Method and apparatus for controlling the spatial orientation of the blade on an earthmoving machine

A blade control system is configured to control the spatial orientation of an earthmoving blade mounted on a frame of an earthmoving machine for working a surface of earth to a desired shape. The blade slope angle required to maintain a selected cross-slope angle is calculated and the blade slope is then controlled so that the sensed blade slope angle is substantially equal to the calculated blade slope angle. The method and apparatus of the present invention is capable of maintaining the desired cross-slope even when the motorgrader is steered through a turn. The control system includes an input circuit, a sensor system and a processor. The input circuit is arranged to generate an output signal representative of the desired shape of the surface of earth to be worked. The sensor system includes a first sensor coupled to the frame of the earthmoving machine to generate a first signal indicative of a longitudinal slope angle of the frame with respect to horizontal. The sensor system also includes a second sensor coupled to the frame to generate a second signal indicative of a turn angle of the frame relative to a direction of travel of the blade. The processor is electrically coupled to the input circuit and the sensor system and is programmed to control the spatial orientation of the blade in response to at least the output signal from the input circuit, the first signal from the first sensor and the second signal from said second sensor so as to maintain the selected cross-slope angle.

Abstract

A blade control system is configured to control the spatial orientation of an earthmoving blade mounted on a frame of an earthmoving machine for working a surface of earth to a desired shape. The blade slope angle required to maintain a selected cross-slope angle is calculated and the blade slope is then controlled so that the sensed blade slope angle is substantially equal to the calculated blade slope angle. The method and apparatus of the present invention is capable of maintaining the desired cross-slope even when the motorgrader is steered through a turn. The control system includes an input circuit, a sensor system and a processor. The input circuit is arranged to generate an output signal representative of the desired shape of the surface of earth to be worked. The sensor system includes a first sensor coupled to the frame of the earthmoving machine to generate a first signal indicative of a longitudinal slope angle of the frame with respect to horizontal. The sensor system also includes a second sensor coupled to the frame to generate a second signal indicative of a turn angle of the frame relative to a direction of travel of the blade. The processor is electrically coupled to the input circuit and the sensor system and is programmed to control the spatial orientation of the blade in response to at least the output signal from the input circuit, the first signal from the first sensor and the second signal from said second sensor so as to maintain the selected cross-slope angle.

1. Drawings

[0001]Sheet 1.

[0002]Sheet 2.

[0003]Sheet 3.

[0004]Sheet 4.

[0005]Sheet 5.