Method and apparatus for determining a cross slope of a surface

• US 6,275,758 B1
• Filed: 06/29/1999
• Issued: 08/14/2001
• Est. Priority Date: 06/29/1999
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Phelps, Stephen K.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/342,997
• Time in Patent Office: 777 Days
• Field of Search: 701/50, 172/4.5, 172/9, 172/2, 37/347, 37/348
• US Class Current: 701/50
• CPC Class Codes: E02F 3/845 using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums

Abstract

The present invention provides a method and apparatus for determining the cross slope created by a work implement on an earth moving machine. The method includes the steps of determining a position of the work implement, determining a direction of travel of the machine, and responsively determining the cross slope.

Claims

1. A method for determining a cross slope created by a work implement on an earthmoving machine, the work implement being movably connected to a frame of the earth moving machine comprising the steps of:

sensing a plurality of machine parameters, said machine parameters including a roll of said machine;

sensing a plurality of work implement parameters, said work implement parameters including an angle of rotation of the work implement relative to the machine;

determining a position of said work implement in response to said machine parameters and said work implement parameters;

determining a direction of travel of said machine; and

determining a cross slope in response to said direction of travel and said work implement position.

2. A method, as set forth in claim 1, wherein the step of determining said work implement parameters includes the step of determining a pitch of said work implement relative to said machine.

3. A method, as set forth in claim 2, wherein the step of determining said work implement parameters includes the step of determining a roll of the work implement relative to said machine.

4. A method, as set forth in claim 1, wherein the step of determining said work implement parameters includes the steps of:

determining a pitch of the work implement relative to the earth'"'"'s gravitational field; and

determining a roll of the work implement relative to the earth'"'"'s gravitational field.

5. A method, as set forth in claim 4, wherein the step of determining said machine parameters include the step of determining a pitch of said machine.

6. A method, as set forth in claim 5, including the steps of:

comparing said cross slope with a desired cross slope; and

determining a cross slope error in response to said comparison.

7. A method, as set forth in claim 6, including the step of controlling said work implement in response to said cross slope error.

8. A method, as set forth in claim 7, wherein the step of determining said work implement position includes the steps of:

determining said work implement position in response to a sequence of theoretical work implement translations from a first work implement position to a second work implement position.

9. A method, as set forth in claim 8, wherein said sequence of theoretical work implement translations includes the steps of:

translating said work implement angle of rotation to account for said work implement rotation;

translating said work implement to account for said work implement roll; and

translating said work implement to account for said work implement pitch.

10. A method, as set forth in claim 8, including the step of correlating said sensed machine parameters and said sensed work implement parameters to an associated theoretically translated variables.

11. A method for determining a cross slope created by a work implement on an earthmoving machine, the work implement being movably connected to a frame of the earth moving machine comprising the steps of:

sensing a plurality of machine parameters, said machine parameters including a roll of said machine;

sensing a plurality of work implement parameters, said work implement parameters including an angle of rotation of the work implement relative to the machine; and

determining said cross slope in response to said machine parameters, said work implement parameters, and said angle of rotation of said work implement.

12. A method, as set forth in claim 11, wherein the step of sensing a plurality of machine parameters includes the steps of:

determining a roll of said machine; and

determining a pitch of said machine.

13. A method, as set forth in claim 12, wherein the step of sensing a plurality of work implement parameters includes the steps of:

determining a pitch of the work implement relative to the machine; and

determining a roll of the work implement relative to the machine.

14. A method, as set forth in claim 12, wherein the step of sensing a plurality of work implement parameters includes the steps of:

determining a pitch of the work implement relative to the earth'"'"'s gravitational field; and

determining a roll of the work implement relative to the earth'"'"'s gravitational field.

15. A method, as set forth in claim 14, including the step of determining a direction of said machine, wherein said cross slope is determined in response to said direction of said machine, said machine parameters, said work implement parameters, and said angle of rotation of said work implement.

16. A method, as set forth in claim 15, wherein the step of determining said work implement position includes the steps of:

determining said work implement position in response to a sequence of theoretical work implement translations from a first work implement position to a second work implement position.

17. A method, as set forth in claim 16, wherein said sequence of theoretical work implement translations includes the steps of:

translating said work implement angle of rotation to account for said work implement rotation;

translating said work implement to account for said work implement roll; and

translating said work implement to account for said work implement pitch.

18. An apparatus configured to determine a cross slope created by an earthmoving machine having a work implement, the work implement being movably connected to a frame of the earth moving machine, comprising:

a machine sensor system configured to sense a plurality of machine parameters and responsively generate a plurality of machine parameter signals;

a work implement sensor system configured to determine a plurality of work implement parameters and responsively generate a plurality of work implement parameter signals; and

a controller configured to receive said machine parameter signals, and said work implement parameter signals, determine a direction of travel of the machine in response to said machine and said work implement parameters, determine a position of said work implement in response to said machine and said work implement parameters, and determine the cross slope in response to said machine direction of travel and said work implement position.

19. An apparatus, as set forth in claim 18, wherein said machine sensor system includes:

a roll sensor configured to determine a roll of the machine; and

a pitch sensor configured to determine a pitch of the machine.

20. An apparatus, as set forth in claim 19, wherein said work implement sensor system includes:

a roll sensor configured to determine a roll of the work implement relative to the machine; and

a pitch sensor configured to determine a pitch of the work implement relative to the machine.

21. An apparatus, as set forth in claim 19, wherein said work implement sensor system includes:

a roll sensor configured to determine a roll of the work implement relative to the earth'"'"'s gravitational field; and

a pitch sensor configured to determine a pitch of the work implement relative to the earth'"'"'s gravitational field.

22. An apparatus, as set forth in claim 21, wherein said controller determines an angle of rotation of said work implement relative to the machine, and cross slope is determined in response to said machine parameters, said work implement parameters and said angle of rotation.

23. An apparatus, as set forth in claim 21, wherein said work implement sensor system includes a rotation sensor configured to sense an angle of rotation of the work implement relative to the machine, and responsively generate an angle of rotation signal, said work implement parameter signals including said angle of rotation signal.

24. A method for determining a cross slope created by a work implement on an earthmoving machine, the work implement being movably connected to a frame of the earth moving machine comprising the steps of:

determining a position of said work implement;

determining one of a direction of travel of the machine and a direction of travel of the work implement;

establishing an angle of rotation of the work implement relative to the machine; and

determining a cross slope in response to said at least one of said direction of travel of the machine and said direction of travel of the work implement and said work implement position.

25. A method, as set forth in claim 24, including the steps of:

sensing a plurality of machine parameters, said machine parameters including a roll of said machine;

sensing a plurality of work implement parameters, said work implement parameters; and

wherein, the step of determining said work implement position, includes the step of determining said work implement position in response to said machine parameters and said work implement parameters, including said implement angle of rotation.

26. A method, as set forth in claim 25, wherein the step of determining said work implement parameters includes the step of determining a pitch of said work implement relative to said machine.

27. A method, as set forth in claim 26, wherein the step of determining said machine parameters include the step of determining a pitch of said machine.

28. A method, as set forth in claim 27, including the steps of:

comparing said cross slope with a desired cross slope; and

determining a cross slope error in response to said comparison.

29. A method, as set forth in claim 28, including the step of controlling said work implement in response to said cross slope error.

30. An apparatus configured to determine a cross slope created by an earthmoving machine having a work implement, the work implement being movably connected to a frame of the earth moving machine, comprising:

a machine sensor system configured to sense a plurality of machine parameters and responsively generate a plurality of machine parameter signals;

a work implement sensor system configured to determine a plurality of work implement parameters, one of said work implement parameters being an angle of rotation of the work implement relative to the machine, and responsively generate a plurality of work/implement parameter signals; and

a controller configured to receive said machine parameter signals, and said work implement parameter signals, determine at least one of a direction of travel of the machine and a direction of travel of the work implement in response to said machine and said work implement parameters, including said angle of rotation, determine a position of said work implement in response to said machine and said work implement parameters, and determine the cross slope in response to said at least one of said direction of travel of said machine and said direction of travel of said work implement and said work implement position.

31. An apparatus, as set forth in claim 30, wherein said machine sensor system includes:

a roll sensor configured to determine a roll of the machine; and

a pitch sensor configured to determine a pitch of the machine.