Patent ID: 8430621
Filing Date: 2013-04-30
Classification: A01G,E02F

Abstract:
1. A method for controlling a boom construction and a tool, the boom construction comprising a first end and an opposite second end, the first end connected to a working machine by articulation, the tool connected to the second end by articulation, the boom construction comprising a first boom and a first actuator controlling the same, a second boom articulated to the first boom and a second actuator controlling the second boom, and a third actuator controlling the position of the tool, wherein the method comprises the steps of: a control system selectively controlling simultaneously the first actuator with a first set point and the second actuator with a second set point in a link mode so as to control the first and second actuators in a manner independent of one another or controlling simultaneously the first and second actuators with the first set point and a third set point in a parallel mode for a parallel movement of the second end of the boom construction, and the control system controlling the third actuator in a tool-levelling mode that targets positioning the tool in a constant attitude during movement of the second end of the boom construction by using a variable dependent on the first and second set points when controlling the first and second actuators in the link mode and by using the variable dependent on the first and third set points when controlling the first and second actuators in the parallel mode.