Method and apparatus for controlling an extendable stick on a work machine

• US 20030061742A1
• Filed: 09/28/2001
• Published: 04/03/2003
• Est. Priority Date: 09/28/2001
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koch, Roger D.
• Granted Patent: US 6,604,305 B2
• Time in Patent Office: Days
• US Class Current: 37/348
• CPC Class Codes: E02F 3/306 with telescopic dipper-arm or boom
• CPC Class Codes: E02F 3/437 providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant

Abstract

A method and apparatus for automatically controlling the movement of an extendable stick on a work machine. The extendable stick is slidably connected to a stick, and the stick is pivotally connected to a boom The method and apparatus includes determining a position of the stick relative to the boom, determining a position of the extendable stick relative to the stick, receiving a stick movement command to move the stick relative to the boom, moving the stick relative to the boom, and moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

Claims

1. A method for automatically controlling the movement of an extendable stick on a work machine, the extendable stick being slidably connected to a stick, the stick being pivotally connected to a boom, including the steps of:

determining a position of the stick relative to the boom;

determining a position of the extendable stick relative to the stick;

receiving a stick movement command to move the stick relative to the boom;

moving the stick relative to the boom; and

moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

2. A method, as set forth in claim 1, wherein moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick includes the step of moving the extendable stick in coordination with the movement of the stick as a function of a map of a desired position of the extendable stick relative to the position of the stick.

3. A method, as set forth in claim 1, wherein moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick includes the step of moving the extendable stick in coordination with the movement of the stick as a function of an algorithm of a desired position of the extendable stick relative to the position of the stick.

4. A method, as set forth in claim 1, wherein determining a position of the stick relative to the boom includes the step of determining a displacement of a stick cylinder controllably attached to the stick.

5. A method, as set forth in claim 1, wherein determining a position of the extendable stick relative to the stick includes the step of determining a displacement of an extendable stick cylinder controllably attached to the extendable stick.

6. A method, as set forth in claim 1, wherein determining a position of the stick relative to the boom, and determining a position of the extendable stick relative to the stick includes the steps of:

determining a displacement of a stick cylinder controllably attached to the stick; and

determining a displacement of an extendable stick cylinder controllably attached to the extendable stick.

7. A method, as set forth in claim 6, wherein moving the extendable stick in coordination with the movement of the stick includes the step of moving the extendable stick in coordination with the stick as a function of a map of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

8. A method, as set forth in claim 6, wherein moving the extendable stick in coordination with the movement of the stick includes the step of moving the extendable stick in coordination with the stick as a function of an algorithm of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

9. An apparatus for automatically controlling the movement of an extendable stick on a work machine, the extendable stick being slidably connected to a stick, the stick being pivotally connected to a boom, comprising:

means for determining a position of the stick relative to the boom;

means for determining a position of the extendable stick relative to the stick;

means for receiving a stick movement command to move the stick relative to the boom;

means for moving the stick relative to the boom; and

means for moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

10. An apparatus, as set forth in claim 9, wherein the means for determining a position of the stick relative to the boom includes means for determining a displacement of a stick cylinder controllably attached to the stick.

11. An apparatus, as set forth in claim 9, wherein the means for determining a position of the extendable stick relative to the stick includes means for determining a displacement of an extendable stick cylinder controllably attached to the extendable stick.

12. An apparatus, as set forth in claim 9, wherein the means for determining a position of the stick relative to the boom, and the means for determining a position of the extendable stick relative to the stick includes:

means for determining a displacement of a stick cylinder controllably attached to the stick; and

means for determining a displacement of an extendable stick cylinder controllably attached to the extendable stick.

13. An apparatus, as set forth in claim 10, wherein the means for moving the extendable stick in coordination with the movement of the stick includes means for moving the extendable stick in coordination with the stick as a function of a map of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

14. An apparatus, as set forth in claim 10, wherein the means for moving the extendable stick in coordination with the movement of the stick includes means for moving the extendable stick in coordination with the stick as a function of an algorithm of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

15. An apparatus for automatically controlling the movement of an extendable stick on a work machine, the extendable stick being slidably connected to a stick, the stick being pivotally connected to a boom, comprising:

a first sensor for determining a position of the stick relative to the boom;

a second sensor for determining a position of the extendable stick relative to the stick; and

a controller for receiving a stick movement command to move the stick relative to the boom, for moving the stick, and for moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

16. An apparatus, as set forth in claim 15, further including:

a stick cylinder controllably attached to the stick; and

an extendable stick cylinder controllably attached to the extendable stick.

17. An apparatus, as set forth in claim 16, wherein;

the first sensor is adapted for sensing a displacement of the stick cylinder; and

the second sensor is adapted for sensing a displacement of the extendable stick cylinder.

18. An apparatus, as set forth in claim 17, wherein the controller is further adapted for moving the extendable stick in coordination with the stick as a function of a map of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

19. An apparatus, as set forth in claim 17, wherein the controller is further adapted for moving the extendable stick in coordination with the stick as a function of an algorithm of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

20. A method for controlling the movement of an extendable stick on a work machine, the extendable stick being slidably connected to a stick, the stick being pivotally connected to a boom, including the steps of:

selecting one of a manual control mode and a coordinated control mode;

operating each of a stick control device and an extendable stick control device to control the respective movement of each of the stick and the extendable stick in response to selecting the manual control mode; and

operating only the stick control device to control the movement of the stick and the extendable stick in response to selecting the coordinated control mode, the movement of the extendable stick being made in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

21. A method, as set forth in claim 20, wherein operating in the coordinated control mode includes the steps of:

determining a position of the stick relative to the boom;

determining a position of the extendable stick relative to the stick;

receiving a stick movement command to move the stick relative to the boom;

moving the stick relative to the boom; and

moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

22. A method, as set forth in claim 21, wherein determining a position of the stick relative to the boom, and determining a position of the extendable stick relative to the stick includes the steps of:

determining a displacement of a stick cylinder controllably attached to the stick; and

determining a displacement of an extendable stick cylinder controllably attached to the extendable stick.

23. A method, as set forth in claim 22, wherein moving the extendable stick in coordination with the movement of the stick includes the step of moving the extendable stick in coordination with the stick as a function of a map of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

24. A method, as set forth in claim 22, wherein moving the extendable stick in coordination with the movement of the stick includes the step of moving the extendable stick in coordination with the stick as a function of an algorithm of a desired displacement of the extendable stick cylinder relative to the displacement of the stick cylinder.

25. A work machine, comprising:

a boom;

a stick having a first end pivotally connected to the boom;

an extendable stick having a first end slidably connected to a second end of the stick;

a work implement controllably attached to a second end of the extendable stick;

a first sensor for determining a position of the stick relative to the boom;

a second sensor for determining a position of the extendable stick relative to the stick;

a stick control device for delivering a stick movement command; and

a controller for receiving the stick movement command and responsively moving the stick relative to the boom, and for moving the extendable stick in coordination with the movement of the stick as a function of a desired position of the extendable stick relative to the position of the stick.

26. A work machine, as set forth in 25, further including:

a stick cylinder attached to the stick for controlling the movement of the stick relative to the boom; and

an extendable stick cylinder attached to the extendable stick for controlling the movement of the extendable stick relative to the stick.