CA1203605A - Method and apparatus for a least partial automatic control of the operating cycle of a hydraulic excavator - Google Patents
Method and apparatus for a least partial automatic control of the operating cycle of a hydraulic excavatorInfo
- Publication number
- CA1203605A CA1203605A CA000407432A CA407432A CA1203605A CA 1203605 A CA1203605 A CA 1203605A CA 000407432 A CA000407432 A CA 000407432A CA 407432 A CA407432 A CA 407432A CA 1203605 A CA1203605 A CA 1203605A
- Authority
- CA
- Canada
- Prior art keywords
- operating cycle
- excavator
- dipper
- cycle
- stored
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/438—Memorising movements for repetition, e.g. play-back capability
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36043—Correction or modification of program
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37462—Resistor, potentiometers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41309—Hydraulic or pneumatic drive
Abstract
ABSTRACT
The invention relates to a method and apparatus for at least partial automatic control of the operating cycle of a hydraulic excavator, more particularly an excavator having a flapped shovel or dipper, for loading bulk material onto heavy trucks. The concept of the invention is to store data relating to a manually executed operating cycle and then to repeat the cycle automatically upon call-up. To this end it is proposed to fit angle potentiometers at all pivot points in the excavator elements, the measurements obtained from the said potentiometers being passed, through an amplifier if necessary, to an electrical calculator comprising a memory from which the stored values converted into signals may be fed in a specific sequence, to electro-hydraulic valves for the purpose of controlling the cycle. The invention makes it possible to achieve substantially greater productivity from an excavator in that a plurality of automated movements may be carried out simultaneously. At the same time, the pressure on the excavator operator is relieved which also increases productivity.
The invention relates to a method and apparatus for at least partial automatic control of the operating cycle of a hydraulic excavator, more particularly an excavator having a flapped shovel or dipper, for loading bulk material onto heavy trucks. The concept of the invention is to store data relating to a manually executed operating cycle and then to repeat the cycle automatically upon call-up. To this end it is proposed to fit angle potentiometers at all pivot points in the excavator elements, the measurements obtained from the said potentiometers being passed, through an amplifier if necessary, to an electrical calculator comprising a memory from which the stored values converted into signals may be fed in a specific sequence, to electro-hydraulic valves for the purpose of controlling the cycle. The invention makes it possible to achieve substantially greater productivity from an excavator in that a plurality of automated movements may be carried out simultaneously. At the same time, the pressure on the excavator operator is relieved which also increases productivity.
Description
~361~
The invention relates to a method, and to an apparatus for the execution of the said method, for at least partial automatic control of the operating cycle of a hydraulic excavator, more particularly an excavator having a flapped shovel or dipper, for loading bulk material onto heavy trucks.
Hydraulic excavators are used in mines or building sites for loading trucks. If the capacities of the excavator and trucks are efficiently matched, between ~ive and eight excavator cycles are needed to fill the truck. The excavator, usually equipped with a flapped shovel or dipper for this type of operation, awaits the truck with the dipper filled and elevated, and the truck backs under the dipper.
Actuation of the flap cylinder empties the dipper. Each operating sequence requires the excava-tor operator to carry out and control a series of movements.
After the flap on the dipper has been closed, the pivoting mechan~sm is ac-tuated and the dipper is lowered by the boom. At the same time, the dipper is pulled ~ack by the 31 2~36~5 strut cylinder and is rotated backwardly by the dipper cylinder. The superstructure of the excavator must be braked to a stop over the excavation site in order to fill the dipper. ThIs involves moving the boom, the strut and the dipper. ~s soon as the dipper is full, it is raised and the cycle is repeated in the reverse sequence. The dipper is swung back over the truck and is simul-taneously raised by ~he boom. ~t this time it is essential that the dipper be kept parallel, in order to prevent material from falling out over the rear wall thereof. The boom must be brought to a stop over the truck by braking the super-structure; only then may the dipper be emptied by opening the flap above the truck. The next cycle follows in the manner described.
The invention is based upon the fact that the operating cycle, with its partly overlapping movements, requires a great deal of concentration on the part of the operator of the excavator. The degree of concentration and the skill of the operator are critical to the productivity of the machine, and it must be assumed that the concentration even of an outstanding operator will decrease as the number of operations to be carried out increases.
Based upon the knowledge that certain movements remain constant in each operating cycle, since the level of the bulk material and the distance between the excavator and the truck do not vary, it is the purpose of the present invention to provide at least partial automation of the operating cycle.
According to the invention, this purpose is achieved in -that the data relating to a manually executed operating cycle are stored and the said operating cycle is repeated upon call-up. This means that the excava-tor operator carries out 6~S
the cycle manually only once, during which time the individual steps of the cycle are stored,. Subsequent cycles can then be carried out automatically, thus substantially increasiny the productivity of the machine, since a larger number of movements can be carried out slmultaneously. This relieves the pressure on the excavator operator which also increases productivity, According to another embodiment of the invention, half an operating cycle is stored and this is expanded to a whole operating cycle, Starting with the dipper in the unloading position over the truck, the height of the truck, the pivot angle of the superstructure, and the height of the point at which the material is picked up are all stored during half an operating cycle (from the truck to the point where the material is picked up). After the dipper has been filled manually, the other half of the operating cycle (from the pick-up point to the truck) is carried out automatically.
After the dipper has been emptied, the first steps may also proceed according to the stored programme.
According to another embodiment of the invention, the auto-matic operating cycle may be reproduced manually. This allows the excavator operator to intervene manually in the programme at any time and to make changes therein. Accord-ing to another embodiment of the invention, all stored values are retained in the event of manual intervention in the automatic cycle. This means that automatic operation mày be resumed, after manual intervention, without haviny to store the cycle again by manual operation.
According to still another embodiment of the invention, correcting values critical to the cycle are fed-in in order to chanye the stored values. For examp]e, as the materlal is picked up, necessary increases in the pivot ~031~
angle of the excavat~-r are fed into the memory in such a manner that any increase or decrease in the pivot angle simultaneously brings about an increase of decrease in the pivot angle at the discharge point over the truck. This ~nsures that the discharge point remains the same even when the pick up po;nt alters, and the dipper is thus always emptied over the truck. This corrected storage value is taken into account during the ne~t operating cycle as a new storage value.
~n apparatus according to the invention, for the execution of the foregoing method, provides angle potentiometers at all pivot points in the excavator elements ~the basic boom, the strut, the dipper, centres of rotation and the rotating gear drive), the measurements obtained from the said potentio-meters being fed, through an amplifier if necessary, to anelectrical calculator comprising a memory from which the stored values, converted into signals, may be fed in a specific sequence to electro-hydraulic valves for the purpose of controlling the operating cycle. The potentiometers thus determine unequivocally the position of the dipper and ensure correct acquisition of the actual status of the operation. Measurements obtained from the potentiometers, and stored in correct sequence, establish the manually produced operating cycle, and these are fed after processing in a calculator in reverse sequence to the electro-hydraulic valves for automatic control of the said operating cycle.
It is to be understood that the method may be used in the same way for similar piaces of equipment in which the same movements are repeated in a plurality of consecutive work cycles.
Partial automation of a hydraulic excavator of the type described at the beginning hereof is described hereinafter ~2~3~5 in conjunction with an example~
It is to be assumed in the example that a hydraulic excavator having a flapped shovel or dipper is to be used to load a "dumper" with bulk material picked up by the excavator at a certain point and transferred to the dumper after the excavator has pivoted about a vertical axis located between the excavator chassis and superstructure with simultaneous lifting of the dipper. The movements to be initiated by the e~cavator operator are numbered 1 to 12 hereinafter.
The operating cycle is assumed to start as soon as the dipper has been emptied.
1. Close the flap
The invention relates to a method, and to an apparatus for the execution of the said method, for at least partial automatic control of the operating cycle of a hydraulic excavator, more particularly an excavator having a flapped shovel or dipper, for loading bulk material onto heavy trucks.
Hydraulic excavators are used in mines or building sites for loading trucks. If the capacities of the excavator and trucks are efficiently matched, between ~ive and eight excavator cycles are needed to fill the truck. The excavator, usually equipped with a flapped shovel or dipper for this type of operation, awaits the truck with the dipper filled and elevated, and the truck backs under the dipper.
Actuation of the flap cylinder empties the dipper. Each operating sequence requires the excava-tor operator to carry out and control a series of movements.
After the flap on the dipper has been closed, the pivoting mechan~sm is ac-tuated and the dipper is lowered by the boom. At the same time, the dipper is pulled ~ack by the 31 2~36~5 strut cylinder and is rotated backwardly by the dipper cylinder. The superstructure of the excavator must be braked to a stop over the excavation site in order to fill the dipper. ThIs involves moving the boom, the strut and the dipper. ~s soon as the dipper is full, it is raised and the cycle is repeated in the reverse sequence. The dipper is swung back over the truck and is simul-taneously raised by ~he boom. ~t this time it is essential that the dipper be kept parallel, in order to prevent material from falling out over the rear wall thereof. The boom must be brought to a stop over the truck by braking the super-structure; only then may the dipper be emptied by opening the flap above the truck. The next cycle follows in the manner described.
The invention is based upon the fact that the operating cycle, with its partly overlapping movements, requires a great deal of concentration on the part of the operator of the excavator. The degree of concentration and the skill of the operator are critical to the productivity of the machine, and it must be assumed that the concentration even of an outstanding operator will decrease as the number of operations to be carried out increases.
Based upon the knowledge that certain movements remain constant in each operating cycle, since the level of the bulk material and the distance between the excavator and the truck do not vary, it is the purpose of the present invention to provide at least partial automation of the operating cycle.
According to the invention, this purpose is achieved in -that the data relating to a manually executed operating cycle are stored and the said operating cycle is repeated upon call-up. This means that the excava-tor operator carries out 6~S
the cycle manually only once, during which time the individual steps of the cycle are stored,. Subsequent cycles can then be carried out automatically, thus substantially increasiny the productivity of the machine, since a larger number of movements can be carried out slmultaneously. This relieves the pressure on the excavator operator which also increases productivity, According to another embodiment of the invention, half an operating cycle is stored and this is expanded to a whole operating cycle, Starting with the dipper in the unloading position over the truck, the height of the truck, the pivot angle of the superstructure, and the height of the point at which the material is picked up are all stored during half an operating cycle (from the truck to the point where the material is picked up). After the dipper has been filled manually, the other half of the operating cycle (from the pick-up point to the truck) is carried out automatically.
After the dipper has been emptied, the first steps may also proceed according to the stored programme.
According to another embodiment of the invention, the auto-matic operating cycle may be reproduced manually. This allows the excavator operator to intervene manually in the programme at any time and to make changes therein. Accord-ing to another embodiment of the invention, all stored values are retained in the event of manual intervention in the automatic cycle. This means that automatic operation mày be resumed, after manual intervention, without haviny to store the cycle again by manual operation.
According to still another embodiment of the invention, correcting values critical to the cycle are fed-in in order to chanye the stored values. For examp]e, as the materlal is picked up, necessary increases in the pivot ~031~
angle of the excavat~-r are fed into the memory in such a manner that any increase or decrease in the pivot angle simultaneously brings about an increase of decrease in the pivot angle at the discharge point over the truck. This ~nsures that the discharge point remains the same even when the pick up po;nt alters, and the dipper is thus always emptied over the truck. This corrected storage value is taken into account during the ne~t operating cycle as a new storage value.
~n apparatus according to the invention, for the execution of the foregoing method, provides angle potentiometers at all pivot points in the excavator elements ~the basic boom, the strut, the dipper, centres of rotation and the rotating gear drive), the measurements obtained from the said potentio-meters being fed, through an amplifier if necessary, to anelectrical calculator comprising a memory from which the stored values, converted into signals, may be fed in a specific sequence to electro-hydraulic valves for the purpose of controlling the operating cycle. The potentiometers thus determine unequivocally the position of the dipper and ensure correct acquisition of the actual status of the operation. Measurements obtained from the potentiometers, and stored in correct sequence, establish the manually produced operating cycle, and these are fed after processing in a calculator in reverse sequence to the electro-hydraulic valves for automatic control of the said operating cycle.
It is to be understood that the method may be used in the same way for similar piaces of equipment in which the same movements are repeated in a plurality of consecutive work cycles.
Partial automation of a hydraulic excavator of the type described at the beginning hereof is described hereinafter ~2~3~5 in conjunction with an example~
It is to be assumed in the example that a hydraulic excavator having a flapped shovel or dipper is to be used to load a "dumper" with bulk material picked up by the excavator at a certain point and transferred to the dumper after the excavator has pivoted about a vertical axis located between the excavator chassis and superstructure with simultaneous lifting of the dipper. The movements to be initiated by the e~cavator operator are numbered 1 to 12 hereinafter.
The operating cycle is assumed to start as soon as the dipper has been emptied.
1. Close the flap
2. Actuate the pivoting mechanism.
3. Lower the dipper with the boom cylinder.
4. Draw the dipper back with the strut cylinder.
5. Rotate the dipper back with the dipper cylinder.
6. Brake the superstructure to a stop at the pick-up point.
7. Fill the dipper ~by moving the boom, strut and dipper).
Lift the dipper out of the material.
Lift the dipper out of the material.
8. Initiate the return pivoting movement.
9. Raise the dipper with the boom cylinder.
10. Keep the dipper parallel.
11. Brake it above the dumper until it comes to a stop.
12. Empty the dipper over the dumper.
Some of these steps may, of course, overlap, depending upon the skill of the operator.
Pàrtial automakion according to the invention proceeds as follows:
The operator carries out half an operating cycle manually, namely steps 1 to 6, the height of the dumper, the pivot angle of the superstructure and the height of the point at which ~he material is picked up being stored in the memory.
3~
After the dipper has bee~ fil3ed manually ~step 71, subsequent steps 8 to 1~, whlch are practically the reverse of steps 1 to 6, are carried out automatically. After the shovel has been emptied, steps 1 to 6 are carried out ~ccording to the stored programme, and the following steps are carried out automatically until the dumper is fully loaded. The only manual operations are the filling and emptying of the dipper.
Positioning of the dipper is achieved by installing angle potentiometers at the pivot points of the boom, the basic boom and the chassis. Control is effected by means of electro-hydraulic valves in parallel with the existing pre-control. The brakes on the pivoting mechanism must be electrically controllable. The manual control must be able to reproduce the automatic control so that corrections may be made.
A description will now be given of the storage of the operating cycle.
The operator selects the type of dumper with a multi-position switch. ~11 that is req~ired is the length of the vehicle to prevent the shovel from striking the side wall.
The memory key is depressed and the "close-the-dipper-flap"
movement is stored. The operator drives the machine manually to the pick-up point. All data are fixed in the memory by again depressing the memory key. The material is then picked up manually. The excavator is moved back automatically into position above the dumper by depressing a second key, the dipper being kept parallel. The dipper is emptied manually.
The subsequent `'close-the-dipper-flap" command initiates -the retur~ to the pick-up point, where a correction of the ~2~36~
pivot anyle may be carried out. This correction simultaneously effects a correction of the return pivot angle so that the dipper again comes to a halt over the dumper.
As already indicated, although manual intervention in the operating cycle (by actuation of the pre-control element~
has a momentary effect upon the operating cycle, stored values are not lost.
In order to cancel the stored values, urther pressure applied to the automatic switch halts the operating cycle.
Some of these steps may, of course, overlap, depending upon the skill of the operator.
Pàrtial automakion according to the invention proceeds as follows:
The operator carries out half an operating cycle manually, namely steps 1 to 6, the height of the dumper, the pivot angle of the superstructure and the height of the point at which ~he material is picked up being stored in the memory.
3~
After the dipper has bee~ fil3ed manually ~step 71, subsequent steps 8 to 1~, whlch are practically the reverse of steps 1 to 6, are carried out automatically. After the shovel has been emptied, steps 1 to 6 are carried out ~ccording to the stored programme, and the following steps are carried out automatically until the dumper is fully loaded. The only manual operations are the filling and emptying of the dipper.
Positioning of the dipper is achieved by installing angle potentiometers at the pivot points of the boom, the basic boom and the chassis. Control is effected by means of electro-hydraulic valves in parallel with the existing pre-control. The brakes on the pivoting mechanism must be electrically controllable. The manual control must be able to reproduce the automatic control so that corrections may be made.
A description will now be given of the storage of the operating cycle.
The operator selects the type of dumper with a multi-position switch. ~11 that is req~ired is the length of the vehicle to prevent the shovel from striking the side wall.
The memory key is depressed and the "close-the-dipper-flap"
movement is stored. The operator drives the machine manually to the pick-up point. All data are fixed in the memory by again depressing the memory key. The material is then picked up manually. The excavator is moved back automatically into position above the dumper by depressing a second key, the dipper being kept parallel. The dipper is emptied manually.
The subsequent `'close-the-dipper-flap" command initiates -the retur~ to the pick-up point, where a correction of the ~2~36~
pivot anyle may be carried out. This correction simultaneously effects a correction of the return pivot angle so that the dipper again comes to a halt over the dumper.
As already indicated, although manual intervention in the operating cycle (by actuation of the pre-control element~
has a momentary effect upon the operating cycle, stored values are not lost.
In order to cancel the stored values, urther pressure applied to the automatic switch halts the operating cycle.
Claims (6)
PROPERTY OF PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A method for at least partly automatic control of the operating cycle of a hydraulic excavator, more particularly an excavator having a flapped shovel or dipper, for loading bulk material onto heavy trucks, wherein data relating to a manually executed operating cycle are stored and the said operating cycle is repeated automatically upon call-up.
2. A method according to claim 1, wherein half an operating cycle is stored and this is expanded to a whole operating cycle.
3. A method according to claim 1, wherein the automatic operating cycle may be reproduced manually.
4. A method according to claim 3, wherein in the event of manual intervention in the automatic operating cycle, the stored values are retained.
5. A method according to claim 1 or 4, wherein correct-ing values critical to the cycle are fed-in in order to change the stored values.
6. An apparatus for the execution of the method accord-ing to claim 1, wherein angle potentiometers are fitted at all pivot points in the excavator elements, the measurements obtained from the said potentiometers being fed to an electrical calculator comprising a memory from which the stored values converted into signals may be fed in a specific sequence to electro-hydraulic valves for the purpose of controlling the operating cycle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DEP3129227.5 | 1981-07-24 | ||
| DE3129227 | 1981-07-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1203605A true CA1203605A (en) | 1986-04-22 |
Family
ID=6137639
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000407432A Expired CA1203605A (en) | 1981-07-24 | 1982-07-16 | Method and apparatus for a least partial automatic control of the operating cycle of a hydraulic excavator |
Country Status (6)
| Country | Link |
|---|---|
| JP (1) | JPS5824036A (en) |
| AU (1) | AU550726B2 (en) |
| BR (1) | BR8204272A (en) |
| CA (1) | CA1203605A (en) |
| FR (1) | FR2510278A1 (en) |
| ZA (1) | ZA825292B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2242886A (en) * | 1990-04-11 | 1991-10-16 | Kubota Kk | Backhoe |
| US5908458A (en) * | 1997-02-06 | 1999-06-01 | Carnegie Mellon Technical Transfer | Automated system and method for control of movement using parameterized scripts |
| US6778097B1 (en) | 1997-10-29 | 2004-08-17 | Shin Caterpillar Mitsubishi Ltd. | Remote radio operating system, and remote operating apparatus, mobile relay station and radio mobile working machine |
| US20210341033A1 (en) * | 2020-05-01 | 2021-11-04 | Deere & Company | Magnetorheological fluid joystick systems providing detent-triggered work vehicle functions |
| US11499292B2 (en) | 2020-05-01 | 2022-11-15 | Deere & Company | Magnetorheological fluid joystick systems reducing work vehicle mispositioning |
| US11634885B2 (en) | 2020-05-01 | 2023-04-25 | Deere & Company | Work vehicle magnetorheological fluid joystick systems reducing unintended joystick motions |
| US11681320B2 (en) | 2020-05-01 | 2023-06-20 | Deere & Company | Work vehicle magnetorheological fluid joystick systems operable in modified centering modes |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2540336B1 (en) * | 1983-02-03 | 1986-08-08 | Electromeca Sa | METHOD AND DEVICE FOR CONTROLLING THE MOVEMENTS OF A WORKPIECE AND THEIR USE IN A HAY COLLECTION MACHINE |
| JPH06102906B2 (en) * | 1985-03-25 | 1994-12-14 | 株式会社クボタ | Bucket level controller for front loader |
| EP0681067A3 (en) * | 1988-11-22 | 1996-02-14 | Komatsu Mfg Co Ltd | Method and apparatus for automating a routine operation of electronically controlled hydraulic-powered machine. |
| US5224033A (en) * | 1989-09-26 | 1993-06-29 | Kabushiki Kaisha Komatsu Seisakusho | Work automation apparatus for hydraulic drive machines |
| JPH05139544A (en) * | 1991-10-08 | 1993-06-08 | Nippon Hodo Co Ltd | Work vehicle control device in material transfer system |
| KR960034599A (en) * | 1995-03-30 | 1996-10-24 | 유상부 | Automatic control method of excavator |
-
1982
- 1982-07-15 FR FR8212402A patent/FR2510278A1/en active Granted
- 1982-07-16 CA CA000407432A patent/CA1203605A/en not_active Expired
- 1982-07-20 AU AU86187/82A patent/AU550726B2/en not_active Ceased
- 1982-07-22 JP JP57126838A patent/JPS5824036A/en active Pending
- 1982-07-22 BR BR8204272A patent/BR8204272A/en unknown
- 1982-07-23 ZA ZA825292A patent/ZA825292B/en unknown
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2242886A (en) * | 1990-04-11 | 1991-10-16 | Kubota Kk | Backhoe |
| GB2242886B (en) * | 1990-04-11 | 1994-12-07 | Kubota Kk | Backhoe |
| US5908458A (en) * | 1997-02-06 | 1999-06-01 | Carnegie Mellon Technical Transfer | Automated system and method for control of movement using parameterized scripts |
| US6778097B1 (en) | 1997-10-29 | 2004-08-17 | Shin Caterpillar Mitsubishi Ltd. | Remote radio operating system, and remote operating apparatus, mobile relay station and radio mobile working machine |
| US20210341033A1 (en) * | 2020-05-01 | 2021-11-04 | Deere & Company | Magnetorheological fluid joystick systems providing detent-triggered work vehicle functions |
| US11499293B2 (en) | 2020-05-01 | 2022-11-15 | Deere & Company | Work vehicle magnetorheological fluid joystick systems providing implement command guidance |
| US11499294B2 (en) | 2020-05-01 | 2022-11-15 | Deere & Company | Work vehicle magnetorheological fluid joystick systems operable in modified joystick stiffness modes |
| US11499292B2 (en) | 2020-05-01 | 2022-11-15 | Deere & Company | Magnetorheological fluid joystick systems reducing work vehicle mispositioning |
| US11505917B2 (en) | 2020-05-01 | 2022-11-22 | Deere & Company | Work vehicle magnetorheological fluid joystick systems having adjustable joystick return positions |
| US11512446B2 (en) * | 2020-05-01 | 2022-11-29 | Deere & Company | Magnetorheological fluid joystick systems providing detent-triggered work vehicle functions |
| US11634885B2 (en) | 2020-05-01 | 2023-04-25 | Deere & Company | Work vehicle magnetorheological fluid joystick systems reducing unintended joystick motions |
| US11681320B2 (en) | 2020-05-01 | 2023-06-20 | Deere & Company | Work vehicle magnetorheological fluid joystick systems operable in modified centering modes |
Also Published As
| Publication number | Publication date |
|---|---|
| ZA825292B (en) | 1983-05-25 |
| BR8204272A (en) | 1983-07-19 |
| FR2510278A1 (en) | 1983-01-28 |
| JPS5824036A (en) | 1983-02-12 |
| AU550726B2 (en) | 1986-04-10 |
| AU8618782A (en) | 1983-01-27 |
| FR2510278B3 (en) | 1984-08-24 |
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