Automatic Swing and Radius Control System and Method for a Machine Implement

Abstract

Systems and methods are provided for automatically controlling operation of an implement provided on a machine. A swing angle of an arm on which the implement is provided may be controlled by determining actual and desired swing angles, generating a swing angle error, and automatically operating actuators on the machine to align the implement along the desired swing angle. An effective radius of the implement assembly may similarly be controlled by determining actual and desired effective radii, generating a radius error, and automatically operating actuators on the machine to move the implement to the desired effective radius.

Description

TECHNICAL FIELD[0001]The present disclosure generally relates to systems and methods for controlling machines having implements, and more particularly to systems and methods of automatically operating machines to align implements with target positions.BACKGROUND[0002]Machines such as, for example, backhoes, excavators, dozers, loaders, motor graders, and other types of heavy equipment use multiple actuators supplied with hydraulic fluid from an engine-driven pump to accomplish a variety of tasks. The actuators (e.g., hydraulic cylinders and motors) are used to move linkage members and implements on the machines including, for example, a boom, a stick, and a bucket. An operator controls movements of the actuators by moving one or more input devices, for example joysticks. Joystick movement manipulates a control valve associated with each actuator to control movement of the boom and stick to position or orient the bucket to perform a task. Typical operator control permits individual c...

AI Technical Summary

Benefits of technology

[0005]In accordance with one aspect of the disclosure, a method is provided of automatically controlling a swing angle of an arm on a machine so that an implement coupled to the arm is positioned along a desired swing angle that intersects a target point, the machine including a swing actuator configured to rotate the arm about a swing rotational axis. The method may include determining a first actual position associated with a first reference point on the machine, determining a second actual position associated with a second reference point on the machine, determining a target position associated with the target point, determining an actual swing angle based on the first and second actual positions, determining the desired swing angle based on the first actual position and the target position, determining a swing angle error based on a difference between the actual swing angle and the desired swing angle, and automatically operating the swing actuator to reduce the swing angle error.

[0006]In another aspect of the disclosure that may be combined with any of these aspects, a system is provided for automatically controlling a swing angle of an arm provided on a machine so that an implement coupled to the arm is positioned along a desired swing angle that intersects a target point. The system may include an operator station supported for rotation about a vertical operator station axis and coupled to the arm, a swing actuator operably coupled to the operator station and configured to rotate the operator station and arm relative to a swing axis substantially coincident with the vertical operator station axis. A first reference point associated with the operator station, and a second reference point associated with the implement. The system may further include a controller operably coupled to the swing actuator and configured to determine a first actual position associated with the first reference point on the machine, determine a second actual position associated with the second reference point on the machine, determine a target position associated with the target point, determine an actual swing angle based on the first and second actual positions, determine the desired swing angle based on the first actual position and the target position, determine a swing angle error based on a difference between the actual swing angle and the desired swing angle, and automatically operate the swing actuator to reduce the swing angle error.

[0007]In another aspect of the disclosure that may be combined with any of these aspects, a method

Problems solved by technology

Typical operator control suffers several drawbacks due to the complex coordination required to maneuver the implement, especially when the implement is attached to a linkage system that allows implement movement about three or more degrees of freedom.

Even experienced operators may lack the necessary skill to precisely complete complex tasks.

Further, operators of all skill levels may become in

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