Intelligent mechanical linkage performance system

Abstract

A work machine having an intelligent mechanical linkage performance system comprises a frame and a ground-engaging mechanism, a boom assembly coupled to the frame wherein the boom assembly comprises a large boom and a dipper stick. A load measuring device is coupled to the boom assembly and configured to generate a load signal indicative of a payload. A pin is coupled to the dipper stick wherein the pin has an envelope of movement throughout which the pin is moveable by the large boom and the dipper stick. A controller is configured to receive a first position signal from a first boom position sensor, a second position signal from a second boom position sensor, and the load signal from the load measuring device. The controller is further configured to calculate a map of hydraulic capacities within the envelope of movement.

What is claimed is: 
     
         1 . A work machine having an intelligent mechanical linkage performance system, the work machine comprising:
 a frame and a ground-engaging mechanism, the ground-engaging mechanism configured to support the frame on a surface;   a boom assembly coupled to the frame wherein the boom assembly comprises
 a large boom pivotally coupled to the frame and moveable relative to the frame by a first actuator, a first boom position sensor coupled to the large boom, and 
 a dipper stick pivotally coupled to the large boom and moveable relative to the large boom by a second actuator, a second boom position sensor coupled to the dipper stick; 
   a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload;   a pin coupled to the dipper stick at a location distal from the large boom, the pin having an envelope of movement throughout which the pin is moveable by the large boom and the dipper stick; and   a controller configured to receive a first position signal from the first boom position sensor, a second position signal from the second boom position sensor, and the load signal from the load measuring device,
 wherein the controller is further configured to calculate a map of hydraulic capacities within the envelope of movement for one or more of the first and the second actuators based on the first position signal, the second position signal, and the load signal, and generate a movement envelope of movement of the pin through at least a portion of the envelope based on the hydraulic capacities, the movement envelope being smaller than the envelope. 
   
     
     
         2 . The work machine of  claim 1 , wherein the pin is coupled to an implement, the implement configured to engage a payload. 
     
     
         3 . The work machine of  claim 2 , wherein the controller is further configured to identify a payload center of mass, the payload center of mass based on a third position signal received from a third actuator, the implement moveable by the third actuator, and the controller modifying the load signal based on the payload center of mass. 
     
     
         4 . The work machine of  claim 1 , wherein the map of hydraulic capacities comprises a series of nodes representing the hydraulic capacities of one or more of the first and the second actuators throughout the envelope in real-time. 
     
     
         5 . The work machine of  claim 3 , wherein the movement envelope comprises a lift path of the pin from a first pin position to a second pin position through nodes with sufficient hydraulic capacity. 
     
     
         6 . The work machine of  claim 1 , wherein the envelope of movement is displayed on a user input interface through a color code, the color code based on a degree of hydraulic capacity. 
     
     
         7 . The work machine of  claim 1 , wherein the load measuring device comprises a first load measuring sensor coupled to the large boom, and a second load measuring sensor coupled to the dipper stick. 
     
     
         8 . The work machine of  claim 1 , wherein the controller further receives an inclination signal from an inclination sensor coupled to the work machine when calculating the map of hydraulic capacities, the inclination sensor determining the inclination of the horizontal longitudinal axis of the work machine and the controller modifying the load signal based on the inclination signal. 
     
     
         9 . The work machine of  claim 1 , wherein the controller is configured to inhibit movement of the pin to a plurality of nodes within the envelope of movement, the plurality of nodes having insufficient hydraulic capacity for moving the payload. 
     
     
         10 . The work machine of  claim 5 , wherein the controller is further configured to move the pin automatically from the first pin position to the second pin position. 
     
     
         11 . The work machine of  claim 1 , wherein the controller is configured to provide guidance to the operator through one or more of visual feedback or haptic feedback. 
     
     
         12 . The work machine of  claim 11 , wherein visual feedback comprises displaying the current position of the pin in the envelope of movement. 
     
     
         13 . The work machine of  claim 11 , wherein haptic feedback comprises vibration of a control member. 
     
     
         14 . An intelligent mechanical linkage performance system for a work machine for a payload moving operation, the system comprising:
 a first boom position sensor coupled with a large boom of a boom assembly of the work machine for generating a first position signal indicative of a position of a first actuator;   a second boom position sensor coupled with a dipper stick of a boom assembly of the work machine for generating a second position signal indicative of a position of a second actuator;   a load measuring device coupled to the boom assembly, the load measuring device configured to generate a load signal indicative of a payload;   a pin coupled to the dipper stick at a location distal from the large boom, the pin having an envelope of movement throughout which the pin is moveable by the large boom and the dipper stick; the pin coupled to an implement, the implement configured to engage a payload; and   a controller configured to
 receive the first position signal from the first boom position sensor, the second position signal from the second actuating sensing system, and the load signal, 
 calculate a map of hydraulic capacities for one or more of the first and second actuators based on the first position signal, the second position signal, and the load signal, 
 generate a movement envelope of movement of the pin through at least a portion of the envelope of movement based on the hydraulic capacities, the movement envelope being smaller than the envelope of movement. 
   
     
     
         15 . The system of  claim 14 , wherein the controller is further configured to identify a payload center of mass, the payload center of mass based on a third position signal received from a third actuator, the implement moveable by the third actuator, and the controller modifying the load signal based on the payload center of mass. 
     
     
         16 . The system of  claim 14 , wherein the map of hydraulic capacities comprises a series of nodes representing the hydraulic capacities of one or more of the first and the second actuators throughout the envelope in real-time. 
     
     
         17 . The system of  claim 14 , wherein the movement envelope comprises a lift path of the pin from a first pin position to a second pin position through nodes with sufficient hydraulic capacity. 
     
     
         18 . The system of  claim 14 , wherein the controller is configured to inhibit movement of the pin to a plurality of nodes within the envelope of movement, the plurality of nodes having insufficient hydraulic capacity for the payload. 
     
     
         19 . The system of  claim 17 , wherein the controller is further configured to move the pin automatically from the first pin position to the second pin position. 
     
     
         20 . The system of  claim 14 , wherein the controller is configured to provide guidance to the operator through one or more of visual feedback or haptic feedback.