Excavating implement heading control

• US 9,976,285 B2
• Filed: 07/27/2016
• Issued: 05/22/2018
• Est. Priority Date: 07/27/2016
• Status: Active Grant

• Current Assignee: Caterpillar Trimble Control Technologies LLC
• Original Assignee: Caterpillar Trimble Control Technologies LLC
• Inventors: Padilla, Christopher A.
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/221,188
• Publication Number:
  US 20180030693A1
• Time in Patent Office: 664 Days
• Field of Search: 701 50
• CPC Class Codes: E02F 3/32 working downwardly and towards the machine, e.g. with backhoes
• CPC Class Codes: E02F 3/40 Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets devices to connect tools to arms or booms E02F3/3604; teeth therefor E02F9/28
• CPC Class Codes: E02F 3/435 for dipper-arms, backhoes or the like
• CPC Class Codes: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: E02F 9/262 with follow-up actions to control the work tool, e.g. controller
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)
• CPC Class Codes: G01C 9/02 Details
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

Abstract

An excavator includes a chassis, an implement, control architecture, and an assembly to swing with, or relative to, the chassis and including a boom, stick to curl relative to the boom, and coupling between the implement and stick. The implement rotates about an axis R such that a leading edge LE defines a heading Î. The control architecture comprises sensors, actuators, and controllers to utilize sensor signals to generate a LE position relative to a reference based on reference data and map information, utilize sensor implement edge signals and the excavator position relative to the reference and map information to generate a nearest implement edge (NIE) signal indicative of a LE NIE position relative to the reference, and utilize the actuators for divertive implement rotation about R to adjust Î to account for divertive rotation away from an actual or projected overlap of the NIE and reference.

Claims

1. An excavator comprising a machine chassis, an excavating linkage assembly, a rotary excavating implement, and control architecture, wherein:

the excavating linkage assembly comprises an excavator boom, an excavator stick, and an implement coupling;

the excavating linkage assembly is configured to swing with, or relative to, the machine chassis;

the excavator stick is configured to curl relative to the excavator boom about a curl axis;

the rotary excavating implement is mechanically coupled to the excavator stick by the implement coupling and is configured to rotate about a rotary axis R different from and intersecting the curl axis such that a leading edge of the rotary excavating implement defines an implement heading Î

at least partially based on an implement heading angle θ

_I measured between a heading vector of the rotary excavating implement and a reference plane that is perpendicular to the curl axis; and

the control architecture comprises one or more dynamic sensors, one or more linkage assembly actuators, and one or more controllers programmed to execute machine readable instructions to

utilize position signals from the dynamic sensors to generate a position of the leading edge of the rotary excavating implement relative to an obstacle reference, at least partially based on obstacle reference data from a grade control database, and map information from the grade control database,

utilize implement edge signals from the dynamic sensors and the position of the excavator relative to the obstacle reference and the map information to generate a nearest implement edge signal indicative of a position of a nearest implement edge of the leading edge of the rotary excavating implement relative to the obstacle reference, and

utilize the linkage assembly actuators for divertive rotation of the rotary excavating implement about the rotary axis R to adjust the implement heading Î

, wherein the degree of divertive rotation about the rotary axis R is sufficient to account for divertive rotation away from substantially all of an actual or projected overlap of the nearest implement edge with the obstacle reference.

2. An excavator as claimed in claim 1 wherein the one or more controllers are programmed such that divertive rotation is initiated when the nearest implement edge overlaps the obstacle reference.

3. An excavator as claimed in claim 2 wherein the divertive rotation is terminated when the nearest implement edge no longer overlaps the obstacle reference.

4. An excavator as claimed in claim 2 wherein the divertive rotation is terminated when the nearest implement edge reaches a predetermined clearance distance away from the obstacle reference.

5. An excavator as claimed in claim 4 wherein the predetermined clearance distance comprises from about 1 inch (2.54 cm) to about 2 inches (5.08 cm) and is customizable by a user.

6. An excavator as claimed in claim 1 wherein the one or more controllers are programmed such that divertive rotation of the rotary excavating implement is between about 0 degrees and about 90 degrees about the rotary axis R.

7. An excavator as claimed in claim 1 wherein the one or more controllers are programmed such that divertive rotation is initiated when the nearest implement edge is within a predetermined approach distance of the obstacle reference.

8. An excavator as claimed in claim 7 wherein the divertive rotation is terminated when the nearest implement edge is no longer within the predetermined approach distance of the obstacle reference.

9. An excavator as claimed in claim 7 wherein the divertive rotation is terminated when the nearest implement edge reaches a predetermined clearance distance away from the obstacle reference.

10. An excavator as claimed in claim 7 wherein the predetermined approach distance is a function of an implement speed, the implement heading Î

, or a combination thereof.

11. An excavator as claimed in claim 1 wherein the one or more controllers are programmed to execute machine readable instructions to utilize the linkage assembly actuators for corrective counter-rotation of the rotary excavating implement about the rotary axis R to adjust the implement heading Î

when the divertive rotation exceeds a predetermined clearance distance away from the obstacle reference.

12. An excavator as claimed in claim 1 wherein the obstacle reference is disposed about and spaced from a perimeter of an obstacle at a buffer distance that is sufficient to permit the linkage assembly actuators to complete the divertive rotation before the nearest implement edge contacts the obstacle.

13. An excavator as claimed in claim 12 wherein the buffer distance is customizable by an operator and comprises from about 1 inch (2.54 cm) to about 6 inches (15.24 cm).

14. An excavator as claimed in claim 12 wherein the obstacle comprises an elevation change, a placed object, or combinations thereof, in an operational terrain upon which the excavator operates.

15. An excavator as claimed in claim 14 wherein the placed object comprises a retaining wall, a manhole access point, a sidewalk, or combinations thereof.

16. An excavator as claimed in claim 1 wherein the control architecture comprises a non-transitory computer-readable storage medium comprising the machine readable instructions.

17. An excavator as claimed in claim 1 wherein the one or more dynamic sensors comprise a global navigation satellite system (GNSS) receiver, a Universal Total Station (UTS) and machine target, an inertial measurement unit (IMU), an inclinometer, an accelerometer, a gyroscope, an angular rate sensor, a rotary position sensor, a position sensing cylinder, a gravity based angle sensor, an incremental encoder, or combinations thereof.

18. An excavator as claimed in claim 1 wherein the one or more dynamic sensors comprise a rotation angle sensor configured to generate a signal representing a rotation angle of the rotary excavating implement.

19. A method of automating tilt and rotation of a rotary excavating implement of an excavator, the method comprising:

providing an excavator comprising a machine chassis, an excavating linkage assembly, a rotary excavating implement, and control architecture comprising one or more dynamic sensors, one or more linkage assembly actuators, and one or more controllers, wherein;

the excavating linkage assembly comprises an excavator boom, an excavator stick, and an implement coupling;

the excavating linkage assembly is configured to swing with, or relative to, the machine chassis about a swing axis S of the excavator;

the excavator stick is configured to curl relative to the excavator boom about a curl axis;

the rotary excavating implement is mechanically coupled to the excavator stick by the implement coupling and is configured to rotate about a rotary axis R different from and intersecting the curl axis such that a leading edge of the rotary excavating implement defines an implement heading Î

at least partially based on an implement heading angle θ

_I measured between a heading vector of the rotary excavating implement and a reference plane that is perpendicular to the curl axis;

utilizing position signals from the dynamic sensors to generate a position of the leading edge of the rotary excavating implement relative to an obstacle reference, at least partially based on obstacle reference data from a grade control database, and map information from the grade control database,

utilizing implement edge signals from the dynamic sensors and the position of the excavator relative to the obstacle reference and the map information to generate a nearest implement edge signal indicative of a position of a nearest implement edge of the leading edge of the rotary excavating implement relative to the obstacle reference, and

utilizing the linkage assembly actuators for divertive rotation of the rotary excavating implement about the rotary axis R to adjust the implement heading Î

, wherein the degree of divertive rotation about the rotary axis R is sufficient to account for divertive rotation away from substantially all of an actual or projected overlap of the nearest implement edge with the obstacle reference.

20. A grade control system comprising an excavator and a grade control database, wherein:

the grade control database comprises map information and obstacle reference data comprising an obstacle reference;

the excavator comprises a machine chassis, an excavating linkage assembly, a rotary excavating implement, and control architecture;

the excavating linkage assembly comprises an excavator boom, an excavator stick, and an implement coupling;

the excavating linkage assembly is configured to swing with, or relative to, the machine chassis;

the excavator stick is configured to curl relative to the excavator boom about a curl axis;

the rotary excavating implement is mechanically coupled to the excavator stick by the implement coupling and is configured to rotate about a rotary axis R different from and intersecting the curl axis such that a leading edge of the rotary excavating implement defines an implement heading Î

at least partially based on an implement heading angle θ

_I measured between a heading vector of the rotary excavating implement and a reference plane that is perpendicular to the curl axis; and

the control architecture comprises one or more dynamic sensors, one or more linkage assembly actuators, and one or more controllers programmed to execute machine readable instructions to

utilize position signals from the dynamic sensors to generate a position of the leading edge of the rotary excavating implement relative the obstacle reference and the map information from the grade control database,

utilize implement edge signals from the dynamic sensors and the position of the excavator relative to the obstacle reference and the map information to generate a nearest implement edge signal indicative of a position of a nearest implement edge of the leading edge of the rotary excavating implement relative to the obstacle reference, and

utilize the linkage assembly actuators for divertive rotation of the rotary excavating implement about the rotary axis R to adjust the implement heading Î

, wherein the degree of divertive rotation about the rotary axis R is sufficient to account for divertive rotation away from substantially all of an actual or projected overlap of the nearest implement edge with the obstacle reference.