System and method for re-directing a ripping path
First Claim
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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.
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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.
10 Citations
19 Claims
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1. A system for re-orienting a machine during a ripping operation, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A controller-implemented method for re-orienting a machine during a ripping operation, comprising:
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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. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. A machine comprising:
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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.
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Specification