System and method for re-directing a ripping path

• US 9,002,593 B2
• Filed: 05/10/2013
• Issued: 04/07/2015
• Est. Priority Date: 05/10/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Clar, Jean-Jacques, Stanek, Daniel, Cowper, Lance, Becicka, Troy K., Funke, Brian G., Edara, Thandava K., Edwards, Kyle
• Primary Examiner(s): Cheung, Mary
• Assistant Examiner(s): Sweeney, Brian P
• Application Number:
  US13/891,865
• Publication Number:
  US 20140336881A1
• Time in Patent Office: 697 Days
• Field of Search: 701/50, 701/116, 701/36, 171/1, 171/2
• US Class Current: 701/50
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• CPC Class Codes: E02F 3/7604 Combinations of scraper blades with soil loosening tools working independently of scraper blades soil loosening attachments fixed on blades E02F3/8152, E02F3/8155
• CPC Class Codes: E02F 3/842 using electromagnetic, optical or photoelectric beams, e.g. laser beams
• CPC Class Codes: E02F 5/32 Rippers E02F5/106 takes precedence, ripper or scarifying teeth mounted on blades E02F3/8152; ripper tips E02F9/2875
• 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: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004

Abstract

A system for re-orienting a machine during a ripping operation includes a position sensing system, a ripper, and a controller. The system stores a ripping path, determines the position of the machine, and compares the position of the machine to the ripping path. A drawbar pull of the machine is determined, compared to a maximum steering drawbar pull, and the ripper is raised if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull. The machine is re-oriented and the ripper lowered relative to the work surface.

Claims

1. A system for re-orienting a machine during a ripping operation, comprising:

a position sensing system associated with the machine for generating data indicative of a position of the machine;

a pair of ground engaging tracks for propelling the machine;

a ripper on the machine configured to engage a work surface; and

a controller configured to;

store a ripping path;

determine the position of the machine based upon the data from the position sensing system;

compare the position of the machine to the ripping path;

determine a drawbar pull of the machine;

determine a maximum steering drawbar pull based upon a steering traction factor, the steering traction factor being within a range of approximately 0.3 to 0.65, the maximum steering drawbar pull being utilized when the machine is being re-oriented relative to the ripping path and being less than a maximum drawbar pull utilized when the machine is being steered in a straight line along the ripping path;

compare the drawbar pull to the maximum steering drawbar pull;

raise the ripper relative to the work surface if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull;

re-orient the machine relative to the ripping path by propelling the pair of ground engaging tracks at different speeds; and

lower the ripper relative to the work surface.

2. The system of claim 1, wherein the controller is further configured to compare the drawbar pull of the machine to a lower drawbar pull limit and raising the ripper relative to the work surface until the drawbar pull reaches the lower drawbar pull limit.

3. The system of claim 1, wherein the controller is further configured to move the machine towards the ripping path before lowering the ripper relative to the work surface.

4. The system of claim 3, further including a heading sensor system configured to determine a heading of the machine and the controller is further configured to determine a heading of the machine based upon the heading sensor system and to re-engage an automated ripping process if the machine is within a second predetermined distance from the ripping path and the heading is aligned with the ripping path.

5. The system of claim 4, wherein the second predetermined distance is less than the predetermined distance.

6. The system of claim 1, wherein the controller is configured to raise the ripper and move the machine rearwardly relative to the ripping path upon the machine moving a predetermined distance forward relative to the ripping path and without reaching the ripping path.

7. The system of claim 1, wherein the controller is further configured to determine a revised ripping path and the machine is re-oriented to follow the revised ripping path.

8. The system of claim 1, wherein the controller is further configured to determine the maximum steering drawbar pull based upon a coefficient of traction of the work surface.

9. The system of claim 8, wherein the controller is configured to determine the coefficient of traction of the work surface based upon empirical data in the controller gathered during operation of the machine.

10. The system of claim 1, wherein the controller is configured to re-orient the machine by changing relative speeds of ground-engaging drive mechanisms on opposite sides of the machine.

11. A controller-implemented method for re-orienting a machine during a ripping operation, comprising:

storing a ripping path;

determining a position of the machine based upon data from a position sensing system;

comparing the position of the machine to the ripping path;

determining a drawbar pull of the machine;

determining a maximum steering drawbar pull based upon a steering traction factor, the steering traction factor being within a range of approximately 0.3 to 0.65, the maximum steering drawbar pull being utilized when the machine is being re-oriented relative to the ripping path and being less than a maximum drawbar pull utilized when the machine is being steered in a straight line along the ripping path;

comparing the drawbar pull to a maximum steering drawbar pull;

raising a ripper on the machine relative to a work surface if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull;

re-orienting the machine relative to the ripping path by propelling a pair of ground engaging tracks at different speeds; and

lowering the ripper relative to the work surface.

12. The method of claim 11, further including comparing the drawbar pull of the machine to a lower drawbar pull limit and raising of the ripper relative to the work surface until the drawbar pull reaches the lower drawbar pull limit.

13. The method of claim 11, further including moving the machine towards the ripping path before lowering the ripper relative to the work surface.

14. The method of claim 11, further including determining a heading of the machine and re-engaging an automated ripping process if the machine is within a second predetermined distance from the ripping path and the heading is aligned with the ripping path.

15. The method of claim 14, wherein the second predetermined distance is less than the predetermined distance.

16. The method of claim 11, further including raising the ripper and moving the machine rearwardly relative to the ripping path upon the machine moving a predetermined distance forward relative to the ripping path and without reaching the ripping path.

17. The method of claim 11, further including determining the maximum steering drawbar pull based upon a coefficient of traction of the work surface.

18. The method of claim 17, further including determining the coefficient of traction of the work surface based upon empirical data in the controller gathered during operation of the machine.

19. A machine comprising:

a prime mover;

a position sensing system associated with the machine for generating data indicative of a position of the machine;

a pair of ground engaging tracks operatively connected to the prime mover for propelling the machine;

a ripper on the machine configured to engage a work surface; and

a controller configured to;

store a ripping path;

determine the position of the machine based upon data from the position sensing system;

compare the position of the machine to the ripping path;

determine a drawbar pull of the machine;

determine a maximum steering drawbar pull based upon a steering traction factor, the steering traction factor being within a range of approximately 0.3 to 0.65, the maximum steering drawbar pull being utilized when the machine is being re-oriented relative to the ripping path and being less than a maximum drawbar pull utilized when the machine is being steered in a straight line along the ripping path;

compare the drawbar pull to the maximum steering drawbar pull;

raise the ripper relative to the work surface if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull;

re-orient the machine relative to the ripping path by propelling the pair of ground engaging tracks at different speeds; and

lower the ripper relative to the work surface.