Method and system of controlling a work tool
AssigneeCaterpillar Inc.
InventorRoger D. Koch
Life of this patent
Estimating the term…
Abstract
A method for controlling movement of a work tool includes the step of identifying a predefined digging boundary and determining the current position of the work tool. A control signal is generated to change the position of the work tool. A requested motion vector is determined for the work tool based on the control signal. A determined force is generated to apply to the work tool. It is based on the requested motion vector and has a normal component that is scaled to prevent the work tool from crossing the predefined digging boundary. One aspect is directed to a control system for a work tool on a work implement assembly.
Claims22
A method for controlling movement of a work tool, comprising:
- identifying a predefined digging boundary;
- determining a current position of the work tool;
- generating a control signal to change the position of the work tool;
- determining a requested motion vector for the work tool based on the control signal;
- and
- generating a determined force to apply to the work tool, the determined force being based on the requested motion vector and having a normal component that is scaled to prevent the work tool from crossing the predefined digging boundary.
A control system for a work tool on a work implement assembly, comprising:
- at least one sensor associated with the work implement assembly and adapted to sense a parameter indicative of the current position of the work tool;
- an input device operable to generate a control signal to change the position of the work tool;
- and
- a control module having a memory adapted to store a predefined digging boundary, the control module adapted to determine a current position of the work tool, to receive the control signal from the input device, and to determine a requested motion vector for the work tool based on the control signal received from the input device,
- the control module being further adapted to generate a determined force to apply to the work tool, the determined force being based on the requested motion vector and having a normal component that is scaled to prevent the work tool from crossing the predefined digging boundary.
An apparatus for a work implement assembly having a work tool comprising:
- means for determining the current position of the work tool;
- means for creating a control signal to change the position of the work tool;
- and
- means for generating a determined force to apply to the work tool, the determined force being based on a requested motion vector that is determined from the current position of the work tool and the control signal, the determined force having a normal component that is scaled to prevent the work tool from crossing a predefined digging boundary.
A work machine, comprising:
- a work implement assembly including a work tool and a plurality of hydraulic actuators operatively associated with the work implement assembly;
- at least one sensor associated with the work implement assembly and adapted to sense a parameter indicative of the current position of the work tool;
- at least one sensor associated with the work implement assembly and adapted to sense a parameter indicative of a current force being exerted on the work tool;
- an input device operable to generate a control signal to change the position of the work implement assembly;
- and
- a control module having a memory adapted to store a predefined digging boundary, the control module adapted to determine a current position of the work tool, to receive the control signal from the input device, and to determine a requested motion vector for the work tool based on the control signal received from the input device,
- the control module being further adapted to generate a determined force to apply to the work tool, the determined force being based on the requested motion vector and having a normal component that is scaled to prevent the work tool from crossing the predefined digging boundary.
Dependencies are inferred from the claim text.