Excavation system having operator initiated work-tool shake

Abstract

A machine may include a work-tool, a lift actuator configured to lift the work-tool above a ground surface, a tilt actuator configured to tilt the work-tool. The machine may also include a controller configured to receive a control signal indicative of an operator command to initiate a work-tool shake routine, and execute the work-tool shake routine in response to the control signal based on a comparison of lift actuator extension with a first threshold, and a comparison of tilt actuator extension with a second threshold. The work-tool shake routine may include racking and unracking the work-tool multiple times in succession.

What is claimed is: 
     
         1 . A machine, comprising:
 a work-tool;   a lift actuator configured to lift the work-tool above a ground surface;   a tilt actuator configured to tilt the work-tool; and   a controller configured to receive a control signal indicative of an operator command to initiate a work-tool shake routine, the controller is further configured to execute the work-tool shake routine in response to the control signal based on a comparison of lift actuator extension with a first threshold, and a comparison of tilt actuator extension with a second threshold, wherein the work-tool shake routine includes racking and unracking the work-tool multiple times in succession.   
     
     
         2 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when the lift actuator extension is less than the first threshold. 
     
     
         3 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when the lift actuator extension is less than the first threshold and the tilt actuator extension is greater than the second threshold. 
     
     
         4 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when the lift actuator extension is greater than the first threshold. 
     
     
         5 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when the lift actuator extension is greater than the first threshold and the tilt actuator extension is less than the second threshold. 
     
     
         6 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when loading of the work-tool with material is complete. 
     
     
         7 . The machine of  claim 6 , wherein the controller is further configured to execute the work-tool shake routine in response to the control signal when dumping of the material from the work-tool is complete. 
     
     
         8 . The machine of  claim 1 , wherein the controller is configured to execute the work-tool shake routine in response to the control signal when dumping of material from the work-tool is complete. 
     
     
         9 . The machine of  claim 1 , further including an input device operable by the operator, the input device being configured to generate the control signal. 
     
     
         10 . The machine of  claim 1 , wherein the controller is also configured to stop the work-tool shake routine when the control signal stops. 
     
     
         11 . A method of controlling a machine having a work-tool, comprising:
 detecting a first extension of a lift actuator of the machine, wherein the lift actuator is configured to lift the work-tool above a ground surface;   detecting a second extension of a tilt actuator of the machine, wherein the tilt actuator is configured to tilt the work-tool;   detecting a control signal indicative of an operator command to initiate a work-tool shake routine; and   executing the work-tool shake routine in response to the control signal based on a comparison of the first extension with a first threshold, and a comparison of the second extension with a second threshold, wherein the work-tool shake routine includes racking and unracking the work-tool multiple times in succession.   
     
     
         12 . The method of  claim 11 , wherein executing the work-tool shake routine includes executing the work-tool shake routine when the first extension is less than the first threshold and the second extension is greater than the second threshold. 
     
     
         13 . The method of  claim 11 , wherein executing the work-tool shake routine includes executing the work-tool shake routine when the first extension is greater than the first threshold and the second extension is less than the second threshold. 
     
     
         14 . The method of  claim 11 , wherein executing the work-tool shake routine includes executing the work-tool shake routine when loading of the work-tool with material is complete. 
     
     
         15 . The method of  claim 14 , wherein executing the work-tool shake routine further includes executing the work-tool shake routine when dumping of the material from the work-tool is complete. 
     
     
         16 . The method of  claim 11 , wherein executing the work-tool shake routine includes performing a first rack of the work-tool, monitoring a tilt velocity of the work-tool, and performing a first unrack of the work-tool when the tilt velocity is less than a threshold tilt velocity. 
     
     
         17 . The method of  claim 11 , further including stopping the execution of the work-tool shake routine when the control signal is not received. 
     
     
         18 . A wheel loader machine, comprising:
 a bucket;   a lift actuator configured to lift the bucket above a ground surface;   a tilt actuator configured to tilt the bucket;   a first sensor configured to monitor a first extension of the lift actuator;   a second sensor configured to monitor a second extension of the tilt actuator;   an input device configured to generate a control signal indicative of input from an operator to initiate a bucket-shake routine; and   a controller in communication with the first sensor, the second sensor, and the input device, wherein the controller is configured to execute the bucket-shake routine in response to the control signal when the first extension is less than a first threshold and the second extension is greater than a second threshold, wherein the bucket-shake routine includes racking and unracking the bucket multiple times in succession.   
     
     
         19 . The machine of  claim 18 , wherein the bucket-shake routine is a first bucket-shake routine, and wherein the controller is further configured to execute a second bucket-shake routine in response to the control signal when the first extension is greater than a third threshold and the second extension is less than a fourth threshold, where in the second bucket-shake routine includes unracking and racking the bucket multiple times in succession. 
     
     
         20 . The machine of  claim 19 , wherein the controller is configured to execute the first bucket-shake routine when loading of the bucket with material is complete, and execute the second bucket-shake routine when dumping of the material from the bucket is complete.