Method and apparatus for controlling the direction of travel of an earthworking machine

• US 6,062,317 A
• Filed: 09/03/1999
• Issued: 05/16/2000
• Est. Priority Date: 09/03/1999
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gharsalli, Imed, Lombardi, Frank J.
• Primary Examiner(s): Novosad, Christopher J.
• Application Number:
  US09/389,709
• Time in Patent Office: 256 Days
• Field of Search: 172/2, 172/3, 172/4, 172/4.5, 701/50
• US Class Current: 172/2
• 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 3/845 using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
• CPC Class Codes: E02F 9/2029 Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

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.

Claims

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.

2. A method, as set forth in claim 1, wherein determining a deviation of the actual heading from the desired heading includes the step of determining the position of the earthworking machine as deviating from the straight line path coordinates.

3. A method, as set forth in claim 1, wherein the tilt angle of the implement is determined by detecting the position of each of a set of implement lift cylinders and responsively calculating the tilt angle.

4. A method, as set forth in claim 1, wherein the tilt angle of the implement is determined by detecting the position of each of a set of implement tilt cylinders and responsively calculating the tilt angle.

5. A method, as set forth in claim 1, further including the steps of:

determining a pressure applied to each of a left tilt cylinder and a right tilt cylinder;

comparing the left tilt cylinder pressure and the right tilt cylinder pressure;

determining a desired tilt angle of the implement as a function of a difference in pressure between the right tilt cylinder and the left tilt cylinder; and

controlling the tilt angle of the implement to the desired tilt angle.

6. An apparatus for controlling a direction of travel of an earthworking machine having an earthworking implement, comprising:

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.

7. An apparatus, as set forth in claim 6, wherein the machine position determining system is a global position satellite (GPS) system.

8. An apparatus, as set forth in claim 7, wherein the GPS system is adapted to determine a position and a heading of the earthworking machine.

9. An apparatus, as set forth in claim 6, wherein the heading controller is a PID controller.

10. An apparatus, as set forth in claim 6, wherein the heading controller is a fuzzy logic controller.

11. An apparatus, as set forth in claim 6, further including a cylinder position sensor located on each of a plurality of implement lift cylinders, wherein the tilt controller is adapted to monitor an actual tilt angle as a function of the cylinder position sensors.

12. An apparatus, as set forth in claim 11, wherein the tilt controller is further adapted to compare the actual tilt angle to the desired tilt angle and responsively control the tilt angle of the implement to the desired tilt angle.

13. An apparatus, as set forth in claim 6, further including a cylinder position sensor located on each of a plurality of implement tilt cylinders, wherein the tilt controller is adapted to monitor an actual tilt angle as a function of the cylinder position sensors.

14. An apparatus, as set forth in claim 13, wherein the tilt controller is further adapted to compare the actual tilt angle to the desired tilt angle and responsively control the tilt angle of the implement to the desired tilt angle.

15. An apparatus, as set forth in claim 6, further including:

a left tilt cylinder pressure sensor located on the left tilt cylinder;

a right tilt cylinder pressure sensor located on the right tilt cylinder; and

a timer located in the heading controller;

wherein the heading controller is adapted to compare the left tilt cylinder pressure, and the right tilt cylinder pressure at predetermined sampling time intervals, and responsively deliver a desired tilt angle signal to the tilt controller as a function of a difference between the left tilt cylinder pressure and the right tilt cylinder pressure.

16. An apparatus, as set forth in claim 15, wherein the tilt controller is adapted to control the tilt angle of the implement in response to receiving the desired tilt angle signal.

17. An apparatus, as set forth in claim 16, wherein the tilt controller is adapted to control the tilt angle of the implement during a time interval substantially less than the predetermined sampling time intervals.

18. An apparatus for controlling a direction of travel of an earthworking machine having an earthworking implement, comprising:

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.

19. An apparatus, as set forth in claim 18, further including means for detecting the position of each of a set of implement lift cylinders and responsively calculating the tilt angle.

20. An apparatus, as set forth in claim 18, further including means for detecting the position of each of a set of implement tilt cylinders and responsively calculating the tilt angle.

21. An apparatus, as set forth in claim 18, further including:

means for determining a pressure applied to each of a left tilt cylinder and a right tilt cylinder;

means for comparing the left tilt cylinder pressure and the right tilt cylinder pressure;

means for determining a desired tilt angle of the implement as a function of a difference in pressure between the right tilt cylinder and the left tilt cylinder; and

means for controlling the tilt angle of the implement to the desired tilt angle.