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Automatic excavation control system and method

  • US 5,065,326 A
  • Filed: 08/17/1989
  • Issued: 11/12/1991
  • Est. Priority Date: 08/17/1989
  • Status: Expired due to Term
First Claim
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1. A control system for automatically controlling a work implement of an excavating machine throughout a machine work cycle, wherein said work implement includes a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder, said hydraulic cylinders containing pressurized hydraulic fluid, each said hydraulic cylinder having a movable portion extendable between a first retracted position and a plurality of second positions in response to the pressure of hydraulic fluid contained therein, said control system comprising:

  • means for producing respective position signals in response to the position of each of said boom, stick and bucket;

    position logic means for receiving said position signals, comparing each of said received position signals to a plurality of predetermined position setpoints, and producing a respective responsive position correction signal;

    means for producing respective pressure signals in response to the hydraulic fluid pressure of each of said boom, stick and bucket hydraulic cylinders;

    force logic means for receiving said pressure signals and responsively computing a correlative force signal for each of said boom, stick and bucket hydraulic cylinders and for comparing each of said correlative force signals with a plurality of predetermined force setpoints thereto, and delivering a respective responsive for correction signal; and

    actuating means for receiving said position and force correction signals, and controllably actuating said work implement to perform said work cycle in response thereto.

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