Method and system for controlling movement of an end effector on a machine

• US 8,644,964 B2
• Filed: 05/03/2012
• Issued: 02/04/2014
• Est. Priority Date: 05/03/2012
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Hendron, Scott S., West, Sean P., Montgomery, James L., Anderson, Eric R.
• Primary Examiner(s): KASENGE, CHARLES R
• Application Number:
  US13/463,158
• Publication Number:
  US 20130297046A1
• Time in Patent Office: 642 Days
• Field of Search: 700/19, 700/20, 700/28, 700/56, 700/57, 700/59, 700/64
• US Class Current: 700/56
• CPC Class Codes: B33Y 50/00 Data acquisition or data processing for additive manufacturing
• CPC Class Codes: B33Y 80/00 Products made by additive manufacturing
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: G05B 11/01 electric

Abstract

The present disclosure provides a method of controlling movement of a reference point on an end effector of a machine, where the machine includes a controller, a first control mechanism, and a second control mechanism. The method includes initiating a movement of the reference point to a desired location with the first control mechanism. The method also includes determining an actual position of the reference point and communicating the actual position of the reference point to the controller. A second control mechanism controls the movement of the reference point to the desired location.

Claims

1. A work machine, comprising:

a controller;

an end effector controllably coupled to the controller, the end effector including a reference point corresponding to a location on the end effector;

a first control system controllably coupled to the controller, the first control system configured to move the reference point towards a desired location, where the first control system comprises a boom, a dipper stick, and a plurality of hydraulic or electronic cylinders;

a second control system controllably coupled to the controller, the second control system being controllably isolated from the first control system; and

a mechanism disposed in communication with the controller, the mechanism configured to determine an actual location of the reference point;

wherein, a difference between the actual location and desired location is communicated to the controller and the second control system is adapted to move the reference point to the desired location.

2. The work machine of claim 1, wherein the second control system comprises a six degrees of freedom linkage.

3. The work machine of claim 2, wherein the linkage comprises a Stewart platform.

4. The work machine of claim 2, wherein the linkage comprises a table being controllably independent from the reference point.

5. The work machine of claim 1, wherein the controller comprises a first controller and a second controller, the first controller controlling the first control system and the second controller controlling the second control system.

6. The work machine of claim 1, wherein the mechanism comprises an optical system coupled to the machine, the optical system structured to detect a change in texture and image flow to determine the actual location.

7. The work machine of claim 1, wherein the mechanism comprises:

a receiver in electrical communication with the controller; and

a total station positioned at a distance from the reference point, the total station being in wireless communication with the receiver.

8. The work machine of claim 1, wherein the second control system comprises a base, a table, and a plurality of actuators coupled between the base and table.

9. The work machine of claim 8, wherein the table is controllably independent of the end effector.

10. The work machine of claim 1, wherein the end effector is coupled directly to the second control system.

11. The work machine of claim 1, wherein the second control system is controllably independent of the end effector.

12. The work machine of claim 1, further comprising:

a chassis coupled to the boom and one of the plurality of hydraulic or electronic cylinders;

a plurality of scanning devices coupled to at least the chassis and the boom;

a first reflector coupled to the one of the plurality of hydraulic or electronic cylinders; and

a second reflector coupled to the reference point of the end effector;

wherein, the plurality of scanning devices is adapted to track a location of each of the first reflector and the second reflector and communicate the location of each reflector to the controller.

13. A work machine, comprising:

a chassis;

a first controller and a second controller;

a boom and hydraulic cylinder coupled to the chassis, the boom and hydraulic cylinder operably controlled by the first controller;

a multi-degree of freedom control apparatus coupled to the boom and hydraulic cylinder and being operably controlled by the second controller, wherein the multi-degree of freedom control apparatus includes a base, a table, and a plurality of actuators coupled between the base and table;

an end effector coupled to the multi-degree of freedom control apparatus, the end effector adapted to be moved to perform a desired function;

a position sensing device disposed in electrical communication with the second controller;

wherein, the first controller operably controls the boom and cylinder to move the end effector to a desired position, the position sensing device is adapted to determine an actual location of the end effector, and the second controller is adapted to detect a difference between the actual location and desired location;

further wherein, the second controller is structured to operably control the multi-degree of freedom control apparatus to move the end effector from the actual location to the desired location.

14. The work machine of claim 13, wherein the multi-degree of freedom control apparatus comprises a six degrees of freedom linkage configured to provide precise controllability.

15. The work machine of claim 13, wherein the position sensing device comprises a total station or optical system.

16. The work machine of claim 13, wherein the table is controllably independent from the end effector.

17. The work machine of claim 13, wherein the end effector is coupled directly to the table.

18. The work machine of claim 13, further comprising:

a cab or upper frame coupled to the chassis;

a dipper stick coupled to the chassis at one end and to the boom at an opposite end thereof;

a plurality of scanning devices coupled to at least the chassis, cab or upper frame, boom, and dipper stick; and

a plurality of reflectors coupled to the hydraulic cylinder and at a reference location adjacent to the end effector;

wherein, the plurality of scanning devices is adapted to track a location of each of the plurality of reflectors and communicate the location of each of the plurality of reflectors to the second controller.

19. The work machine of claim 14, wherein the linkage comprises a Stewart platform.

20. The work machine of claim 13, wherein the position sensing device comprises an optical system coupled to the machine, the optical system structured to detect a change in texture and image flow to determine the actual location of the end effector.