Systems and methods for controlling an implement of a machine utilizing an orientation leveling system

Patent metadata

Field	Value
Publication number	US-9752336-B2
Application number	US-201615019488-A
Country	US
Kind code	B2
Filing date	Feb 9, 2016
Priority date	Feb 9, 2016
Publication date	Sep 5, 2017
Grant date	Sep 5, 2017

Abstract

A control system for an implement associated with a machine, the machine operating on a work surface lying in a surface plane, is disclosed. The system includes a base plate attached to the machine, the base plate establishing a plate plane and the orientation of the plate plane alters with changes in orientation of the base plate. The system may further include an orientation leveling system which includes an orientation sensor, one or more plate actuators for altering orientation of the base plate, and an electronic controller. The electronic controller is configured to determine if the plate plane is substantially parallel with the surface plane and actuate the one or more actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if the plate plane is not substantially parallel with the surface plane.

First claim

What is claimed is:

1. A control system for an implement associated with a machine, the machine operating on a work surface, the work surface lying in a surface plane, the control system comprising:
a base plate attached to the machine, the base plate establishing a plate plane and orientation of the plate plane alters with changes in orientation of the base plate;
an orientation leveling system including:
an orientation sensor configured to determine initial orientation information for the base plate, the initial orientation information being relative to the surface plane;
one or more plate actuators for altering orientation of the base plate; and
a first electronic controller configured to receive the initial orientation information from the orientation sensor, determine if the plate plane is substantially parallel with the surface plane, and actuate the one or more plate actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if, based on the initial orientation information, the plate plane is not substantially parallel with the surface plane; and

a multi-axis control system, the multi-axis control system including:
a plurality of axis actuators, each of the plurality of axis actuators configured to position the implement along an axis relative to the plate plane; and
a second electronic controller configured to actuate the plurality of axis actuators to position the implement.

2. The control system of claim 1 , further comprising a rotary actuator configured to rotate the multi-axis control system, relative to the base plate, in response to instructions from the second controller.

3. The control system of claim 2 , further including a rotational plate, the rotational plate disposed substantially parallel with the base plate and connected to the base plate.

4. The control system of claim 3 , wherein the rotational plate is connected to the base plate via a slewing bearing, the slewing bearing enabling rotation of the rotational plate relative to the base plate.

5. The control system of claim 3 , further including a rotational sensor operatively associated with the rotational plate and configured to determine rotational positioning of the rotational plate, relative to the base plate.

6. The control system of claim 1 , wherein the plurality of axis actuators includes an x-axis actuator for positioning the implement about an x-axis, a y-axis actuator for positioning the implement about a y-axis, and a z-axis actuator for positioning the implement about a z-axis, wherein each of the x-axis, the y-axis, and the z-axis are disposed relative to the plate plane.

7. The control system of claim 6 , wherein the x-axis actuator, the y-axis actuator, and the z-axis actuator are linear actuators.

8. The control system of claim 1 , wherein the implement is an additive construction implement.

9. The control system of claim 8 , wherein the a second electronic controller of the multi-axis control system is configured to actuate the plurality of axis actuators to position the additive construction implement in accordance with an additive construction plan.

10. The control system of claim 1 , wherein the orientation sensor includes one or more of an accelerometer, a gyroscope, and a global positioning system (GPS).

11. An effector for controlling an additive construction implement during an additive construction operation on a work surface, the work surface lying in a surface plane, the effector comprising:
a base plate for attachment to a machine, the base plate establishing a plate plane and orientation of the plate plane alters with changes in orientation of the base plate;
an orientation sensor configured to determine initial orientation information for the base plate, the initial orientation information being relative to the work surface;
one or more plate actuators for altering orientation of the base plate;
an electronic controller configured to receive the initial orientation information from the orientation sensor, determine if the plate plane is substantially parallel with the surface plane, and actuate the one or more plate actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if, based on the initial orientation information, the plate plane is not substantially parallel with the surface plane;
a plurality of axis actuators, each of the plurality of axis actuators configured to position the additive construction implement along an axis relative to the plate plane.

12. The effector of claim 11 , wherein the machine is a construction machine including a crane, the effector further includes a connecting linkage configured for connecting the effector to the crane of the machine, and the construction machine is configured to utilize the additive construction implement, via the effector, for additive construction of a structure.

13. The effector of claim 11 , further comprising:
a rotational plate connected to the base plate on a first surface and connected to the plurality of axis actuators on a second surface; and
a rotary actuator configured to rotate the rotational plate and plurality of axis actuators relative to the base plate.

14. The effector of claim 13 , wherein the rotational plate is connected to the base plate via a slewing bearing, the slewing bearing enabling rotation of the rotational plate relative to the base plate.

15. The effector of claim 13 , further comprising a rotational sensor operatively associated with the rotational plate and configured to determine rotational positioning of the rotational plate, relative to the base plate.

16. A method for controlling an implement associated with a machine during an operation, utilizing an effector which connects the implement to the machine, the effector including a base plate that establishes a plate plane, orientation of the plate plane altering with changes in orientation of the base plate, one or more plate actuators, and a plurality of axis actuators, the machine operating on a work surface, the work surface lying in a surface plane, the method comprising:
determining, using an orientation sensor operatively associated with the base plate, initial orientation information for the base plate;
determining, using one or more electronic controllers, if the plate plane is substantially parallel with the surface plane based on the initial orientation information;
controlling, using the one or more electronic controllers, the one or more plate actuators to alter the orientation of the base plate such that the plate plane is substantially parallel with the surface plane, if the plate plane is not substantially parallel with the surface plane; and
controlling, using the one or more electronic controllers, the plurality of axis actuators to position the implement, each of the plurality of axis actuators positioning the implement along an axis relative to the plate plane.

17. The method of claim 16 , wherein the effector further includes a rotary actuator, the method further comprising rotating the plurality of axis actuators, relative to the base plate, by the rotary actuator in response to instructions from the one or more electronic controllers.

18. The method of claim 17 , wherein the effector further includes a rotational plate, connected to the base plate and disposed substantially parallel to the base plate, wherein the axis actuators are connected to the rotational plate, and wherein rotating the plu

Assignees

• Caterpillar Inc

Inventors

• Meinert Andrew D

Classifications

• B33Y30/00 Primary

  Apparatus for additive manufacturing; Details thereof or accessories therefor · CPC title

• E04G21/0463 Primary

  with boom control mechanisms, e.g. to automate concrete distribution · CPC title

• B33Y50/02

  for controlling or regulating additive manufacturing processes · CPC title

• E04G21/0436

  on a mobile support, e.g. truck · CPC title

• G05D3/12

  using feedback · CPC title