Patent Publication Number: US-10774507-B2

Title: Excavator boom and excavating implement automatic state logic

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. Non-Provisional application Ser. No. 15/331,387, filed Oct. 21, 2016, which claims the benefit of U.S. Provisional Application Ser. No. 62/402,094, filed Sep. 30, 2016. 
    
    
     BACKGROUND 
     The present disclosure relates to automatic controls in the use of excavators. 
     The operation of earthmoving excavators requires skill and experience from the operator in order to properly perform functions such as raking and excavation. Operators can benefit from machine-assisted automatics. Without surrendering control of the excavator, an operator may be assisted with the precision required in many excavator functions. 
     BRIEF SUMMARY 
     According to the subject matter of the present disclosure, excavator control architecture is provided to operate the excavating implement in automatics mode based on implement angle. In this manner, an excavator can move between various modes of automatics, in a manner that is seamless to the operator. Rather than adding extra complexity for the operator, the automatics can provide intuitive tools that enhance the operator&#39;s use of the excavator and increase efficiency. 
     In accordance with one embodiment of the present disclosure, an excavator comprises a an excavator boom, an excavator stick configured to curl relative to the excavator boom, an excavating implement mechanically coupled to a terminal point of the excavator stick, and control architecture. The control architecture comprises one or more actuators and one or more controllers. The one or more controllers are configured to execute instructions. The instructions determine there is a request to operate the excavating implement in automatics mode. The instructions also receive target design surface data representing a target design surface of an excavating operation. The instructions still further receive an implement angle θ representing an operating angle of the excavating implement relative to the target design surface. The instructions also determine whether the implement angle θ is within an activation angle α, wherein the activation angle α represents an angle within which operation of the excavating implement in automatics mode is permissible. The instructions further determine whether the implement angle θ is outside of a deactivation angle β, wherein the deactivation angle β is outside of the activation angle α, and represents an angle outside of which operation of the excavating implement in automatics mode is not permissible subsequent to the automatics mode activation in response to the implement angle θ being within the activation angle α. The instructions also operate the excavator boom in automatics mode based on the determination of whether the implement position P is within the automatics region of the target design surface. The instructions also activate the excavating implement in the automatics mode based on the determination (i) the implement angle θ is within the activation angle α, and (ii) the implement angle θ is within the deactivation angle β, and deactivate operation of the excavating implement from the automatics mode based on the determination (i) the implement angle θ is outside of the deactivation angle β and (ii) subsequent to the automatics mode activation. 
     In accordance with another embodiment of the present disclosure, an excavator comprises a control architecture having one or more linkage assembly actuators and one or more controllers. The one or more controllers are configured to execute instructions. The instructions determine there is a request to operate the excavating implement in automatics mode. The instructions also receive target design surface data representing a target design surface of an excavating operation. The instructions still further receive an implement angle θ representing an operating angle of the excavating implement relative to the target design surface. The instructions also determine whether the implement angle θ is within an activation angle α, wherein the activation angle α represents an angle within which operation of the excavating implement in automatics mode is permissible. The instructions further determine whether the implement angle θ is outside of a deactivation angle β, wherein the deactivation angle β is outside of the activation angle α, and represents an angle outside of which operation of the excavating implement in automatics mode is not permissible subsequent to automatics mode activation based on the implement angle θ being within the activation angle α. The instructions also activate the excavating implement in the automatics mode based on the determination (i) the implement angle θ is within the activation angle α, and (ii) the implement angle θ is within the deactivation angle β, and deactivate operation of the excavating implement from the automatics mode based on the determination (i) the implement angle θ is outside of the deactivation angle β and (ii) subsequent to the automatics mode activation. 
     Although the concepts of the present disclosure are described herein with primary reference to a particular type of excavator, i.e., the excavator illustrated in  FIGS. 1-3 and 5-7 , it is contemplated that the concepts will enjoy applicability to any form of excavating machinery, particularly those employing an excavating linkage assembly and an excavating implement. It is further contemplated that an “excavator,” as described herein may be employed in digging, grading, mining, paving, or any type of earth or materials moving operation. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       The following detailed description of specific embodiments of the present disclosure can be best understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG. 1  depicts an excavator operating with boom and bucket automatics according to one or more embodiments shown and described herein; 
         FIG. 2  depicts an excavator bucket within a threshold distance of a design surface according to one or more embodiments shown and described herein; 
         FIG. 3  depicts an excavator bucket with respect to various operating angles according to one or more embodiments shown and described herein; 
         FIG. 4  depicts a flowchart of an algorithm for operating an excavator boom and/or bucket in automatics according to one or more embodiments shown and described herein; 
         FIG. 5  depicts an excavator operating with boom automatics and bucket automatics for excavation according to one or more embodiments shown and described herein; 
         FIG. 6  depicts an excavator operating with boom automatics and bucket automatics for power raking according to one or more embodiments shown and described herein; 
         FIG. 7  depicts an excavator operating with boom automatics and bucket automatics for compaction according to one or more embodiments shown and described herein; and 
         FIG. 8  depicts a computing device embodied in a controller according to one or more embodiments shown and described herein. 
     
    
    
     DETAILED DESCRIPTION 
     Referring initially to  FIG. 1 , a depiction of an excavator  100  in various stages of automatics is shown. The excavator  100  comprises a machine chassis  102 , an excavating linkage assembly  111 , an excavating implement  114 , and control architecture comprising one or more linkage assembly actuators  112  and one or more controllers  113  for executing particular instructions described herein. The excavating linkage assembly  111  comprises an excavator boom  106 , an excavator stick  108 , and an implement coupling  110  and is configured to swing with, or relative to, the machine chassis  102 . The excavator stick  108  is configured to curl relative to the excavator boom  106  and the excavating implement  114  is mechanically coupled to a terminal point of the excavator stick  108  via the implement coupling  110 . The excavator  100  may also feature a cab  104 . 
     The cab  104  resides on top of the chassis  102  in this embodiment, although different configurations may be utilized in other embodiments. The boom  106  may be coupled to the cab  104  at one end, coupled to the stick  108  at the other end of the boom  106 , and have hydraulics connected to the boom  106  in between the ends. Other embodiments may use different suitable configurations. The stick  108  may feature an implement coupling  110  to which an implement  114  is attached. While the implement  114  is depicted as a bucket in this embodiment, any suitable type of attachment may be utilized, such as loaders, cutters, saws, drills, blades, pushers, breakers, boring units, mixers, chippers, pumps, hammers, graders, grapples, mowers, landplanes, planers, brooms, pallet forks, scarifiers, packer wheels, spreaders, layers, sweepers, grinders, trenchers, plows or any other suitable type of implement. Any suitable type of implement coupling  110  may be utilized, such as rotational, clamps, pin-ons, or any other suitable type of coupling. Additionally, one or more linkage assembly actuators  112  may be utilized between the stick  108  and the implement  114 . The implement  114  may feature implement teeth  116  as well as an implement portion  118  for determining an angle of the implement  114 . While the implement portion  118  in this embodiment is depicted as a flat, exterior surface, any suitable portion of the implement may be utilized. 
     The excavator  100  may utilize the implement  114  to interact with a design surface  120 , which as depicted here corresponds to the current ground level/slope. In some embodiments, the target design surface  120  may differ from the current ground level/slope. It is contemplated that target design surface data representing the target design surface  120  may be received in a variety of ways. For example, target design surface data may be received as a user input from an excavator operator, programmer, etc., or may be received as a hardwired or otherwise preconfigured parameter or set of parameters. The boom  106  and/or the implement  114  can be placed into, and be removed from, a state of automatics. With respect to the automatics of the boom  106  and/or implement  114 , manual control  122  is represented in the figures by a lack of hatching. Components operating in automatics  124  are represented by hatching. In this embodiment, boom  106  and/or implement automatics  124  provide machine assistance, guidance, and/or control over operation. Automatics may move and/or rotate components based upon the movement of another component. For example, moving the implement  114  with manual control  122 , such as by an operator of the excavator  100 , may result in corresponding movement of the boom  106  in automatics  124 . In other instances, components in automatics  124  may move without input from the operator of the excavator  100 . The embodiment shown in  FIG. 1  depicts a time-lapse view (progressing from left to right) of the implement  114  under manual control  122  for the six frames on the left, and in automatics  124  on the three frames on the right. The operator uses manual control  122  of the implement  114  in the earlier frames on the left (with assistance of boom automatics  124 ) to keep the implement  114  in conformance with the target design surface  120 . By contrast, no operator input is required to keep the implement  114  conforming to the target design surface  120  when the implement  114  is in automatics  124 . As discussed below in more detail, automatics may be utilized for a variety of actions, such as excavation depicted in  FIG. 5 , power raking depicted in  FIG. 6 , and compaction depicted in  FIG. 7 . 
     Turning to  FIG. 2 , an embodiment depicting a criterion of boom automatics operation  200  is shown. An upper threshold  202  of an upper automatics region  204  resides above the target design surface  120 . A lower threshold  206  of a lower automatics region  208  resides below the target design surface  120 . In the embodiment depicted, implement position P is based on the location of the implement teeth  116 . For example, boom automatics  124  may activate if the implement teeth  116  enter or reside in the area between the upper threshold  202  and the lower threshold  206 . In other embodiments, any suitable portion of the implement  114  may be utilized instead of the implement teeth  116 . In some embodiments, only an upper threshold  202  or a lower threshold  206  may be utilized. In the embodiment depicted, the upper automatics region  204  and the lower automatics region  208  have the same height with respect to the target design surface  120 . In other embodiments, upper automatics region  204  and lower automatics region  208  may have different heights with respect to the target design surface  120 . In other embodiments, different types of automatics may be triggered with respect to upper automatics region  204  and/or lower automatics region  208 . 
     In some embodiments, in order to enter boom automatics  124 , prerequisite conditions may have to first be met. For example, in this embodiment the excavator  100  must first be primed for automatics, which may be accomplished by arming a valve module (not shown). Continuing with the current example, once the excavator  100  is primed for automatics, a request for automatics from the excavator operator needs to be received. In this example, once the request for automatics has been received, and the implement teeth  116  are within the upper automatics region  204  or the lower automatics region  208 , boom automatics  124  can be activated. Other embodiments may utilize different prerequisite requirements, and still other embodiments may not utilize any prerequisite requirements. In this embodiment, boom automatics  124  deactivate automatically when the implement teeth  116  no longer reside within either the upper automatics region  204  or the lower automatics region  208 . In some embodiments, the upper automatics region  204  and/or the lower automatics region  208  may be received as either an excavator operator input or a programmer input. In other embodiments the upper automatics region  204  and/or the lower automatics region  208  may be received as a user input from an excavator operator, programmer, etc., or may be received as a hardwired or otherwise preconfigured parameter or set of parameters. Some embodiments have only an upper automatics region  204  or a lower automatics region  208 . In some embodiments, the upper automatics region  204  and the lower automatics region  208  form a single automatics region. 
     Turning to  FIG. 3 , an embodiment depicting a criterion of implement automatics operation  300  is shown. In this embodiment, boom automatics  124  must first be engaged before implement automatics can be implemented. Other embodiments may have different prerequisite conditions, while still other embodiments may impose no prerequisite conditions at all. In  FIG. 3 , the implement  114  is in contact with the target design surface  120 . In this embodiment, the angle of the implement  114  measured with respect to the plane of the implement portion  118 , which is depicted as a flat exterior portion. In other embodiments, the implement portion  118  may be any suitable part of the implement  114 . 
     A target implement slope  302  is provided, which in some embodiments is the angle of the implement portion  118  once the implement  114  is in automatics  124 . The angular distance from the target design surface  120  to the target implement slope  302  is the angle of attack  304  in this embodiment. Once the target implement slope  302  is known, the implement angle θ  306  can be determined as the angular distance between the target implement slope  302  and the angle of the implement portion  118 . An activation angle α is shown in this embodiment, and comprises equal or unequal sub-angles in the form of an upper activation angle  308  and a lower activation angle  310 , with each being measured from the target implement slope  302  such that the activation angle α encompasses the target design surface  120 . In this embodiment, implement automatics are activated when the implement portion  118  is within the activation angle α or, more specifically, when the implement portion  118  enters either the upper activation angle  308  or the lower activation angle  310 . 
     A separate deactivation angle β is shown in this embodiment, and comprises equal or unequal sub-angles in the form of an upper deactivation angle  312  and a lower deactivation angle  314 , with each being measured from the target implement slope  302 , such that the deactivation angle β encompasses the target design surface  120 . In this embodiment, the upper deactivation angle  312  exceeds the upper activation angle  308  and the lower deactivation angle  314  exceeds the lower activation angle  310 . Any suitable angle sizes may be used for the various angles depicted in  FIG. 3 . In this embodiment, implement automatics are deactivated when the implement portion  118  is outside of, or exits, the deactivation angle β or, more specifically, the upper deactivation angle  312  and/or the lower deactivation angle  314 . 
     In some embodiments, the target implement slope  302 , the angle of attack  304 , the implement angle θ  306 , the upper activation angle  308 , the lower activation angle  310 , the upper deactivation angle  312 , and/or the lower deactivation angle  314  may be received as a user input, e.g., either an excavator operator input or a programmer input. In other embodiments the target implement slope  302 , the angle of attack  304 , the implement angle θ  306 , the upper activation angle  308 , the lower activation angle  310 , the upper deactivation angle  312 , and/or the lower deactivation angle  314  may be received as a hardwired or otherwise preconfigured parameter or set of parameters. 
     Turning to  FIG. 4 , a flowchart depicts activation and deactivation of automatics. At  400 , an excavator is being controlled by an operator. At  402  a determination is made as to whether the excavator is ready for automatics commands. If the excavator is not ready for automatics commands, then the excavator continues under normal operation at  400 . If the excavator is ready for automatics commands, then at  404  a determination is made as to whether there is an automatics request. If there is not an automatics request, the excavator continues being ready for automatic commands at  402 . If there is an automatics request, the excavator continues to  406 , where data for the target design surface, the activation angle, and the deactivation angle β is received. In other embodiments, these data may already be received or be preconfigured. In the embodiment depicted in  FIG. 4 , activation angle α is the combination of the upper activation angle  308  and the lower activation angle  310  and deactivation angle β is the combination of upper deactivation angle  312  and the lower deactivation angle  314 . In some embodiments, the automatics region is received. In other embodiments, the automatics region is preconfigured. 
     At  408  an implement angle θ representing an operating angle of the excavating implement relative to the target design surface is received. At  410  an implement position P representing a position of the excavating implement relative to the target design surface is received. At  412  a determination is made as to whether the implement position P is within the automatics region of the target design surface, wherein the automatics region represents a region on one or both sides of the target design surface within which operation of the excavator boom in automatics mode is permissible. If the implement position P is not within the automatics region, the excavator returns to normal operation at  400 . 
     If the implement position P is within the automatics region, then at  414  a determination is made as to whether the implement angle θ is within the activation angle α, wherein the activation angle α represents an angle within which operation of the excavating implement in automatics mode is permissible. If the implement angle θ is not within the activation angle α, then boom automatics are operated at  418 . If the implement angle θ is within the activation angle α, then implement automatics are operated at  416  and at  418  boom automatics are operated. 
     At  420  an updated implement angle θ is received. At  422  an updated implement position P is received. At  424  a determination is made as to whether implement position P is within the automatics region. If implement position P is not within the automatics region, then the boom automatics are deactivated at  428  and the implement automatics are deactivated at  430  so that the excavator returns to normal operations at  400 . If the implement position P is within the automatics region, then at  426  a determination is made as to whether the updated implement angle θ is outside of the deactivation angle β, wherein the deactivation angle β is outside of the activation angle α, and represents an angle outside of which operation of the excavating implement in automatics mode is not permissible. If the updated implement angle θ is not outside of the deactivation angle β, then the updated implement angle θ is received at  420 . If the updated implement angle θ is outside of the deactivation angle β, then at  430  the implement automatics are deactivated and the excavator returns to normal operations at  400 . 
     Turning to  FIG. 5, 500  is a side view depiction of excavation utilizing automatics for the boom  106  and the implement  114  as the implement  114  moves from left to right. The implement portion  118  maintains constant contact with, and remains parallel to, the target design surface  120 . 
     Turning to  FIG. 6, 600  is a side view depiction of power raking utilizing automatics for the boom  106  and the implement  114  as the implement  114  moves from left to right. The implement teeth  116  maintain constant contact with the target design surface  120 . Additionally, the implement angle θ  306  remains constant. 
     Turning to  FIG. 7, 700  is a side view depiction of compaction utilizing automatics for the boom  106  and the implement  114  as the implement  114  moves from left to right. Additionally, the implement angle θ  306  remains constant. 
     Turning to  FIG. 8 , a block diagram illustrates an example of a computing device  800 , through which embodiments of the disclosure can be implemented, for example in an excavator controller  113 . The computing device  800  described herein is but one example of a suitable computing device and does not suggest any limitation on the scope of any embodiments presented. Nothing illustrated or described with respect to the computing device  800  should be interpreted as being required or as creating any type of dependency with respect to any element or plurality of elements. In various embodiments, a computing device  800  may include, but need not be limited to, a desktop, laptop, server, client, tablet, smartphone, or any other type of device that can compress data. In an embodiment, the computing device  800  includes at least one processor  802  and memory (non-volatile memory  808  and/or volatile memory  810 ). The computing device  800  can include one or more displays and/or output devices  804  such as monitors, speakers, headphones, projectors, wearable-displays, holographic displays, and/or printers, for example. The computing device  800  may further include one or more input devices  806  which can include, by way of example, any type of mouse, keyboard, disk/media drive, memory stick/thumb-drive, memory card, pen, touch-input device, biometric scanner, voice/auditory input device, motion-detector, camera, scale, etc. 
     The computing device  800  typically includes non-volatile memory  808  (ROM, flash memory, etc.), volatile memory  810  (RAM, etc.), or a combination thereof. A network interface  812  can facilitate communications over a network  814  via wires, via a wide area network, via a local area network, via a personal area network, via a cellular network, via a satellite network, etc. Suitable local area networks may include wired Ethernet and/or wireless technologies such as, for example, wireless fidelity (Wi-Fi). Suitable personal area networks may include wireless technologies such as, for example, IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and/or other near field communication protocols. Suitable personal area networks may similarly include wired computer buses such as, for example, USB and FireWire. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM. Network interface  812  can be communicatively coupled to any device capable of transmitting and/or receiving data via the network  814 . Accordingly, the hardware of the network interface  812  can include a communication transceiver for sending and/or receiving any wired or wireless communication. For example, the network interface hardware may include an antenna, a modem, LAN port, Wi-Fi card, WiMax card, mobile communications hardware, near-field communication hardware, satellite communication hardware and/or any wired or wireless hardware for communicating with other networks and/or devices. 
     A computer readable storage medium  816  may comprise a plurality of computer readable mediums, each of which may be either a computer readable storage medium or a computer readable signal medium. A computer readable storage medium  816  may reside, for example, within an input device  806 , non-volatile memory  808 , volatile memory  810 , or any combination thereof. A computer readable storage medium can include tangible media that is able to store instructions associated with, or used by, a device or system. A computer readable storage medium includes, by way of non-limiting examples: RAM, ROM, cache, fiber optics, EPROM/Flash memory, CD/DVD/BD-ROM, hard disk drives, solid-state storage, optical or magnetic storage devices, diskettes, electrical connections having a wire, or any combination thereof. A computer readable storage medium may also include, for example, a system or device that is of a magnetic, optical, semiconductor, or electronic type. Computer readable storage media and computer readable signal media are mutually exclusive. 
     A computer readable signal medium can include any type of computer readable medium that is not a computer readable storage medium and may include, for example, propagated signals taking any number of forms such as optical, electromagnetic, or a combination thereof. A computer readable signal medium may include propagated data signals containing computer readable code, for example, within a carrier wave. Computer readable storage media and computer readable signal media are mutually exclusive. 
     The computing device  800  may include one or more network interfaces  812  to facilitate communication with one or more remote devices  818 , which may include, for example, client and/or server devices. A network interface  812  may also be described as a communications module, as these terms may be used interchangeably. 
     It is also noted that recitations herein of “at least one” component, element, etc., should not be used to create an inference that the alternative use of the articles “a” or “an” should be limited to a single component, element, etc. 
     It is noted that recitations herein of a component of the present disclosure being “configured” or “programmed” in a particular way, to embody a particular property, or to function in a particular manner, are structural recitations, as opposed to recitations of intended use. More specifically, the references herein to the manner in which a component is “configured” or “programmed” denotes an existing physical condition of the component and, as such, is to be taken as a definite recitation of the structural characteristics of the component. 
     It is noted that terms like “preferably,” “commonly,” and “typically,” when utilized herein, are not utilized to limit the scope of the claimed invention or to imply that certain features are critical, essential, or even important to the structure or function of the claimed invention. Rather, these terms are merely intended to identify particular aspects of an embodiment of the present disclosure or to emphasize alternative or additional features that may or may not be utilized in a particular embodiment of the present disclosure. 
     Having described the subject matter of the present disclosure in detail and by reference to specific embodiments thereof, it is noted that the various details disclosed herein should not be taken to imply that these details relate to elements that are essential components of the various embodiments described herein, even in cases where a particular element is illustrated in each of the drawings that accompany the present description. Further, it will be apparent that modifications and variations are possible without departing from the scope of the present disclosure, including, but not limited to, embodiments defined in the appended claims. More specifically, although some aspects of the present disclosure are identified herein as preferred or particularly advantageous, it is contemplated that the present disclosure is not necessarily limited to these aspects. 
     It is noted that one or more of the following claims utilize the term “wherein” as a transitional phrase. For the purposes of defining the present invention, it is noted that this term is introduced in the claims as an open-ended transitional phrase that is used to introduce a recitation of a series of characteristics of the structure and should be interpreted in like manner as the more commonly used open-ended preamble term “comprising.”