Planned path of travel of blade on motorized grader

Abstract

A motorized grader has a front frame connected with a rear frame, the motorized grader being supported on front wheels and rear wheels. The controller determines a position of an actuator operably connected with a blade attached to the grader, an articulation angle of the rear frame relative to the front frame, and a front wheel steering angle of the front wheel. The controller determines movement of the front frame and the rear frame based on an articulation angle and a front wheel steering angle as the wheels travel on the ground. The controller determines a blade position of the blade and movement of the blade relative to the front frame and the rear frame based on the position of the actuator, rigid body acceleration of the motorized grader, and physical characteristics of the machine components. The controller determines a blade trajectory path of the blade based on the movement of the front and rear frames, the blade position, and the blade movement.

Description

Technical Field

[0001] The present disclosure relates to a work vehicle for leveling a surface, such as a motor grader, and more particularly to a vehicle control system for determining a blade travel path based on the motor grader and a position of a blade relative to the motor grader. Background Art

[0002] Work vehicles, such as motor graders, can be used in construction and maintenance to create flat surfaces at various angles, inclinations, and heights. A motor grader may include two or more axles, with the engine and cab disposed over an axle at the rear end of the vehicle and another axle disposed at the front end of the vehicle. An implement, such as a blade, is attached to the vehicle between the front and rear axles.

[0003] The motor grader includes a drawbar assembly attached toward the front of the grader, and the drawbar assembly is pulled by the grader when the grader moves forward. The drawbar assembly rotatably supports a swing drive member at a free end of the drawbar assembly, and the swing drive member supports a work tool such as a blade. The angle of the work tool under the drawbar assembly can be adjusted by rotating the swing drive member relative to the drawbar assembly.

[0004] In addition to the blade rotating about a rotationally fixed axis, the blade can also be adjusted to a selected angle relative to the swing drive member. This angle is known as the blade pitch. The height of the blade is adjustable, as is the lateral position of the blade.

[0005] The motor grader includes one or more sensors that measure the orientation of the vehicle relative to gravity, the position of the wheels, and the position of the blade relative to the vehicle. A rotation sensor located at the swing drive member provides the angle of rotation of the blade relative to a longitudinal axis defined by the length of the vehicle. A blade inclination sensor provides the angle of inclination of the blade relative to a transverse axis that is generally aligned with the vehicle transverse axis, such as defined by a vehicle axle. A main drop sensor provides the angle of travel of the vehicle relative to gravity.

[0006] The motor grader operates in a forward direction and a rearward direction when in use. The motor grader may include a front frame that is movable relative to a rear frame so that the front frame and the rear frame are articulated relative to each other. The articulation of the vehicle during the leveling operation is also referred to as "crabbing". When the motor grader travels on the ground, the front wheels and the rear wheels have travel paths on the ground respectively. The blade can be operated independently of the front wheels and the rear wheels, and the blade can extend beyond the front wheel travel path and the rear wheel travel path or extend outside the front wheel travel path and the rear wheel travel path. The path of travel of the motor grader can be calculated using the steering angle of the tires and the articulation angle of the main frame. However, due to features such as swing side shift, blade side shift or swing rotation, the path of travel of the blade may be different from the path of travel of the motor grader or machine.

[0007] When the motor grader is traveling in a forward direction or in a rearward direction, there is a detection zone or area for potential objects that may be in the path of travel. When the motor grader is traveling with the front wheels turning and / or the rear axle articulated, this can increase or expand the detection zone or area for potential objects. Additionally, since the blade can be operated in many different configurations, this can also increase the effective travel width of the motor grader. The wider path of travel of the motor grader increases the area of ​​the detection zone, which can make it difficult for the operator to detect any objects in the path of travel.

[0008] Therefore, there is a need for precise machine control by referencing the slope profile that the blade will traverse, and obstacle detection can be used to control the blade position based on detected obstacles. Summary of the invention

[0009] According to one embodiment of the present disclosure, a motor grader comprises: a front frame, the front frame being supported on a pair of front wheels, the pair of front wheels being mounted on a front axle; a rear frame, the rear frame being supported on a pair of rear wheels, the rear wheels being mounted on a rear axle, the rear frame being connected to the front frame; a blade, the blade being movably attached to the front frame, the blade having a blade length spanning between a left outer edge and a right outer edge; a vehicle grade control system, the vehicle grade control system comprising: one or more sensors, the one or more sensors being arranged to sense a position of one or more actuators operably connected to the blade, wherein the one or more sensors are also arranged to sense an articulation angle of the rear frame relative to the front frame, wherein the one or more sensors are also arranged to sense the a front wheel steering angle of a pair of front wheels; a controller comprising a computing device having a processor and a memory, the controller being operably connected to the one or more sensors to receive the sensed positions of the one or more actuators, the sensed articulation angle, and the sensed front wheel steering angle, wherein the controller: determines the movement of the front frame and the rear frame based on the articulation angle and the front wheel steering angle when the pair of front wheels and the pair of rear wheels are traveling on the ground; determines a blade position and a blade movement of the blade relative to the front frame and the rear frame based on the sensed positions of the one or more actuators; and determines a blade trajectory path of the blade based on the determined movement of the front frame and the rear frame and the determined blade position and blade movement of the blade.

[0010] In one example, the blade trajectory path of the blade includes a left outer edge blade travel path of the left outer edge of the blade and a right outer edge blade travel path of the right outer edge of the blade.

[0011] In one example, the controller displays the blade trajectory path of the blade on a graphical user interface.

[0012] In one example, the controller compares the blade trajectory path of the blade to a slope profile to determine if the position of the blade needs to be adjusted.

[0013] In one example, wherein the controller receives image data from an image sensor, the image sensor being operably connected to the controller; and

[0014] Wherein, the controller determines whether an obstacle in the image data is within the blade trajectory path of the blade.

[0015] In one example, wherein the controller determines the blade position of the blade and the blade motion of the blade relative to the motor grader includes: the controller determining one or more machine component characteristics of the motor grader; the controller determining a cylinder velocity of each of the one or more actuators; and the controller determining a rigid body acceleration of the motor grader.

[0016] In one example, wherein the controller determines the blade position of the blade and the blade movement of the blade relative to the motor grader includes the controller receiving an operator command from a user to direct the blade movement of the blade.

[0017] In one example, wherein the controller determines the blade position of the blade and the blade motion of the blade relative to the motor grader includes the controller determining a machine footprint of the front frame and the rear frame.

[0018] In one example, the controller determines a blade travel path relative to a grade profile; and the controller automatically moves the blade in response to the grade profile to adjust the blade travel path.

[0019] In one example, wherein the controller determines one or more physical characteristics of a machine component of the motor grader; wherein the controller determines the movement of the front frame and the rear frame, the front frame and the rear frame comprising the one or more physical characteristics of the machine component of the motor grader; and wherein the controller determines the blade position of the blade and the blade movement of the blade relative to the front frame and the rear frame, the front frame and the rear frame comprising the one or more physical characteristics of the machine component of the motor grader.

[0020] In one example, the one or more physical characteristics of the machine component of the motor grader include a blade length, a blade height, and a blade thickness of the blade.

[0021] In one example, wherein the one or more physical characteristics of the machine assembly of the motor grader include cylinder mounting locations for the actuator assembled with the blade and / or each of the actuators on the motor grader.

[0022] In one example, the one or more actuators include any one of a right telescopic actuator and a left telescopic actuator, a swing actuator, a side-swing actuator, and a blade lift valve assembly.

[0023] According to one embodiment of the present disclosure, a method for determining a blade trajectory path of a blade, the blade being movably attached to a motor grader, the motor grader having a front frame and a rear frame, the front frame being supported on a pair of front wheels, the pair of front wheels being mounted on a front axle, the rear frame being supported on a pair of rear wheels, the pair of rear wheels being mounted on a rear axle, the rear frame being connected to the front frame, the method comprising: determining via a controller a position of one or more actuators operably connected to the blade, the controller comprising a computing device having a processor and a memory; determining via the controller an articulation of the rear frame relative to the front frame angle; determining, via the controller, a front wheel steering angle of the pair of front wheels; determining, via the controller, the movement of the front frame and the rear frame based on the articulation angle and the front wheel steering angle when the pair of front wheels and the pair of rear wheels are traveling on the ground; determining, via the controller, a blade position of the blade and a blade movement of the blade relative to the front frame and the rear frame based on the sensed positions of the one or more actuators; and determining, via the controller, a blade trajectory path of the blade based on the determined movement of the front frame and the rear frame and the determined blade position of the blade and the blade movement of the blade.

[0024] In one example, a blade travel path is determined via the controller relative to a grade profile of the ground surface.

[0025] In one example, the blade is automatically moved via the controller in response to the grade profile to adjust the blade travel path.

[0026] In one example, determining the blade position of the blade and the blade motion of the blade relative to the motor grader via the controller includes: determining one or more machine component characteristics of the motor grader via the controller; determining a cylinder velocity of each of the one or more actuators via the controller; and determining a rigid body acceleration of the motor grader via the controller.

[0027] In one example, the one or more actuators include any one of a right telescopic actuator and a left telescopic actuator, a swing actuator, a side-swing actuator, and a blade lift valve assembly.

[0028] In one example, the blade trajectory path of the blade includes a left outer edge blade travel path of the left outer edge of the blade and a right outer edge blade travel path of the right outer edge of the blade.

[0029] In one example, further comprising: receiving an operator command from a user to direct the blade movement of the blade; and moving the blade via the controller in response to the directed blade movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above aspects of the present disclosure and the manner of obtaining them will become more apparent, and the present disclosure itself will be better understood, by referring to the following description of embodiments of the present disclosure in conjunction with the accompanying drawings, in which:

[0031] Figure 1 is a side view of an exemplary embodiment of a motor grader;

[0032] Figure 2 is a simplified schematic diagram of a vehicle and a vehicle grade control system of the present disclosure;

[0033] Figure 3 yes Figure 1 A schematic diagram of a motor grader shown moving in a forward turning direction showing a front wheel travel path, a rear wheel travel path, and a blade travel path;

[0034] Figure 4 yes Figure 1 A schematic diagram of a motor grader as shown in FIG. 1 moving in a forward direction in an articulated configuration on a side slope having front wheel travel paths, rear wheel travel paths, and blade travel paths as shown; and

[0035] Figure 5 When Figure 1 A flow chart of a method of determining a blade trajectory path for a blade as a motor grader moves along the ground is shown.

[0036] Corresponding reference numerals are used to indicate corresponding parts throughout the several views. DETAILED DESCRIPTION

[0037] The embodiments of the present disclosure described below are not intended to be exhaustive or limit the present disclosure to the precise forms described in the following detailed description. Instead, these embodiments are selected and described so that those skilled in the art can understand and appreciate the principles and practices of the present disclosure.

[0038] Reference Figure 1 , an exemplary embodiment of a vehicle, such as a motor grader 100, is shown. An example of a motor grader is the 772G motor grader manufactured and sold by Deere & Company. Although the present disclosure discusses motor graders, other types of work vehicles are also contemplated, including motor graders, road graders, to name a few, which may have implements for grade control, such as blades.

[0039] like Figure 1As shown, the motor grader 100 includes a front frame 102 and a rear frame 104, wherein the front frame 102 is supported on a pair of front wheels 106, which are mounted on a front axle 107 and wherein the rear frame 104 is supported on a left and right tandem set of rear wheels 108. A straight line extending between the wheel centers generally defines a wheel axis that is transverse to the longitudinal plane of the vehicle 100 and generally parallel to the wheel tread that contacts the surface being graded. In one or more embodiments, the front frame 102 and the rear frame 104 are fixedly connected together. In other embodiments, the front frame 102 and the rear frame 104 are movable relative to each other so that the front frame 102 and the rear frame 104 are articulated relative to each other. The articulation of the vehicle during the graded operation is also referred to as "crab walking".

[0040] The operator cab 110 is mounted on an upward and inclined rear region 112 of the front frame 102 and contains various controls for the motor grader 100 that are arranged to be within reach of a seated or standing operator. In one aspect, these controls may include a steering wheel 114 and a lever assembly 116. A user interface 117 is supported by a console located in the cab and includes one or more different types of operator controls, including manual and electronic buttons of switches. In various embodiments, the user interface 117 includes a visual display that provides an operator-selectable menu for controlling various features of the vehicle 100. In one or more embodiments, a video display is provided to display images provided by an image sensor 148 or camera located on the vehicle.

[0041] The engine 118 is mounted on the rear frame 104 and provides power to all driven components of the motor grader 100. For example, the engine 118 is configured to drive a transmission (not shown) that is connected to drive the rear wheels 108 at various selected speeds and in a forward mode or a reverse mode. In various embodiments, a hydrostatic front wheel assist transmission (not shown) is selectively engaged to provide power to the front wheels 106 in a manner known in the art.

[0042] Mounted at a forward position of the front frame 102 is a drawbar or drawbar 120 having a forward end connected to the front frame 102 in a universal joint manner by a ball and socket arrangement 122 and having opposing right and left rear regions depending from a raised central portion 124 of the front frame 102. Right and left lift linkages including right and left telescopic actuators 126, 128, respectively, support the left and right regions of the drawbar 120. The actuators 126 and 128 may be hydraulic. The right and left lift linkages 126, 128 raise or lower the drawbar 120. A sway linkage is connected between the raised frame portion 124 and the rearward position of the drawbar 120 and includes a telescopic sway actuator 130. The telescopic sway actuator 130 may be hydraulic. A blade or push plate 132 is connected to the front frame 102 and is powered by a swing drive assembly 134. The blade 132 includes an edge 133 that is configured to cut, separate, or move material. The blade 132 includes a left outer edge 135 and a right outer edge 137, with a length spanning between the left outer edge 135 and the right outer edge 137, respectively. Although a blade 132 is described herein, other types of implements are also contemplated.

[0043] Drawbar 120 is raised or lowered by right and left lift linkages 126, 128, which in turn raises or lowers blade 132 relative to the surface. Actuator 130 raises or lowers one end of blade 132 to adjust the blade's tilt.

[0044] The swing drive assembly 134 includes a swing side shift actuator 139 and a rotation sensor 136, which in various embodiments includes one or more switches that detect the motion, speed, or position of the blade 132 relative to the front frame 102 of the vehicle. The rotation sensor 136 is electrically connected to a controller 138, which in one embodiment is located in the cab 110. In other embodiments, the controller 138 is located in the front frame 102, in the rear frame 104, or in an engine compartment that houses the engine 118. In other embodiments, the controller 138 is a distributed controller having separate individual controllers distributed at different locations on the vehicle. In addition, while the controller is typically hard-wired to sensors and other related components by wires or cables, in other embodiments, the controller includes a wireless transmitter and / or receiver to communicate with a controlled or sensing component or device that provides information to the controller or sends controller information to the controlled device.

[0045] The blade inclination / position sensor 140 is configured to detect the inclination and / or position of the blade 132 and provide the inclination and / or position information to the controller 138. The blade inclination / position sensor 140 is also configured to detect the left blade travel path and the right blade travel path of the left outer edge 135 and the right outer edge 137, as described below. In various embodiments, the blade inclination / position sensor 140 is connected to the support frame of the blade 132 for the hydraulic actuator 130 to provide inclination information. The main fall sensor 142 is configured to detect the slope angle of the vehicle 100 relative to gravity and provide the slope angle information to the controller 138. The main fall sensor 142 is configured to measure one or more of the inclination, the tilt angle, the elevation angle, or the depression angle relative to gravity. In one embodiment, the main fall sensor 142 includes an inertial measurement unit (IMU) configured to determine the roll position and the pitch position relative to gravity. In further embodiments, the grade control system includes a device, apparatus or system configured to determine the primary drop of the vehicle 100. In one embodiment, an inertial measurement unit (IMU) is used to determine the specific forces, angular rates and orientation of the vehicle 100. In other embodiments, the primary drop sensor 142 includes other tilt measurement devices for measuring vehicle angles, such as an inclinometer. The primary drop sensor 142 provides a signal including roll and pitch information of a linear axis between the wheel centers, and thus provides roll and pitch information of the vehicle 100. The roll and pitch information is used by the ECU 150 to adjust the position of the blade 132.

[0046] The vehicle 100 includes one or more front wheel steering angle sensors 143 associated with the pair of front wheels 106. Figure 3 and Figure 4 As shown, the one or more front wheel steering angle sensors 143 determine a left front wheel travel path 145 of the left front wheel 106 and a right front wheel travel path 147 of the right front wheel 106. The vehicle 100 includes one or more rear wheel steering angle sensors 149 associated with the pair of rear wheels 108. The one or more rear wheel steering angle sensors 149 determine a left rear wheel travel path 151 of the left rear wheel 108 and a right rear wheel travel path 153 of the right rear wheel 108. The vehicle 100 includes one or more articulation steering angle sensors 159 associated with the front frame 102 and the rear frame 104 to determine the position of the front frame 102 relative to the rear frame 104 during articulation.

[0047] exist Figure 4 1. A left blade travel path 155 of the left outer edge 135 of the blade 132 and a right blade travel path 157 of the right outer edge 137 of the blade 132 are shown in FIG. Figure 3A left blade travel path 155 of the left outer edge 135 of blade 132 is shown when vehicle 100 is traveling in a turning configuration. Left blade travel path 155 of the left outer edge 135 of blade 132 and right blade travel path 157 of the right outer edge 137 of blade 132 are described in more detail below.

[0048] Figure 3 and Figure 4 The vehicle 100 is shown moving along the ground in a forward direction. Figure 4 , surface protrusions or objects 202 and 203 are shown. It is contemplated that the vehicle 100 may also move in a rearward direction, and the same disclosure of the present application applies to the movement of the vehicle 100 in the rearward direction. As the vehicle moves along the ground, the ground image sensor 148 provides an image of the surface located in front of or behind the vehicle 100 (i.e., in the forward or rearward direction). During this movement, the surface (including irregularities) is imaged by the ground sensor 148, and the image is transmitted to the ECU 150. In at least one embodiment, the field of view of the ground image sensor 148 includes a width sufficient to provide a view of one or more upcoming surface irregularities 202 and 203. The surface irregularity 202 is any protrusion, object, obstacle, protrusion, or even a person who is generally lifted above the surface, and may have a size that is within the contact area of ​​the vehicle. The surface irregularity 203 is any protrusion, object, obstacle, protrusion, or even a person who is generally lifted above the surface, and may have a size that is not within the contact area of ​​the vehicle. For the purposes of this disclosure, an irregularity is a deviating object that deviates from the ground.

[0049] When the vehicle 100 moves along the path 198, the front wheels 106 correspond to the front steering position, the rear wheels 108 correspond to the rear steering position, and the implement or blade 132 corresponds to the implement position relative to the surface. The ECU 150 receives the positions of the surface irregularities 202 and 203 and determines the positions of the surface irregularities 202 and 203 relative to the front steering position, the rear steering position, and the implement position of the vehicle 100. The ECU 150 determines that the position of the surface irregularity 202 is within any one of the front steering position, the rear steering position, and the implement position, and the ECU 150 determines that the position of the surface irregularity 203 is not within the travel path 204 of the vehicle 100. The ECU 150 also uses the front steering position, the rear steering position, and the implement position to determine the vehicle operating area 304.

[0050] The ECU 150 also determines the front steering position by identifying the first and second front wheel position inputs corresponding to the first and second front wheels 106, 106, respectively. The ECU 150 also determines the rear steering position by identifying the first and second rear wheel position inputs corresponding to the first and second rear wheels 108, 108, respectively. The ECU 150 also determines the implement position by identifying the position of the implement or blade 132 relative to the front frame 102 or the rear frame 104 of the vehicle 100.

[0051] Antenna 144 is located at the top of cab 110 and is configured to receive signals from different types of machine control systems, including acoustic wave systems, laser systems, and global positioning systems (GPS). Although antenna 144 is shown, antenna 144 may be included at other locations as known to those skilled in the art. For example, when vehicle 100 uses an acoustic wave system, acoustic wave tracker 146 is used to detect reflected acoustic waves emitted by the acoustic wave system having acoustic wave tracker 146. In a vehicle 100 using a laser system, a mast (not shown) located on the blade supports a laser tracker located a distance above blade 132. In one embodiment, the mast includes a length to support the laser tracker at a height similar to the height of the top of the cab. The GPS system includes a GPS tracker located on a mast similar to the mast provided for the laser tracker system. Therefore, the present disclosure applies a vehicle grader system that uses both a relatively "simple" 2D cross slope system and a "high end" 3D grade control system.

[0052] The ground image sensor 148 is fixedly mounted to the cab 110 at a location that is generally not obstructed by any portion of the vehicle 100. The ground image sensor 148 includes one or more of a transmitter, a receiver, or a transceiver that is directed toward the ground behind the vehicle 100 and being approached by the vehicle 100 when the vehicle 100 is traveling in a rearward or forward direction as shown by the path 198. In various embodiments, the ground image sensor 148 includes one or more of a two-dimensional camera, a radar device, and a laser scanning device and a light detection and ranging (LIDAR) scanner. The ground image sensor 148 is configured to provide an image of the ground and any surface irregularities 202 and 203 being approached by the vehicle 100, which is transmitted to the ground image sensor 148. Figure 2 The electronic control unit (ECU) 150. In various embodiments, the ground image sensor 148 is one of a grayscale sensor, a color sensor, or a combination thereof.

[0053] Figure 21 is a simplified schematic diagram of a vehicle 100 and a vehicle grade control system implementing the present invention. In this embodiment, the controller 138 is configured as an ECU 150 operably connected to a transmission control unit 152. The ECU 150 is located in the cab 110 of the vehicle 100, and the transmission control unit 152 is located at the transmission in the vehicle 100. The ECU 150 receives inclination, angle and / or elevation signals generated by one or more types of machine control systems including an acoustic wave system 154, a laser system 156 and a GPS system 158. Other machine control systems are contemplated. These signals are collectively referred to as profile signals. Each of the machine control systems 154, 156 and 158 communicates with the ECU 150 via a transceiver 160, which is operably connected to an antenna of a suitable type as understood by those skilled in the art.

[0054] In various embodiments, the ECU 150 includes a controller, a computer, a computer system, or other programmable device. In other embodiments, the ECU 150 may include one or more processors (e.g., a microprocessor) and associated memory 161, which may be internal or external to the processor. The memory 161 may include a random access memory (RAM) device that includes the memory of the ECU 150, as well as any other type of memory, such as a cache memory, a non-volatile or backup memory, a programmable memory or flash memory, and a read-only memory. In addition, the memory may include a memory physically located elsewhere than the processing device, and may include any cache memory in the processing device, as well as any storage capacity used as virtual memory, such as stored in a mass storage device or stored on another computer connected to the ECU 150. The mass storage device may include a cache or other data space that may include a database. In other embodiments, the memory storage space is located in the "cloud", where the memory is located at a remote location that provides the stored information wirelessly to the ECU 150. The ECU 150 executes or otherwise relies on computer software applications, components, programs, objects, modules, or data structures, etc. In response to the received signal, a software program residing in a memory included in the ECU 150 or in other memory is executed. In other embodiments, the computer software application is located in the cloud. The executed software includes one or more specific applications, components, programs, objects, modules, or sequences of instructions, which are generally referred to as "program code". The program code includes one or more instructions located in a memory or other storage device, which executes instructions residing in the memory, responds to other instructions generated by the system, or provides a user interface operated by a user. The ECU 150 is configured to execute the stored program instructions.

[0055] ECU 150 is also operatively connected to blade lift valve assembly 162 (see Figure 2 ), the blade lift valve assembly 162 is in turn operably connected to the right lift linkage 126 and the left lift linkage 128 and the side swing actuator 130. In one embodiment, the blade lift valve assembly 162 is an electro-hydraulic (EH) assembly that is configured to raise or lower the blade 132 relative to a surface or ground and relative to one end of the blade to adjust the inclination of the blade. In other embodiments, the blade lift valve assembly 162 includes one or more actuators to control the blade pitch of the blade 132. In different embodiments, the valve assembly 162 is a distributed assembly with different valves to control different position characteristics of the blade. For example, one or more valves adjust one or both of the linkages 126 and 128 in response to commands generated by the ECU 150 and transmitted to the valves. In different embodiments, another one or more valves adjust the actuator 130 in response to commands generated by the ECU 150 and transmitted to the valves. ECU 150 responds to grade condition information provided by sonic system 154, laser system 156, and GPS 158, and in some embodiments can adjust the position of blade 132 by controlling blade lift valve assembly 162. The position of the blade is adjusted based on the current position of the blade relative to the vehicle, the speed of the blade (if being steered), and the direction of the blade. Alternatively, ECU 150 also adjusts the position of blade 132 in response to operator input.

[0056] ECU 150 is connected to a transmission control unit 152 to control the amount of power applied to the wheels of vehicle 100. ECU 150 is also operably connected to an engine control unit 164, which is configured in part to control the engine speed of engine 116. Throttle 166 is operably connected to engine control unit 164. In one embodiment, throttle 166 is a manually operated throttle located in cab 110 that is adjusted by an operator of vehicle 100. In another embodiment, throttle 166 is otherwise a machine controlled throttle that is automatically controlled by ECU 150 in response to grade information and vehicle speed information.

[0057] ECU 150 provides engine control commands to engine control unit 164 and transmission control commands to transmission control unit 152 to adjust the speed of the vehicle in response to front wheel position, front wheel speed, front wheel slip, rear wheel position, rear wheel speed, rear wheel slip, blade or implement position, and surface irregularity detection information provided by one of the machine control systems including sonic system 154, laser system 156, GPS system 158, and ground image sensor 148. Other machine control systems may also be used to determine engine control commands. Vehicle direction information is determined by ECU 150 in response to direction information provided by steering device 114.

[0058] Vehicle speed information is provided to the ECU 150 in part by a transmission control unit 152, which is operatively connected to a transmission output speed sensor 168. As is known to those skilled in the art, the transmission output speed sensor 168 provides a sensed speed of the output shaft of the transmission. Additional transmission speed sensors are used in other embodiments, including an input transmission speed sensor that provides speed information of the transmission input shaft.

[0059] Further vehicle speed information is provided to the ECU 150 by an engine control unit 164. The engine control unit 164 is operatively connected to an engine speed sensor 170 which provides the engine control unit 164 with engine speed information.

[0060] The current vehicle speed is determined at the ECU 150 using speed information provided by one or both of the transmission control unit 152 and the engine control unit 164. The current vehicle speed may be determined at the ECU 150 using speed information provided by any one of the acoustic wave system 154, the laser system 156, and the GPS system 158. The speed of the vehicle 100 is reduced or increased by the speed control command provided by the ECU 150.

[0061] As will be appreciated by one of ordinary skill, the blade 132 may be configured in a variety of different ways relative to the front frame 102 and front wheels 106 and the rear frame 104 and rear wheels 108. For example, the blade 132 may slide laterally beyond the front wheels 106 and / or the rear wheels 108, which increases the overall effective width of the vehicle 100 and also increases the left blade travel path 155 of the left outer edge 135 of the blade 132 or the right blade travel path 157 of the right outer edge 137 of the blade 132. It will be appreciated that the blade 132 may be moved to a wide-out position, which is the maximum distance that the blade 132 may be moved laterally.

[0062] Figure 5A flow chart of a process 500 for determining a blade trajectory path of the blade 132 as the vehicle 100 travels along the ground is shown. The process 500 includes a step 512 of determining the motion of the vehicle 100 over the ground and a step 520 of determining a blade position and blade motion of the blade 132 relative to the vehicle 100. The process 500 then combines steps 512 and 520 into step 522 to determine a blade travel path of the blade 132.

[0063] To determine the movement of the vehicle 100 over the terrain in step 512, the process 500 begins based on the following steps: monitoring an operator steering command 504, determining a steering angle 506, and determining an articulation angle 508. Monitoring the operator steering command 504 includes: the ECU 150 receiving an operator input or a vehicle input to move the vehicle 100 in any one or a combination of a forward or rearward direction, in a turning direction, and / or in an articulated configuration as described above. For example, the operator initiates rearward movement of the vehicle 100 by providing an input to the user interface 117, such as shifting to reverse gear. The ECU 150 determines that the vehicle 100 is moving in a rearward direction. As another example, the operator initiates forward movement of the vehicle 100 by providing another input to the user interface 117, such as shifting to drive. The ECU 150 determines that the vehicle 100 is moving in a forward direction. As yet another example, the operator initiates turning movement of the vehicle 100 by turning the steering wheel 114, such as Figure 3 ECU 150 determines whether vehicle 100 is moving forward or backward in the turning direction. As another example, the operator starts the articulation movement of vehicle 100, such as Figure 4 As shown and described above.

[0064] Determining the steering angle 506 includes: the ECU 150 determines and / or measures the front steering position of the front wheels 106 and the rear steering position of the rear wheels 108 based on feedback from the one or more front wheel steering angle sensors 143 and the one or more rear wheel steering angle sensors 149. The front steering position includes identifying a left front wheel travel path 145 of the left front wheel 106 and a right front wheel travel path 147 of the right front wheel 106 through the one or more front wheel steering angle sensors 143. The rear steering position includes identifying a left rear wheel travel path 151 of the left rear wheel 108 and a right rear wheel travel path 153 of the right rear wheel 108 through the one or more rear wheel steering angle sensors 149.

[0065] Determining the articulation angle 508 includes the ECU 150 determining and / or measuring the position of the front frame 102 relative to the rear frame 104 during articulation of the vehicle 100 via the one or more articulation steering angle sensors 159 associated with the front frame 102 and the rear frame 104 .

[0066] In step 510, process 500 includes ECU 150 determining or measuring physical characteristics of a machine component of vehicle 100. The machine component of vehicle 100 includes one or more physical characteristics of blade 132, such as blade length, blade height, and (in some embodiments) blade thickness. The physical characteristics of blade 132 may be stored in memory 161 based on the type of blade 132 assembled with vehicle 100. It is understood that when the type of blade 132 changes on vehicle 100, these physical characteristics will change accordingly. The machine component of vehicle 100 may also include one or more physical characteristics of front frame 102 and rear frame 104. The machine component of vehicle 100 includes cylinder mounting positions of actuators on vehicle 100 and / or blade 132. Step 510 includes determining or measuring cylinder mounting positions of right telescopic actuator 126 and left telescopic actuator 128 supporting left and right regions of drawbar 120, respectively. Step 510 includes determining or measuring a cylinder mounting position of the swing sideshift actuator 139. Step 510 includes determining or measuring a cylinder mounting position of the sway actuator 130. Step 510 includes determining or measuring a cylinder mounting position of a blade lift valve assembly 162, which includes one or more actuators to control a blade pitch of the blade 132. Step 510 includes determining or measuring a machine footprint of the front frame 102 and the rear frame 104, respectively.

[0067] In step 512, process 500 includes determining the movement of vehicle 100 over the terrain based on monitoring operator steering commands 504, determining steering angles 506, determining articulation angles 508, and determining or measuring characteristics of machine components 510 of vehicle 100. In step 512, ECU 150 determines a vehicle travel path of vehicle 100 in the direction in which vehicle 100 is moving. For example, if vehicle 100 is moving in a forward direction, the vehicle travel path is in front of vehicle 100. If the vehicle is moving in a rearward direction, the vehicle travel path is behind vehicle 100. The vehicle travel path is defined as the widest travel path or widest vehicle footprint of vehicle 100 as vehicle 100 travels along the terrain.

[0068] To determine the blade position of blade 132 and the blade motion of blade 132 relative to vehicle 100 in step 520, process 500 begins by determining cylinder position and cylinder velocity.

[0069] 514, determining rigid body acceleration 516, and monitoring operator commands for blade motion 518. In step 514, the ECU 150 determines or measures the cylinder position and cylinder speed of each cylinder assembled with the blade 132 to move the blade 132. In step 514, the ECU 150 determines or measures the dynamic motion of the blade 132, wherein the motion of the blade 132 is constantly changing and advancing based on the cylinder position and cylinder speed of each cylinder assembled directly or indirectly with the blade 132. Step 514 includes: determining or measuring the cylinder position and cylinder speed of the right telescopic actuator 126 and the left telescopic actuator 128 that support the left and right regions of the drawbar 120, respectively. Step 514 includes: determining or measuring the cylinder position and cylinder speed of the swing side shift actuator 139. Step 514 includes: determining or measuring the cylinder position and cylinder speed of the sway actuator 130. Step 514 includes determining or measuring the cylinder position and cylinder speed of the blade lift valve assembly 162, which includes one or more actuators to control the blade pitch of the blade 132. The ECU 150 determines or measures the dynamic movement of the blade 132 based on any dynamic blade inputs corresponding to the cylinder position and cylinder speed of each cylinder assembled with the blade 132 in step 514.

[0070] In step 516, the ECU 150 determines or measures the rigid body acceleration of the vehicle 100, including the front frame 102 and the rear frame 104, as the vehicle 100 moves in the forward or rearward direction. Step 516 includes determining or measuring the rigid body motion, relative velocity, and / or acceleration of the vehicle 100, including the front frame 102 and the rear frame 104. In some embodiments, step 516 determines or measures the rigid body acceleration of other or additional components of the vehicle 100. In step 516, the ECU 150 determines or measures the dynamic motion of the vehicle 100, wherein the motion of the vehicle 100 is constantly changing and progressing as the vehicle 100 travels over the ground. Some dynamic machine inputs may include the blade 132 and the Figure 2 The grade control system shown in FIG. 1 is connected to an IMU that determines the roll and pitch position of the blade 132 relative to gravity, the vehicle 100 and the Figure 2 The ECU 150 may be connected to a grade control system in order to determine the specific forces, angular velocity and orientation of the vehicle 100, the wheel speeds of the front wheels 106 and the rear wheels 108, the vehicle travel speed of the vehicle 100, and the IMU of any one of the wheel slip of the front wheels 106 and the rear wheels 108, respectively. The dynamic machine inputs may also include vehicle speed information provided by the transmission control unit 152 or the engine control unit 164. The dynamic machine inputs may also include the engine speed of the engine 116. The ECU 150 determines or measures the dynamic motion of the vehicle 100 based on any dynamic machine inputs to determine the rigid body acceleration of the vehicle 100 of step 516.

[0071] Monitoring operator commands for blade movement 518 includes ECU 150 receiving one or more operator commands directed to move blade 132 in an up, down, sideways, rotational, and / or tilting direction in step 518 .

[0072] In step 520, process 500 includes determining a blade position of blade 132 and blade motion of blade 132 relative to vehicle 100 based on the steps of determining characteristics of machine assembly 510 of vehicle 100, cylinder position and cylinder velocity 514 of blade 132, rigid body acceleration 516 of vehicle 100, and operator command 518 for blade motion. In step 520, ECU 150 determines the blade position of blade 132 and blade motion of blade 132 relative to vehicle 100 that takes into account blade offsets of left outer edge 135 and right outer edge 137 of blade 132 relative to front frame 102, rear frame 104, front wheels 106, and rear wheels 108, respectively, as vehicle 100 and blade 132 travel over the ground. In step 520, ECU 150 determines a blade position of blade 132 and blade motion of blade 132 relative to vehicle 100 to determine a blade height of edge 133 of blade 132 relative to front frame 102, rear frame 104, front wheels 106, and rear wheels 108 as vehicle 100 and blade 132 travel on the ground.

[0073] In step 522, ECU 150 determines the motion of blade 132 based on the motion of vehicle 100 from step 512 and the blade position of blade 132 and the blade motion of blade 132 relative to vehicle 100 from step 520. ECU 150 determines the blade position and blade motion of blade 132 by comparing the blade position of blade 132 and the blade motion of blade 132 relative to vehicle 100 from step 520 with the motion of vehicle 100 from step 512 to isolate the blade motion and blade position of left outer edge 135 and right outer edge 137 of blade 132, respectively. In some embodiments, step 520 also isolates the blade motion and blade position of blade edge 133 of blade 132. The movement of left outer edge 135 and right outer edge 137 of blade 132 corresponds to left blade travel path 155 and right blade travel path 157 of left outer edge 135 and right outer edge 137 of blade 132, respectively. Step 520 considers the movement of left outer edge 135 and right outer edge 137 of blade 132, respectively.

[0074] In step 530, ECU 150 determines a projected path of blade travel of blade 132 based on the movement of blade 132 from step 522 as vehicle 100 moves along the terrain. The projected path of blade travel of blade 132 includes a left blade travel path 155 of a left outer edge 135 of blade 132 and a right blade travel path 157 of a right outer edge 137. In step 530, ECU 150 determines a blade travel path of blade 132 in a direction in which blade 132 is moving relative to the path of travel of vehicle 100. The blade travel paths of blade 522 predict the positions of left outer edge 135 and right outer edge 137 of blade 132, respectively, at upcoming time periods as vehicle 100 travels over the terrain. In some embodiments, the blade travel path of blade 522 predicts the position of blade edge 133 of blade 132 at upcoming time periods as vehicle 100 travels over the terrain.

[0075] In step 532, ECU 150 displays a projected path 530 of blade travel including left blade travel path 155 of left outer edge 135 and right blade travel path 157 of right outer edge 137 of blade 132 on user interface 117 or other graphical user interface GUI. In some embodiments, ECU 150 will also display on user interface 117 a grade profile that blade 132 will traverse or travel along as vehicle 100 moves along the ground. The projected path of blade travel 530 including left blade travel path 155 of left outer edge 135 and right blade travel path 157 of right outer edge 137 of blade 132 from step 530 is displayed on user interface 117 so that the operator can make a decision based on the position of blade 132 relative to the grade profile. The display of the projected path 530 of blade travel of the blade 132 may be overlaid on a camera feed of the grade profile, projected onto a glass surface proximate the operator's line of sight to the blade 132, or visualized in a top-down presentation, such as a map, of the area in which the vehicle 100 is working. The operator may, but need not, utilize the display of the projected path 530 of blade travel of the blade 132 to plan blade movements of the blade 132.

[0076] In step 534, the ECU 150 utilizes the projected path of blade travel from step 530 in grade control automation and / or obstacle automation. The ECU 150 utilizes the projected path of blade travel 530, which includes the left blade travel path 155 of the left outer edge 135 and the right blade travel path 157 of the right outer edge 137 of the blade 132 from step 530, to determine whether the blade 132 needs to be adjusted based on the automation features used at a particular location within the worksite relative to the grade profile. The ECU 150 looks ahead in time relative to the grade profile to prepare the blade 132 to meet an upcoming grade profile and certain upcoming criteria for the grade profile. Examples of upcoming criteria include desired surface features in the grade profile. For example, the desired surface features may include the location of a light pole or manhole within the grade profile on which the vehicle 100 is working. The ECU 150 determines whether the current blade trajectory of the blade 132 or the projected path of blade travel from step 530 will move mud or dirt to cover the desired surface feature access hole. In one embodiment, the ECU 150 determines and makes necessary adjustments to the position or orientation of the blade 132 to avoid covering the access hole with mud as the vehicle 100 travels along the ground. In particular, the ECU 150 can direct one or more of the blade tilt / position sensor 140, the main drop sensor 142, the right retractable actuator 126 and the left retractable actuator 128, and / or the retractable side swing actuator 130 to move the blade 132 in any necessary direction to avoid covering the access hole with mud in this example. In another embodiment, the ECU 150 displays a message on the user interface 117 so that the operator can direct the movement of the blade 132 to avoid covering the access hole with mud in this example. It should be understood that this is merely one example and that blade 132 and the present disclosure contemplate many different upcoming standards and desired surface characteristics.

[0077] Another example of an upcoming standard includes obstacles in a slope profile. As the vehicle 100 moves along the ground, the sensor 148 generates image data that is sent to the ECU 150. The ECU 150 is configured to process the received image data to determine the location and size of any surface irregularities 202 and 203, including length, height, depth, and distance to the irregularities. The ECU 150 utilizes the image sensor 148 to determine an upcoming or expected ground profile that may include surface irregularities 202 and 203. In one or more embodiments, the memory 161 includes an object detector. Using one or more of the identified objects, distances, irregularities 202 and 203, the location of the surface irregularities 202 and 203 is determined by the ECU 150. ECU 150 is also configured to determine whether the irregularity is within the projected path 530 of blade travel based on the received image content, the projected path 530 including the left blade travel path 155 of the left outer edge 135 and the right blade travel path 157 of the right outer edge 137 of the blade 132 from step 530, to determine whether the blade 132 needs to be adjusted based on whether obstacles 202 and 203 are within the projected path 530 of blade travel.

[0078] If the surface irregularities 202 and 203 are within the projected path of blade travel 530, which includes the left blade travel path 155 of the left outer edge 135 and the right blade travel path 157 of the right outer edge 137 of the blade 132 from step 530, then the ECU 150 indicates a warning to the vehicle 100. If not, then based on the determined location of the surface irregularities 202 and 203 outside of the projected path of blade travel 530, warnings to the vehicle 100 are suspended. Thus, the operator is only warned of objects or surface irregularities that are within the projected path of blade travel 530, and thereby possible damage to the blade 132. For any objects outside of the projected path of blade travel 530, then no warning signal is displayed, and the operator continues to operate the vehicle 100.

[0079] Additionally, in some embodiments, the warning of an impending collision may include an audible alarm and / or stopping the vehicle 100 to avoid a collision with the blade 132 and the obstacle 202. In other embodiments, an obstacle automation feature on the ECU 150 will automatically move the blade 132 to avoid contact or collision between the blade 132 and the obstacle 202. If the measured location of the object, obstacle 203, is not within the projected path 530 of blade travel, the ECU 150 will not indicate any visual indication on the user interface 117.

[0080] In some forms, the ECU 150 regulates or reduces the speed of the vehicle 100 by automatically engaging the brakes based on the determined location of the surface irregularities 202 and 203 within the projected path of blade travel 530. In some embodiments, if the vehicle 100 is moving at a slower speed, a shorter stopping distance will be used, whereas if the vehicle 100 is moving at a higher or faster speed, a longer stopping distance will be used.

[0081] Although the present disclosure has been described with respect to at least one embodiment, the present disclosure may be further modified within the spirit and scope of the present disclosure. Therefore, the present application is intended to use its general principles to cover any variation, use or adaptation of the present disclosure. In addition, the present application is intended to cover deviations from the present disclosure within the scope of known or customary practice in the field to which the present disclosure belongs.

Claims

1. A motor grader, comprising: a front frame supported on a pair of front wheels mounted on a front axle; a rear frame, the rear frame being supported on a pair of rear wheels mounted on a rear axle, the rear frame being connected to the front frame; a blade movably attached to the front frame, the blade having a blade length spanning between a left outer edge and a right outer edge; A vehicle slope control system, the vehicle slope control system comprising: one or more sensors arranged to sense a position of one or more actuators operably connected to the blade, wherein the one or more sensors are further arranged to sense an articulation angle of the rear frame relative to the front frame, wherein the one or more sensors are further arranged to sense a front wheel steering angle of the pair of front wheels; a controller comprising a computing device having a processor and a memory, the controller being operably connected to the one or more sensors to receive the sensed position of the one or more actuators, the sensed articulation angle, and the sensed front wheel steering angle, wherein the controller: determining movement of the front frame and the rear frame based on the articulation angle and the front wheel steering angle when the pair of front wheels and the pair of rear wheels travel on the ground; determining a blade position of the blade and blade movement of the blade relative to the front frame and the rear frame based on the sensed position of the one or more actuators; and A blade trajectory path of the blade is determined based on the determined motions of the front frame and the rear frame and the determined blade position and blade motion of the blade.

2. The motor grader according to claim 1, wherein: The blade trajectory path of the blade includes a left outer edge blade travel path of the left outer edge of the blade and a right outer edge blade travel path of the right outer edge of the blade.

3. The motor grader according to claim 2, wherein: The controller displays the blade trajectory path of the blade on a graphical user interface; and Wherein, the controller compares the blade trajectory path of the blade with a slope profile to determine whether the position of the blade needs to be adjusted.

4. The motor grader according to claim 3, wherein: The controller receives image data from an image sensor, the image sensor being operatively connected to the controller; and Wherein, the controller determines whether an obstacle in the image data is within the blade trajectory path of the blade.

5. The motor grader according to claim 1, wherein: The controller determining the blade position of the blade and the blade movement of the blade relative to the motor grader includes: The controller determines one or more machine component characteristics of the motor grader; The controller determines a cylinder velocity of each of the one or more actuators; and The controller determines a rigid body acceleration of the motor grader.

6. The motor grader according to claim 1, wherein: The controller determining the blade position of the blade and the blade movement of the blade relative to the motor grader includes: the controller receiving an operator command from a user to direct the blade movement of the blade; or The controller determines machine coverage areas of the front frame and the rear frame.

7. The motor grader according to claim 1, wherein: The controller determines a blade travel path relative to a grade profile; and The controller automatically moves the blade in response to the grade profile to adjust the blade travel path.

8. The motor grader according to claim 1, wherein: The controller determines one or more physical characteristics of a machine component of the motor grader; wherein the controller determines the movement of the front frame and the rear frame, the front frame and the rear frame comprising the one or more physical characteristics of the machine assembly of the motor grader; and Wherein the controller determines the blade position of the blade and the blade movement of the blade relative to the front frame and the rear frame comprising the one or more physical characteristics of the machine assembly of the motor grader.

9. The motor grader according to claim 8, wherein: The one or more physical characteristics of the machine component of the motor grader include a blade length, a blade height, and a blade thickness of the blade; or Therein, the one or more physical characteristics of the machine assembly of the motor grader include cylinder mounting locations for the actuator assembled with the blade and / or each of the actuators on the motor grader.

10. The motor grader according to claim 1, wherein: The one or more actuators include any one of a right telescopic actuator and a left telescopic actuator, a swing actuator, a side-shift actuator, and a blade lift valve assembly.

11. A method of determining a blade trajectory path of a blade movably attached to a motor grader having a front frame supported on a pair of front wheels mounted on a front axle and a rear frame supported on a pair of rear wheels mounted on a rear axle, the rear frame being connected to the front frame, the method comprising: determining, via a controller, a position of one or more actuators operably connected to the blade, the controller comprising a computing device having a processor and a memory; determining, via the controller, an articulation angle of the rear frame relative to the front frame; determining, via the controller, a front wheel steering angle of the pair of front wheels; determining, via the controller, movement of the front frame and the rear frame based on the articulation angle and the front wheel steering angle when the pair of front wheels and the pair of rear wheels travel on the ground; determining, via the controller, a blade position of the blade and blade movement of the blade relative to the front frame and the rear frame based on the sensed position of the one or more actuators; as well as A blade trajectory path of the blade is determined via the controller based on the determined motion of the front frame and the rear frame and the determined blade position and blade motion of the blade.

12. The method according to claim 11, further comprising: A blade travel path of the blade relative to a grade profile of the ground is determined via the controller.

13. The method according to claim 12, further comprising: The blade is automatically moved via the controller in response to the grade profile to adjust the blade travel path.

14. The method according to claim 11, wherein: Determining, via the controller, the blade position of the blade and the blade motion of the blade relative to the motor grader includes: determining, via the controller, one or more machine component characteristics of the motor grader; determining, via the controller, a cylinder velocity of each of the one or more actuators; and A rigid body acceleration of the motor grader is determined via the controller.

15. The method according to claim 11, wherein: The one or more actuators include any one of a right telescopic actuator and a left telescopic actuator, a swing actuator, a side-shift actuator, and a blade lift valve assembly.

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