Work implement rotation control system and method

• US 20060042804A1
• Filed: 08/27/2004
• Published: 03/02/2006
• Est. Priority Date: 08/27/2004
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Pecchio, Patrick Michael
• Application Number:
  US10/927,306
• Publication Number:
  US 20060042804A1
• Time in Patent Office: Days
• US Class Current: 172/4.500
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: G05D 3/00 Control of position or direction G05D1/00 takes precedence; numerical control to execute positioning G05B19/18

Abstract

A system for automatically moving a work implement of a work machine includes a position monitoring system configured to track a position of the work implement relative to a mapped landscape. A controller is configured to change an angle of the work implement relative to a direction of travel of the work machine in response to information from the position monitoring system.

Claims

1. A system for automatically moving a work implement of a work machine, comprising:

a position monitoring system configured to track a position of the work implement relative to a mapped landscape; and

a controller configured to change an angle of the work implement relative to a direction of travel of the work machine in response to information from the position monitoring system.

2. The system of claim 1, wherein the controller is further configured to adjust at least one of a slope of the work implement and a height of the work implement in response to the information from the position monitoring system.

3. The system of claim 1, the system further including a memory, and wherein the controller is configured to initiate the change in the angle of the work implement based on a location of at least one predetermined area of the mapped landscape that is stored in the memory and designated for an elevation change.

4. The system of claim 1, wherein the controller is further configured to:

determine a first difference between an actual elevation and a desired elevation at a first location on the mapped landscape;

determine a second difference between an actual elevation and a desired elevation at a second location on the mapped landscape; and

change the angle of the work implement relative to the direction of travel based on a comparison of the first difference and the second difference.

5. The system of claim 4, wherein at least one of the actual elevation and the desired elevation at the first location is pre-stored in a memory, and at least one of the actual elevation and the desired elevation at the second location is pre-stored in the memory.

6. The system of claim 4, wherein the controller is further configured to rotate the work implement such that the work implement deposits material at the first location if the first difference is less than the second difference and at the second location if the second difference is less than the first difference.

7. The system of claim 1, wherein the controller is further configured to:

select a first predetermined location that is designated for a decrease in elevation;

select a second predetermined location designated for an increase in elevation, wherein the second location resides at a position forward of the work machine;

position the work implement to enable removal of material from the first location; and

automatically change the angle of the work implement relative to the direction of travel to deposit at least some of the material at the second location.

8. The system of claim 7, wherein the controller is further configured to vary the rate at which the angle of the work implement is changed based on the speed of the work machine in the direction of travel and the distance to the locations of predetermined cut and fill areas.

9. The system of claim 7, wherein the controller is further configured to:

maintain a longitudinal axis of the work implement substantially orthogonal to the direction of travel after removing the material from the first predetermined location to carry the material over a distance prior to automatically changing the angle of the work implement relative to the direction of travel.

10. The system of claim 1, wherein the work implement includes a blade.

11. The system of claim 10, wherein the blade is attached to a drawbar/moldboard/circle (DMC) assembly.

12. The system of claim 1, wherein the position monitoring system is configured to track the position of the work implement in three dimensions.

13. The system of claim 1, wherein the position monitoring system is configured to generate a three dimensional map of the landscape and store the map in a memory.

14. The system of claim 1, wherein the position monitoring system is configured to make use of a global positioning system (GPS).

15. The system of claim 14, wherein the position monitoring system includes a local positioning unit for supplementing the GPS.

16. A motor grader comprising:

a cab;

a traction system;

a power source;

a work implement positionable at an angle relative to a direction of travel of the motor grader;

a position monitoring system for tracking a position of the work implement relative to a mapped landscape; and

a controller configured to initiate movement of the work implement, in response to information from the position monitoring system, to change the angle of the work implement relative to the direction of travel.

17. The motor grader of claim 16, wherein the work implement includes a circle and the angle change is accomplished by rotation of the circle.

18. The motor grader of claim 16,

wherein the controller is further configured to change the angle of the work implement relative to the direction of travel based on a location of a predetermined area of the landscape designated for an elevation change;

wherein the work implement includes a blade attached to a drawbar/moldboard/circle (DMC) assembly;

wherein the position monitoring system is configured to track the position of the work implement in three dimensions and is configured to generate a three dimensional map of the landscape and store the map in a memory;

wherein the controller is further configured to vary a rate at which the angle of the work implement is changed based on a speed of the work machine in the direction of travel and a distance to the location of the predetermined area; and

wherein the position monitoring system is configured to make use of a global positioning system (GPS).

19. The motor grader of claim 16, wherein the controller is further configured to:

determine a first difference between an actual elevation and a desired elevation at a first location;

determine a second difference between an actual elevation and a desired elevation at a second location; and

change the angle of the work implement relative to the direction of travel based on a comparison of the first difference and the second difference.

20. The motor grader of claim 16, wherein the controller is further configured to:

select a first predetermined location that is designated for a decrease in elevation;

select a second predetermined location designated for an increase in elevation, wherein the second location resides at a position forward of the work machine;

position the work implement to enable removal of material from the first location; and

automatically change the angle of the work implement relative to the direction of travel to deposit at least some of the material at the second location.

21. The motor grader of claim 20, wherein the controller is configured to:

maintain a longitudinal axis of the work implement substantially orthogonal to the direction of travel after removing the material from the first predetermined location to carry the material over a distance prior to automatically changing the angle of the work implement relative to the direction of travel.

22. A method of controlling a work implement for a work machine, comprising:

determining an actual position of a work implement relative to a work site;

locating, with respect to the actual position, at least two predetermined areas designated for an elevation change; and

controlling an angle of the work implement relative to a direction of travel of the work machine in response to a relationship between the at least two predetermined areas designated for an elevation change.

23. The method of claim 22, wherein one or more of the at least two predetermined areas includes a fill area.

24. The method of claim 22, wherein one or more of the at least two predetermined areas includes a cut area.

25. The method of claim 22, wherein the at least one predetermined area designated for an elevation change is stored in a memory.

26. The method of claim 22, wherein controlling an angle of the work implement includes:

determining a first difference between an actual elevation and a desired elevation at a first of the at least two predetermined areas;

determining a second difference between an actual elevation and a desired elevation at a second of the at least two predetermined areas; and

changing the angle of the work implement relative to the direction of travel based on a comparison between the first difference and the second difference.

27. The method of claim 22, further including:

selecting a first predetermined location that is designated for a decrease in elevation;

selecting a second predetermined location designated for an increase in elevation, wherein the second location resides at a position forward of the work machine;

removing material from the first location; and

automatically changing the angle of the work implement relative to the direction of travel to deposit at least some of the material at the second location.

28. The method of claim 27, further including:

maintaining the longitudinal axis of the work implement substantially orthogonal to the direction of travel after removing the material and carrying the material over a distance prior to automatically changing the angle of the work implement relative to the direction of travel.

29. The method of claim 22, further including:

varying a rate at which the angle of the work implement is changed based on at least one of a speed of the work machine in the direction of travel and a distance to one of the at least two predetermined areas designated for an elevation change.

30. The method of claim 22, wherein the work implement includes a blade.

31. The method of claim 30, wherein the blade is attached to a drawbar/moldboard/circle (DMC) assembly.

32. The method of claim 22, further including:

tracking the position of the work implement in three dimensions with a position monitoring system.

33. The method of claim 22, further including:

generating a three dimensional map of the work site; and

storing the map in a memory.

34. The method of claim 22, wherein the position monitoring system is configured to make use of a global positioning system (GPS).

35. The method of claim 34, wherein the position monitoring system includes a local positioning unit for supplementing the GPS.