Shovel position system

Abstract

A blade positioning system for a work machine (2) is disclosed. The system can have a blade controller with a blade position sensor and the blade controller can adjust a blade (1) of the work machine to a fixed position relative to a wheel (10, 11, 12, 13). The system can also have a steering controller with a wheel position sensor and the steering controller can steer the work machine. The controllers can monitor the blade position sensor and the wheel position sensor to determine the current positions of the blade and the wheel before repositioning the wheel and adjust the blade position when repositioning the wheel to maintain the fixed position of the blade relative to the wheel.

Description

Technical Field

[0001] The present invention generally relates to a working machine, and more specifically to a blade positioning system for a working machine. Background Technology

[0002] Automatic graders are primarily used as finishing tools to shape soil into a final layout. Typically, automatic graders include several manual controls to steer the grader's wheels, position the blades, and hinge the grader's front frame. The blades are adjustable to the front frame to move relatively small amounts of soil from side to side. The hinge angle is adjusted by rotating the grader's front frame relative to the rear frame.

[0003] To achieve various final grounding arrangements, the blade and frame can be adjusted to many different positions. When leveling, operators often place the leading edge of the blade behind the front tire and frequently want the blade as close to the front tire as possible to obtain the most desired leveling cut; however, when the operator turns towards the front tire, the blade may come into contact with the tire, causing tire damage.

[0004] U.S. Patent 6,028,524 describes a system and method for monitoring the position of an automatic grader blade relative to an automatic grader frame. The method includes predicting the intersection of a future blade position and a future frame position, and generating actions to prevent the future blade position and future frame position from intersecting.

[0005] While effective, improved blade positioning systems are still needed for operating machinery used in high-wear applications such as construction and mining. Summary of the Invention

[0006] According to one aspect of the invention, a blade repositioning system for operating machinery is disclosed. The system may include a blade controller having a blade position sensor, and the blade controller can adjust the blade of the operating machinery to a fixed position relative to the wheels. The system may also include a steering controller having a wheel position sensor, and the steering controller can steer the operating machinery. The controller can also monitor the blade position sensor and the wheel position sensor to determine the current positions of the blade and the wheels before wheel repositioning, and adjust the blade position during wheel repositioning to maintain the blade in a fixed position relative to the wheels.

[0007] According to another aspect of the invention, a working machine is disclosed. The working machine has a rear frame supported on a set of rear wheels connected in series, a front frame supported on a pair of front wheels, a steering controller, a circle, a controller, and a blade controller. The steering controller has a front wheel position sensor and is used to steer the working machine by sending a front wheel motion signal to the controller, which then repositions the front wheels. The circle supports the blade. The blade controller also has a blade position sensor and is used to adjust the blade to a fixed position relative to a reference wheel, which may be one of the front wheels. The controller can monitor the blade position sensor and the front wheel position sensor to determine the current position of the blade and the reference wheel before repositioning the front wheels, calculate the future reference wheel position based on the received front wheel motion signal, and adjust the blade position during front wheel repositioning to maintain the blade in a fixed position relative to the reference wheel.

[0008] According to another aspect of the invention, a method for autonomously repositioning the blade of a working machine relative to a wheel is disclosed. The method may include providing a blade controller with a blade position sensor, a steering controller with a wheel position sensor, and a controller. The steering controller steers the working machine by sending a wheel motion signal to the controller before the controller repositions the wheel. The method may further include using the blade controller to adjust the blade to a fixed position relative to the wheel and monitoring the output of the position sensor to determine the current positions of the blade and the wheel. The controller then receives a wheel motion signal requesting wheel repositioning, calculates the future wheel position based on the received wheel motion signal, and adjusts the blade position when the wheel is repositioned to maintain the blade in a fixed position relative to the wheel.

[0009] These and other aspects and features of the invention will be more readily understood when read in conjunction with the accompanying drawings. Attached Figure Description

[0010] Figure 1 This is a side view of an exemplary working machine with a shovel according to the present invention.

[0011] Figure 2 It is based on the present invention Figure 1 A top view of an exemplary operating machine.

[0012] Figure 3 It is according to the invention that it rotates to a perfect right-angle hinge angle. Figure 1 A schematic top view of the operating machinery.

[0013] Figure 4 This is a block diagram of a control system for working machinery according to the present invention.

[0014] Figure 5 It is a flowchart illustrating an autonomous method of operating machinery, in which the blade is autonomously held in a predetermined position near one of the wheels of an automatic grader. Detailed Implementation

[0015] Reference Figure 1 and 2 A blade 1, sometimes referred to as a plowshare, is attached to the working machinery 2. The working machinery 2 can be a stationary or mobile machine performing some type of operation associated with an industry such as mining, construction, farming, transportation, or any other industry known in the art. For example, the working machinery 2 can be earthmoving machinery, such as a motorized grader as shown, or a backhoe excavator, excavator, bulldozer, loader, or any other earthmoving machinery. The working machinery 2 can primarily be used as a finishing tool to shape the surface of the ground 4 into its final arrangement. Instead of moving large amounts of soil in the direction of travel like other machinery, the working machinery 2 typically moves relatively small amounts of soil from side to side. In other words, the working machinery 2 typically moves soil over the area being leveled.

[0016] The working machine includes a front frame 6 and a rear frame 8. The front frame 6 is supported on a pair of front wheels 9 or tires, which include a right front wheel 10 and a left front wheel 11. The rear frame 8 is supported on tandem rear wheels 12 and 13. An operator's cab 14 containing a number of controllers 15 required to operate the working machine 2 is mounted on the front frame 6. An engine 16, used to drive or propel the working machine 2, is mounted on the rear frame 8. A blade 1, used to move soil, is mounted on a linkage assembly 18. The linkage assembly 18 allows the blade 1 to move relative to the working machine 2 in various different positions.

[0017] The linkage assembly also includes a tie rod 19 mounted to the front frame 6 via a ball joint 20. The position of the tie rod 19 can be controlled by hydraulic cylinders, commonly referred to as the right lifting cylinder 21, the left lifting cylinder 22, and the center shifting cylinder 23. A coupling 24 connects the three cylinders 21, 22, and 23 to the front frame 6. The coupling 24 can be moved during the repositioning of the blade 1. The height of the blade 1 relative to the ground 4 below the working machine 2 (commonly referred to as the blade height) is primarily controlled by the right and left lifting cylinders 21 and 22. The right and left lifting cylinders 21 and 22 can be controlled independently and are therefore used to control the swing angle (not shown) between each side of the blade 1 and the ground 4, and thus to angle the bottom cutting edge 25 of the blade 1 relative to the ground 4. The center shifting cylinder 23 can be primarily used to center-shift the tie rod 19 relative to the front frame 6, and thus reposition the blade 1 mounted on the circle 26.

[0018] The lever 19 also includes a large gear, commonly referred to as circle 26. Circle 26 is rotated by a hydraulic motor, commonly referred to as circle actuator 27. The rotation of circle 26 by circle actuator 27, sometimes referred to as rotation, causes the blade 1 to rotate about the blade rotation axis A, also known as the blade cutting angle or blade rotation angle. The blade rotation angle is defined as the angle of blade 1 relative to the lever 19. When the blade rotation angle is zero degrees, blade 1 is aligned perpendicularly to the lever 19, such as... Figure 2 As shown.

[0019] The blade 1 is supported on the circle 26 by a hinge 28 mounted to the circle 26 via a bracket 29. The blade tip cylinder 30 is used to tilt the bracket forward or backward. Thus, the blade tip cylinder 30 is used to tilt the top edge 31 of the blade 1 before or after the bottom cutting edge 25 of the blade 1, also known as the blade pitch.

[0020] The blade 1 is mounted on a sliding joint (not shown) in the bracket 29, allowing the blade 1 to slide or move relative to the bracket 29 or the circle 26 from one side to the other. This lateral movement is called blade lateral movement. The lateral movement cylinder 32 is used to control the blade lateral movement.

[0021] like Figure 2 As shown, the right hinge cylinder 33 is mounted on the right side of the rear frame 8, and the left hinge cylinder 34 is mounted on the left side of the rear frame 8. The right hinge cylinder 33 and the left hinge cylinder 34 are used to rotate the front frame 6 around... Figure 1 The axis B shown rotates. Axis B is called the hinge axis. Figure 2 In the middle, the working machine 1 is positioned at a neutral or zero hinge angle.

[0022] Figure 3 This is a top view of the working machine 2, where the front frame 6 is rotated to a full right-angle hinge angle of +Ø. The hinge angle Ø is formed by the intersection of the longitudinal axis C of the front frame 6 and the longitudinal axis D of the rear frame 8. A hinge joint 35 connects the front frame 6 and the rear frame 8. A hinge sensor 36 is used to measure the hinge angle Ø between the front frame 6 and the rear frame 8, and in an exemplary embodiment, the hinge sensor is positioned at the hinge joint 35. Figure 3 The full left hinge angle -Ø, shown in dashed lines, is a mirror image of the full right hinge angle +Ø, the full left hinge angle -Ø, or any angle in between.

[0023] Go to Figure 4 , Figure 4 This is a schematic block diagram of a blade positioning system 40 for the working machine 2. The blade positioning system 40 is designed to control the steering of the blade 1 and the working machine 2, and thus control the hinge angle Ø between the front frame 6 and the rear frame 8 when the working machine 2 is steering. The system 40 includes a blade controller 42, a steering controller 44, and a controller 46.

[0024] The blade controller 42 is used to control the positioning of the blade 1 relative to the front frame 6. The blade controller 42 may be located in the operator's cab 14 and may include a controller 15 to convert the operator's hand movements into electrical signals, specifically, blade motion signals 48, which are sent to the controller 46. The blade controller 42 may also include a blade position sensor 50, which is capable of determining the current position of the blade 1, including blade rotation angle, blade pitch, blade height, blade swing angle, lever center offset, blade lateral offset, and / or the distance and orientation of the blade 1 relative to the front frame 6 or any or all of the wheels 9, 10, 12, 13.

[0025] System 40 also includes a steering controller 44 for steering the work machinery 2. The steering controller 44 is configured to steer the work machinery 2 by repositioning the front wheels 10, 11. In one exemplary embodiment, the controller 15 may include a steering wheel 51 or a joystick 52, or any other steering controller found on the work machinery 2, to convert operator hand movements into electrical signals, specifically wheel motion signals 53, which are sent to the controller 46. In another exemplary embodiment, the work machinery 2 uses mechanical steering and is controlled by a known mechanical device for steering the work machinery. The steering controller 44 may also include a wheel position sensor 54 capable of determining the current wheel position. In one exemplary embodiment, the wheel position sensor 54 is placed on the right front wheel 10 and / or the left front wheel 11 to track one or both of the front wheels; however, in other embodiments, in addition to or alternatively, the wheel position sensor 54 is placed on the right and / or left tandem group of the rear wheels 12, 13 to track the current position of the rear wheels. Wheel position sensor 54 can monitor the steering angle and / or wheel tilt of one or all of wheels 10, 11, 12, and 13, and controller 46 receives the steering angle and / or wheel tilt while monitoring wheel position sensor 54. Steering sensor 54 can also measure the position of wheels 10, 11, 12, and 13 when repositioning them.

[0026] In one exemplary embodiment, the operator of the working machine 2 can set a fixed position for the blade 1 relative to one of the wheels 10, 11, 12, 13 or the front frame 6. In another exemplary embodiment, the operator uses the blade controller 42 to set the blade 1 to a desired position relative to the right front wheel 10 or the left front wheel 11. The fixed position can be any predetermined distance or direction in which the blade 1 is close to one or both of the front wheels 10, 11, rear wheels 12, 13, or the front frame 6. In another exemplary embodiment, the controller 46 monitors the current position of the blade 1 based on information received from the blade position sensor 50 by monitoring the corners of the blade 55 or the blade's heel before any repositioning of the blade 1, in order to maintain the blade 1 in a desired fixed position relative to the wheels 10, 11, 12, 13. The fixed position can be set manually using the blade controller 42 or include a pre-set fixed position. The preset fixed position may include a pre-programmed position stored in memory (not shown) for desired placement of the shovel 1 relative to one of the wheels 10, 11, 12, 13, the front frame 6, or the hinge angle Ø between the front frame 6 and the rear frame 8.

[0027] The system also includes a controller capable of monitoring the blade position sensor 50 and wheel position sensor 54 to determine the current position of the blade 1 and the front wheels 10, 11 and / or the rear wheels 12, 13. The controller also receives blade motion signals 48 and / or wheel motion signals 53 before actuating the hydraulic system, actuators, cylinders, and motors, shown together in block 56, to move the blade 1 or the front wheels 10, 11 to the operator's desired position.

[0028] In an exemplary embodiment, the hydraulic actuators, cylinders, and motors include engine 16, right and left lift cylinders 22 and 23, center shift cylinder 23, blade tip cylinder 30, side shift cylinder 32, right articulation cylinder 33, left articulation cylinder 34, or any other cylinders or motors required for steering wheels 10, 11, 12, and 13 or for repositioning blade 1. In an exemplary embodiment, controller 46 receives blade motion signal 48 and actuates right and left lift cylinders 22 and 23, center shift cylinder 23, blade tip cylinder 30, or side shift cylinder 32 to adjust blade position by adjusting blade rotation angle, blade swing angle, blade pitch, blade height, lever center shift, or blade lateral shift. Similarly, in an exemplary embodiment, the controller 46 receives a wheel motion signal 53 and actuates the right articulation cylinder 33 and the left articulation cylinder 34 to adjust the articulation angle Ø between the front frame 6 and the rear frame 8, as well as any steering shaft (not shown), hydraulic cylinder, or other steering device known for use in working machinery, to adjust the wheel steering angle and / or wheel tilt so as to steer the working machinery 2.

[0029] Before repositioning the front wheels 10, 11 or the blade 1, upon receiving the wheel motion signal 53 or the blade motion signal 48, the controller 46 calculates the future wheel position based on the received wheel motion signal 53, or the future blade 1 position based on the received blade motion signal 48. In one exemplary embodiment, when the front wheels 10, 11 are repositioned or turned, the controller 46 adjusts the position of the blade 1 to maintain a fixed position of the blade 1 relative to the front wheels 10, 11. The position of the blade 1 is adjusted by adjusting the blade rotation angle, blade swing angle, blade pitch, blade height, lever center offset, or blade side offset. In another exemplary embodiment, the right front wheel 10 or the left front wheel 11 is a reference wheel, and the operator of the working machine 2 sets a fixed position between the reference blade 1 and the reference wheel 57, and maintains the set fixed position, distance, or direction of the blade 1 when the reference wheel 57 turns. In another exemplary embodiment, the front frame 6 serves as a reference, and when the hinge angle Ø between the front frame 6 and the rear frame 8 is adjusted by steering the working machinery 2, the blade 1 is repositioned by the controller 46 to maintain a fixed position of the blade 1 relative to the front frame 1. In yet another exemplary embodiment, before adjusting the position of the blade 1, the controller 46 calculates the desired position of the blade 1, which is the fixed position 1 of the blade relative to the wheels 10, 11, 12, 13.

[0030] The blade positioning system 40 may include a second reference wheel 58, which is one of the rear wheels 12 and 13. The steering controller 44 may also include a rear wheel position sensor 59, and the controller 46 may monitor the rear wheel position sensor 59 to determine the current position of the rear wheels 12 and 13. When the blade 1 is repositioned, the controller 46 generates an action to prevent the blade 1 from intersecting with the rear wheels 12 and 13. This action includes adjusting the rotation angle, blade swing angle, blade pitch, blade height, lever center offset, or blade side offset of the blade 1.

[0031] In addition to or in place of the articulation sensor 36, the steering controller 44 may also include front and rear frame position sensors 60, 61 to calculate the articulation angle Ø between the front and rear frames 6 during steering of the machine 2. When adjusting the position of the blade 1, the controller 46 may generate an action based on the articulation angle Ø to prevent the blade 1 from intersecting with the rear frame 6 or the front frame 8. This action includes adjusting the rotation angle, blade swing angle, blade pitch, blade height, tie rod center offset, or blade side offset of the blade 1.

[0032] The blade positioning system 40 can work with other systems of the operating machine 2, such as any autonomous slope control system (not shown) designed to control the lateral slope by automating the movement of the blade on one side of the blade 1.

[0033] In another exemplary embodiment, a working machine 2 with a mechanical steering controller 44 is used. In this embodiment, when the front wheels 10, 11 are mechanically repositioned or turned, the wheel position sensor 54 measures the position of one of the front wheels 10, 11. After the blade is placed in a fixed position using the blade controller 42, as described above, the controller 46 monitors the blade 1 position sensor and the wheel position sensor to determine the current position of the blade and the wheel, and adjusts the blade 1 to the fixed position when the front wheels 10, 11 are repositioned based on the measured position of the wheels 10, 11.

[0034] Industrial applicability Generally, the teachings of this invention can be applied to many industries, including but not limited to automatic graders. More specifically, the teachings of this invention can be applied to any industry that uses shovels or plows in grading operations, such as, but not limited to, construction, excavation, agriculture, etc.

[0035] According to the scope of the invention, in one operation, it is desirable to position the leading edge of the blade behind the front wheel, and generally desirable to bring the blade as close to the front wheel as possible to obtain the most desired slope cut. To prevent damage to the wheel, the invention provides a method for autonomously adjusting the blade position when steering the wheel.

[0036] Turn now Figure 5 Continue to refer to Figure 1-4 A flowchart of an exemplary method 100 for autonomously repositioning the blade 1 of a working machine 2 relative to wheels 10, 11 is shown. In block 102, a blade controller 42 with a blade position sensor 50, a steering controller 44 with a wheel position sensor 54, and a controller 46 are provided. The steering controller 44 steers the working machine 2 by sending wheel motion signals 53 to the controller 46, and the controller 46 can reposition the wheels 10, 11 using hydraulic devices, actuators, cylinders, or a motor 56.

[0037] In box 104, the blade 1 is adjusted to a fixed position relative to the wheels 10, 11 using the blade controller 42. In box 106, the wheel position sensor 54 and the blade position sensor 50 are monitored by the controller 46 to determine the current positions of the blade 1 and the wheels 10, 11. Then, in box 108, before the controller 46 calculates the future positions of the wheels 10, 11 based on the received wheel motion signal 53, the controller 46 receives the wheel motion signal 53 at box 108, requesting a repositioning of the wheels 10, 11.

[0038] To maintain the fixed position of the blade 1 relative to the wheels 10 and 11, the controller 46 adjusts the position of the blade 1 when the wheels 10 and 11 are repositioned in the frame 112. The position of the blade 1 is adjusted by adjusting the blade rotation angle, blade swing angle, blade pitch, blade height, tie rod center offset, or blade side offset.

[0039] While the foregoing text has described many different embodiments in detail, it should be understood that the legal scope of protection is defined by the wording of the claims set forth at the end of this patent. The detailed descriptions should be interpreted as exemplary only and do not describe every possible embodiment, as describing every possible embodiment would be impractical, if not impossible. Many alternative embodiments may be implemented using current technology or technology developed after the filing date of this patent, which will still fall within the scope of the claims defining the scope of protection.

Claims

1. A blade positioning system (40) for maintaining the position of a blade (1) of a working machine (2) relative to the wheels (10, 11, 12, 13) of the working machine (2), the blade positioning system (40) comprising: A blade controller (42) including a blade position sensor (50), the blade controller (42) being configured to adjust the blade (1) to a fixed position relative to the wheels (10, 11, 12, 13); and A steering controller (44) includes a wheel position sensor (54) and a controller (46), the steering controller (44) being configured to steer the working machinery (2) by repositioning the wheels (10, 11, 12, 13), and the controller (46) being configured to monitor the blade position sensor (50) and the wheel position sensor (54) to determine the current position of the blade (1) and the wheels (10, 11, 12, 13) before repositioning the wheels (10, 11, 12, 13), and to adjust the position of the blade (1) when the wheels (10, 11, 12, 13) are repositioned to maintain a fixed position of the blade (1) relative to the wheels (10, 11, 12, 13).

2. The blade positioning system (40) according to claim 1, wherein the wheel position sensor (54) measures the position of the wheels (10, 11, 12, 13) when the wheels (10, 11, 12, 13) are repositioned, and the controller (46) adjusts the position of the blade (1) based on the measured position of the wheels (10, 11, 12, 13) to maintain the fixed position.

3. The blade positioning system (40) according to claim 1, wherein the wheel is the right front wheel or left front wheel (10, 11) of the working machine (2), the steering controller (44) is further configured to turn the working machine (2) by sending a wheel motion signal (53) to the controller (46), the controller (46) is further configured to calculate the future wheel position based on the received wheel motion signal (53), and to reposition the wheel (10, 11) based on the received wheel motion signal (53).

4. The blade positioning system (40) according to claim 3, wherein the position of the blade (1) is adjusted by adjusting the blade rotation angle, blade swing angle, blade pitch, blade height, tie rod center offset or blade side offset.

5. The blade positioning system (40) according to claim 3, wherein before adjusting the position of the blade (1), the controller (46) calculates the desired position of the blade (1), the desired position being a fixed position of the blade (1) relative to the wheels (10, 11).

6. The blade positioning system (40) according to claim 3, wherein the controller (46) monitors the current position of the blade (1) by monitoring the rotation angle of the blade (55), and adjusts the position of the blade (1) to maintain the fixed position of the rotation angle of the blade (55) using the wheels (10, 11).

7. The blade positioning system (40) according to claim 3, wherein the fixed position is a predetermined fixed position, distance or orientation close to the wheels (10, 11).

8. A type of work machinery (2), comprising: The rear frame (8) is supported on a set of rear wheels (12, 13) connected in series on the left and right sides; The front frame (6), which is supported on a pair of front wheels (9); and The blade positioning system (40) according to claim 1.

9. The working machine (2) according to claim 8, wherein the steering controller (44) further comprises an articulation sensor (36) configured to calculate the articulation angle (+Ø, -Ø) between the front frame (6) and the rear frame (8) during the steering of the working machine (2), and the controller (46) is further configured to generate an action based on the articulation angle (+Ø, -Ø) to prevent the blade (1) from intersecting with the rear frame or the front frame (8, 6) when adjusting the position of the blade (1).

10. A method for autonomously repositioning a blade (1) of a working machine (2) relative to wheels (10, 11, 12, 13), the method comprising the steps of: A blade controller (42) with a blade position sensor (50), a steering controller (44) with a wheel position sensor (54), and a controller (46) are provided. The steering controller (44) is configured to steer the working machine (2) by sending a wheel motion signal (53) to the controller (46), and the controller (46) is configured to reposition the wheels (10, 11, 12, 13). The blade (1) is adjusted to a fixed position relative to the wheels (10, 11, 12, 13) using the blade controller (42); The output of the position sensors (50, 54) is monitored to determine the current position of the blade (1) and the wheels (10, 11, 12, 13); The controller (46) receives a wheel motion signal (53) requesting repositioning of the wheels (10, 11, 12, 13). The future positions of wheels (10, 11, 12, 13) are calculated based on the received wheel motion signals (53); and Adjust the position of the blade (1) while the wheels (10, 11, 12, 13) are repositioned to keep the blade (1) in a fixed position relative to the wheels (10, 11, 12, 13).

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