Control System for Ripper Operation

Abstract

A mobile machine is operatively attached to a ripper that can be moved to different positions to conduct a ripping operation of the terrain surface. The mobile machine includes an operator interface, ripper configuration sensors, and an electronic controller. In response to receiving a save ripper position command form the operator interface, the electronic controller saves sensor output from the ripper configuration sensor corresponding to a ripper position. In response to receiving a reposition ripper command from the operator interface, the electronic controller retrieves the ripper position data and move the ripper to the ripper position.

We claim: 
     
         1 . A control system for a mobile machine comprising:
 an operator interface for controlling operation of a ripper attached to the mobile machine;   one or more ripper configuration sensors associated with the ripper; and   an electronic controller including a processor and memory and in communication with the operator interface and the one or more ripper configuration sensors, the electronic controller configured to:
 save, based on receiving a save position command from the operator interface, a ripper position by writing sensor output from the one or more ripper configuration sensors to memory as ripper position data; 
 retrieve the ripper position data from memory based on a reposition command received from the operator interface; and 
 cause to be actuated based on the ripper position data, one or more of a lift actuator or a tilt actuator, to move the ripper to the ripper position. 
   
     
     
         2 . The control system of  claim 1 , wherein the ripper position data encodes angular values for a lift angle and a tilt angle of the ripper with respect to the mobile machine. 
     
     
         3 . The control system of  claim 2 , wherein the lift angle is defined by a mounting link connecting the ripper to the mobile machine and the terrain surface. 
     
     
         4 . The control system of  claim 2 , wherein the tilt angle is defined by a mounting link connecting the ripper to the mobile machine and a shank axis of the ripper. 
     
     
         5 . The control system of  claim 2 , wherein the sensor output from the one or more ripper configuration sensors are convertible to the lift angle and to the tilt angle. 
     
     
         6 . The control system of  claim 1 , wherein the one or more ripper configuration sensors includes a plurality of IMUs configured to measure actuation of the lift actuator and the tilt actuator. 
     
     
         7 . The control system of  claim 1 , wherein the one or more ripper configuration sensors include a lift actuator sensor associated with the lift actuator and a tilt actuator sensor associated with the tilt actuator. 
     
     
         8 . The control system of  claim 1 , wherein the electronic controller is further configured save, due to receiving a second save position command from the operator interface, a second ripper position by writing sensor output from the one or more ripper configuration sensors to memory as second ripper position data. 
     
     
         9 . The control system of  claim 8 , wherein the electronic controller is further configured to retrieve the second ripper position data from memory due to receiving a second reposition command from the operator interface and to cause to be actuated, based on the second ripper position data, one or more of the lift actuator or the tilt actuator to move the ripper to the second ripper position. 
     
     
         10 . The control system of  claim 8 , wherein the electronic controller is further configured to save, based on receiving a save sequence command from the operator interface, a ripper position sequence including the ripper position data, as first ripper position data, and the second ripper position data. 
     
     
         11 . A method of operating a ripper of a mobile machine comprising:
 receiving a save ripper position command from an operator interface to save a ripper position;   writing sensor output, corresponding to the ripper position, from one or more ripper configuration sensors to memory as ripper position data;   receiving a reposition ripper command from the operator interface;   reading the ripper position data from memory;   converting the ripper position data to electronic command signals; and   communicating the electronic command signals to one or more of a lift actuator or a tilt actuator to move the ripper to the ripper position.   
     
     
         12 . The method of  claim 11 , wherein the one or more ripper configuration sensors includes a plurality of IMUs configured to measure actuation of the lift actuator and the tilt actuator. 
     
     
         13 . The method of  claim 11 , wherein the one or more ripper configuration sensors include a lift actuator sensor associated with the lift actuator and a tilt actuator sensor associated with the tilt actuator. 
     
     
         14 . The method of  claim 11 , wherein the ripper position data encodes angular values for a lift angle and a tilt angle of the ripper with respect to the mobile machine. 
     
     
         15 . The method of  claim 11 , further comprising:
 receiving a second save ripper position command from an operator interface to save a second ripper position;   writing sensor output, corresponding to the second ripper position, from the one or more ripper configuration sensors to memory as second ripper position data;   receiving a second reposition ripper command from the operator interface;   reading the second ripper position data from memory;   converting the second ripper position data to second electronic command signals; and   communicating the second electronic command signals to one or more of the lift actuator or the tilt actuator to move the ripper to the second ripper position.   
     
     
         16 . The method of  claim 15 , further comprising:
 receiving a save sequence command from the operator interface to save a ripper position sequence including the ripper position data, as first ripper position data, and the second ripper position data.   
     
     
         17 . A mobile machine comprising:
 a machine chassis supported on a plurality of traction devices for traveling over a terrain surface;   a ripper including a ripper shank defining a ripper axis and a ripper tip at a distal end of the ripper shank for penetrating the terrain surface;   a lift actuator connected to the machine chassis and the ripper;   a tilt actuator connected to the machine chassis and the ripper;   one or more ripper configuration sensors associated with the ripper;   an electronic controller associated with the lift actuator and the tilt actuator and in communication with the one or more ripper configuration sensors, the electronic controller configured to:
 save, based on receiving a save position command from the operator interface, a ripper position by writing sensor output from the one or more ripper configuration sensors to memory as ripper position data; 
 retrieve the ripper position data from memory based on a reposition command received from the operator interface; and 
 actuate, based on the ripper position data one or more of the lift actuator or the tilt actuator to move the ripper to the ripper position. 
   
     
     
         18 . The mobile machine of  claim 17 , wherein the electronic controller is further configured to:
 save, based on receiving a second save position command, a second ripper position by writing sensor output from the one or more ripper configuration sensors as second ripper position data;   retrieve the second ripper position data from memory based on a second reposition command received from the operator interface; and   actuate, based on the second ripper position data, one or more of the lift actuator or the tilt actuator to move the ripper to the second ripper position.   
     
     
         19 . The mobile machine of  claim 18 , wherein the electronic controller is further configured to save a ripper position sequence, based on receiving a save sequence command from the operator interface, wherein the ripper position sequence includes the ripper position data, as first ripper position data, and the second ripper position data. 
     
     
         20 . The mobile machine of  claim 17 , wherein the ripper position data encodes angular values for a lift angle and a tilt angle of the ripper with respect to the mobile machine.