Auto crab operation for motor grader

• US 9,103,098 B2
• Filed: 08/07/2012
• Issued: 08/11/2015
• Est. Priority Date: 08/07/2012
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Zhu, Yongliang
• Primary Examiner(s): PEZZUTO, ROBERT ERIC
• Application Number:
  US13/568,825
• Publication Number:
  US 20140041884A1
• Time in Patent Office: 1,099 Days
• Field of Search: 373/47, 373/48, 172 2- 11, 172/190, 172/811, 172/818, 172/820, 180 22- 24, 180/24.01, 180/24.03, 180/24.04, 180/24.1, 180/24.09, 180/338, 180/418, 180/419, 180/197, 180/249, 180/253, 180/271, 180/6.44, 701/50, 701/51, 701/83, 701/88, 701/209, 701/210
• US Class Current: 1/1
• CPC Class Codes: E02F 3/764 with the scraper blade being pivotable about a vertical axis
• CPC Class Codes: E02F 3/7645 with the scraper blade being pivotable about a horizontal axis disposed parallel to the blade
• CPC Class Codes: E02F 3/765 with the scraper blade being pivotable about a horizontal axis disposed perpendicular to the blade
• CPC Class Codes: E02F 3/841 Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine construction of roads E01C19/008
• CPC Class Codes: E02F 9/0841 Articulated frame, i.e. having at least one pivot point between two travelling gear units tractor-trailer combinations B62D53/00
• CPC Class Codes: E02F 9/2087 Control of vehicle steering for steering with hydraulic or pneumatic drives E02F9/225

Abstract

An apparatus and method are provided for assisting an operator of a motor grader to steer the motor grader in a crab steer mode. The method includes receiving an operator selection of an automatic crab steer mode, determining that a condition of the motor grader is such as to permit automatic crab steer, and receiving an operator steering command. The received operator steering command is converted to an articulation command to place the machine into a crab steer mode. The articulation command is executed and is also converted into a final steering command consistent with the articulation command, and the final steering command is then executed.

Claims

1. A method for assisting an operator of a motor grader, having both steering and articulation, to steer the motor grader in a crab steer mode, the motor grader having front steerable wheels and a set of rear tandems mounted to an articulating frame, the method comprising:

receiving an operator selection of an automatic crab steer mode;

determining that a condition of the motor grader is such as to permit automatic crab steer;

receiving an operator steering command; and

converting the received operator steering command to an articulation command to place the motor grader into a crab steer mode, executing the articulation command, converting the articulation command to a final steering command consistent with the articulation command and executing the final steering command.

2. The method according to claim 1, wherein receiving an operator selection of an automatic crab steer mode comprises receiving a selection of a button or switch by the operator within a cab of the motor grader.

3. The method according to claim 1, wherein determining that a condition of the motor grader is such as to permit automatic crab steer includes determining that the motor grader speed is not greater than a predetermined threshold speed.

4. The method according to claim 3, wherein determining that a condition of the motor grader is such as to permit automatic crab steer further includes determining that a transmission speed range of the motor grader speed is not greater than a predetermined threshold transmission speed range.

5. The method according to claim 1, wherein receiving an operator steering command comprises receiving a joystick command from the operator.

6. The method according to claim 1, wherein the joystick is a speed-type joystick.

7. The method according to claim 1, wherein the joystick is a position-type joystick.

8. The method according to claim 1, wherein the front steerable wheels and the set of rear tandems are substantially parallel after the step of executing the final steering command.

9. The method according to claim 1, further including receiving an override command from the operator and in response, terminating the crab steer mode.

10. The method according to claim 1, wherein the override command is a joystick command from the operator overriding the final steering command.

11. The method according to claim 1, further including notifying the at least one condition prevents automatic crab steer.

12. The method according to claim 11, wherein notifying the user includes providing a visual or audible notification to the operator.

13. The method according to claim 11, wherein the at least one condition that prevents automatic crab steer includes a condition wherein wheel steering exceeds available articulation range.

14. A method of automatically directing a motor grader, the motor grader having at least one steerable front wheel and at least one rear wheel attached to a frame that is able to articulate, the method comprising:

receiving a command from an operator of the motor grader, the command being one of a steering command and an articulation command; and

in response to the command automatically articulating the frame and steering the steerable front wheels such that the at least one rear wheel does not track the at least one steerable front wheel, but the at least one rear wheel is parallel to the at least one steerable front wheel.

15. The method according to claim 14, further comprising receiving an operator selection of an automatic crab steer mode prior to receiving the command.

16. The method according to claim 14, wherein the command is an articulation command, and wherein automatically articulating the frame and steering the steerable front wheel includes generating a steering command based on the articulation command.

17. The method according to claim 14, wherein the command is a steering command, and wherein automatically articulating the frame and steering the steerable front wheel includes generating an articulation command based on the steering command.

18. A motor grader having an automatic crab steer function, the motor grader comprising:

at least one steerable front wheel mounted on a front portion of the motor grader;

at least one rear wheel attached to a rear portion of the motor grader that may be articulated relative to the front portion; and

a controller configured for receiving one of an operator steering command and an operator articulation command and in response generating both a steering command to steer the at least one front wheel and an articulation command to articulate the rear portion of the frame relative to the front portion, such that the at least one rear wheel become parallel to but do not track the at least one steerable front wheel.

19. The motor grader in accordance with claim 18, wherein the controller is further configured to allow the operator to override one or both of the steering command to steer the at least one front wheel and the articulation command to articulate the rear portion of the frame.

20. The motor grader in accordance with claim 18, wherein the controller is further configured to provide an alarm to the operator when the operator steering command or operator articulation command would exceed the ability of the motor grader to maintain a crab position.

21. The motor grader in accordance with claim 18, wherein the controller is further configured to exit the crab steer function if at least one parameter of the motor grader exceeds a preset threshold.