Blade Tilt Steering Using Global Angle Reference
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Solution Overview
Problem
Blade tilt steering in dozing machines causes the blade tip to dig into the surface when the machine rolls, leading to excessive steering correction and surface damage due to changes in the side slope surface.
Innovation Solution
A system that includes an inertial measurement unit (IMU) on the blade to measure its tilt relative to an absolute global frame of reference, and a controller that adjusts the blade tilt to maintain a constant angle relative to this frame, compensating for deviations caused by the machine's tilt, thereby preventing the blade from digging into the surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If blade tilt steering is used to steer the machine when pushing a load, then steering capability is improved, but the blade tip digs into the surface causing excessive steering correction and surface damage
Solution Approach 1:
The system uses an IMU to continuously measure the actual blade tilt angle and feeds this information back to the controller. The controller compares the actual angle with the desired angle and adjusts the blade tilt accordingly, creating a closed-loop feedback system that prevents excessive steering correction and blade tip digging into the surface
Solution Approach 2:
The patent replaces traditional mechanical steering methods with a sensor-based control system. Instead of relying on mechanical linkages and manual operation, the system uses an IMU to detect blade orientation and electronically controls the blade tilt through hydraulic or electric actuators, enabling more precise control and eliminating the harmful digging effect
2Speed
If the blade is tilted to steer the machine, then steering response is improved, but the side slope surface is affected and the machine rolls causing blade tip to dig in
Solution Approach 1:
The IMU provides continuous feedback on the machine's actual orientation and blade tilt angle. The controller uses this feedback to adjust the blade tilt in real-time, compensating for machine rolling and maintaining stable blade orientation relative to the ground, thereby preventing the blade tip from digging into the side slope surface
Solution Approach 2:
The system dynamically adjusts the blade tilt angle based on real-time conditions. Rather than maintaining a fixed tilt angle, the controller continuously modifies the blade orientation in response to changing machine attitudes, ensuring optimal steering response while maintaining stability on varying terrain
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution ensures consistent blade tilt relative to the global frame, reducing excessive steering corrections and surface damage by maintaining the blade's angle despite changes in the machine's position, resulting in improved steering and surface management during blade tilt steering.
Implementation Method 1
an inertial measurement unit (IMU) associated with the blade and configured to indicate a tilt of the blade relative to an absolute global frame of reference
Data Source
AI summary
A machine can include a frame, a blade coupled to the frame and configured to push a load, an inertial measurement unit (IMU) associated with the blade and configured to indicate a tilt of the blade relative to an absolute global frame of reference, and a controller configured to: receive steering commands; determine, based on the steering commands and the load, a desired blade tilt steering angle relative to the absolute global frame of reference; cause the blade to be tilted to the desired blade tilt steering angle; determine, based on information from the IMU, that an actual blade tilt angle is different from the desired blade tilt steering angle; cause, based on determining that the actual blade tilt angle is different from the desired blade tilt steering angle, the blade to be tilted according to a corrected blade tilt angle, wherein, when the actual blade tilt angle is offset, in a first direction, from the desired blade tilt steering angle, the corrected blade tilt angle is to tilt the blade in a second direction, opposite the first direction, and wherein the corrected blade tilt angle causes the blade to be tilted, relative to the absolute global frame of reference, to match the desired blade tilt steering angle.