Machine, control system and method for hovering an implement

• US 8,843,282 B2
• Filed: 11/02/2011
• Issued: 09/23/2014
• Est. Priority Date: 11/02/2011
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Atkinson, David C.
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): QUILLEN, ALLEN ERNEST
• Application Number:
  US13/287,334
• Publication Number:
  US 20130108403A1
• Time in Patent Office: 1,056 Days
• Field of Search: 701/50
• US Class Current: 701/50
• CPC Class Codes: E02F 3/434 providing automatic sequences of movements, e.g. automatic dumping or loading, automatic return-to-dig
• CPC Class Codes: E02F 3/439 Automatic repositioning of the implement, e.g. automatic dumping, auto-return E02F3/438 takes precedence
• 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 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

A machine such as a wheel loader includes a frame and ground engaging propulsion elements coupled with the frame. A hydraulically actuated implement system of the machine includes a linkage and an implement and is adjustable from a starting configuration to a second configuration according to a substrate collision avoiding pattern. In the second configuration, the implement hovers above a substrate beneath the machine. Related methodology and control logic is also disclosed.

Claims

1. A method of controlling a hydraulically actuated implement system having a linkage and an implement, in a self-propelled ground engaging machine having a frame where the linkage is rotatable about a first axis relative the frame via a first hydraulic actuator and the implement is rotatable about a second axis relative the frame via a second hydraulic actuator, the method comprising the steps of:

electronically reading via an electronic control unit a stored gain which is linked with a starting configuration of the implement system, responsive to an implement hover command;

outputting a first control signal from the electronic control unit which is based at least in part on the stored gain to a first electrical actuator coupled with a first control valve for the first hydraulic actuator;

outputting a second control signal from the electronic control unit to a second electrical actuator coupled with a second control valve for the second hydraulic actuator; and

actuating the implement system via adjustment of the first electrical actuator responsive to the first control signal and adjustment of the second electrical actuator responsive to the second control signal, such that the implement system is moved via the first and second hydraulic actuators according to a substrate collision avoiding pattern from the starting configuration to a second configuration at which the implement hovers above a substrate beneath the machine;

the actuation of the implement system further including moving the linkage at a speed of rotation about the first axis commanded via the first control signal, and moving the implement at a speed of rotation about the second axis commanded via the second control signal and being dependent upon the commanded speed of rotation of the linkage; and

determining the first control signal such that the commanded speed of rotation of the linkage from the starting configuration is less than a maximum speed of rotation of the linkage.

2. The method of claim 1 further comprising a step of receiving the implement hover command while the linkage is raised, and wherein the step of actuating further includes lowering the implement system from the starting configuration to the second configuration.

3. The method of claim 2 further comprising a step of receiving data indicative of a starting linkage state, the starting configuration being defined at least in part by the starting linkage state from among a plurality of possible starting configurations.

4. The method of claim 3 wherein the linkage includes a lift arm and the implement includes a bucket, and wherein the step of receiving data further includes receiving data indicative of position, travel speed, and travel direction, of the lift arm.

5. The method of claim 4 wherein the step of actuating further includes tilting the bucket responsive to the starting linkage state.

6. The method of claim 3 wherein the step of electronically reading further includes reading the stored value gain at an address having a starting linkage state coordinate.

7. The method of claim 6 wherein the step of electronically reading further includes reading the stored value gain at an address having an implement type coordinate.

8. The method of claim 7 wherein the step of receiving the implement hover command includes receiving the command from an operator input device having a total of two different states.

9. The method of claim 1 wherein the step of actuating further includes actuating the implement system such that the implement hovers at a height above the substrate which is less than about 5% of a maximum lift height of the implement, during forward travel of the machine.

10. A control system for a hydraulically actuated implement system having a linkage and an implement rotatable relative one another and relative a machine frame, in a self-propelled ground engaging machine, comprising:

a first electrical control valve actuator;

a second electrical control valve actuator;

a computer readable memory storing a gain linked with a starting configuration of the implement system;

an electronic control unit coupled with the computer readable memory and configured to read the stored gain, in response to an implement hover command; and

the electronic control unit being in control communication with the first and second electrical control valve actuators, and being further configured to determine and output a first control signal to the first electrical control valve actuator which is based at least in part on the stored gain and commands a first speed of rotation of the linkage, and to determine and output a second control signal to the second electrical control valve actuator which commands a second speed of rotation of the implement which is dependent upon the first speed, and where the commanded speed of linkage rotation from the starting cg is less than a maximum speed of linkage rotation; and

the electronic control unit being further configured to actuate the implement system via the first and second control signals, such that the implement system is moved via first and second hydraulic actuators controlled by the first and second electrical control valve actuators, respectively, according to a substrate collision avoiding pattern from the starting configuration to a second configuration at which the implement hovers above a substrate beneath the machine.

11. The control system of claim 10 wherein the gain is one of a plurality of gains stored on the computer readable memory and each being linked to a different one of a plurality of possible starting configurations of the implement system.

12. The control system of claim 11 wherein each of the plurality of stored gains has an address on the computer readable memory including a starting linkage position coordinate, whereby the plurality of stored values gains are linked to the plurality of possible starting configurations.

13. The control system of claim 11 wherein the electronic control unit is further configured to receive data indicative of a throttle position in the machine and to output the control signal responsive to the data indicative of throttle position.

14. The control system of claim 11 further comprising a sensor configured to sense a position of the linkage, and wherein the electronic control unit is coupled with the sensor and configured to read the stored value responsive to a sensed starting position of the linkage.

15. The control system of claim 14 wherein the first electrical control valve actuator is coupled with a control valve for a lift actuator of the linkage and the second electrical control valve actuator is coupled with a control valve for a tilt actuator of the implement.

16. The control system of claim 15 wherein the substrate collision avoiding pattern is defined in part by a speed of rotation of the linkage about a pivot axis with the machine and in part by a speed of rotation of the implement about a pivot axis with the linkage.

17. A machine comprising:

a frame;

ground engaging propulsion elements coupled with the frame;

a hydraulically actuated implement system having a linkage rotatable relative the frame about a first axis and an implement rotatable relative the linkage about a second axis, a first electrical actuator coupled with a first control valve for a linkage hydraulic actuator, and a second electrical actuator coupled with a second control valve for an implement hydraulic actuator;

the first control valve being movable via the first electrical actuator among a plurality of positions including a first position corresponding to a maximum speed of rotation of the linkage and a second position corresponding to a speed of rotation less than the maximum speed;

an electronic control unit in control communication with the first and second electrical actuators and configured to adjust the implement system from a starting configuration to a second configuration at which the implement hovers above a substrate beneath the machine; and

the electronic control unit being further configured to receive data indicative of the starting configuration and responsively adjust the implement system via the linkage and implement hydraulic actuators from the starting configuration to the second configuration according to a substrate collision avoiding pattern via outputting a first control signal to the first electrical actuator commanding a first speed of rotation of the linkage from the starting configuration and a second control signal to the second electrical actuator commanding a second speed of rotation of the implement which is dependent upon the commanded first speed; and

the electronic control unit being further configured to determine the first control signal such that the first control valve is responsively moved to the second position and the commanded first speed of rotation is less than the maximum speed.

18. The machine of claim 17 comprising a wheel loader wherein the linkage includes a lift arm and the implement includes a bucket, and further comprising a sensor group configured to sense a position of the lift arm and a position of the bucket in a reference frame defined by the machine;

and

wherein the electronic control unit is further configured to adjust the implement system to the second configuration responsive to the sensed positions such that the implement hovers at a height above the substrate which is less than about 5% of a maximum lift height of the implement.