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Motor grader cross slope control with articulation compensation

A laterally inclined, grader technology, used in mechanically driven excavators/dredgers, earthmovers/shovels, construction, etc. Erosion path, etc.

Inactive Publication Date: 2014-11-05
CATERPILLAR INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the system of the '145 patent is quite complicated to implement, requires additional machine sensors, and is thus expensive and prone to error or failure
Additionally, calculating blade orientation in the manner set forth in the '145 patent cannot accurately account for non-lateral gravitational effects such as water wash paths

Method used

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  • Motor grader cross slope control with articulation compensation
  • Motor grader cross slope control with articulation compensation
  • Motor grader cross slope control with articulation compensation

Examples

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Embodiment Construction

[0019] The present invention provides a system and method for motor grader blade control for compensating for machine pitch, roll, steering, and articulation to replicate desired laterally inclined cutting angles in the ground being prepared. In particular, the blade lateral tilt angle is adjusted according to a pure tracking method such that the actual lateral tilt cutting angle corresponds to the desired lateral tilt cutting angle. The controller receives a signal indicative of a desired lateral rake cutting angle and executes a pure tracking routine to determine the blade lateral rake angle required to give the desired lateral rake cutting angle taking into account machine pose and configuration. In short, the pure tracking procedure consists of determining the direction of blade travel and determining its horizontal component. Projecting the blade edge onto a plane perpendicular to the horizontal component of the blade travel direction and yielding a tilt function specifyi...

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PUM

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Abstract

A motor grader is provided having cross slope cut angle control for providing accurate cuts generally, and particularly while the machine is travelling in other than a straight and level fashion. A controller is configured to adjust the cross slope angle of the blade, so that the cross slope cut angle corresponds to a desired cross slope cut angle. The controller receives a signal indicative of the desired cross slope cut angle and executing a pure pursuit procedure to identify a blade cross slope angle to yield the desired cross slope cut angle. The pure pursuit procedure includes identifying a blade travel direction, and identifying a horizontal component thereof. The blade edge is projected onto a plane perpendicular to the horizontal component of the blade travel direction, generating a slope function specifying the cross slope cut angle as a function of blade cross slope angle.

Description

technical field [0001] The present invention relates to motor grader operation, and more particularly to motor grader blade control for maintaining precise cutting control during cross slope operations. Background technique [0002] Motor graders are earth-moving machines employed in a variety of jobs, including as a forming tool to create banks, ditches, and berms, as a surface preparation tool to loosen soil and other surface preparations, and as a finishing tool to Construction site surfaces and road surfaces are finished to final shape and profile. Although not universally applicable, motor graders typically include front and rear frames joined at hinged joints. The rear frame includes a compartment for housing a power source and cooling components, the power source being operatively coupled to the rear wheels for main propulsion of the machine. The rear wheels are typically arranged in front-to-rear groups on opposite sides of the rear frame. The front frame typicall...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E02F3/84
CPCE02F3/844E02F3/764E02F3/7645E02F3/765E02F3/7654E02F3/845E02F9/0841
Inventor 朱永亮J·佩尔施巴赫尔
Owner CATERPILLAR INC
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