Work machine control for improving cycle time
AssigneeCaterpillar Inc.
InventorsRonald L. Satzler, Michael I. Cline
Life of this patent
Estimating the term…
Abstract
A method and system for controlling a work implement having a ground engaging tool is provided. A swing command is supplied to a swing assembly to move the ground engaging tool in an arcuate path about a vertical axis. A crowd command is determined based on the velocity of the swing assembly and is calculated to generate a resulting net movement of the ground engaging tool toward a predetermined end point. The crowd command is supplied to a crowd mechanism to move the ground engaging tool towards the predetermined end point.
Claims19
A method of controlling a work implement having a ground engaging tool, comprising:
- supplying a swing command to a swing assembly to move the ground engaging tool about a vertical axis;
- determining a crowd command based on the velocity of the swing assembly, the crowd command calculated to generate a resulting net movement of the ground engaging tool toward a predetermined end point;
- and
- supplying the crowd command to a crowd mechanism to move the ground engaging tool towards the predetermined end point.
A control system for a work implement having a ground engaging tool, comprising;
- a memory configured to store the location of a predetermined end point;
- a position sensing system operatively connected to the work implement and configured to provide an indication of a current position of the ground engaging tool;
- and
- a control configured to determine a travel path having a horizontal component connecting the current position of the ground engaging tool with the predetermined end point, at least a portion of the horizontal component of the travel path substantially coinciding with a straight line connecting the current position of the ground engaging tool with the predetermined end point, the control further configured to control the movement of the ground engaging tool to move the ground engaging tool along the travel path to the predetermined end point.
A work machine, comprising:
- a traction device;
- a housing mounted on the traction device;
- a work implement having a ground engaging tool, a stick operatively mounting the ground engaging tool, and a boom operatively supporting the stick;
- a swing assembly configured to pivot the work implement relative to a vertical axis;
- a position sensing system operatively connected to the work implement and configured to provide an indication of the current position of the ground engaging tool relative to the housing;
- a hydraulic system configured to selectively move the ground engaging tool;
- and
- a control configured to determine a travel path having a horizontal component and a vertical component and connecting the current position of the ground engaging tool with a predetermined end point, at least a portion of the horizontal component of the travel path substantially coinciding with a horizontal line connecting the current position of the ground engaging tool with the predetermined end point, the control further configured to coordinate the movement of the swing assembly and at least one of the stick and the boom to move the ground engaging tool along the travel path.
Dependencies are inferred from the claim text.