member and the frame,

transmitting the second command signals from the controller to the hydraulic system to control movement of the boom member, the stick member and the frame near the second dump position; and

after dumping the bucket at the second dump position, repeating the steps of receiving, determining, generating and transmitting with respect to the first dump position.