WO2008002898A3 - Excavator control system and method - Google Patents

Excavator control system and method Download PDF

Info

Publication number
WO2008002898A3
WO2008002898A3 PCT/US2007/072089 US2007072089W WO2008002898A3 WO 2008002898 A3 WO2008002898 A3 WO 2008002898A3 US 2007072089 W US2007072089 W US 2007072089W WO 2008002898 A3 WO2008002898 A3 WO 2008002898A3
Authority
WO
WIPO (PCT)
Prior art keywords
roll
pitch
machine
orientation
inclinometer
Prior art date
Application number
PCT/US2007/072089
Other languages
French (fr)
Other versions
WO2008002898A2 (en
Inventor
Francisco Roberto Green
Original Assignee
Caterpillar Trimble Control
Francisco Roberto Green
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caterpillar Trimble Control, Francisco Roberto Green filed Critical Caterpillar Trimble Control
Priority to AU2007265131A priority Critical patent/AU2007265131A1/en
Priority to JP2009518501A priority patent/JP2009542941A/en
Priority to EP07799027A priority patent/EP2038487A2/en
Publication of WO2008002898A2 publication Critical patent/WO2008002898A2/en
Publication of WO2008002898A3 publication Critical patent/WO2008002898A3/en

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Road Paving Machines (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The system determines the orientation, r, of an excavator or other machine sitting on a sloped portion of a construction or work site with respect to the direction across the site in which there is no slope. This direction across the site in which there is no slope is perpendicular to the direction of the fall line of the sloped portion. The system includes a first inclinometer for determining the pitch angle, Pitch, of the machine and providing a pitch angle output. The system includes a second inclinometer for determining the roll angle, Roll, of the machine and for providing a roll angle output. Finally, the system includes a processor, responsive to said pitch angle output and said roll angle output, with the processor determining the orientation, r, according to one of the following: r = sin-1 [Pitch/(Pitch2 + Roll2)1/2]; or r = cos-1 [Roll/(Pitch2 + Roll2)1/2]; or r = tan-1 [Pitch/Roll]. The first and second inclinometers may comprise a single, dual axis inclinometer, or they may comprise a pair of appropriately oriented inclinometers. The system may use only one of the three formulae continuously, or may select various ones of the formulae for use at various times, depending upon which formula is judged to provide the most accurate indication of orientation. For example, the formula may be selected based upon the quadrant in which the longitudinal axis of the machine is oriented.
PCT/US2007/072089 2006-06-29 2007-06-26 Excavator control system and method WO2008002898A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2007265131A AU2007265131A1 (en) 2006-06-29 2007-06-26 Excavator control system and method
JP2009518501A JP2009542941A (en) 2006-06-29 2007-06-26 Excavator control apparatus and method
EP07799027A EP2038487A2 (en) 2006-06-29 2007-06-26 Excavator control system and method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/478,389 2006-06-29
US11/478,389 US20080000111A1 (en) 2006-06-29 2006-06-29 Excavator control system and method

Publications (2)

Publication Number Publication Date
WO2008002898A2 WO2008002898A2 (en) 2008-01-03
WO2008002898A3 true WO2008002898A3 (en) 2008-05-29

Family

ID=38828613

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/072089 WO2008002898A2 (en) 2006-06-29 2007-06-26 Excavator control system and method

Country Status (6)

Country Link
US (1) US20080000111A1 (en)
EP (1) EP2038487A2 (en)
JP (1) JP2009542941A (en)
CN (1) CN101479431A (en)
AU (1) AU2007265131A1 (en)
WO (1) WO2008002898A2 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7631445B2 (en) * 2006-07-14 2009-12-15 Raymond E. Bergeron Underwater dredging system
US7810260B2 (en) * 2007-12-21 2010-10-12 Caterpillar Trimble Control Technologies Llc Control system for tool coupling
US7975410B2 (en) * 2008-05-30 2011-07-12 Caterpillar Inc. Adaptive excavation control system having adjustable swing stops
US8345926B2 (en) 2008-08-22 2013-01-01 Caterpillar Trimble Control Technologies Llc Three dimensional scanning arrangement including dynamic updating
US8401746B2 (en) * 2009-12-18 2013-03-19 Trimble Navigation Limited Excavator control using ranging radios
DE102011100890A1 (en) * 2011-05-07 2012-11-08 Abb Ag Method for detecting and tracking the position of a portable transfer device / loading device of a bucket wheel excavator or bucket dredger
KR101471288B1 (en) * 2013-05-06 2014-12-09 현대중공업 주식회사 Swing device of excavator with anti-sliding device
JP5823060B2 (en) * 2014-09-05 2015-11-25 株式会社小松製作所 Excavator
US9976279B2 (en) 2016-02-02 2018-05-22 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
US9816249B2 (en) 2016-02-02 2017-11-14 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
US9976285B2 (en) 2016-07-27 2018-05-22 Caterpillar Trimble Control Technologies Llc Excavating implement heading control
US9995016B1 (en) * 2016-11-30 2018-06-12 Caterpillar Trimble Control Technologies Llc Excavator limb length and offset angle determination using a laser distance meter
US10329741B2 (en) 2016-12-20 2019-06-25 Caterpillar Trimble Control Technologies Llc Excavator control architecture for generating sensor location and offset angle
US10301798B2 (en) 2017-03-03 2019-05-28 Caterpillar Trimble Control Technologies Llc Augmented reality display for material moving machines
US10480155B2 (en) 2017-12-19 2019-11-19 Caterpillar Trimble Control Technologies Llc Excavator implement teeth grading offset determination
US10900202B2 (en) 2018-05-14 2021-01-26 Caterpillar Trimble Control Technologies Llc Systems and methods for generating operational machine heading
US20240044109A1 (en) 2022-08-04 2024-02-08 Caterpillar Trimble Control Technologies Llc Yaw estimation systems and methods for rigid bodies of earthmoving machines connected by a revolute joint
US20240044111A1 (en) 2022-08-04 2024-02-08 Caterpillar Trimble Control Technologies Llc Grade control systems and methods for earthmoving implements

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AT327269B (en) * 1972-08-07 1976-01-26 Vnii Lesovodstva I Mekh Lesnog DEVICE FOR PUSHING ADDITIONAL SOIL
US4912662A (en) * 1987-06-22 1990-03-27 Wedge Innovations, Inc. Inclinometer
JPH05141966A (en) * 1991-11-20 1993-06-08 Takao Yamaguchi Terrain contour line map data measuring device
EP0860688A2 (en) * 1997-02-20 1998-08-26 CLAAS KGaA Electronic map image display in a motor vehicle
JPH11129929A (en) * 1997-10-31 1999-05-18 Kensetsusho Hokuriku Chihou Kensetsukyokucho Straight advance control structure of working machine
WO2001002920A1 (en) * 1999-06-30 2001-01-11 Deka Products Limited Partnership Apparatus and method for a pitch state estimator for a personal vehicle
US6282496B1 (en) * 1999-10-29 2001-08-28 Visteon Technologies, Llc Method and apparatus for inertial guidance for an automobile navigation system

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US6711838B2 (en) * 2002-07-29 2004-03-30 Caterpillar Inc Method and apparatus for determining machine location
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Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT327269B (en) * 1972-08-07 1976-01-26 Vnii Lesovodstva I Mekh Lesnog DEVICE FOR PUSHING ADDITIONAL SOIL
US4912662A (en) * 1987-06-22 1990-03-27 Wedge Innovations, Inc. Inclinometer
JPH05141966A (en) * 1991-11-20 1993-06-08 Takao Yamaguchi Terrain contour line map data measuring device
EP0860688A2 (en) * 1997-02-20 1998-08-26 CLAAS KGaA Electronic map image display in a motor vehicle
JPH11129929A (en) * 1997-10-31 1999-05-18 Kensetsusho Hokuriku Chihou Kensetsukyokucho Straight advance control structure of working machine
WO2001002920A1 (en) * 1999-06-30 2001-01-11 Deka Products Limited Partnership Apparatus and method for a pitch state estimator for a personal vehicle
US6282496B1 (en) * 1999-10-29 2001-08-28 Visteon Technologies, Llc Method and apparatus for inertial guidance for an automobile navigation system

Also Published As

Publication number Publication date
JP2009542941A (en) 2009-12-03
CN101479431A (en) 2009-07-08
AU2007265131A2 (en) 2009-01-08
EP2038487A2 (en) 2009-03-25
AU2007265131A1 (en) 2008-01-03
WO2008002898A2 (en) 2008-01-03
US20080000111A1 (en) 2008-01-03

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