Method and apparatus for controlling the direction of travel of an earthworking machine
First Claim
1. A method for controlling a direction of travel of an earthworking machine having an earthworking implement, including the steps of:
- determining a desired heading of the machine;
determining an actual heading of the machine using a machine position determining system;
determining a straight line path for the machine in site coordinates as a function of the desired heading;
determining a deviation of the actual heading from the desired heading;
determining a desired tilt angle of the implement as a function of the deviation; and
controlling the tilt angle of the implement to the desired tilt angle and responsively steering the machine on the straight line path coordinates.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and apparatus for controlling a direction of travel of an earthworking machine having an earthworking implement. The method and apparatus includes determining a desired heading of the machine, determining an actual heading of the machine, determining a straight line path for the machine as a function of the desired heading, determining a deviation of the actual heading from the desired heading, determining a desired tilt angle of the implement as a function of the deviation, and controlling the tilt angle of the implement to the desired tilt angle and responsively steering the machine on the straight line path.
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Citations
21 Claims
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1. A method for controlling a direction of travel of an earthworking machine having an earthworking implement, including the steps of:
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determining a desired heading of the machine; determining an actual heading of the machine using a machine position determining system; determining a straight line path for the machine in site coordinates as a function of the desired heading; determining a deviation of the actual heading from the desired heading; determining a desired tilt angle of the implement as a function of the deviation; and controlling the tilt angle of the implement to the desired tilt angle and responsively steering the machine on the straight line path coordinates. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for controlling a direction of travel of an earthworking machine having an earthworking implement, comprising:
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a machine position determining system located on the earthworking machine; a heading controller located on the earthworking machine for receiving machine position information from the machine position determining system, determining a straight line path for the machine in site coordinates as a function of the machine position information, determining a deviation of an actual heading of the machine from a desired heading, and determining a desired tilt angle of the implement as a function of the deviation; and a tilt controller located on the earthworking machine for receiving the desired tilt angle from the heading controller and responsively controlling the tilt angle of the implement to the desired tilt angle. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An apparatus for controlling a direction of travel of an earthworking machine having an earthworking implement, comprising:
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means for determining a desired heading of the machine; means for determining an actual heading of the machine; means for determining a straight line path for the machine in site coordinates as a function of the desired heading; means for determining a deviation of the actual heading from the desired heading; means for determining a desired tilt angle of the implement as a function of the deviation; and means for controlling the tilt angle of the implement to the desired tilt angle and responsively steering the machine on the straight line path coordinates. - View Dependent Claims (19, 20, 21)
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Specification