Control System for Ripper Operation

TECHNICAL FIELD

This patent disclosure relates generally to controlling operation of a mobile machine equipped with a ripper tool and, more particularly, to a control system for movably repositioning the ripper tool based on past ripper tool positions.

BACKGROUND

Mobile excavation machines such as dozers, agricultural tractors, and motor graders may include one or more material engaging implements utilized to cultivate, dig, rip or otherwise disturb a ground surface. A ripping tool or ripper is an example of an implement that can be attached to a mobile machine and operated to penetrate into the terrain surface. As the mobile machine travels over the terrain surface, the ripper digs through and displaces the terrain substrate preparing it for subsequent operations.

The ripper is movable with respect to the chassis of the mobile machine to different positions in order to conduct different operations on the terrain surface and/or substrate, and to conform the ripper to different positions suited for the conditions of the terrain surface and/or substrate. Examples of different ripper positions can include a desired penetration angle of the ripper tip with respect to the terrain and a desired digging angle of the ripper tip within the terrain substrate. To move the ripper with respect to the terrain, the ripper may be operatively associated with a hydraulic lift actuator and a hydraulic tilt actuator. An operator can actuate the lift actuator and/or tilt actuator to maneuver the ripper to the desired positions, which requires a certain amount of effort on the part of the operator and may still may result in misalignment of the ripper tip with respect to the terrain surface and/or terrain substrate.

U.S. Pat. No. 8,788,157 describes a method in which the movement of a ripper attached to the rear of the body of a dozer is controller. The method includes a first step in which the ripper is operated while the bulldozer is moving forward or is stopped, a second step in which the bulldozer is reversed and the ripper is raised, and a third step in which the ripper is automatically raised. The '157 patent also discloses a control device to execute the movement of the automatic ripper return method.

The present disclosure solves one or more problems set forth above and/or other problems in the art.

SUMMARY

The disclosure describes, in one aspect, a control system for a mobile machine with an attached ripper for displacing terrain. The control system includes an operator interface for controlling operation of a ripper and one or more ripper configuration sensors associated with the ripper to determine its position or geometric setting. The control system also includes an electronic controller having a processor and memory and that is in electronic communication with the operator interface device and the one or more ripper configuration sensors. The electronic controller is configured to save, based on receiving a save position command from the operator interface, a ripper position by writing sensor output from the one or more ripper configuration sensors to memory as position data. Based on receiving a reposition command from the operator interface, the electronic controller is configured to retrieve the position data from memory. The electronic controller converts the position date to electronic command signals to actuate one or more of a lift actuator and a tilt actuator to move the ripper to the ripper position.

In another aspect, the disclosure describes a method of operating a ripper attached to a mobile machine. According to the method, there is received a save ripper position command from an operator interface to save a ripper position. In response to the saved ripper position command, sensor output is written from one or more ripper configuration sensors to memory as ripper position data. The ripper position data may be read from memory in response to receiving a reposition ripper command from the operator interface. The method converts the ripper position data to electronic command signals that are communicated as the electronic command signals to one or more of a lift actuator or a tilt actuator to move the ripper to the ripper position.

In yet another aspect, the disclosure describes a mobile machine having a ripper attached thereto for working and displacing terrain. The mobile machine include a machine chassis supported on a plurality of traction devices for traveling over a terrain surface. The ripper attached to the machine chassis has a ripper shank that defines a ripper axis and a ripper tip located at a distal end of the ripper shank for penetrating the terrain surface. To actuate movement of the ripper, the mobile machine includes a lift actuator and a lift actuator that connect to the ripper to the machine chassis. The mobile machine also includes an electronic controller that is associated with the lift actuator and the tilt actuator and in communication with the one or more ripper configuration sensors. The electronic controller configured to save, based on receiving a save position command from the operator interface, a ripper position by writing sensor output from the one or more ripper configuration sensors to memory as ripper position data. In response to receiving a reposition command from the operator interface, the electronic controller retrieves the ripper position data from memory and actuates one or more of the lift actuator and the tilt actuator to move the ripper to the ripper position.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic side view of an exemplary mobile machine equipped with a ripper moved into a penetration position prior to conducting a ripping operation on a terrain surface in accordance with an embodiment of the disclosure.

FIG. 2 is a schematic representation of the ripper moved to a digging position with respect to the machine chassis during a ripping operation in accordance with some embodiments.

FIG. 3 is a flow diagram of a method executed by the control system for repositioning the ripper to a previous ripper position in accordance with some embodiments.

FIG. 4 is a flow diagram of a method executed by the control system for repositioning the ripper through a sequence of previous ripper positions in accordance with some embodiments.

DETAILED DESCRIPTION

Now referring to the drawings, wherein whenever possible like reference numbers will refer to like elements, there is illustrated in FIG. 1 a mobile machine 100 equipped with a ripper 102 situated on a terrain surface 104. The terrain surface 104 can be located at a worksite associated with various industries such as mining, agriculture, construction, forestry, waste management, and material handling, among others. The mobile machine 100 may be an earth moving machine such as a motor grader, a dozer, a loader, a backhoe, an excavator, or any other type of earth moving machine. The machine 100 may traverse a work site to manipulate the terrain surface 104 and the terrain substrate 106 beneath the surface, e.g. transport, cultivate, dig, rip, and/or execute any other operation known in the art. In the illustrated embodiment, the mobile machine 100 is a track type dozer.

In the embodiment of a dozer, the mobile machine 100 can include a ground-engaging implement such as a blade 108 configure to push material over the terrain surface 104. The blade 108 can be hingedly attached to the forward end of a frame or machine chassis 110 so that the blade can be elevated above or lowered to contact the terrain surface 104. The mobile machine 100 can also be operably associated with any other suitable work implement for conducting various operations.

To propel the mobile machine 100 over the terrain surface 104, the mobile machine is equipped with a power source 112 configured to produce mechanical power. The power source 112 can be any type of internal combustion engine such as, for example, a diesel engine, a gasoline engine or a gaseous fuel powered engine. The power source 112 can combust the hydrocarbon-based fuel to convert the chemical energy therein to mechanical motive power and rotational torque. Further, the power source 112 can also be a non-engine power producing device such as, for example, a fuel cell, a battery, a motor, or another type of power source known in the art.

The mobile machine 100 can be supported on traction/propulsion devices 114 movable with respect to the machine chassis 110 and located on each side. In the illustrated embodiment, the traction/propulsion devices 114 can be continuous tracks that are operably driven by one or more sprockets 116. The sprockets 116 are operatively connected with the power source 112 through an intermediate group of components referred to as a drivetrain to receive motive power and drive the traction/propulsion devices 114. Translation of the traction/propulsion devices 114 with respect to the machine chassis 110 propels the mobile machine 100 over the terrain surface 102 along a travel direction 118. Further, relative translation of the traction/propulsion devices 114 can cause a steering change in the travel direction 118, thus steering the mobile machine 100. In addition to continuous tracks, the traction/propulsion devices 114 may also be wheels, belts, or other devices. Furthermore, the traction/propulsion devices 114 may be driven hydraulically, mechanically, electrically by a motor, or actuated in any other suitable manner.

To accommodate an operator, the mobile machine 100 can include an operator station 120 located on top of the machine chassis 110 to provide visibility over the terrain surface 104. The operator station 120 can accommodate different controls for operation of the mobile machine 100. For example, to control the travel speed and velocity of the mobile machine 100 by adjusting the motive output of the power source 112, a deceleration pedal 122 can be located in the operator station 120 that operates by adjusting the quantity and/or timing of fuel injections or air introduced to the power source 112. Depressing the deceleration pedal 122 may reduce the travel speed of the mobile machine 100 in the travel direction 118 and releasing the deceleration pedal may increase the travel speed. To alter the travel direction 118, the operator station 120 can include a steering control 124 embodied as a joystick that can be manipulated by hand to steer the mobile machine 100. In additional to a joystick, the steering control 124 may be a conventional steering wheel. Also included in the operator station 120 can be a gear-shifter or a transmission selector 126 operatively associated with the drivetrain to set the operating gear of the mobile machine 100, which may include drive or forward, neutral, reverse or park settings. The operator station 120 can also include controls for operating the ripper 102 as described below.

In accordance with the disclosure, the mobile machine 100 can be operated manually, autonomously, or semi-autonomously. During manual operation, an operator controls and directs essentially all the functions and activities of the machine using the controls in the operator station 120 described above. Manual operation may also occur remotely wherein the operator is located off board the mobile machine 100 and operation is controlled through a remote control and wireless communication techniques.

In autonomous operation, the mobile machine 100 can operate responsively to information about the operating and environmental conditions provided from various sensors by selecting and executing various predetermined responses to the received information. In semi-autonomous operation, an operator either onboard or working remotely may perform some tasks and functions while others are conduced automatically in response to information received from sensors.

In any of the foregoing embodiments, to conduct a ripping operation with the mobile machine 100, the ripping tool or ripper 102 attached to rear of the machine chassis 110 is structurally configured with a curvature and tapper to penetrate into terrain surface 104 and displace a portion of the terrain substrate 106. The ripper 102 includes a ripper shank 130, which may be straight or slightly curved length of structural steel, and ripper tip 132 attached at the distal end of the shank. The ripper shank 130 defines a shank axis 134 and the ripper tip 132 can be disposed at an angle to the shank axis 134 to provide a curvature to the shape of the ripper 102 that facilities pentation and displacement of the terrain surface 104 and terrain substrate 106. The ripper tip 132 can be detached from the ripper shank 130 to allow different ripper tip configurations to be interchangeably used with the ripper 102 for different terrain materials and ripping operations.

To hold and attach the ripper shank 130 to the machine chassis 110, the ripper 102 includes a mounting member 136 connected with the machine chassis 110 via a mounting frame 138. The mounting member 136 can have a block-like steel structure with a central bore into which the straight portion of the ripper shank 130 can be inserted and secured. The shank axis 134 is therefore spatially fixed with respect to the block-like structure of the mounting member 136. Insertion of the ripper shank 130 into the mounting member 136 can be adjustable so that the distance the ripper shank extends therefrom can be changed to accommodate different configurations and/or sizes of the machine chassis 110 to which it is connected.

The mounting frame 138 may be configured to move the mounting member 136 and the ripper shank 130 retained therein to positions that are vertically higher, vertically lower, away from or forward towards the machine chassis 110. To move the mounting member 136 and ripper shank 130, the mounting frame 138 is configured as a linkage assembled of rigid links and pivoting joints that articulate with respect to each other. In an embodiment, the mounting frame 138 may be a multiple bar parallelogram that allows constrained motion of the shank axis 134 vertically and parallel with respect to, for example, the terrain surface 104.

The mounting frame 138 can include a rigid mounting link 140 that is pivotally connected to the mounting member 136 and that is connectively linked to the machine chassis 110 thereby spacing the structures apart from each other. In particular, the mounting link 140 connects to the bottom of the mounting member 136 at a first revolute joint or pivot joint 142 that enables relative rotation between the structures. Pivoting the mounting member 136 at the first pivot joint 142 changes or tilts the angular orientation of the shank axis 134 with respect to the machine chassis 110 and the terrain surface 104.

To tilt the shank axis 134, the mounting frame 138 can include a hydraulic tilt actuator 144 that extends between the machine chassis 110 and that is pivotally connected to the top of the mounting member 136 at a second revolute joint or pivot joint 146. Extension and retraction of the tilt actuator 144 pivots the mounting member 136 about the first pivot joint 142 where it connects to the mounting link 140. Pivoting the mounting member 136 also changes the angular orientation of the shank axis 134 that is constrained within the mounting member 136. To vertically raise and lower the mounting member 136 with respect to the machine chassis 110, a hydraulic lift actuator 148 is located between the structures and, in an embodiment, may be pivotally connected to machine chassis 110 and the mounting link 140.

Actuation of the lift actuator 148 pivots the rigid mounting link 140 with respect to the machine chassis 110, which results in vertically raising or lowing the mounting member 136 to which the mounting link 140 is connected.

Per conventional design, the tilt and lift actuators 144, 148 can include a hollow cylinder body inside of which is located a reciprocally movable a piston attached to an elongated rod. The rod projects from and can extend and retract with respect to one end of the cylinder body when pressurized hydraulic fluid is introduced to or removed from the cylinder body. The mobile machine 100 can be equipped with a hydraulic system to supply pressurized hydraulic fluid to the tilt and lift actuators 144, 148.

The movable configuration of the mounting frame 138 produces distinct referential angles that change in degree or angular magnitudes in relation to movement of the ripper 102. For example, a lift angle 150 may be defined where the machine chassis 110 is pivotally connected with the mounting link 140. The machine chassis 110 can be considered adjacent and parallel to the terrain surface 104 on which it is situated, and therefore may be parallel with the travel direction 118. The lift angle 150, as defined by the horizontal machine chassis 110 and the mounting link 140 that extends from the machine chassis 110, can change by actuation of the lift actuator 148 thus vertically raising or lowering the ripper 102 with respect to the terrain surface 104.

The mounting frame 136 can also be associated with a tilt angle 152 that may be defined by the orientation of the shank axis 134 with respect to the extension of the mounting link 140. Because extension and retraction of the tilt actuator 144 tilts the mounting member 136 and shank axis 134 about the first pivot joint 142, the tilt actuator 144 also can change the angular magnitude of the tile angle 152. Changing the tilt angle 152 relatedly changes the angular orientation of the ripper shank 130 and the shank axis 134 with respect to the terrain surface 104.

Movement of the ripper 102 may correspond to a plurality of locations and/or orientations (i.e. angle settings of the ripper shank 130 and the associated shank axis 134) that are suited for specific actions during the ripping operation. For example, the ripper shank 130 may have a discrete penetration angle and a discrete dig angle that may change based on material composition of the terrain surface 104, a size or capacity of the mobile machine 100, the configuration of the ripper shank 130 relative to the mounting member 136, and/or the configuration of the ripper tip 132. The operator can control the tilt and lift actuators 144, 148 to adjust the lift angle 150 and/or the tilt angle 152 during the ripper operation to move the ripper 102 into positions for conducting penetration or digging of the terrain surface 104.

In one example, illustrated in FIG. 1, the penetration angle of the ripper shank 130 may be tilted back from a vertical alignment normal to the terrain surface 104 to facilitate efficient penetration. In the illustrated penetration position, the tilt actuator 144 can be adjusted so that the ripper tip 132 is directed toward the terrain surface 104 and is located aft of the machine chassis 110 rearward from the travel direction 118. This may correspond to an increase in the shank axis angle 152. Also prior to penetration, the lift actuator 148 may be retracted to vertically raise the ripper 102 over the terrain surface 104, which corresponds to an increase in the lift angle 150.

Referring to FIG. 2, the operator may then controller the lift actuator 148 to vertically lower the ripper 102 so the ripper tip 132 penetrates into the terrain surface 104 to a desired digging depth into the terrain substrate 106. Vertically lowering the ripper 102 corresponds to decreasing the lift angle 150 that, as illustrated in FIG. 2, may be reduced to zero degrees.

Once the ripper tip 132 has penetrated to the desired digging depth in the terrain substrate 106, the operator can control the tilt actuator 144 to pivot the mounting member 136 and ripper shank 130 therein to a desired digging angle as illustrated. This also pivots the shank axis 134 forward with respect to the machine chassis 110 and the terrain surface 104 decreasing the tilt angle 152. Decreasing the tilt angle 152 so that it corresponds to the desired digging angle moves the ripper tip 132 forward toward the machine chassis 110 to align with the travel direction 118. To conduct the digging sequence of a ripping operation, the mobile machine 100 travels forward in the travel direction 118 concurrently moving the ripper tip 134 within the terrain substrate 106 to breakup and displace the terrain material.

The precise location of the ripper shank 130 and the ripper tip 132 with respect to the terrain surface 102 can change and vary depending upon the characteristics of the terrain material to be worked and the structural design of the ripper 102. The later includes the geometric arrangement and dimensions of the ripper shank 130, the mounting member 136 and the mounting frame 138 with respect the machine chassis 110. Moreover, the preferred location of the ripper 102 for particular action may differ between different operators of the mobile machine 100. To assist the operator in moving the ripper 102 to desired positions for different actions during the ripper operation, the mobile machine 100 can include a control system operatively associated with and configured to movably adjust the ripper 102.

Referring to FIG. 2, there is illustrated the control system 200 having components configured to movably adjust the ripper 102 during a ripping operation. For example, during manual operation of the mobile machine 100, the control system 200 can be operatively associated with controls and input/output devices to interface with an operator of the mobile machine 100. As described above with respect to the operator station 120, the control system 200 can be associated with the deceleration pedal 122 to control the travel speed and with the steering control 124 to change the travel direction 118 of the mobile machine 100. The control system 200 may also be associated with the steering control 124 to receive commands directing the steering of the mobile machine 100.

To enable the operator to control operation of the ripper 102, the control system 200 can also include a ripper control 202 that also may be located in the operator station 120. The ripper control 202 may allow the operator to adjust the vertical height of the ripper 102 above or below the terrain surface 104 and/or adjust the angle of the shank axis 134 with respect to the terrain surface 104 and the machine chassis 110 supported thereon. The ripper control 202 can operate by controlling the quantity or pressure of the hydraulic fluid supplied to or drained from the tilt actuator 144 and the lift actuator 148. The ripper control 202 may be embodied as a joystick or may be in the form of another suitable control apparatus known in the art. The ripper control 202 may also include one or more pushbuttons 204 that can be used to input, activate, or deactivate certain actions and operations associated with the ripping process.

To interface with the operator, the control system 200 can include a human machine interface (HMI) that may be embodied as a visual display screen 206. The visual display screen 206 can visually present information to a human operator regarding operation of the mobile machine 100. The visual display screen 206 can be any suitable type of flat panel display such as an organic light emitting diode display (“OLED”) capable of presenting numerical values, text descriptors, graphics, graphs, charts and the like regarding operation. The visual display screen 206 may have touch screen capabilities to receive input from a human operator, although in other embodiments, other interface devices may be included such as dials, knobs, switches, keypads, keyboards, mice, printers, etc.

In addition, in embodiments wherein the mobile machine 100 is configured for autonomous or semi-autonomous operation, or aspect of the ripping operation for example are automated, the control system 200 can be associated with an automatic setting switch 208 that can be embodied as a toggle switch. The operator can position the automatic setting switch 208 to activate automated operation of certain aspects of the mobile machine and can change the position the automatic setting switch to terminate automated operation of those activities. In addition, the operator may use other controls and/or input/output devices to override automated operation. For example, by manually manipulating the ripper control 202, the operator may assume active control over operation of the ripper 102 and terminate any automated settings or sequences.

To receive information about the current operating conditions and activities of the mobile machine 100, the control system 200 can be operatively associated with a plurality of sensors. The sensors may be any device for detecting or measuring a physical condition or change therein and outputting data representative of that occurrence. The sensors can work on any suitable operating principle for the assigned task, and may make mechanical, electrical, visual, and/or chemical measurements.

For example, to determine the location of the mobile machine 100 with respect to the terrain surface 102 including, for example, within the context of a larger worksite, the mobile machine can be operatively associated with a global navigation satellite system (GNSS) or global positioning satellite (GPS) system. In the GNSS or GPS system, a plurality of manmade satellites orbit about the earth at fixed or precise trajectories. Each satellite includes a positioning transmitter that transmits positioning signals encoding time and positioning information towards earth that can be received by a position/navigation receiver 210 that may be mounted to the machine chassis 110. By calculating, such as by triangulation, between the positioning signals received by the position/navigation receiver 118 from different satellites, the control system 200 can determine the instantaneous location on earth of the mobile machine 100, which may include the location, orientation, velocity, and/or ground speed of the machine chassis 110 with respect to the terrain surface 104

To measure the performance or output of the power source 112, the control system 200 can be associated with one or more engine sensors 212. The engine sensors 212 can measure parameters or characteristics associated with the power source 112 such as motive output quantified as variable such as torque or revolutions per minute (RPM). The engine sensors 212 may also measure parameters reflecting combustion or efficiency, such as fuel or airflow rate into the engine, engine temperature, etc.

To measure utilization of the motive output from the power source 112, the control system 200 can be associated with a drivetrain sensor 214. For example, a drivetrain sensor 214 can be operatively associated with the traction/propulsion devices 114 and/or the drive sprocket 116. The drivetrain sensor 214 can be a rotary encoder that measures the revolutions made by the drive sprocket 116 to determine the driven travel speed of traction/propulsion devices 114.

To determine the present position and current movements of the ripper 102, the control system 200 can be associated with one or more ripper configuration sensors. In an embodiment, to determine the geometric arrangement and spatial position of the ripper 102, the ripper configuration sensors may be operatively associated with the hydraulic tilt and lift actuators 144, 148 and can be referred to a tilt actuator sensor 220 and a lift actuator sensor 222 respectively. The tilt and lift actuator sensors 220, 222 can be fluid pressure sensors or flowrate sensors that measure the hydraulic pressure in the tilt and lift actuators 144, 148 and/or the flow quantity of hydraulic fluid introduced to or drained from the tilt and lift actuators 144, 148.

In another embodiment, the tilt and lift actuator sensors 220, 222 can be position sensors that measure the extension and retraction of the piston rods of the tilt and lift actuators 144, 148. For example, the tilt and lift actuator sensors 220, 222 can be configured to read the linear extension of the rod with respect to the barrel of the hydraulic actuators that lift and tilt the ripper 102. The ripper configuration sensors can also be rotary encoders including a tilt encoder 224 associated with the first pivot joint 142 and a lift encoder 226 associated with the second pivot joint 146. The tilt and lift encoders 224, 226 measure the angular articulation of the first and second pivot joints 142, 146 from which the angular articulation of the mounting member 136 with respect to the mounting frame 138 can be determined.

Using dimensional data about the mounting frame 138 and the machine chassis 110, the control system 200 can apply kinematic equations to the information output from tilt and lift actuator sensors 220, 222 and/or the tilt and lift encoders 224, 226 to calculate the position of the ripper 102 with respect to a reference such as the terrain surface 104. For example, the control system 200 can calculate the current digging depth of the ripper tip 132 in the terrain substrate 106 or the digging angle of the shank axis 134 with respect to the terrain surface 104. The control system 200 may process the digging depth and digging angle of the ripper 102 in angular terms corresponding to the lift 150 and the tilt angle 152.

In other embodiments, the ripper configuration sensors can include inertial measurement units (IMU) operatively associated with the ripper 102 and/or the machine chassis 110. The IMU can measure the applied forces caused by motion and/or acceleration of the device and can therefore determine its orientation and/or position. In an embodiment, the IMU can be sensitive to magnetic fields to obtain orientation with respect the magnetic field of the Earth. The information obtained by the IMU provides contextual reference and spatial associations about the physical arrangement and position of the ripper 102.

For example, to measure relative location of the ripper 102 with respect to a reference such as the machine chassis 110, the ripper configuration sensors can include a first IMU 230 fixed to the machine chassis 110, a second IMU 232 associated with the mounting frame 138, for example, fixed to the mounting link 140, and a third IMU 234 attached to the to the mounting member 136. The combined output of the first, second, and third IMUs 230-234 can be processed using dimensional data and kinematic equations to determine the position and motion of the ripper 102 with respect to the terrain surface 102 for example.

In other possible embodiments, the ripper configuration sensors may include or be associated with the GNSS or GPS system described above. For example, a second position/navigation receiver 236 can be fixed to the mounting member 136. Relative positioning of the mounting member 236 with respect to the machine chassis 110 can be measured by the difference in geopositioning determination made by the first and second position/navigation receivers 210, 236.

In other possible embodiments, the ripper configuration sensors can include or use visual sensors or machine vision technology such as smart cameras. The smart camera can be configured to determine the current position and motion of the ripper 102 by processing a visual image captured of the mounting member 136 and/or mounting frame 138 with respect to a background such as the terrain surface 104. The use of machine vision technology and image processing can supplement or replace the use of kinematic equations to determine the position and motion of the ripper 102. In another embodiment, the ripper configuration sensors can include a LIDAR (“light detection and ranging”) device that can emit a laser or light beam and can receive a reflection back to measure distance and ranging. The LIDAR device may be mounted to the machine chassis 110 and oriented to determine the spatial arrangement of the ripper 102 with respect to the machine chassis.

To process the data received from the plurality of sensors and thereby assist in operation of the mobile machine 100 and particularly the ripper 102, the control system 200 can include an electronic controller 240. The electronic controller 240 can be a computerized and programmable device including hardware components and software programming capable of conducting logical operations on input data to produce a resulting output used in the operation of the mobile machine 100. Although illustrated as a single component, in different embodiments, the functionality of the electronic controller 240 can be distributed among a plurality of separate components.

The electronic controller 240 can include one or more microprocessors 242 for executing software instructions and processing computer readable data. Examples of suitable microprocessors include programmable logic devices such as field programmable gate arrays (“FPGA”), dedicated or customized logic devices such as application specific integrated circuits (“ASIC”), gate arrays, a complex programmable logic device, or any other suitable type of circuitry or microchip. To store application software and data, the electronic controller 240 can include a non-transitory computer readable and/or writeable data memory 244, for example, read only memory (“ROM”), random access memory (“RAM”), EEPROM memory, flash memory, or etc.

To interface and network with the other components of the control system 200 and other operational systems on the mobile machine 100, the electronic controller 240 can include an input/output interface 246 to electronically send and receive non-transitory data and information. The input/output interface 246 can be physically embodied as data ports, serial ports, parallel ports, USB ports, jacks, and the like to communicate via conductive wires, cables, optical fibers, or other communicative bus systems. Communication between the electronic controller 240 and the rest of the control system 200 can occur via any suitable communication protocol for data communication including sending and receiving digital or analog signals synchronously, asynchronously, or elsewise. For example, the input/output interface 240 can be communicatively connected and exchange data and information embodied as electronic signals or pulses with the plurality of sensors.

The electronic controller 240 can control aspects of a ripping process including movement and spatial positioning of the ripper 102. In an embodiment, the electronic controller 240 can receive and process electronic data signals from the ripper configuration sensors to determine the current configuration of the ripper 102 in terms of position and motion. For example, the electronic controller 240 can determine the relative vertical height of the ripper 102 with respect to a reference, such as the terrain surface 104 or machine chassis 110. The electronic controller 240 can also determine the angular position of the ripper 102, for example, the angular orientation of the shank axis 134, with respect to a reference such as the terrain surface 104 or machine chassis 110. To fix the determination with respect to a coordinate system, the vertical elevation or location and angular position of the ripper 102 can be described with respect to the lift angle 150 and the tilt angle 152, although any suitable coordinate or reference system can describe the position of the ripper 102.

The electronic controller 240, in cooperative interaction with the ripper control 202, can also be configured to direct movement of the ripper 102 during an operation or activity such as penetrating or digging. For example, during manual operation, the operator pivots the ripper control 202 while visually observing the resulting movement and positions of the ripper 102. In response to manipulation of the ripper control 202, the electronic controller 240 can output and send command signals to actuate the tilt and lift actuators 144, 148. For example, when the tilt and lift actuators 144, 148 are hydraulically operated, the electronic controller 240 can open and close the appropriate flow control or directional control valves to direct hydraulic fluid to or from the actuators causing the actuators to extend or retract accordingly. More specifically, the electronic controller 240 can cause actuation by manipulating the electrical power provided to electromagnetic solenoids operatively associated with the fluid valves.

By actuating the lift actuator 148, the electronic controller 240 adjusts the lift angle 150 that results in vertically raising or lowering the ripper 102. Likewise, the electronic controller 240 can use the tilt actuator 144 to adjust the angular orientation of the shank axis 134, which can correspond to changes to the tilt angle 152. The electronic controller 240 thus interprets manipulation of the ripper control 202, as directed by the operator, to the angular positions of the ripper 102 in terms of actuation of the tilt actuator 144 and the lift actuator 148 that set the lift and tilt angles 150, 152. In accordance with the disclosure, the electronic controller 240 can be configured to save those movements and positions of the ripper 102 to facilitate a ripping operation.

INDUSTRIAL APPLICABILITY

Referring to FIG. 3, with continued reference to the previous figures, there is illustrated an embodiment of a process 300 or method by which the control system 200 can automatically reposition the ripper 102 to a saved position during a ripping operation. The process 300 illustrated in FIG. 3 can be embodied as a computer readable program written as software in a suitable computer programming language and can be electronically saved in and executed by the electronic controller 240. The process 300 can be used to recall one or more saved positions of the ripper 102 that automatically places the ripper at a desired vertical and angular position with respect to the terrain surface 102 and/or substrate 206 by actuation of the tilt and lift actuators 144, 148. The process can occur during manual operation to assist an operator or during fully autonomous operation of the mobile machine 100.

In a ripper positioning step 302, the electronic controller 240 receives commands from the ripper control 202, which may be embodied as a joystick or another operator interface, to move the ripper 102 to a ripper position with respect to the terrain surface 104 or the terrain substrate 106. The operator directs movement of the ripper 102 by manipulating the ripper control 102 such as pivoting the joystick embodiment. The electronic controller 240 processes and interprets those inputs into electronic command signals communicated to the actuator controls associated with the tilt actuator 144 and the lift actuator 148, which results in spatial movement of the ripper 102 to the desired position. Examples of ripper positions and angles include the penetration angle shown in FIG. 1 with the ripper tip 132 elevated above and directed toward the terrain surface 102, and the digging angle shown in FIG. 2 with the ripper tip 132 disposed into the terrain substrate 106 and tilted forward toward the machine chassis 110 in the travel direction 118.

To save the position of the ripper 102 once moved to the desired elevation and angle for later recall, in a save command step 304, the electronic controller 240 may receive a save position command 306 from the ripper control 202 or other operator interface. The ripper position includes the vertical elevation of the ripper 102 and the angular tilt of the ripper tip 132 with respect to a reference such as the terrain surface 104 or the machine chassis 110. In an embodiment, the save position command 306 can be entered using the push buttons 204 on the ripper control 202.

Upon receiving the save position command 306, the electronic controller 240 can conduct a save position step 308 to save the current ripper position by writing sensor output from the ripper configuration sensors as ripper position data 310 to memory 244 or another form of data storage associated with the electronic controller.

In the embodiment wherein the ripper configuration sensors are tilt and lift actuator sensors 220, 222, the sensor output and the corresponding ripper position data 310 can encode the extension and/or retraction of the actuators, or the hydraulic fluid pressure within the actuators, that corresponds to the current ripper position. In the embodiment wherein the ripper configuration sensors are IMUs, the sensor output and the corresponding ripper position data 310 can represent the measured relative movements of the components of the mounting body 136 and mounting frame 138 with respect to the machine chassis 100. In an embodiment, the sensor output can be converted into angular values or settings for the lift angle 150 and the tilt angle 152 that are written into memory 244.

During the course of continued ripping, represented by step 312, the ripper 102 may be moved to a different position and angle by further manipulation of the ripper control 202. To move the ripper 102 back to the ripper position previously saved, the electronic controller 240 can receive a reposition command 316 to initiate a commence repositioning step 314. During manual operation, the reposition command 316 may be entered using the pushbuttons 204 on the ripper control 202. The reposition command 316 can represent the desire of the operator to reposition the ripper 102 to a previous configuration, for example, a configuration which may be commonly employed or a standardized configuration for a particular task during the ripping process. The saved ripper position may also be a personally preferred configuration of the ripper 102 held by the operator.

In response to receiving the reposition ripper command 316, the electronic controller 240 in a data retrieval step 318 can read the ripper position data 310 from memory 244. Reading the ripper position data 310 situates the data for processing by the processor 242 to convert it to electronic command signals communicated to the actuator controls for the tilt and lift actuators 144, 148. In an actuation step 320, the tilt and lift actuators 144, 148 are actuated, i.e., extend or retracted, to move the ripper 102 to the saved ripper position. In the embodiments wherein the actuators are hydraulically operated, the actuation step 320 can be accomplished by introducing or draining hydraulic fluid as appropriate. Other embodiments of actuators, however, may include electric motors, etc. and the actuator step 320 can command the appropriate angular rotation of the motors.

A result of the actuation step 320, the lift angle 150 and the tilt angle 152 are articulated by actuation of the tilt and lift actuators 144, 148 to the angular degrees that correspond to the saved ripper position and that are encoded by the ripper position data 310 in memory 154, which may be formatted in terms of angular values or settings.

In an embodiment, the process 300 can include a confirmation step 322, as a check to confirm the ripper 102 is in the saved ripper position. In the confirmation step 322, the electronic controller 240 can retrieve and read sensor output from the ripper configuration sensors after the ripper 102 has been repositioned by the actuation step 320. The sensor output may be converted to an appropriate format and compared with the ripper position data 310 saved in memory 144, for example, in terms of lift angle 150 and tilt angle 152. If the values correspond, the confirmation step 322 confirms the ripper 102 has been correctly moved to the save ripper position.

Referring to FIG. 4, there is illustrated another embodiment of a process 400 in which the control system 200 can save multiple ripper positions, possibly for use in moving the ripper 102 through a sequence of actions. In a first save command step 402, the electronic controller 240 receives a first save position command 404 from the ripper control 202, possibly by actuation a pushbutton 204 thereon. The first save position command 404 directs the control system 200 to save the current ripper confirmation as a first ripper position.

In response receiving the first save position command 404, the electronic controller 240 in a first save position step 406 retrieves the sensor output from the ripper configuration sensors for saving in memory 144 as first ripper position data 408. The electronic controller 142 can convert the sensor output to any appropriate format for saving into the electronic memory 244 as first ripper position data 408. In an embodiment, the first ripper position data 408 can be embodied in terms of angular values or settings for the lift angle 150 and the tilt angle 152, which may correspond to actuation setting of the tilt and lift actuators 144, 148.

The ripper 102 may be moved to a second ripper position by further manipulation of the ripper control 202, which may also be desired for recall. The electronic controller 240 can therefore receive a second save position command 412 resulting from a second save command step 410. The second save command step 410 can also be caused by activating a pushbutton 204 on the ripper control 202. In response to receiving the second save position command 412, the electronic controller 240 in a second save position step 414 again retrieves the sensor output from the ripper configuration sensors and writes that to memory 244 as second ripper position data 418. The second ripper position data 418 can be formatted in terms of angular values or settings for the lift angle 150 and the tilt angle 152.

In an embodiment, it may be desired to combine the first ripper position and the second ripper position as a sequence of movements or actions of the ripper 102 that may be conducted during the ripping process. For example, the first and second ripper positions may correspond to penetration of the terrain surface 104, including vertically elevating the ripper tip 132 above the terrain surface 102 and lowering the ripper tip into contact with the terrain surface through actuation of the tilt and lift actuators 144, 148.

In a save sequence command step 420, the electronic controller 240 can receive as save sequence command 422 from the ripper control 202 or another operator interface. In response to receiving the save sequence command 422, the electronic controller 240 can conduct a save sequence step 424 in which the first ripper position data 408 and the second ripper position data 418 saved in memory 244 are sequentially linked as ripper sequence data 428.

In another embodiment, the electronic controller 240 can receive the save sequence command 422 prior to movement of the ripper 102 to the first and second ripper positions. The electronic controller 240 can respond to receiving the saved sequence command 422 by recording the subsequent movements of the ripper 102 to the first and second ripper positions as respective first and second ripper position data 408, 418 in memory 244. The recording of the first and second ripper position data 408, 418 can be continuously linked as ripper sequence data 428.

The operator may enter a conduct ripper sequence command 432 using the ripper control 202 if they desire to sequentially move the ripper through the first and second ripper positions as a continued action. In a sequence command step 430, the electronic controller 240 receives the conduct ripper sequence command 432 and responds in a sequence retrieval step 434 by reading the ripper sequence data 428 from memory. The electronic controller 240 can convert the ripper sequence data 428 to electronic command signals that are communicated to controllers for the tilt and lift actuators 144, 148 to respond accordingly. Because the ripper sequence data 428 includes the first and second ripper position data 408, 418, the lift angle 150 and the tilt angle 152 are sequentially adjusted to angular settings corresponding to both the first and second ripper positions as may be done, for example, to carry out a penetration action of the ripper 102.

In an embodiment, the electronic controller 240 can read and convert the first ripper position data 408 and/or the second ripper position data 418 to visual images that can be presented on the visual display 206 associated with the HMI. For example, the electronic controller 240 can combine the first and/or second ripper position data 408, 418 with dimensional and kinematic data regarding the geometry of the ripper 102 to render a visual image showing the ripper 102 as a geometric profile or shape in spatial relation to the terrain surface 104 and terrain substrate 106. The operator can use the visual images presented on the visual display 206 to select the different ripper positions that may have been saved by the control system 200.

It will be appreciated that the foregoing description provides examples of the disclosed system and technique. However, it is contemplated that other implementations of the disclosure may differ in detail from the foregoing examples. All references to the disclosure or examples thereof are intended to reference the particular example being discussed at that point and are not intended to imply any limitation as to the scope of the disclosure more generally. All language of distinction and disparagement with respect to certain features is intended to indicate a lack of preference for those features, but not to exclude such from the scope of the disclosure entirely unless otherwise indicated.

Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein, and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context.

The use of the terms “a” and “an” and “the” and “at least one” or the term “one or more,” and similar referents in the context of describing the invention (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B”) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B), unless otherwise indicated herein or clearly contradicted by context.

Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.

Control System for Ripper Operation

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