Apparatus and method for enhanced grading control
First Claim
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1. A digging machine, comprising:
- a tractor portion;
at least one boom arm portion operationally connected to the tractor portion;
a bucket arm portion operationally connected to the at least one boom arm portion;
a bucket portion having a flat portion and operationally connected to the bucket arm portion;
a boom hydraulic piston portion operationally connected to the at least one boom arm portion;
a bucket hydraulic piston portion operationally connected to the bucket portion;
a hydraulic fluid source operationally connected to each respective hydraulic piston portion; and
a hydraulic valve operationally connected to the boom hydraulic piston portion and to the hydraulic fluid source;
a microprocessor;
a display operationally connected to the microprocessor; and
a first sensor operationally connected to the bucket portion and to the microprocessor;
wherein each respective hydraulic piston portion has a respective first and a respective second hydraulic fluid port formed therethrough;
wherein the hydraulic valve may be engaged to connect the respective first and second hydraulic fluid ports formed through the boom hydraulic piston portion in direct hydraulic communication with one another;
wherein the microprocessor is operationally connected to the hydraulic fluid source, to the hydraulic valve, and to each respective hydraulic pistons; and
wherein the microprocessor may be engaged to assist movement of the bucket portion through a predetermined digging profile;
wherein the microprocessor is further operable to calculate an elevation and an angle of the bucket portion to determine a bucket position and a bucket orientation and control the bucket portion to maintain a predetermined orientation angle;
wherein the hydraulic valve may be actuated to vary a flow of fluid to the hydraulic valve; and
wherein actuation of the boom hydraulic piston portion to retract the bucket portion when the valve is open moves the flat portion in a horizontal line towards the tractor portion, while maintain the flat portion in a horizontal orientation.
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Abstract
A method of operating a digging machine, including damping the response of a boom hydraulic cylinder operationally connected to a boom arm and actuating a bucket hydraulic cylinder operationally connected to a bucket.
47 Citations
16 Claims
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1. A digging machine, comprising:
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a tractor portion; at least one boom arm portion operationally connected to the tractor portion; a bucket arm portion operationally connected to the at least one boom arm portion; a bucket portion having a flat portion and operationally connected to the bucket arm portion; a boom hydraulic piston portion operationally connected to the at least one boom arm portion; a bucket hydraulic piston portion operationally connected to the bucket portion; a hydraulic fluid source operationally connected to each respective hydraulic piston portion; and a hydraulic valve operationally connected to the boom hydraulic piston portion and to the hydraulic fluid source; a microprocessor; a display operationally connected to the microprocessor; and a first sensor operationally connected to the bucket portion and to the microprocessor; wherein each respective hydraulic piston portion has a respective first and a respective second hydraulic fluid port formed therethrough; wherein the hydraulic valve may be engaged to connect the respective first and second hydraulic fluid ports formed through the boom hydraulic piston portion in direct hydraulic communication with one another; wherein the microprocessor is operationally connected to the hydraulic fluid source, to the hydraulic valve, and to each respective hydraulic pistons; and wherein the microprocessor may be engaged to assist movement of the bucket portion through a predetermined digging profile; wherein the microprocessor is further operable to calculate an elevation and an angle of the bucket portion to determine a bucket position and a bucket orientation and control the bucket portion to maintain a predetermined orientation angle; wherein the hydraulic valve may be actuated to vary a flow of fluid to the hydraulic valve; and wherein actuation of the boom hydraulic piston portion to retract the bucket portion when the valve is open moves the flat portion in a horizontal line towards the tractor portion, while maintain the flat portion in a horizontal orientation. - View Dependent Claims (2, 5, 6, 7, 8, 10)
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3. A method of automatically controlled digging, comprising:
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connecting a fluidic input port and a fluidic outlet port of a boom hydraulic cylinder in fluidic communication with one another, wherein the boom hydraulic cylinder is operationally connected to a boom arm; energizing a bucket hydraulic cylinder operationally connected to a bucket to orient the bucket to a predetermined orientation relative to earth; displaying the locations of known underground objects to an operator; urging the bucket through earth; and displaying the position of the bucket relative to the known underground objects to the operator; sending a first signal from a sensor operationally connected to the bucket to an electronic controller; calculating a position and an orientation of the bucket; and sending a second signal from the electronic controller to the bucket hydraulic cylinder to move the bucket; wherein the bucket maintains the predetermined orientation as it moves through earth. - View Dependent Claims (4, 9, 13)
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11. A method of operating a digging machine, comprising:
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operationally connecting a sensor to a bucket having a flat portion with teeth extending therefrom; operationally connecting an electronic controller to the sensor and to each respective hydraulic cylinder; inputting a desired post excavation landscape contour into the electronic controller; inputting locations of underground objects into the electronic controller; automatically actuating a bucket hydraulic cylinder operationally connected to the bucket; automatically controlling the bucket hydraulic cylinder to dig within predetermined parameters; wherein the sensor is selected from the group comprising angle sensors, line sensors, accelerometers, inclinometers, gyroscopes GPS transceivers, and combinations thereof; wherein a predetermined orientation of the flat portion may be maintained while moving through earth; and wherein the flat portion may be moved in a straight line while its predetermined orientation is maintained. - View Dependent Claims (12, 14, 15, 16)
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Specification