Site profile based control system and method for an earthmoving implement
First Claim
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1. An automatic control system for an earthmoving implement of an earthmoving machine, comprising:
- a lift actuator associated with said earthmoving implement;
a ground speed sensor having a ground speed signal;
an angular rate sensor having an angular rate signal;
a lift position sensing means associated with said lift actuator for sensing the position of said lift actuator and producing a lift position signal;
a slip detecting means for determining a slip rate value of said earthmoving machine and producing a slip signal;
means for determining the position of said earthmoving implement as a function of said slip signal, said angular rate signal and said lift position signal and producing an implement position signal; and
implement control means for receiving said implement position signal, said slip signal, and said ground speed signal and responsively calculating a change in the position of said earthmoving implement and issuing a lift actuator command signal.
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Abstract
Apparatus and method for automatically controlling the position of an earthmoving implement of an earthmoving machine in response to varying ground profiles.
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Citations
15 Claims
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1. An automatic control system for an earthmoving implement of an earthmoving machine, comprising:
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a lift actuator associated with said earthmoving implement; a ground speed sensor having a ground speed signal; an angular rate sensor having an angular rate signal; a lift position sensing means associated with said lift actuator for sensing the position of said lift actuator and producing a lift position signal; a slip detecting means for determining a slip rate value of said earthmoving machine and producing a slip signal; means for determining the position of said earthmoving implement as a function of said slip signal, said angular rate signal and said lift position signal and producing an implement position signal; and implement control means for receiving said implement position signal, said slip signal, and said ground speed signal and responsively calculating a change in the position of said earthmoving implement and issuing a lift actuator command signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An automatic control system for an earthmoving implement of an earthmoving machine, comprising:
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a lift actuator associated with said earthmoving implement; a tip position sensing means associated with said earthmoving implement for sensing the tilt of said earthmoving implement and producing a tip position signal; a ground speed sensor having a ground speed signal; an angular rate sensor having an angular rate signal; a lift position sensing means associated with said lift actuator for sensing the position of said lift actuator and producing a lift position signal; a slip detecting means for determining a slip rate value of said earthmoving machine and producing a slip signal; a slope detecting means for detecting the slope upon which said earthmoving machine is operating and producing a slope signal; means for determining the position of said earthmoving implement as a function of said slip signal, said angular rate signal, said tip position signal and said lift position signal and producing an implement position signal; ground speed adjustment means for adjusting a predetermined desired ground speed setting as a function of said slope signal and producing an adjusted ground speed reference signal; and implement control means for receiving said implement position signal, said slip signal, said adjusted ground speed reference signal and said ground speed signal and responsively calculating a change in the position of said earthmoving implement and issuing a lift actuator command signal.
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12. An automatic control system for an earthmoving implement of an earthmoving machine, comprising:
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a lift actuator associated with said earthmoving implement; a ground speed sensor having a ground speed signal; an angular rate sensor having an angular rate signal; an implement position sensing means for sensing the position of said earthmoving implement relative to said earthmoving machine and producing a lift position signal; a slip detecting means for determining a slip rate value of said earthmoving machine and producing a slip signal; a slope detecting means for detecting the slope upon which said earthmoving machine is operating and producing a slope signal; means for determining the position of said earthmoving implement as a function of said slip signal, said angular rate signal and said lift position signal and producing an implement position signal; ground speed adjustment means for adjusting a predetermined desired ground speed setting as a function of said slope signal and producing an adjusted ground speed reference signal; and implement control means for receiving said implement position signal, said slip signal, said adjusted ground speed reference signal and said ground speed signal and responsively calculating a change in the position of said earthmoving implement and issuing a lift actuator command signal.
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13. A method for automatically controlling an earthmoving implement of an earthmoving machine, said earthmoving implement including a lift actuator, the method comprising the steps of:
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detecting a true ground speed of said earthmoving machine and producing a ground speed signal; sensing the angular rate of said earthmoving machine and producing an angular rate signal; sensing the position of said lift actuator and producing a lift position signal; determining a slip rate value of said earthmoving machine and producing a slip signal; determining the position of said earthmoving implement as a function of said slip signal, said angular rate signal and said lift position signal and producing an implement position signal; and receiving said implement position signal, said slip signal, and said ground speed signal and responsively calculating a change in the position of said earthmoving implement and issuing a lift actuator command signal. - View Dependent Claims (14, 15)
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Specification