Control System for a Rotating Machine

Abstract

A system for controlling movement of a work implement of a machine between a dump location and a plurality of dig locations includes a rotatable implement system, and an implement system pose sensor. A controller is configured to store first dig signals from the implement system pose sensor indicative of a first dig location, store second dig signals from the implement system pose sensor indicative of a second dig location spaced from the first dig location and store a dump location. The controller is further configured to generate command signals to move the work implement from the first dig location to the dump location, generate command signals to dump a load of material carried by the work implement at the dump location, and generate command signals to move the work implement from the dump location to the second dig location.

1 . A system for controlling movement of a work implement of a machine between a dump location and a plurality of dig locations, comprising:
 a rotatable implement system at a work site having a linkage assembly including the work implement;   an implement system pose sensor for generating implement system pose signals indicative of a pose of the implement system including a pose of the work implement; and   a controller configured to:   store first dig signals from the implement system pose sensor indicative of a first dig location;   store second dig signals from the implement system pose sensor indicative of a second dig location, the second dig location being spaced from the first dig location;   store a dump location;   generate command signals to move the work implement from the first dig location to the dump location;   generate command signals to dump a load of material carried by the work implement at the dump location; and   generate command signals to move the work implement from the dump location to the second dig location.   
     
     
         2 . The system of  claim 1 , wherein the controller is further configured to store the first dig signals based upon positioning of the work implement at the first dig location and actuation of an input device. 
     
     
         3 . The system of  claim 2 , wherein the controller is further configured to store the second dig signals based upon positioning of the work implement at the second dig location and actuation of the input device. 
     
     
         4 . The system of  claim 1 , wherein the controller is further configured to store automatically the first dig signals upon entering a learning mode and the work implement performing a predetermined digging operation. 
     
     
         5 . The system of  claim 4 , wherein the controller is further configured to store automatically the second dig signals upon entering the learning mode and the work implement performing a second predetermined digging operation. 
     
     
         6 . The system of  claim 1 , further including a rotatable base having the linkage assembly mounted thereon, the linkage assembly including a boom operatively connected to the base, a connecting member operatively connected to the boom and the work implement. 
     
     
         7 . The system of  claim 6 , wherein the implement system pose sensor includes sensors for determining a position of the linkage assembly. 
     
     
         8 . The system of  claim 6 , wherein the boom is fixedly mounted to the base, and the work implement is fixedly mounted on the connecting member. 
     
     
         9 . The system of  claim 8 , wherein the connecting member is slidably mounted on a saddle block and the saddle block is pivotably mounted on the boom. 
     
     
         10 . The system of  claim 6 , wherein the boom is pivotably mounted to the base, and the work implement is pivotably mounted on the connecting member. 
     
     
         11 . The system of  claim 10 , wherein the connecting member is pivotably mounted on the boom. 
     
     
         12 . The system of  claim 1 , wherein the controller is further configured to store an electronic map including the implement system, the first dig location, the second dig location, and the dump location in cylindrical coordinates. 
     
     
         13 . The system of  claim 1 , further including a haul truck including a haul truck pose sensor for generating truck pose signals indicative of a pose of the haul truck, and the controller is further configured to determine the dump location based upon the pose of the haul truck. 
     
     
         14 . The system of  claim 1 , wherein the controller is further configured to store a second dump location, generate command signals to move the work implement from the second dig location to the second dump location, and generate command signals to dump a load of material carried by the work implement at the second dump location. 
     
     
         15 . The system of  claim 14 , further including a second haul truck including a second haul truck pose sensor for generating second truck pose signals indicative of a pose of the second haul truck, and the controller is further configured to determine the second dump position based upon the pose of the second haul truck. 
     
     
         16 . A controller implemented method for controlling movement of a work implement of a machine between a dump location and a plurality of dig locations, the work implement being operatively connected to a rotatable implement system having a linkage assembly, the method comprising:
 storing first dig signals from an implement system pose sensor associated with implement system the indicative of a first dig location;   storing second dig signals from the implement system pose sensor indicative of a second dig location, the second dig location being spaced from the first dig location;   storing a dump location;   generating command signals to move the work implement from the first dig location to the dump location;   generating command signals to dump a load of material carried by the work implement at the dump location; and   generating command signals to move the work implement from the dump location to the second dig location.   
     
     
         17 . The method of  claim 16 , further including storing the first dig signals based upon positioning of the work implement at the first dig location and actuating an input device. 
     
     
         18 . The method of  claim 16 , further including storing automatically the first dig signals upon entering a learning mode and the work implement performing a predetermined digging operation. 
     
     
         19 . The method of  claim 16 , further including storing a second dump location, generating command signals to move the work implement from the second dig location to the second dump location, and generating command signals to dump a load of material carried by the work implement at the second dump location. 
     
     
         20 . A machine comprising:
 a rotatable base;   a linkage assembly, the linkage assembly including a boom operatively connected to the base, a connecting member operatively connected to the boom, and a material moving work implement operatively connected to the connecting member;   an implement system pose sensor for generating implement system pose signals indicative of a pose of the implement system including a pose of the work implement; and   a controller configured to:   store first dig signals from the implement system pose sensor indicative of a first dig location;   store second dig signals from the implement system pose sensor indicative of a second dig location, the second dig location being spaced from the first dig location;   store a dump location;   generate command signals to move the work implement from the first dig location to the dump location;   generate command signals to dump a load of material carried by the work implement at the dump location; and   generate command signals to move the work implement from the dump location to the second dig location.