US-12618222-B2 - Auto swing control to an alignment for swing boom machines

Abstract

Described herein are systems, methods, and other techniques for performing an alignment operation concurrently with a retraction operation at a construction machine. A guidance line is set for guiding an implement of the construction machine. An input signal is received via a user input device for moving the construction machine to reduce an extension distance between the implement and the machine's platform. A first control signal is generated to cause a movement of the construction machine to reduce the extension distance. During the movement of the construction machine, a second control signal is generated to cause the machine's boom to horizontally rotate with respect to the platform such that the implement moves along and remains aligned with the guidance line.

Inventors

• Bruce J. Wiewel
• Joshua Callaway
• Christopher Corwin

Assignees

• CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

Dates

Publication Date

20260505

Application Date

20230628

Claims (20)

1. 1 . A computer-implemented method comprising: setting a guidance line for guiding an implement of a construction machine, the guidance line having a path relative to a position of the construction machine, the construction machine having a boom, a platform, and an undercarriage, wherein the boom is connected to the platform at a boom swing joint, the boom being horizontally rotatable with respect to the platform, and wherein the platform is connected to the undercarriage; receiving, via a user input device, an input signal for manually moving the construction machine to reduce an extension distance between the implement and the platform; generating a first control signal to cause a movement of the construction machine to reduce the extension distance in response to the input signal; and concurrently with the movement of the construction machine to reduce the extension distance, automatically and repeatedly: monitoring a changing value of the extension distance resulting from the movement caused by the first control signal; and generating a second control signal based at least in part on the changing value of the extension distance to cause the boom to horizontally rotate with respect to the platform such that the implement moves along and remains aligned with the guidance line.
2. 2 . The method of claim 1 , wherein the second control signal causes a boom swing cylinder to extend or retract to cause the boom to horizontally rotate.
3. 3 . The method of claim 1 , further comprising: computing a horizontal boom angle to which to horizontally rotate the boom based at least on the extension distance, wherein the second control signal causes the boom to horizontally rotate with respect to the platform to the horizontal boom angle.
4. 4 . The method of claim 3 , wherein the horizontal boom angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line.
5. 5 . The method of claim 1 , further comprising: during the movement of the construction machine, generating a third control signal to cause the platform to horizontally rotate with respect to the undercarriage such that the implement moves along and remains aligned with the guidance line.
6. 6 . The method of claim 5 , further comprising: computing a horizontal platform angle to which to horizontally rotate the platform based at least on the extension distance, wherein the third control signal causes the platform to horizontally rotate with respect to the undercarriage to the horizontal platform angle.
7. 7 . The method of claim 6 , wherein the horizontal platform angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line.
8. 8 . The method of claim 1 , wherein the construction machine is an excavator, and wherein the implement is a bucket.
9. 9 . A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: setting a guidance line for guiding an implement of a construction machine, the guidance line having a path relative to a position of the construction machine, the construction machine having a boom, a platform, and an undercarriage, wherein the boom is connected to the platform at a boom swing joint, the boom being horizontally rotatable with respect to the platform, and wherein the platform is connected to the undercarriage; receiving, via a user input device, an input signal for manually moving the construction machine to reduce an extension distance between the implement and the platform; generating a first control signal to cause a movement of the construction machine to reduce the extension distance in response to the input signal; and concurrently with the movement of the construction machine to reduce the extension distance, automatically and repeatedly: monitoring a changing value of the extension distance resulting from the movement caused by the first control signal; and generating a second control signal based at least in part on the changing value of the extension distance to cause the boom to horizontally rotate with respect to the platform such that the implement moves along and remains aligned with the guidance line.
10. 10 . The non-transitory computer-readable medium of claim 9 , wherein the second control signal causes a boom swing cylinder to extend or retract to cause the boom to horizontally rotate.
11. 11 . The non-transitory computer-readable medium of claim 9 , wherein the operations further comprise: computing a horizontal boom angle to which to horizontally rotate the boom based at least on the extension distance, wherein the second control signal causes the boom to horizontally rotate with respect to the platform to the horizontal boom angle.
12. 12 . The non-transitory computer-readable medium of claim 11 , wherein the horizontal boom angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line.
13. 13 . The non-transitory computer-readable medium of claim 9 , wherein the operations further comprise: during the movement of the construction machine, generating a third control signal to cause the platform to horizontally rotate with respect to the undercarriage such that the implement moves along and remains aligned with the guidance line.
14. 14 . The non-transitory computer-readable medium of claim 13 , wherein the operations further comprise: computing a horizontal platform angle to which to horizontally rotate the platform based at least on the extension distance, wherein the third control signal causes the platform to horizontally rotate with respect to the undercarriage to the horizontal platform angle.
15. 15 . The non-transitory computer-readable medium of claim 14 , wherein the horizontal platform angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line.
16. 16 . The non-transitory computer-readable medium of claim 9 , wherein the construction machine is an excavator, and wherein the implement is a bucket.
17. 17 . A machine control system for controlling a construction machine, the machine control system comprising: one or more processors; and a computer-readable medium comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising: setting a guidance line for guiding an implement of a construction machine, the guidance line having a path relative to a position of the construction machine, the construction machine having a boom, a platform, and an undercarriage, wherein the boom is connected to the platform at a boom swing joint, the boom being horizontally rotatable with respect to the platform, and wherein the platform is connected to the undercarriage; receiving, via a user input device, an input signal for manually moving the construction machine to reduce an extension distance between the implement and the platform; generating a first control signal to cause a movement of the construction machine to reduce the extension distance in response to the input signal; and concurrently with the movement of the construction machine to reduce the extension distance, automatically and repeatedly: monitoring a changing value of the extension distance resulting from the movement caused by the first control signal; and generating a second control signal based at least in part on the changing value of the extension distance to cause the boom to horizontally rotate with respect to the platform such that the implement moves along and remains aligned with the guidance line.
18. 18 . The machine control system of claim 17 , wherein the second control signal causes a boom swing cylinder to extend or retract to cause the boom to horizontally rotate.
19. 19 . The machine control system of claim 17 , wherein the operations further comprise: computing a horizontal boom angle to which to horizontally rotate the boom based at least on the extension distance, wherein the second control signal causes the boom to horizontally rotate with respect to the platform to the horizontal boom angle.
20. 20 . The machine control system of claim 19 , wherein the horizontal boom angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line.

Description

BACKGROUND OF THE INVENTION Modern mobile machinery, including construction and agricultural machines, have dramatically increased the efficiency of performing various work-related tasks. For example, earthmoving machines employing automatic grade control systems are able to grade project areas using fewer passes than what was previously done manually. As another example, modern asphalt pavers and other road makers have allowed replacement of old roads and construction of new roads to occur on the order of hours and days instead of what once took place over weeks and months. Due to the automation of various aspects, construction and agriculture projects can be carried out by crews with fewer individuals than what was previously required. The technological breakthroughs in mobile machinery owe much to the availability of accurate sensors that allow real-time monitoring of the condition and position of a machine's components and/or the surrounding environment. Despite the improvements to modern mobile machinery, new systems, methods, and techniques are still needed. SUMMARY OF THE INVENTION A summary of the various embodiments of the invention is provided below as a list of examples. As used below, any reference to a series of examples is to be understood as a reference to each of those examples disjunctively (e.g., “Examples 1-4” is to be understood as “Examples 1, 2, 3, or 4”). Example 1 is a computer-implemented method comprising: setting a guidance line for guiding an implement of a construction machine, the guidance line having a path relative to a position of the construction machine, the construction machine having a boom, a platform, and an undercarriage, wherein the boom is semi-rigidly connected to the platform at a boom swing joint, the boom being horizontally rotatable with respect to the platform, and wherein the platform is semi-rigidly connected to the undercarriage; receiving, via a user input device, an input signal for moving the construction machine to reduce an extension distance between the implement and the platform; generating a first control signal to cause a movement of the construction machine to reduce the extension distance; and during the movement of the construction machine, generating a second control signal to cause the boom to horizontally rotate with respect to the platform such that the implement moves along and remains aligned with the guidance line. Example 2 is the method of example(s) 1, wherein the second control signal causes a boom swing cylinder to extend or retract to cause the boom to horizontally rotate. Example 3 is the method of example(s) 1-2, further comprising: computing a horizontal boom angle to which to horizontally rotate the boom based at least on the extension distance, wherein the second control signal causes the boom to horizontally rotate with respect to the platform to the horizontal boom angle. Example 4 is the method of example(s) 3, wherein the horizontal boom angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line. Example 5 is the method of example(s) 1-4, further comprising: during the movement of the construction machine, generating a third control signal to cause the platform to horizontally rotate with respect to the undercarriage such that the implement moves along and remains aligned with the guidance line. Example 6 is the method of example(s) 5, further comprising: computing a horizontal platform angle to which to horizontally rotate the platform based at least on the extension distance, wherein the third control signal causes the platform to horizontally rotate with respect to the undercarriage to the horizontal platform angle. Example 7 is the method of example(s) 6, wherein the horizontal platform angle is determined further based on an offset angle between an orientation of the construction machine and the guidance line. Example 8 is the method of example(s) 1-7, wherein the construction machine is an excavator, and wherein the implement is a bucket. Example 9 is a non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: setting a guidance line for guiding an implement of a construction machine, the guidance line having a path relative to a position of the construction machine, the construction machine having a boom, a platform, and an undercarriage, wherein the boom is semi-rigidly connected to the platform at a boom swing joint, the boom being horizontally rotatable with respect to the platform, and wherein the platform is semi-rigidly connected to the undercarriage; receiving, via a user input device, an input signal for moving the construction machine to reduce an extension distance between the implement and the platform; generating a first control signal to cause a movement of the construction machine to reduce the extension distance; and d