Control for hydraulically operated construction machine having multiple tandem articulated members

Claims

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows:

1. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member at least in part with an electronic control as a function at least of said anticipated future movement of said second member wherein said second member is manually controlled by a hydraulic valve which is responsible to an operator control lever and wherein said determining anticipated future movement of said second member includes monitoring actuation of said control lever in order to provide an input to said electronic control.

2. The method of claim 1 wherein said monitoring actuation of said control lever includes determining a magnitude of actuation of said control lever.

3. The method of claim 1 wherein said controlling includes initiating movement of said first member in response to actuation of said control lever.

4. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member as a function at least of said anticipated future movement of said second member;

wherein said anticipated future movement of said second member is a function at least of present position and velocity of said second member and system delay in movement of said second member.

5. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member, wherein said second member is controlled by an operator control lever and wherein said determining anticipated future movement of said second member includes monitoring actuation of said control lever; and

controlling said first member as a function at least of said anticipated future movement of said second member;

wherein said controlling includes initiating movement of said second member after a predetermined delay in response to actuation of said control lever.

6. A method of controlling a hydraulically operated construction machine, having a plurality of tandem articulated members, in a manner which moves said members in a predetermined pattern, wherein movement of a first one of said members is controlled in response to movement of a second one of said members, including:

determining anticipated future movement of said second member; and

controlling said first member as a function at least of said anticipated future movement of said second member and as a function of the present position and the derivative and integral of said position of said present first member.

7. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm at least in part with an electronic control as a function at least of said anticipated future movement, wherein the operator lever is coupled with a manual hydraulic control valve that manually operates the hydraulic cylinder of said one of said boom and arm and wherein said determining anticipated future movement of said one of said boom and arm includes monitoring actuation of said control lever in order to provide an input to said electronic control.

8. The method of claim 7 wherein said monitoring actuation of said control lever includes determining a magnitude of actuation of said control lever.

9. The method of claim 7 further including determining anticipated future movement of said bucket and wherein said controlling is further a function of said anticipated future movement of said bucket.

10. The method of claim 7 further including calibrating said bucket cutting edge by locating said cutting edge at a reference datum and determining a position of said cutting edge during said locating.

11. The method of claim 7 further including calibrating said bucket cutting edge by receiving a rotating laser plane and determining a position of said cutting edge during said receiving.

12. The method of claim 11 wherein said receiving includes providing a laser receiver on one of said boom and arm.

13. The method of claim 7 including providing another operator lever for operating the hydraulic cylinder of the other of said boom and arm and inhibiting said controlling in response to significant actuation of said another operator lever.

14. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement;

wherein said anticipated future movement of said one of said boom and arm is a function at least of the present position and velocity of said one of said boom and arm and system delay in movement of said one of said boom and arm.

15. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said other of said boom and arm; and

controlling said hydraulic cylinder of said other of said boom and arm as a function at least of said anticipated future movement and as a function of the present position and the integral and derivative of said position of said other of said boom and arm.

16. A method of controlling a hydraulic excavator having a boom pivotally connected at a proximate end with a cab, an arm pivotally connected at a proximate end with a distal end of said boom, a bucket pivotally connected at a proximate end with a distal end of said arm, a distal end of said bucket defining a cutting edge, a boom hydraulic cylinder for pivotally moving said boom with respect to said cab, an arm hydraulic cylinder for pivotally moving said arm with respect to said boom, a bucket hydraulic cylinder for pivotally moving said bucket with respect to said arm, and a hydraulic control system for operating said hydraulic cylinders, said hydraulic control system including an operator lever for operating the hydraulic cylinder of one of said boom and arm, the hydraulic cylinder of the other of said boom and arm being automatically controlled in response to movement of said one of said boom and arm, including:

determining anticipated future movement of said one of said boom and arm;

controlling said hydrauli