Control Means Responsive To Sensed Condition Patents (Class 414/699)
  • Patent number: 10415215
    Abstract: A drive system for a construction machine capable of appropriately controlling a distribution flow rate to each hydraulic actuator and improving operability by an operator is provided.
    Type: Grant
    Filed: December 20, 2017
    Date of Patent: September 17, 2019
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Hiromasa Takahashi, Kenji Hiraku, Juri Shimizu, Shohei Sugiki
  • Patent number: 10378185
    Abstract: To provide a work machine capable of efficiently regenerating the energy owned by hydraulic fluid during a swing deceleration.
    Type: Grant
    Filed: March 10, 2015
    Date of Patent: August 13, 2019
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Teppei Saitoh, Yuki Akiyama, Kenji Hiraku, Hiromasa Takahashi, Juri Shimizu
  • Patent number: 10279482
    Abstract: An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.
    Type: Grant
    Filed: December 18, 2014
    Date of Patent: May 7, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Alex Khripin, Stephen Berard, Alfred Anthony Rizzi
  • Patent number: 10273984
    Abstract: A hydraulic system, preferably for actuating and engaging a mobile slurry pump, includes a primary circuit, actuating a first hydraulic consumer, which circuit has a hydraulic drive assembly including at least one motor-driven hydraulic pump. The hydraulic system further includes a secondary circuit, actuating a second hydraulic consumer, which circuit has a second hydraulic drive assembly including at least one additional motor-driven hydraulic pump. In a first operating state, hydraulic oil from a common tank can be admitted to the hydraulic consumers arranged in the primary circuit and in the secondary circuit via the hydraulic drive assemblies thereof, independently of one another. In a second operating state, a portion of the hydraulic oil is supplied from the primary circuit to the secondary circuit to actuate the second consumer.
    Type: Grant
    Filed: March 20, 2013
    Date of Patent: April 30, 2019
    Assignee: Putzmeister Engineering GmbH
    Inventors: Jan-Martin Veit, Werner Muenzenmaier
  • Patent number: 10036407
    Abstract: A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic cylinder (110), first and second counter-balance valves (300, 400), and first and second control valves (700, 800). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first control valve may apply a holding pressure and thereby hold the first counter-balance valve closed and the second counter-balance valve open.
    Type: Grant
    Filed: August 29, 2014
    Date of Patent: July 31, 2018
    Assignee: Eaton Intelligent Power Limited
    Inventors: Michael Berne Rannow, Meng Wang
  • Patent number: 9951494
    Abstract: A method of controlling a lift arm actuator and a tilt actuator to control positioning of an implement carrier coupled to a lift arm of a power machine. An activation signal is received from an enabling input device. A lift arm control signal is received from a lift arm control input commanding movement of the lift arm. The lift arm actuator is controlled responsive to receipt of both of the activation signal and the lift arm control signal to move the lift arm to a target lift arm position and to move the implement carrier to or maintain the implement carrier at a target implement carrier orientation relative to a gravitational direction.
    Type: Grant
    Filed: April 29, 2016
    Date of Patent: April 24, 2018
    Assignee: Clark Equipment Company
    Inventors: Kevin J. Zent, Trevor W. Krause, Jonathan J. Roehrl, Marty Carpenter
  • Patent number: 9908698
    Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.
    Type: Grant
    Filed: November 22, 2016
    Date of Patent: March 6, 2018
    Assignee: Symbotic, LLC
    Inventors: Robert Sullivan, Stephen C. Toebes
  • Patent number: 9903094
    Abstract: Provided is a work machine driving device which can reduce unnecessary switching control of switching valves. The present invention is configured so that at least two closed-circuit hydraulic pumps 2a to 2f can be connected in a closed loop to any one of hydraulic actuators 7a to 7c, 10c through electromagnetic switching valves 12, in which a controller 16 includes a priority order calculating circuit 31 which calculates the allocation of the closed-circuit hydraulic pumps 2a to 2f to the hydraulic actuators 7a to 7c, 10c according to operation of operation levers 17a, 17b and a priority order map 32 determining priority connection relationships between the closed-circuit hydraulic pumps 2a to 2f and the hydraulic actuators 7a to 7c, 10c, and the priority order calculating circuit 31 selects and allocates an unallocated closed-circuit hydraulic pump 2a to 2f when the number of closed-circuit hydraulic pumps 2a to 2f to be allocated increases.
    Type: Grant
    Filed: November 7, 2014
    Date of Patent: February 27, 2018
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventor: Hiromasa Takahashi
  • Patent number: 9810242
    Abstract: A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic cylinder (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and a selection valve set (850). The selection valve set is adapted to self-configure to a first configuration and to a second configuration when a net load (90) is supported by a first chamber (116, 118) and a second chamber (118, 116) of the hydraulic cylinder, respectively. When the selection valve set is enabled in the first and second configurations, the second and first control valve may fluctuate hydraulic fluid flow to the second and first chamber, respectively, to produce a vibratory response (950) that counters environmental vibrations (960) of the boom. When the selection valve set is not enabled, the first and second counter-balance valves are adapted to provide the hydraulic cylinder with conventional counter-balance valve protection.
    Type: Grant
    Filed: May 13, 2014
    Date of Patent: November 7, 2017
    Assignee: Eaton Corporation
    Inventor: Meng (Rachel) Wang
  • Patent number: 9796571
    Abstract: A method for automatically adjusting the position of an implement for a work vehicle may generally include receiving an input associated with a flow-related parameter of the work vehicle as loader arms of the work vehicle are being moved and determining a speed control signal for the implement based at least in part on the flow-related parameter, wherein the speed control signal is associated with an implement speed at which the implement is to be moved in order to maintain the implement at a fixed orientation relative to a given reference point. In addition, the method may include generating a valve command signal based at least in part on the speed control signal and transmitting the valve command signal to a valve associated with the implement in order to maintain the implement at the fixed orientation as the loader arms are being moved.
    Type: Grant
    Filed: August 6, 2015
    Date of Patent: October 24, 2017
    Assignee: CNH Industrial America LLC
    Inventors: Aditya Singh, Duqiang Wu, Navneet Gulati
  • Patent number: 9783960
    Abstract: To provide a driving device capable of improving the operability of a plurality of single rod hydraulic cylinders. The present invention takes a construction provided with a closed circuit A in which first and third hydraulic pumps 12, 14 and a boom cylinder 1 are connected through selector valves 43a, 45a in a closed-circuit fashion, a plurality of open circuits E, F provided with second and fourth hydraulic pumps 13, 15 and selector valves 44a, 46a that switch the supply destinations of hydraulic oils flowing out from the second and fourth hydraulic pumps 13, 15, and a connection passage 301 connected to sides of the selector valves 44a, 46a from which sides hydraulic oil flows out, and connected to the closed circuit A.
    Type: Grant
    Filed: September 1, 2014
    Date of Patent: October 10, 2017
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Juri Shimizu, Teppei Saitoh, Mariko Mizuochi, Kenji Hiraku, Akinori Ishii, Hiromasa Takahashi, Takashi Kusama
  • Patent number: 9745725
    Abstract: Disclosed is an apparatus for improving excavating operation characteristic and grading operation characteristic of an excavator. The apparatus includes a solenoid valve group and a hydraulically controlled selector valve. An oil controlling output A1 of the solenoid valve group is configured in series with oil controlling input a1 of the hydraulic control valve. An oil controlling output A2 of the solenoid valve group is configured in series with a pilot control end XBa2 of a multi-port valve group. An oil return port T1 of the solenoid valve group is connected to the hydraulic oil tank. An oil controlling output b1 of the hydraulically controlled selector valve is connected to a pilot control end XAb2 of the multiplexer valve group, and an oil return port T2 of the hydraulically controlled selector valve is connected with the hydraulic oil tank. The apparatus improves operational efficiency and control comfortability.
    Type: Grant
    Filed: July 2, 2013
    Date of Patent: August 29, 2017
    Assignee: XCMG EXCAVATOR MACHINERY CO., LTD
    Inventors: Yong Wang, Hong Zhang, Shengxia Zhang, Kai Liu, Zong Li, Jian Zhang, Mingjun Liao, Jiasheng Qin, Yufeng Yang
  • Patent number: 9689145
    Abstract: A hydraulic excavator is provided with a tilt cylinder disposition data creating unit and a bucket information computing unit. The tilt cylinder disposition data creating unit creates tilt cylinder disposition data which indicates that a disposition of a tilt cylinder is either a first disposition in which a bucket is rotated in the clockwise direction due to extension or a second disposition in which the bucket is rotated in the clockwise direction due to contraction, when viewing the bucket from a vehicle body side. The bucket information computing unit obtains a tilt angle of the bucket based on the stroke length on the basis of the tilt cylinder disposition data.
    Type: Grant
    Filed: December 9, 2015
    Date of Patent: June 27, 2017
    Assignee: KOMATSU LTD.
    Inventors: Yuto Fujii, Tsutomu Iwamura, Daiki Arimatsu, Katsuhiro Ikegami, Masanobu Seki
  • Patent number: 9605413
    Abstract: A multi-tool machine for utilizing a plurality of work tools includes an engine and a controller operatively coupled to the engine. The engine is configured to operate at a first engine operating configuration when a first work tool is coupled to the machine and configured to operate at a second engine operating configuration when a second work tool is coupled to the machine. The controller is configured to transition the engine from the first configuration to the second configuration when the machine transitions from the first work tool to the second work tool.
    Type: Grant
    Filed: May 29, 2015
    Date of Patent: March 28, 2017
    Assignee: Caterpillar Inc.
    Inventors: Xinyu Ge, Qiang Chen
  • Patent number: 9382687
    Abstract: A shovel that performs excavation in accordance with an arm excavation operation including an arm closing operation includes an excavation operation detection part, a position detection part, a maximum allowable pressure calculation part, and an arm cylinder pressure control part. The excavation operation detection part detects that the arm excavation operation has been performed. The position detection part detects the position of the shovel. The maximum allowable pressure calculation part calculates the pressure of the expansion-side oil chamber of an arm cylinder corresponding to an excavation reaction force at a time when the shovel is dragged by the excavation reaction force as a maximum allowable pressure, based on the position of the shovel. The arm cylinder pressure control part controls the pressure of the expansion-side oil chamber not to exceed the maximum allowable pressure when the arm excavation operation is performed.
    Type: Grant
    Filed: June 18, 2015
    Date of Patent: July 5, 2016
    Assignee: SUMITOMO(S.H.I.) CONSTRUCTION MACHINERY CO., LTD.
    Inventor: Hiroyuki Tsukamoto
  • Patent number: 9169615
    Abstract: A mining shovel includes a dipper assembly comprising a dipper arm coupled to a dipper, a boom assembly configured to support the dipper assembly, and an overcrowd prevention system including one or more sensors configured to monitor an axial force. The mining shovel also includes a swing abuse prevention system, including one or more sensors configured to monitor one or more compound loading forces, and one or more sensors configured to monitor a torsion loading force. The mining shovel also includes a control module configured to receive signals from the sensors, and to control at least the crowding force applied to the dipper.
    Type: Grant
    Filed: January 14, 2013
    Date of Patent: October 27, 2015
    Assignee: Caterpillar Global Mining LLC
    Inventors: James Ryan, Van I. Phifer
  • Patent number: 9097344
    Abstract: A machine powertrain having a transmission includes a control device responsive to selectively vary the transmission ratio in response to a shift signal. A lift sensor associated with a machine implement monitors an implement position and provides a lift signal. A ground speed sensor monitors the ground speed and provides a ground speed signal. A controller monitors the lift and ground speed signals, compares the lift signal to a predetermined position range, compares the ground speed signal to a predetermined ground speed range and, when the ground speed signal is within the predetermined ground speed range and the lift signal is within the predetermined position range, provides the shift signal causing the selectively variable ratio of the transmission to change.
    Type: Grant
    Filed: October 23, 2012
    Date of Patent: August 4, 2015
    Assignee: Caterpillar Inc.
    Inventors: Brian Hoff, Sri Vidya Kamisetty, Chad Brickner, Aaron Shatters, Wayne Harshberger, Mark Rettig, Kevin Moloney
  • Publication number: 20150139767
    Abstract: This invention includes a hydraulic pump (9), a working implement (107) having a lift cylinder (13) driven by a hydraulic fluid supplied from the hydraulic pump (9), an operating device (104) for operating the working implement (107), a traveling motor (7) for driving wheels, and a main controller (100). When the lift cylinder (13) fails to operate despite an extending instruction being imparted to the lift cylinder (13) via the operating device (104), the main controller (100) reduces a limit value for an increase rate of a torque required in the traveling motor (7) to a value smaller than that applied when the lift cylinder (13) operates. With this configuration, occurrence of wheel slip during lifting of an object to be carried can be reduced.
    Type: Application
    Filed: June 3, 2013
    Publication date: May 21, 2015
    Inventors: Hidekazu Moriki, Satoru Kaneko, Noritaka Itou, Kazuo Ishida, Toshio Kotaka, Satoshi Sekino, Toru Kikuchi, Masaki Higurashi
  • Patent number: 8974171
    Abstract: A work vehicle includes a pair of booms, a link mechanism and a control unit. The booms are attached to a front part of a vehicle body in an upwardly and downwardly rotatable state. The link mechanism couples a working unit to tips of the booms. The link mechanism is configured to keep the working unit in a posture generally parallel to the ground without rotating the working unit with respect to the ground while the booms are elevated from a position where the working unit is disposed on the ground when the working unit is a fork. The control unit is configured to execute a tilt angle adjusting control for the working unit in accordance with variation in an angle of the booms while the booms are elevated when a tilt angle of the working unit is greater than or equal to a predetermined threshold.
    Type: Grant
    Filed: May 11, 2010
    Date of Patent: March 10, 2015
    Assignee: Komatsu Ltd.
    Inventors: Atsushi Shirao, Masanori Ikari
  • Patent number: 8965637
    Abstract: A method of operating a working machine which includes a main structure and a working arm pivotally mounted at one end on the main structure. The working arm is raisable and lowerable relative to the main structure by a first actuator device, and is extendible relative to the main structure by a second actuator device. In use, the arm carries at another end a working implement which can carry a load. The machine further including a ground engaging drive structure by which the machine is drivable on the ground. The machine has a longitudinal load moment control system which automatically disables operation of the first and/or second actuator devices from increasing longitudinal instability in the event that a predetermined instability is sensed. When the machine senses a ground travelling speed above a threshold speed, the longitudinal load moment control system is disabled.
    Type: Grant
    Filed: June 17, 2010
    Date of Patent: February 24, 2015
    Assignee: J.C. Bamford Excavators Limited
    Inventors: Richard Anthony Brooks, Graham Mark Brooks, Kevin William Ford
  • Patent number: 8939699
    Abstract: In a construction machine, a boom assist cylinder (7A) assists an operation of a boom (4) by a hydraulic pressure, and an arm assist cylinder (8A) assists an operation of an arm (5) by a hydraulic pressure. An accumulator (16) accumulates operation oil to be supplied to the boom assist cylinder and the arm assist cylinder in a pressurized state. A first hydraulic pipe (14) connects between the boom assist cylinder and the arm assist cylinder. A second hydraulic pipe (12) connects between the arm assist cylinder and the accumulator. The second hydraulic pipe is connected to a hydraulic connection port of the arm assist cylinder so that the operation oil is supplied in a direction of closing the arm from the accumulator to the arm assist cylinder.
    Type: Grant
    Filed: April 19, 2011
    Date of Patent: January 27, 2015
    Assignee: Sumitomo Heavy Industries, Ltd.
    Inventor: Koichiro Tsukane
  • Patent number: 8788156
    Abstract: Predetermined torque characteristics are obtained by multiplying by a predetermined ratio that is less than 100%, the upper value of engine output torque from the engine output torque line, for at least part of the range of engine rotation speed. Torque upper value information defines the upper value of engine output torque that changes in conformance with vehicle speed and tractive farce. When predetermined conditions for determination are satisfied, an engine output torque control part controls engine output torque based on torque upper value information. The predetermined conditions for determination at the least include that a travel condition is forward travel, that a work condition is laden condition and that a raise operation is being performed by the working machine. When the predetermined conditions for determination are not satisfied the engine output torque control part controls engine output torque based on predetermined torque characteristics.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: July 22, 2014
    Assignee: Komatsu Ltd.
    Inventor: Kazunori Nishimura
  • Patent number: 8666613
    Abstract: A swing control system for a hybrid construction machine has a swing operating lever, an electric swing motor, a speed detection sensor which detects the rotary speed of a swing motor, a controller that calculates the driving speed of the swing motor by a swing operating signal created by the operation of the swing operating lever and by a detecting signal of the rotary speed, an inverter which drives the swing motor by a control signal from the controller, a swing inertia detector that detects the swing inertia of equipment and an inertia torque compensator which compares the torque compensation value in accordance with the equipment inertia, and outputs a calculated torque value for controlling the swing motor to the inverter.
    Type: Grant
    Filed: December 15, 2010
    Date of Patent: March 4, 2014
    Assignee: Volvo Construction Equipment AB
    Inventor: Dong-Uk Choi
  • Patent number: 8666609
    Abstract: A tractor includes booms, lift cylinders, a hitch, dump cylinders, a magnetic valve, a speed-up circuit, and a speed-up restricting arm. The lift cylinders swing the booms upward and downward by an operating oil being supplied thereto. The hitch is provided to the booms to allow an implement to be attached thereto. The dump cylinders swing the implement upward and downward by the operating oil being supplied thereto. The magnetic valve switches between supplying the operating oil to the dump cylinders and supplying the operating oil to a grab cylinder provided in the implement. The speed-up circuit is able to perform a speed-up operation for increasing the flow rate of the operating oil supplied to the magnetic valve. The speed-up restricting arm is arranged near the speed-up circuit.
    Type: Grant
    Filed: January 31, 2011
    Date of Patent: March 4, 2014
    Assignee: Yanmar Co., Ltd.
    Inventor: Tetsuya Iida
  • Publication number: 20130275012
    Abstract: A system for correcting an angle of an implement coupled to a loader is disclosed. The system comprises a controller that is configured to calculate a first angle correction signal based at least upon an engine speed signal and an operator interface actuation signal, the operator interface actuation signal commanding movement of a lift arm on a loader; calculate a second angle correction signal based at least upon a coupler angle signal; transmit the first and second angle correction signals to change the angle of a coupler configured to couple an implement to the lift arm; and temporarily disable transmission of the second angle correction signal.
    Type: Application
    Filed: May 10, 2013
    Publication date: October 17, 2013
    Inventors: Christian NICHOLSON, Todd R. Farmer, Brian F. Taggart, Mark A. Sporer, Luka G. Korzeniowski
  • Patent number: 8500387
    Abstract: A backhoe loader 10 with a controller 100 that uses angular signals from at least one sensor to calculate a loader tool angle with respect to the vehicle frame 12 or with respect to the earth and to maintain the loader tool angle via controller generated commands to a tool actuator 61 as a function of the angular signals and commands to a boom actuator 50. The controller 100 enables proportional control of the tool angle via a command input device such as an electronic joystick 21. If the electronic joystick 21 is moved to an appropriate detent position, the controller executes a return to carry function. If the boom 31 is at or below the return to carry angle at the time the joystick 21 is moved to the detent position, the controller 100 executes a float function allowing the bucket 36 and the boom 31 to rest on the ground and follow the contours of the earth as the vehicle moves over the earth.
    Type: Grant
    Filed: June 22, 2007
    Date of Patent: August 6, 2013
    Assignee: Deere & Company
    Inventor: Boris Trifunovic
  • Publication number: 20130195595
    Abstract: A method of controlling a digging operation of an industrial machine. The industrial machine includes a dipper connected to a dipper handle, a hoist rope attached to the dipper, and a hoist motor moving the hoist rope and the dipper. The method includes determining that the dipper is ready to be unloaded, activating a secondary tipping control operation by controlling a speed of the hoist motor, controlling an acceleration ramp rate of the hoist motor, and controlling a deceleration ramp rate of the hoist motor. The method further includes determining when the dipper is unloaded and deactivating the secondary tipping control operation.
    Type: Application
    Filed: January 31, 2012
    Publication date: August 1, 2013
    Inventors: Troy Hottmann, Mooyoung Lee, Joseph Colwell, Michael Linstroth
  • Publication number: 20130129460
    Abstract: A control system for a work implement on a machine is disclosed including a first hydraulic circuit, a second hydraulic circuit, and a controller. The first hydraulic circuit includes a hydraulic cylinder assembly, a pressurized fluid source, and a fluid tank. The hydraulic cylinder assembly includes a head end, a rod end, a cylinder, and a rod. The pressurized fluid source and the fluid tank are selectively connected to the head end or the rod end. The second hydraulic circuit includes a valve configured to receive a connection to tank signal and selectively connect the head end or the rod end to the fluid tank. The controller is configured to generate the connection to tank signal.
    Type: Application
    Filed: November 22, 2011
    Publication date: May 23, 2013
    Applicant: Caterpillar Inc.
    Inventor: Magomed O. Gabibulayev
  • Patent number: 8437925
    Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit, includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.
    Type: Grant
    Filed: May 22, 2012
    Date of Patent: May 7, 2013
    Assignee: Volvo Construction Equipment Holding Sweden AB
    Inventors: Jin Seop Kim, Chang Soo Lee, In Woo Kim
  • Patent number: 8430621
    Abstract: A method for controlling a boom construction and a tool articulated thereto, 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 same, as well as a third actuator controlling the position of the tool, wherein in the method: the first actuator is controlled manually; and/or the second actuator is controlled manually and the third actuator is also controlled at the same time automatically to control the position of the tool. For example, the first actuator is controlled by use of a first set point; and/or the second actuator is controlled by use of a second set point; and in addition, the third actuator is controlled simultaneously by using for the control a variable dependent on at least one of said set points.
    Type: Grant
    Filed: August 1, 2007
    Date of Patent: April 30, 2013
    Assignee: John Deere Forestry Oy
    Inventor: Jarkko Jäntti
  • Publication number: 20130045072
    Abstract: A control system for a machine having a power source, one or more electric propulsion motors connected to the power source, and one or more lift and tilt cylinders. The control system includes an input unit, a processing unit and a control module. The input unit is configured to receive pressure values corresponding to the lift and tilt cylinders. The processing unit is configured to compare the pressure values to threshold pressure values for the lift and tilt cylinders to generate an operative signal. Further, the control module is configured to control electrical energy supplied to the one or more electric propulsion motors from the power source based on the operative signal.
    Type: Application
    Filed: August 17, 2011
    Publication date: February 21, 2013
    Applicant: Caterpillar Inc.
    Inventor: Jeffrey E. Jensen
  • Patent number: 8366374
    Abstract: A dual arm hydraulic excavator 200 has two front work devices A and B, provided on left and right sides of a front portion of an upper swing structure 3 and swingable in a top-bottom direction of excavator 200. Front work devices A and B have arms 12a, 12b, booms 10a, 10b and working devices 20a, 20b. An average of angle ?a of the arm 12a relative to the boom 10a and angle ?b of the arm 12b relative to the boom 10b is defined as an average arm angle ?c. A range of the average arm angle, in which the average arm angle ?c is larger than a predetermined threshold value ?c2, is defined as an unstable range N. A range of the average arm angle, from an inner side of the unstable range and adjacent to the unstable range, is defined as a stable state limit range M.
    Type: Grant
    Filed: September 19, 2008
    Date of Patent: February 5, 2013
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventor: Akinori Ishii
  • Patent number: 8340873
    Abstract: A machine control and guidance system for an earthmoving machine, includes one or more sensors and a portable digital media device mounted on the earthmoving machine. The portable digital media device may comprise an iPhone, an iTouch, or other similar device. Each of the sensors senses the position or orientation of a portion of the earthmoving machine and provides a wireless output signal indicating the position or orientation. The portable digital media device is in wireless communication with each of the sensors. The device has an associated display and a memory in which is stored an application program which permits the device to determine the position of one or more portions of the earthmoving machine and to display the position of one or more portions of the earthmoving machine on the display.
    Type: Grant
    Filed: January 20, 2010
    Date of Patent: December 25, 2012
    Assignee: Caterpillar Trimble Control Technologies, LLC
    Inventors: Jeffrey Lynn Finley, Bruce W. Enix
  • Publication number: 20120315120
    Abstract: A work machine having: a working part; a holding part for holding the working part; and an operating part for rotating the working part around the holding part; further comprising: an angle sensing means for sensing the angle of the working part from the horizontal; and a controller for adjusting and holding the position of the working part by use of the operation means based on the angle sensing means.
    Type: Application
    Filed: June 8, 2011
    Publication date: December 13, 2012
    Inventor: Jarrod HYDER
  • Patent number: 8204653
    Abstract: A first hydraulic cylinder is associated with a boom. A first sensor detects a boom position based on a first linear position of a first movable member associated with the first hydraulic cylinder. An attachment is coupled to the boom. A second cylinder is associated with the attachment. A second sensor detects an attachment position based on a second linear position of a second movable member associated with the second hydraulic cylinder. A switch accepts a command to enter a ready position state from another position state. A controller controls the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the ready position state in response to the command.
    Type: Grant
    Filed: July 26, 2007
    Date of Patent: June 19, 2012
    Assignee: Deere & Company
    Inventors: Mark Peter Sahlin, Jason Meredith, Jerry Anthony Samuelson, David August Johnson, Eric Richard Anderson
  • Patent number: 8200398
    Abstract: A first sensor detects a boom position of a boom based on a first linear position of a first movable member of a first hydraulic cylinder. A second sensor detects an attachment position of an attachment based on a second linear position of a second movable member of a second hydraulic cylinder. An accelerometer detects an acceleration or deceleration of the boom. A switch accepts a command to enter a ready position state from another position state. A controller controls the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the ready position state in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.
    Type: Grant
    Filed: July 26, 2007
    Date of Patent: June 12, 2012
    Assignee: Deere & Company
    Inventors: Mark Peter Sahlin, Jason Meredith, Jerry Anthony Samuelson, David August Johnson, Eric Richard Anderson
  • Patent number: 8195367
    Abstract: A leveling control system and method for heavy equipment, in which a lower frame having a traveling unit and an upper frame are combined together by a tilting unit. The system includes a sensor unit, provided in the equipment, for measuring twist angles of the lower frame and the upper frame against a reference horizontal surface and a traveling speed of the equipment, and detecting working state information of working devices; a control unit for receiving the twist angles, the traveling speed, and the working state information, calculating a correction angle for the leveling control of the upper frame, and generating a control signal for instructing an operation of an actuator in accordance with the correction angle; and a driving unit for performing the leveling through the actuator in accordance with the control signal received therein.
    Type: Grant
    Filed: December 2, 2008
    Date of Patent: June 5, 2012
    Assignee: Volvo Construction Equipment Holding Sweden AB
    Inventors: Jin Seop Kim, Chang Soo Lee, In Woo Kim
  • Patent number: 8142132
    Abstract: The present invention is directed to a control circuit for automatically bringing a hydraulically operated work arm into a particular position without having to manually reverse the direction of the hydraulic operating system.
    Type: Grant
    Filed: January 5, 2009
    Date of Patent: March 27, 2012
    Assignee: CNH America LLC
    Inventors: Richard J. Lech, Vlad P. Patrangenaru
  • Patent number: 8137047
    Abstract: A double-arm working machine has an upper swing structure, an operator cabin, left swing post and right swing post provided in front of the upper swing structure, and a left work front A and right work front B provided on the left swing post and the right swing post, respectively, such that the work fronts A, B each sway vertically. An interference prevention controller generates an output signal to swing the swing posts 7a, 7b pursuant to a differential angle between the left and right work fronts A, B and to a command signal from an operating device. A differential angle range in which the left and right work fronts A, B are likely to come into contact with each other is defined as an interference danger area (N), and an assigned differential-angle range contiguous to the interference danger area is defined as a semi-interference danger area.
    Type: Grant
    Filed: January 11, 2007
    Date of Patent: March 20, 2012
    Assignee: Hitachi Construction Machinery Co., Ltd.
    Inventors: Akinori Ishii, Kazuo Fujishima, Kunitsugu Tomita
  • Publication number: 20120039696
    Abstract: A control system for a machine which includes a load handling apparatus, the load is moveable relative to a body of the machine by the load handling apparatus. The machine including a pivot about which a tipping moment is produced by the load. The load handling apparatus including an actuator and is capable of moving the load to a position at which the tipping moment is at a predetermined threshold value. The control system includes a sensor which senses the tipping moment and in use, provides an input to a controller. The controller is responsive to the input to influence operation of the actuator so that in the event that the sensor senses that the value of the tipping moment is approaching the threshold value, the speed of movement of the load is progressively reduced.
    Type: Application
    Filed: October 25, 2011
    Publication date: February 16, 2012
    Applicant: J.C. Bamford Excavators Limited
    Inventors: Richard Anthony Brooks, Peter Jowett
  • Patent number: 8091467
    Abstract: Hydraulic valve circuits capable of variably limiting respective maximum hydraulic pressures at which an assembly of bidirectional hydraulic power devices can move respective clamping members, such as forks or clamp arms, selectively in a closing movement toward each other, in an opening movement away from each other, or in a side-shifting movement in unison with each other, so as to provide damage-control capabilities for the control of the clamping members. The circuits preferably include one or more pressure-regulating valves interconnected with the assembly of power devices, and capable of variably limiting a maximum side-shifting pressure, at which said assembly can cause said side-shifting movement, in response to a maximum pressure selection. The circuits preferably include at least one override assembly, capable of overriding the maximum pressure selection to thereby lower the maximum side-shifting pressure automatically irrespective of the maximum pressure selection.
    Type: Grant
    Filed: April 30, 2008
    Date of Patent: January 10, 2012
    Assignee: Cascade Corporation
    Inventor: David W. Petronek
  • Patent number: 8070413
    Abstract: A control system for a machine which includes a load handling apparatus for moving a load relative to a body of the machine. The machine includes a pivot about which a tipping moment is produced by the load. The load handling apparatus includes an actuator capable of moving the load to a position at which the tipping moment is at a threshold value. The control system is responsive to a tipping moment sensor to control operation of the actuator to progressively reduce the speed of movement of the load as the threshold value of the tipping moment is approached.
    Type: Grant
    Filed: July 2, 2003
    Date of Patent: December 6, 2011
    Assignee: J. C. Bamford Excavators Limited
    Inventors: Richard Anthony Brooks, Peter Jowett
  • Patent number: 7934329
    Abstract: An excavation control system for a machine is disclosed. The excavation control system may have a tool, at least one operator input device configured to provide manual control over movement of the tool, and a controller in communication with the at least one operator input device. The controller may be configured to receive an input related to an operator desired tool location, and determine that an operator is manually controlling movement of the tool toward the operator desired tool location. The controller may be further configured to automatically assume control over movement of the tool toward the operator desired tool location based on the determination.
    Type: Grant
    Filed: February 29, 2008
    Date of Patent: May 3, 2011
    Assignee: Caterpillar Inc.
    Inventors: Brian Mintah, Robert J. Price, Kevin D. King
  • Patent number: 7890235
    Abstract: A system for controlling a work machine and work tool from a remote controller. The remote controller sends a control signal to a receiver assembly and machine controller. The machine controller processes the control signal to determine the location of the remote controller relative to the receiver assembly and to alter operational characteristics of the machine or work tool based on the control signal or the location of the remote controller relative to the receiver assembly. The system may include a tag system to detect the presence of workers at the jobsite and to alter operation of the machine and work tool based upon the location of the workers relative to the machine or work tool. In another embodiment, a signal may be transmitted from the work machine and detected by a remote receiver assembly. A processor uses the detected signal to determine the position of the remote receiver assembly relative to the work machine.
    Type: Grant
    Filed: May 26, 2006
    Date of Patent: February 15, 2011
    Assignee: The Charles Machine Works, Inc.
    Inventors: Kelvin P. Self, Nathan Kiner
  • Patent number: 7853382
    Abstract: A work vehicle that includes a boom; a boom actuator connected to the boom, the boom actuator being adapted to controllably move the boom about a boom pivot in response to receiving a boom control signal; and a controller having computational and time-keeping capabilities. The controller communicates with the boom actuator, and calculates the boom velocity, compares the calculated velocity to a commanded velocity to obtain a velocity error, and, if necessary, de-rates the tractive effort of the wheels to prevent the boom from stalling. The controller also determines if the operator is actuating the boom, and reads the boom position to calculate the boom velocity based upon the current boom position and a previous boom position. The controller uses a predefined algorithm to de-rate the tractive effort of the wheels as a function of the power train configuration.
    Type: Grant
    Filed: September 29, 2006
    Date of Patent: December 14, 2010
    Assignee: Deere & Company
    Inventor: Eric R Anderson
  • Patent number: 7845896
    Abstract: A loader includes a hydraulically operated extension arm, a load sensor for monitoring the load condition on the loader and a hydraulic arrangement for actuation of the extension arm and/or an implement attached to the extension arm. The hydraulic arrangement exhibits at least one hydraulic cylinder with one supply line on the piston rod side and one supply line on the piston side. At least one mechanically switchable control device is coupled between a source of fluid pressure and a hydraulic tank, on the one hand, and the supply lines on the other hand. An electronic control unit is connected for effecting operation of a restricting device coupled between the supply lines in response to a load signal received from the load sensor so as to achieve a slowed-down actuation of the hydraulic cylinder in conjunction with the on set of a critical load condition.
    Type: Grant
    Filed: September 6, 2007
    Date of Patent: December 7, 2010
    Assignee: Deere & Company
    Inventors: Marcus Bitter, Richard Tudor
  • Patent number: 7810260
    Abstract: A control system for a tool coupling of the type that attaches a tool to an excavator dipper stick and provides for rotation of the tool with respect to the dipper stick about an axis, and further provides for tilting of the tool, includes a rotation sensor and a tilt sensor. The rotation sensor is mounted on the coupling for determining the amount of rotation of the tool with respect to the dipper stick about an axis. The tilt sensor is mounted on the coupling for determining the amount of tilt of the tool with respect to gravity. A control is responsive to the rotation sensor and to the tilt sensor for determining the orientation of the tool.
    Type: Grant
    Filed: December 21, 2007
    Date of Patent: October 12, 2010
    Assignee: Caterpillar Trimble Control Technologies LLC
    Inventors: Richard M. Pope, Anand Arumugam
  • Patent number: 7797860
    Abstract: A method and system for automated operation of a work vehicle comprises a boom having a first end and a second end opposite the first end. A first hydraulic cylinder is associated with the boom. A first sensor detects a boom position based on a first linear position of a first movable member associated with the first hydraulic cylinder. An attachment is coupled to the second end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment position based on a second linear position of a second movable member associated with the second hydraulic cylinder. A switch accepts a command to move to or enter a preset position state from another position state. A controller controls the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the preset position state in response to the command.
    Type: Grant
    Filed: July 17, 2007
    Date of Patent: September 21, 2010
    Assignee: Deere & Company
    Inventors: Dennis Eric Schoenmaker, Mark Peter Sahlin, Jason Meredith, Jerry Anthony Samuelson, David August Johnson, Eric Richard Anderson
  • Publication number: 20100215469
    Abstract: A backhoe loader 10 with a controller 100 that uses angular signals from at least one sensor to calculate a loader tool angle with respect to the vehicle frame 12 or with respect to the earth and to maintain the loader tool angle via controller generated commands to a tool actuator 60 as a function of the angular signals and commands to a boom actuator 50. The controller 100 enables proportional control of the tool angle via a command input device such as an electronic joystick 21. If the electronic joystick 21 is moved to an appropriate detent position, the controller 100 executes a return to dig function. If the bucket 31 is below the return to dig angle at the time the joystick 21 is moved to the detent position, the controller 100 generates commands to move the bucket 36 to the return to dig angle via a curling motion.
    Type: Application
    Filed: June 22, 2007
    Publication date: August 26, 2010
    Inventor: Boris Trifunovic
  • Patent number: 7752778
    Abstract: A first hydraulic cylinder is associated with the boom having a first end and a second end opposite the first end. A first sensor detects a boom angle of a boom with respect to a support (or a vehicle) near the first end. An attachment is coupled to the second end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment angle of attachment with respect to the boom. An accelerometer detects an acceleration or deceleration of the boom. A switch is arranged to accept a command to move to a preset position from another position. A controller is capable of controlling the first hydraulic cylinder to attain a boom angle within the target boom angular range and for controlling the second cylinder to attain an attachment angle within the target attachment angular range associated with the preset position in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.
    Type: Grant
    Filed: July 17, 2007
    Date of Patent: July 13, 2010
    Assignee: Deere & Company
    Inventors: Dennis Eric Schoenmaker, Mark Peter Sahlin, Jason Meredith, Jerry Anthony Samuelson, David August Johnson, Eric Richard Anderson