Systems and methods for control of excavators and other power machines

Patent metadata

Field	Value
Publication number	US-12584293-B2
Application number	US-202217869629-A
Country	US
Kind code	B2
Filing date	Jul 20, 2022
Priority date	Jul 20, 2021
Publication date	Mar 24, 2026
Grant date	Mar 24, 2026

Abstract

A power machine can include operator input devices and a control system configured to command movement of actuators based on operator inputs received from the operator input devices. Movement of one or more of the actuators can be commanded based on input at one or more of the operator input devices and a response curve selected from a plurality of different response curves. Movement of one or more of the actuators can be based on a selected control mode for the power machine that corresponds to a selected control-function mapping of the operator input devices to the one or more actuators. A lift arm can be variously controlled to execute automatic or other operations. An excavator can be operated in a sustained-speed travel mode. Actuation of a bucket or other implement can be implemented based on signals from a material sensor.

First claim

What is claimed is:

1 . A method of operating a power machine, the method comprising:
positioning an implement pivotally supported by a lift arm of the power machine via electronic control of one or more actuators; permitting operation of the implement in an oscillating mode in response to receipt of an operator input from an operator input device; and when the implement is operating in the oscillating mode and a control device of the power machine determines that an oscillation criteria has been met, automatically oscillating the implement relative to the lift arm via the control device commanding oscillation of the one or more actuators; wherein actuator commands from the control device automatically command the oscillation of the one or more actuators based on the implement selectively operating in a first vibration control mode, in which the oscillation of the one or more actuators is automatically commanded based on determining that an actual movement of the one or more actuators is different from a commanded movement of the one or more actuators.

2 . The method of claim 1 , wherein automatically commanding the oscillation includes repetitively:
commanding a first movement of the one or more actuators in a first direction during a first time interval; and subsequently commanding a second movement of the one or more actuators in a second direction during a second time interval.

3 . The method of claim 2 , further comprising:
determining, with the control device, a range criteria that corresponds with an orientation of the implement during the oscillation of the one or more actuators; and adjusting the commanded oscillation of the one or more actuators based on the range criteria.

4 . The method of claim 3 , wherein adjusting the commanded oscillation includes setting the first time interval shorter than the second time interval based on a detected position or movement of the implement.

5 . The method of claim 1 , wherein automatically commanding the oscillation of the one or more actuators is based on identifying, with the control device, a stalled digging operation with the implement.

6 . The method of claim 1 , wherein automatically commanding the oscillation of the one or more actuators is based on identifying, with the control device, an execution of a dumping operation with the implement.

7 . The method of claim 1 , wherein automatically commanding the oscillation of the one or more actuators is based on identifying, with the control device, an initiated digging operation with the implement.

8 . The method of claim 1 , wherein the lift arm includes a boom pivotally connected to a main frame of the power machine, an arm pivotally connected to the boom opposite the main frame, and an implement carrier that supports the implement and is pivotally connected to the arm opposite the boom; and
wherein the one or more actuators includes one or more of:
a boom actuator configured to pivot the boom relative to the main frame;
an arm actuator configured to pivot the arm relative to the boom; or
an implement actuator configured to pivot the implement carrier relative to the arm.

9 . The method of claim 8 , wherein the one or more actuators includes the implement actuator and the implement includes a bucket.

10 . The method of claim 1 , wherein actuator commands from the control device automatically command the oscillation of the one or more actuators based on the implement selectively operating in a second vibration control mode, in which the oscillation of the one or more actuators is automatically commanded based on identifying a threshold operator input.

11 . The method of claim 1 , wherein actuator commands from the control device automatically command the oscillation of the one or more actuators based on the implement selectively operating in a third vibration control mode, in which an oscillation frequency of the automatically commanded oscillation is determined based on a received operator input.

12 . A method of operating a power machine, the method comprising:
activating an oscillating mode of an implement pivotally supported by a lift arm of the power machine via actuation of an operator input device; when a control device of the power machine determines that an oscillation criteria has been met and the oscillating mode is activated and, in a first vibration control mode of plurality of vibration control modes, that an actual movement of the implement is different from a commanded movement of the implement, automatically oscillating the implement relative to the lift arm via the control device.

13 . The method of claim 12 , wherein the oscillation criteria corresponds to a stalled digging operation.

14 . The method of claim 12 , wherein the oscillation criteria corresponds to an execution of a dumping operation.

15 . The method of claim 12 , wherein the oscillation criteria corresponds to an initiation of a digging operation.

16 . The method of claim 12 , wherein the control device determining that the oscillation criteria has been met includes the control device identifying one or more of an orientation of the implement or pressure data of an actuator that moves the implement.

17 . The method of claim 12 , further comprising:
oscillating the implement, in a second vibration control mode of the plurality of vibration control modes, when the control device determines a threshold operator input has been met.

18 . A method of operating a power machine, the method comprising:
activating an oscillating mode of an implement pivotally supported by a lift arm of the power machine via actuation of an operator input device; sensing one or more of an orientation of the implement or pressure data of an actuator that moves the implement via a control device of the power machine; determining whether the orientation of the implement or the pressure data of the actuator that moves the implement falls within a predetermined oscillation criteria via the control device; and when the oscillating mode is activated and the control device determines that the orientation of the implement or the pressure data of the actuator that moves the implement falls within the predetermined oscillation criteria, automatically oscillating the implement relative to the lift arm via the control device; wherein, in a first vibration control mode, the automatic oscillation is in response to the control device determining that an actual movement of the implement is different from a commanded movement of the implement; and wherein, in a second vibration control mode, the automatic oscillation is in response to when the control device determining that a threshold operator input has been met.

Assignees

• Doosan Bobcat North America Inc

Inventors

• Hoaby John
• Schmidt Michael
• Hanson Sawyer
• Sagaser Thomas
• Krieger Daniel J

Classifications

• E02F9/264

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F9/2203 Primary

  Arrangements for controlling the attitude of actuators, e.g. speed, floating function · CPC title

• E02F3/30

  with a dipper-arm pivoted on a cantilever beam {, i.e. boom} · CPC title

• B60Y2200/412

  Excavators · CPC title

• E02F9/2228 Primary

  including an electronic controller · CPC title