US20200173138A1 - Control system for a grading machine - Google Patents
Control system for a grading machine Download PDFInfo
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- US20200173138A1 US20200173138A1 US16/204,646 US201816204646A US2020173138A1 US 20200173138 A1 US20200173138 A1 US 20200173138A1 US 201816204646 A US201816204646 A US 201816204646A US 2020173138 A1 US2020173138 A1 US 2020173138A1
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- Prior art keywords
- blade
- grading
- pitch
- drawbar
- user
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/764—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being pivotable about a vertical axis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/7645—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being pivotable about a horizontal axis disposed parallel to the blade
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/765—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being pivotable about a horizontal axis disposed perpendicular to the blade
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/7654—Graders with the scraper blade mounted under the tractor chassis with the scraper blade being horizontally movable into a position near the chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/7636—Graders with the scraper blade mounted under the tractor chassis
- E02F3/7659—Graders with the scraper blade mounted under the tractor chassis with the vertical centre-line of the scraper blade disposed laterally relative to the central axis of the chassis
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2041—Automatic repositioning of implements, i.e. memorising determined positions of the implement
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
Definitions
- FIG. 2B is a front perspective view of the grading portion of the grading machine of FIG. 1 , according to aspects of this disclosure.
- FIG. 12 provides a flow chart depicting an exemplary method for controlling a grading portion of the grading machine for at least one cutting edge maintenance mode, according to aspects of this disclosure.
- motor grader 10 may be adjusted simultaneously or in combination in order for motor grader 10 to perform various operations.
- one or more of right lift cylinder 28 , left lift cylinder 30 , centershift cylinder 32 , linkbar 34 , circle drive motor 48 , blade pitch cylinder 52 , and sideshift cylinder 56 may be actuated or shifted in order to position one or more of blade 16 and drawbar 26 , as discussed below with respect to FIGS. 10-17B .
- motor grader 10 may include a plurality of hydraulic lines 60 in order to control the hydraulic cylinders.
- Motor grader 10 may include a hydraulic pump (not shown).
- the hydraulic pump may supply high pressure hydraulic fluid through one or more of hydraulic lines 60 to one or more of the hydraulic cylinders.
- a low pilot pressure may be provided by a hydraulic pressure reducing valve, which can receive the high pressure hydraulic fluid and supply low pilot pressure to each hydraulic cylinder.
- each hydraulic cylinder may include an electrical solenoid and one or more hydraulic valves.
- the solenoid may receive one or more signals from controller 102 to control and position each hydraulic cylinder by configuring the flow of hydraulic fluid through the valves.
- the delivery of the hydraulic fluid may be controlled by controller 102 , for example, via one or more user interfaces 104 .
- Controller 102 may be in communication a circle angle actuator 130 , which may control circle drive motor 48 . Controller 102 may also be in communication with a blade pitch actuator 132 , which may control blade pitch cylinder 52 . In addition, controller 102 may be in communication with a blade sideshift actuator 134 , which may control sideshift cylinder 56 .
- An operator may select the blade angle selection mode, and user interface 104 may then display the plurality of predetermined blade angles, for example, with individual selectable icons.
- the blade angle selection mode may allow an operator to numerically input a specific blade angle.
- the selected blade angle may be transmitted from user interface 104 to controller 102 ( FIG. 3 ).
- motor grader 10 may set the position of blade 16 to the selected blade angle.
- controller 102 may receive information from circle angle sensor 50 related to the current position of circle 46 , and thus the current angle of blade 16 (assuming drawbar 24 is aligned with front frame 12 ). If there is a difference between the current angle of blade 16 and the selected blade angle, controller 102 may signal circle angle actuator 130 to adjust the position of circle 46 (e.g., by actuating circle drive motor 48 ) such that blade 16 is positioned in the selected blade angle.
- Step 404 may also include indicating on user interface 104 that blade 16 has been positioned in the selected blade angle.
- FIG. 7B illustrates blade 16 with a blade pitch of approximately ten degrees forward, which may correspond to a general or neutral grading position.
- top edge 38 may be approximately two inches forward of cutting edge 36 .
- This position may be used in a finish grading operation and may help to promote efficient rolling of the material being graded by positioning cutting edge 36 approximately parallel to the surface being traversed. This position may be the optimum position for most grading operations, and may result in a moderate amount of wear on cutting edge 36 .
- FIGS. 9A and 9B are front views of motor grader 10 with blade 16 positioned in various blade sideshift positions. It is noted that various components of motor grader 10 are omitted in FIGS. 9A and 9B for clarity.
- FIG. 9A shows blade 16 in a centered position relative to motor grader 10 and front frame 12 . The centered position may be selected to provide a centered reference point when positioning motor grader 10 or transporting motor grader 10 over the worksite, since blade 16 is centered relative to the width of motor grader 10 .
- FIG. 9B shows blade 16 in an extended position relative to motor grader 10 and front frame 12 . The extended position of FIG.
- FIG. 15B shows a front view of motor grader 10 in the second ditching mode with blade 16 and drawbar 26 extended to the right side of motor grader 10 .
- the second ditching mode may be used to form a back slope.
- linkbar 34 may be side-shifted as discussed above, and drawbar centershift cylinder 32 may be extended far right of motor grader 10 in order to extend drawbar 26 far right.
- Right lift cylinder 28 and left lift cylinder 20 may be extended as well.
- Circle drive motor 48 may rotate circle 46 approximately 45 degrees, and sideshift cylinder 56 may sideshift blade 16 to the right. As shown in FIG.
- FIGS. 16, 17A, and 17B illustrate various aspects of this disclosure related to steering motor grader 10 and positioning blade 16 and drawbar 26 to perform an automatic turnaround operation.
- FIG. 16 is a flow diagram portraying an exemplary method 1600 that may be performed by control system 100 to steer motor grader 10 and position drawbar 26 and blade 16 to perform an automatic turnaround operation.
- Method 1600 includes a step 1602 , where motor grader 10 may receive a operator input (e.g., through user interface 104 ) to perform an automatic turnaround operation.
- the instructions and/or the configurations for an automatic turnaround operation may be stored in the memory of controller, and may be transmitted to user interface 104 .
- user interface 104 may include an automatic turnaround mode icon displayed on a home screen.
- Controller 102 may be coupled to one or more additional sensors to detect whether there is a safe area around motor grader 10 to perform the automatic turnaround. Alternatively or additionally, controller 102 may display a prompt on user interface asking the operator to check and confirm that the area around motor grader 10 is safe for the automatic turnaround.
- blade 16 and drawbar 26 may be centered relative to front frame 12 and rear frame 14 .
- performing the automatic turnaround may include controller 102 steering wheels 18 , actuating articulation actuators 138 to articulate front frame 12 relative to rear frame 12 , and/or actuating wheel lean actuators 136 to control a wheel lean (lean left in a left turn and lean right in a right turn) in order to position motor grader 12 in a direction opposite to the original direction.
- the automatic turnaround may include steering motor grader 10 in a partial circle ( FIG. 17B ).
- controller 102 may signal motor grader 10 to begin performing the grading operation with the selected configuration.
- the operator may actuate one or more controls (e.g., a joystick, foot pedal, steering wheel, etc.) to steer and drive motor grader 10 .
- motor grader 10 may be used in any grading or sculpting machine to assist in positioning of one of blade 16 , drawbar 26 , circle 46 , or other elements, and may help an inexperienced operator perform one or more complex or complicated maneuvers. Because controller 102 is coupled to the plurality of sensors and actuators, motor grader 10 may more accurately position blade 16 , drawbar 26 , or circle 46 to one or more predetermined positions.
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Abstract
Description
- The present disclosure relates generally to a grading machine, and more particularly, to a control system for a grading machine.
- The present disclosure relates to mobile machines that are used in grading. Grading machines are typically used to cut, spread, or level material that forms a ground surface. To perform such earth sculpting tasks, grading machines include a blade, also referred to as a moldboard or implement. The blade moves relatively small quantities of earth from side to side, in comparison to a bulldozer or other machine that moves larger quantities of earth. Grading machines are frequently used to form a variety of final earth arrangements, which often require the blade to be positioned in different positions and/or orientations depending on the sculpting task. The different blade positions may include adjustments to the blade height, blade cutting angle, blade pitch, blade sideshift, and drawbar sideshift. Accordingly, grading machines may include several operator controls to manipulate various portions of the machine. Positioning and orienting the blade of a motor grader is a complex and time consuming task that may require a great deal of experience and/or expertise.
- U.S. Pat. No. 5,078,215, issued to Nau on Jan. 7, 1992 (“the '215 patent”), describes a method and apparatus for controlling the slope of a blade for a grading machine. The '215 patent allows an operator to select a desired cross slope angle of the surface bring worked. A control system then measures a slope angle of the blade and adjusts the slope angle of the blade as needed in order for the blade to maintain the desired slope angle to form the selected cross slope angle as the blade traverses the surface. The blade positioning and adjustment method and system of the '215 patent may not provide sufficient positioning or orienting options, and thus, may not provide an inexperienced operator with the ability to perform various operations with the grading machine. The control system for a grading machine of the present disclosure may solve one or more of the problems set forth above and/or other problems in the art. The scope of the current disclosure, however, is defined by the attached claims, and not by the ability to solve any specific problem.
- In one aspect, a grading machine may include a machine body, a grading blade, a drawbar connecting the grading blade and the circle to the machine body, a blade pitch cylinder coupled to a top portion of the grading blade, a user interface, and a control system. The control system may be configured to receive an input from the user interface and extend or retract the blade pitch cylinder to adjust a pitch of the grading blade to one of a plurality of predetermined pitch positions based on the input.
- In another aspect, a method of operating a grading machine may include sensing a pitch of a grading blade with a sensor, and receiving a user input to position the grading blade to a user-selected pitch, where the user-selected pitch is one of a plurality of predetermined pitches. The method may also include positioning the grading blade to the user-selected pitch by positioning a blade pitch cylinder.
- In a further aspect, a method of operating a grading machine may include receiving a user input to position a grading blade to a user-selected orientation, where the user-selected orientation is one of a plurality of predetermined pitches, and positioning the grading blade to the user-selected orientation by extending or retracting a blade pitch cylinder. The method may also include beginning a grading operation, sensing the orientation of the grading blade, and if the sensed orientation is not the user-selected orientation, automatically adjusting the orientation of the grading blade to the user-selected orientation.
- The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate various exemplary embodiments and together with the description, serve to explain the principles of the disclosed embodiments.
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FIG. 1 is an illustration of an exemplary grading machine, according to aspects of this disclosure. -
FIG. 2A is a rear perspective view of a grading portion of the grading machine ofFIG. 1 , according to aspects of this disclosure. -
FIG. 2B is a front perspective view of the grading portion of the grading machine ofFIG. 1 , according to aspects of this disclosure. -
FIG. 2C illustrates an enlarged view of the linkbar system of the grading machine ofFIG. 1 , according to aspects of this disclosure. -
FIG. 3 illustrates a schematic view of a portion of a control system for the exemplary grading machine ofFIG. 1 , according to aspects of this disclosure. -
FIG. 4 provides a flow chart depicting an exemplary method for controlling a circle angle of a grading machine, according to aspects of this disclosure. -
FIGS. 5A-5D are perspective views of the exemplary grading machine with various circle angle positions, according to aspects of this disclosure. -
FIG. 6 provides a flow chart depicting an exemplary method for controlling a blade pitch of a grading machine, according to aspects of this disclosure. -
FIGS. 7A-7C are side views of the grading portion of the grading machine with various blade pitch positions, according to aspects of this disclosure. -
FIG. 8 provides a flow chart depicting an exemplary method for controlling a blade sideshift of a grading machine, according to aspects of this disclosure. -
FIGS. 9A and 9B are front views of the exemplary grading machine with various blade sideshift positions, according to aspects of this disclosure. -
FIG. 10 provides a flow chart depicting an exemplary method for controlling a drawbar centershift of a grading machine, according to aspects of this disclosure. -
FIGS. 11A-11C are front views of the exemplary grading machine with various drawbar centershift positions, according to aspects of this disclosure. -
FIG. 12 provides a flow chart depicting an exemplary method for controlling a grading portion of the grading machine for at least one cutting edge maintenance mode, according to aspects of this disclosure. -
FIG. 13 is a side view of the exemplary grading machine with the grading portion in a cutting edge maintenance mode, according to aspects of this disclosure. -
FIG. 14 provides a flow chart depicting an exemplary method for controlling a grading portion of the grading machine for one or more ditching modes, according to aspects of this disclosure. -
FIGS. 15A-15D are perspective views of the exemplary grading machine with the grading portion in various ditching modes, according to aspects of this disclosure. -
FIG. 16 provides a flow chart depicting an exemplary method for controlling a grading portion of the grading machine for one or more machine turnaround modes, according to aspects of this disclosure. -
FIGS. 17A and 17B are top views of the exemplary grading machine performing a machine turnaround mode, according to aspects of this disclosure. -
FIG. 18 is an illustration of an exemplary display that may be displayed on a user interface to control or position portions of the grading machine, according to aspects of this disclosure. -
FIG. 19 is an illustration of another exemplary display that may be displayed on a user interface to control or position portions of the grading machine, according to aspects of this disclosure. - Both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the features, as claimed. As used herein, the terms “comprises,” “comprising,” “has,” “having,” “includes,” “including,” or other variations thereof, are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements, but may include other elements not expressly listed or inherent to such a process, method, article, or apparatus.
- For the purpose of this disclosure, the term “ground surface” is broadly used to refer to all types of surfaces or earthen materials that may be worked in construction procedures (e.g., gravel, clay, sand, dirt, etc.) and/or can be cut, spread, sculpted, smoothed, leveled, graded, or otherwise treated. In this disclosure, unless stated otherwise, relative terms, such as, for example, “about,” “substantially,” and “approximately” are used to indicate a possible variation of ±10% in a stated value. Although the current disclosure is described with reference to a motor grader, this is only exemplary. In general, the current disclosure can be applied as to any machine, such as, for example, a plow, scraper, dozer, or another grading-type machine.
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FIG. 1 illustrates a perspective view of an exemplary motor grader machine 10 (hereinafter “motor grader”), according to the present disclosure.Motor grader 10 includes afront frame 12, arear frame 14, and ablade 16.Front frame 12 andrear frame 14 are supported bywheels 18. Anoperator cab 20 may be mounted above a coupling offront frame 12 andrear frame 14, and may include various controls, display units, touch screens, or user interfaces, for example,user interface 104, to operate or monitor the status of themotor grader 10.Rear frame 14 also includes anengine 22 to drive or power themotor grader 10.Blade 16, sometimes referred to as a moldboard, is used to cut, spread, or level (collectively “sculpt”) earth or other material traversed bymachine 10. As shown in greater detail inFIGS. 2A and 2B ,blade 16 is mounted on a linkage assembly, shown generally at 24. Linkage assembly 24 allowsblade 16 to be moved to a variety of different positions and orientations relative tomotor grader 10, and thus sculpt the traversed material in different ways. - Additionally, a
controller 102 may be in communication with one or more controls, for example.user interface 104, either in cab 20 (FIG. 1 ) or remote frommotor grader 10. In one aspect,motor grader 10 may be an electrohydraulic motor grader, andcontroller 102 may control one or more electrical switches or valves in order to control one or more hydraulic cylinders or electrical elements in order to operatemotor grader 10. As discussed in detail below,controller 102 may receive one or more operator inputs and accordingly control or position various components ofmotor grader 10. - Starting at the front of the
motor grader 10 and working rearward toward theblade 16, linkage assembly 24 includes adrawbar 26.Drawbar 26 is pivotably mounted to thefront frame 12 with a ball joint (not shown). The position ofdrawbar 26 may be controlled by hydraulic cylinders, including, for example, aright lift cylinder 28, aleft lift cylinder 30, acentershift cylinder 32, and alinkbar 34. A height ofblade 16 with respect to the surface being traversed belowmotor grader 10, commonly referred to as blade height, may be primarily controlled and/or adjusted withright lift cylinder 28 and leftlift cylinder 30.Right lift cylinder 28 and leftlift cylinder 30 may be controlled independently and, thus, may be used to tilt a bottom ofblade 16, which includes abottom cutting edge 36 and atop edge 38. Based on the positions ofright lift cylinder 28 and leftlift cylinder 30, cuttingedge 36 may be tilted relative to the traversed material, so liftcylinders blade 16 in order to measure a vertical tilt ofblade 16 from one end to another end relative tofront frame 12. -
Centershift cylinder 32 andlinkbar 34 may be used primarily to shift a lateral position ofdrawbar 26, and any components mounted todrawbar 26, relative tofront frame 12. This lateral shifting is commonly referred to as drawbar centershift. As discussed in more detail inFIG. 2C ,centershift cylinder 32 may include acylinder end 78 pivotably coupled todrawbar 26, and arod end 80 pivotably coupled tolinkbar 34.Linkbar 34 may include a plurality of position holes 70 for selectively positioninglinkbar 34 to the left or right to allow for further shifting ofdrawbar 26 to a left or right side of themotor grader 10 bycentershift cylinder 32. One or more drawbar centershift sensors 42 (e.g., inertial measurement units, linear position sensors on one or more cylinders, etc.) may be mounted on or otherwise coupled to centershift cylinder 32 (FIGS. 2A and 2B ) or may be mounted on or otherwise coupled todrawbar 26 in order to measure a position ofdrawbar 26 relative tofront frame 12. Furthermore, although not shown, each ofright lift cylinder 28,left lift cylinder 30, andcentershift cylinder 32 may include one or more position sensors operably coupled to the respective moving cylinders or rods to measure and communicate the extension or position of each cylinder, and thus a corresponding position or orientation ofdrawbar 26 andblade 16. -
Drawbar 26 includes a large, flat plate, commonly referred to as ayoke plate 44, as shown inFIGS. 2A and 2B . Beneathyoke plate 44 is a large gear, commonly referred to as acircle 46.Circle 46 may be rotated by a hydraulic motor, for example by acircle drive motor 48, as shown inFIG. 2B . The rotation ofcircle 46 bycircle drive motor 48, commonly referred to as circle angle, pivotsblade 16 about an axis A (FIG. 1 ) fixed to drawbar 24 to establish a blade cutting angle. The blade cutting angle is defined as the angle ofblade 16 relative tofront frame 12, and the blade cutting angle may be controlled by a combination of the position ofcircle 46 and the position ofdrawbar 26. -
Circle 46 andblade 16 may be coupled viasupport arms 39 andsupport plate 41.Blade 16 may be coupled to supportplate 41 by a plurality ofremovable screws 43, for example, in order to replaceblade 16 or a portion ofblade 16.Circle 46 andblade 16 may be rotated up to approximately 75 degrees clockwise or counterclockwise relative tofront frame 12 about axis A. At a 0 degree blade cutting angle,blade 16 is arranged at a right angle to thefront frame 12. Additionally, acircle angle sensor 50, for example, a rotary sensor, inertial measurement unit, etc., may be positioned oncircle 46 to measure an angular rotation ofcircle 46, and thus an angle ofblade 16. In one aspect,circle angle sensor 50 may be mounted in a centered position oncircle 46. In another aspect,circle angle sensor 50 may be mounted in an off-centered position oncircle 46, andcircle angle sensor 50 or other internal components ofmotor grader 10 may be used to calculate the position ofcircle 46 andblade 16 based on a compensation or correction to account for the off-centered position ofcircle angle sensor 50. For example,circle 46 andblade 16 may be positioned at various angles in order to perform various grading operations, as discussed below with respect toFIGS. 4 and 5A-5D . -
Blade 16 is pivotably mounted tocircle 46, for example, with a portion ofblade 16 being movable in a direction parallel to the surface being traversed and in a direction transverse to cuttingedge 36 ofblade 16. Ablade pitch cylinder 52 may be coupled totop edge 38 ofblade 16, and may be used to control or adjust a pitch oftop edge 38 forward or backward. In other words,blade pitch cylinder 52 may be used to tiptop edge 38 ofblade 16 ahead of or behind cuttingedge 36 ofblade 16. The position oftop edge 38 ofblade 16 relative to cuttingedge 36 ofblade 16 is commonly referred to as blade pitch. In one aspect,blade pitch cylinder 52 may control a blade pitch ofblade 16 within a range of 45 degrees, for example, from a position of negative five degrees withtop edge 38 behind cuttingedge 36, to a position of positive 40 degrees withtop edge 38 ahead of cuttingedge 36. Additionally, ablade pitch sensor 54, for example, an inertial measurement unit, may be positioned onblade 16, for example, ontop edge 38. In other aspects, one or moreblade pitch sensors 54 may include a rotary sensor onblade 16 or a linear displacement sensor coupled toblade pitch cylinder 52.Blade pitch sensor 54 may detect the blade pitch, andblade 16 may be positioned in various blade pitches in order to perform various grading operations, as discussed below with respect toFIGS. 6 and 7A-7C . -
Blade 16 may be mounted todrawbar 26 and/orcircle 46 via a sliding joint. For example, asideshift cylinder 56 andsideshift rod 56A may control the position ofblade 16 relative to drawbar 26 and/orcircle 46.Sideshift cylinder 56 may be positioned betweensupport arms 39, andsupport rod 56A may be coupled to supportplate 41. Thus, drivingsideshift rod 56A relative tosideshift cylinder 56 slides or shiftsblade 16 from side to side relative to drawbar 26 andcircle 46. This side to side shift is commonly referred to as blade sideshift. Additionally, a blade sideshift sensor 58 (e.g., a linear displacement sensor) may be coupled tosideshift cylinder 56 to measure a position ofsideshift cylinder 56, and thus ofblade 16, relative todrawbar 26 andcircle 46. For example,sideshift cylinder 56 andblade 16 may be positioned at various sideshift positions in order to perform various grading operations, as discussed below with respect toFIGS. 8, 9A, and 9B . - As shown in
FIGS. 1 and 2A-2C ,linkbar 34 is a generally straight member that includes a plurality of position holes 70 extending therethrough.Linkbar 34 is secured to bothfront frame 12 anddrawbar 26. For example, as best shown inFIG. 2C ,linkbar 34 may be secured tofront frame 12 by left and rightlift cylinder arms linkbar pin 76. Left and rightlift cylinder arms front frame 12 and to thelinkbar 34 at outer position holes 70 oflinkbar 34.Linkbar pin 76 extends through one of the position holes 70 oflinkbar 34 to form a fulcrum forlinkbar 34. As noted above,centershift cylinder 32 may couple linkbar 34 to drawbar 26 by acylinder end 78 pivotably coupled todrawbar 26, and arod end 80 ofcentershift cylinder 32 pivotably coupled to anouter position hole 70 oflinkbar 34. -
Linkbar pin 76 is controllable by a pin actuator 82 (FIG. 2A ), such as a hydraulic or solenoid actuator, to extend and retract so as to allow for shifting of the fulcrum of thelinkbar 34 to the left or right via engaging thelinkbar pin 76 into different position holes 70 oflinkbar 34. For example, during more standard motor grader operations where theblade 16 is generally centrally located under themotor grader 10,linkbar pin 76 may extend into thecenter-most position hole 84 of thelinkbar 34 to form a centrally located fulcrum oflinkbar 34. However, some modes ofmotor grader 10 may require theblade 16 to extend significantly to one side of themotor grader 10. In these situations, (1) thelinkbar pin 76 can be retracted out from the centrally locatedposition hole 84, (2) thelinkbar 34 can be shifted to a side by movement of thecentershift cylinder 32 and in some instances movement oflift cylinders linkbar pin 76 can be extended into a new anew position hole 70 that is to one side of the centrally locatedposition hole 84. The position of thelinkbar 34, corresponding to which position hole thelinkbar pin 76 is engaging, can be determined by any conventional linkbar position sensor 86, such as an IMU as discussed herein. As will be discussed in more detail below, this side shifting of thelinkbar 34 can be done automatically at the request of the operator or automatically as part of an automatic mode movement. - Furthermore, various portions of
motor grader 10 may be adjusted simultaneously or in combination in order formotor grader 10 to perform various operations. For example, one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,linkbar 34,circle drive motor 48,blade pitch cylinder 52, andsideshift cylinder 56 may be actuated or shifted in order to position one or more ofblade 16 anddrawbar 26, as discussed below with respect toFIGS. 10-17B . - As shown in
FIGS. 1, 2A, and 2B ,motor grader 10 may include a plurality ofhydraulic lines 60 in order to control the hydraulic cylinders.Motor grader 10 may include a hydraulic pump (not shown). The hydraulic pump may supply high pressure hydraulic fluid through one or more ofhydraulic lines 60 to one or more of the hydraulic cylinders. A low pilot pressure may be provided by a hydraulic pressure reducing valve, which can receive the high pressure hydraulic fluid and supply low pilot pressure to each hydraulic cylinder. Additionally, each hydraulic cylinder may include an electrical solenoid and one or more hydraulic valves. The solenoid may receive one or more signals fromcontroller 102 to control and position each hydraulic cylinder by configuring the flow of hydraulic fluid through the valves. The delivery of the hydraulic fluid may be controlled bycontroller 102, for example, via one ormore user interfaces 104. - Additionally,
front frame 12 andrear frame 14 may be articulated relative to one another during operation ofmotor grader 10 at a pivotable coupling orlinkage 62, for example, belowcab 20. Although not shown, articulation cylinders may be mounted on the left and right sides ofrear frame 14, and may be used to articulate (or rotate)front frame 12. Withfront frame 12 andrear frame 14 aligned, as shown inFIGS. 1, 9A, 9B, 17A, and 17B ,motor grader 10 is positioned in a neutral or zero articulation angle. Various other articulation angles may be used when grading inclined or banked surfaces or when forming inclined or banked surfaces (i.e., ditches). Although not specifically discussed herein, it is further contemplated that a control system 100 (FIG. 3 ) may allow an operator to monitor an articulation betweenfront frame 12 andrear frame 14, for example, via sensors on the articulation cylinders. Furthermore,user interface 104 may allow the operator to select one or more predetermined articulation positions, andcontroller 102 may signal one or more actuators coupled to the articulation cylinders to position the articulation cylinders, and thus positionfront frame 12 relative torear frame 14. -
FIG. 3 illustrates an exemplary schematic view of acontrol system 100 ofmotor grader 10.Control system 100 may include one ormore controllers 102 in communication with a plurality of sensors, one or more controls oruser interfaces 104, one or more engine sensors 106 (i.e., gear sensor, speed sensor, etc.), and a plurality of actuators. The communication may be wired or wireless, for example, via Bluetooth®, Wi-Fi, radio frequency, etc. - As shown in
FIG. 3 , and as discussed above,control system 100 may includeblade tilt sensor 40,drawbar centershift sensor 42,circle angle sensor 50,blade pitch sensor 54, andsideshift sensor 58. Additionally,control system 100 may include amainfall sensor 108 that measures an angle or pitch ofmotor grader 10.Control system 100 may include one or more wheellean sensors 110 coupled towheels 18 or other portions of the wheels to measure a wheel lean of one ormore wheels 18.Control system 100 may include one ormore articulation sensors 112 coupled tofront frame 12 and/orrear frame 14 to measure an articulation betweenfront frame 12 andrear frame 14. Furthermore,control system 100 may include one or more leftblade lift sensors 114 and one or more rightblade lift sensors 116. Left and rightblade lift sensors left lift cylinder 30 and right lift cylinder 28 (FIG. 1 ), and may confirm or otherwise be related to a measured blade tilt, for example, viablade tilt sensor 40. It is understood that each of these sensors and any other sensor discussed herein may be an inertial measurement unit mounted on one or more components, an angular position or rotary sensor mounted on one or more components, a linear displacement sensor coupled to the moving cylinder or rod of a hydraulic sensor, or any other suitable sensor. - In addition,
control system 100 may include asteering input sensor 118, which may be coupled to a steering wheel, joystick, or other control mechanism for steeringmotor grader 10. Based on the sensed input via steeringinput sensor 118,controller 102 may signal one or more actuators to control the steering, articulation, wheel lean, etc. ofmotor grader 10.Control system 100 may also include asteering angle sensor 120, which may measure an actual steering angle or direction ofmotor grader 10. - As noted above,
control system 100 may also include alinkbar position sensor 122 that senses the position of thelinkbar 34, and in particular, the current position of thelinkbar 34 corresponding to whichposition hole 70 currently receives thelinkbar pin 76.Controller 102 may also be coupled tolinkbar pin actuator 82 that controls the extension and retraction of thelinkbar pin 76 during side shifting of thelinkbar 34. - Based on information from the aforementioned sensors, and as mentioned above,
controller 102 may be in communication with a plurality of actuators. Each of the actuators discussed herein may be a control valve for the respective hydraulic cylinder, an electric actuator, or any suitable actuator. Moreover, the actuators may include various combinations of the aforementioned actuators. For example,controller 102 may be in communication with one or more leftblade lift actuators 124 and one or more rightblade lift actuators 126. Left and rightblade lift actuators right lift cylinder blade 16. Moreover,controller 102 may be in communication with one or more drawbar centershift actuators 128, which may control a position ofcentershift cylinder 32. -
Controller 102 may be in communication acircle angle actuator 130, which may controlcircle drive motor 48.Controller 102 may also be in communication with ablade pitch actuator 132, which may controlblade pitch cylinder 52. In addition,controller 102 may be in communication with ablade sideshift actuator 134, which may controlsideshift cylinder 56. -
Controller 102 may further be in communication with one or more wheellean actuators 136, which may control a wheel lean ofwheels 18 coupled tofront frame 12 andrear frame 14.Controller 102 may also be in communication with anarticulation actuator 138, which may control one or more articulable connections betweenfront frame 12 andrear frame 14 to control the articulation ofmotor grader 10. - Although only a number of sensors, actuators, and inputs are discussed with respect to
FIG. 3 , this disclosure is not so limited. Rather,control system 100 may include additional sensors and actuators in communication withcontroller 102 in addition to the sensors and actuators mentioned above in order to measure and control various aspects ofmotor grader 10. Furthermore, based on the information from the plurality of sensors and/or based on operator inputs or controls,controller 102 may automatically signal one or more the actuators to control various portions ofmotor grader 10. For example,controller 102 may determine a first position and/or a first orientation ofblade 16 based on the information received from one or more ofblade tilt sensor 40,circle angle sensor 50,blade pitch sensor 54,sideshift sensor 58, leftblade lift sensor 114, and rightblade lift sensor 116. As discussed in greater detail below, for example, with respect toFIGS. 18 and 19 , based on operator input or selection of a particular mode of operation (i.e., via user interface 104),controller 102 may adjustblade 16 from the first position and/or first orientation to a second position and/or a second orientation by signaling one or more of leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132, orblade sideshift actuator 134.Controller 102 may also direct, steer, articulate, or otherwise controlmotor grader 10. -
FIGS. 4 and 5A-5D illustrate various aspects of this disclosure related to adjusting the angle ofblade 16. For example,FIG. 4 is a flow diagram portraying an exemplary bladeangle adjustment method 400 that may be performed bycontrol system 100 to positionblade 16.Method 400 includes astep 402, wheremachine 10 may receive an operator input (e.g., through user interface 104) toposition blade 16 in one of a plurality of predetermined blade angles. The predetermined blade angles may be stored in a memory ofcontroller 102 and transmitted touser interface 104. For example,user interface 104 may include a blade angle icon displayed on a home screen for a blade angle selection mode. An operator may select the blade angle selection mode, anduser interface 104 may then display the plurality of predetermined blade angles, for example, with individual selectable icons. Alternatively, the blade angle selection mode may allow an operator to numerically input a specific blade angle. The selected blade angle may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 404,motor grader 10 may set the position ofblade 16 to the selected blade angle. For example,controller 102 may receive information fromcircle angle sensor 50 related to the current position ofcircle 46, and thus the current angle of blade 16 (assuming drawbar 24 is aligned with front frame 12). If there is a difference between the current angle ofblade 16 and the selected blade angle,controller 102 may signal circle angle actuator 130 to adjust the position of circle 46 (e.g., by actuating circle drive motor 48) such thatblade 16 is positioned in the selected blade angle. Step 404 may also include indicating onuser interface 104 thatblade 16 has been positioned in the selected blade angle. - In a
step 406,motor grader 10 may perform a grading operation. Step 406 may include receiving an operator input, for example, viauser interface 104, a joystick, pedal, etc., to advance along a path. The path may be pre-programmed or operator controlled (e.g., via a steering wheel). During the grading operation, step 406 may include monitoring the blade angle viacircle angle sensor 50 to ensure thatblade 16 maintains the selected blade angle during the grading operation. For example, ifcircle angle sensor 50 detects a position ofcircle 46 other than the position that corresponds to the selected blade angle,controller 102 may signal circle angle actuator 130 to operatecircle drive motor 48 to returncircle 46 to the appropriate position. - In a
step 408, the operator may override the selected blade angle or end the grading operation. For example,controller 102 may indicate an error or warning condition, or the operator may repeatstep 402 and select a different blade angle from the plurality of predetermined blade angles, may activate a manual control, may deactivatemotor grader 10, etc. -
FIGS. 5A-5D are perspective views ofmotor grader 10 with various blade angles. It is noted that various components ofmotor grader 10 are omitted inFIGS. 5A-5D for clarity. InFIG. 5A ,blade 16 is positioned at an angle of approximately 0 to 10 degrees. The blade angle ofFIG. 5A may correspond to a spreading operation (e.g., gravel, dirt, etc.). InFIG. 5B ,blade 16 is positioned at an angle of approximately 10 to 30 degrees. The blade angle ofFIG. 5B may correspond to a light grading operation. InFIG. 5C ,blade 16 is positioned at an angle of approximately 30 to 45 degrees. The blade angle ofFIG. 5C may correspond to a moderate or finish grading operation. InFIG. 5D ,blade 16 is positioned at an angle of approximately 60 degrees. The blade angle ofFIG. 5D may correspond to an aggressive grading or cutting operation. The blade angles shown inFIGS. 5A-5D may be displayed onuser interface 104 with selectable icons or images of their configurations, words descriptive of the various functions (e.g., “spreading,” “light grading,” “finish grading,” cutting,” etc.), or other indicators. As mentioned above,circle 46, and thusblade 16, may be positioned at any number of operator-defined positions, for example, viauser interface 104. Furthermore, circle angle sensor 50 (FIG. 2B ) may help to preventblade 16 from being positioned at such an angle whereblade 16 may contact or otherwise interfere withwheels 18. For example,circle angle sensor 50 is in communication withcontroller 102, and may indicate a warning if the operator-defined position would positionblade 16 at an angle whereblade 16 may contactwheels 18 or other portions ofmotor grader 10. In one aspect,circle angle sensor 50 andcontroller 102 may preventcircle angle actuator 130 andcircle drive motor 48 from positioningcircle 46 at a position whereblade 16 may contactwheels 18 or other portions ofmotor grader 10. -
FIGS. 6 and 7A-7C illustrate various aspects of this disclosure related to adjusting the pitch ofblade 16. For example,FIG. 6 is a flow diagram portraying an exemplary bladepitch adjustment method 600 that may be performed bycontrol system 100 to positionblade 16.Method 600 includes astep 602, wheremachine 10 may receive an operator input (e.g., through user interface 104) toposition blade 16 in one of a plurality of predetermined blade pitches. For example,user interface 104 may include a blade pitch icon displayed on a home screen for a blade pitch selection mode. An operator may select the blade pitch selection mode, anduser interface 104 may then display the plurality of predetermined blade pitches, for example, with individual selectable icons. The predetermined blade pitches may be stored in the memory ofcontroller 102 and transmitted touser interface 104. Alternatively, the blade pitch selection mode may allow an operator to numerically input a specific blade pitch. The selected blade pitch may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 604,motor grader 10 may set the position ofblade 16 to the selected blade pitch. For example,controller 102 may receive information fromblade pitch sensor 54 related to the current orientation ofblade 16, and thus the current pitch ofblade 16. If there is a difference between the current pitch ofblade 16 and the selected blade pitch,controller 102 may signalblade pitch actuator 132 to adjust theblade pitch cylinder 52 such thatblade 16 is positioned in the selected blade pitch. Step 604 may also include indicating onuser interface 104 thatblade 16 has been positioned in the selected blade pitch. - In a
step 606,motor grader 10 may perform a grading operation. Step 606 may include receiving an operator input, for example, viauser interface 104, a joystick, pedal, etc., to advance along a path. The path may be pre-programmed or operator controlled (e.g., via a steering wheel). During the grading operation, step 606 may include monitoring the blade pitch viablade pitch sensor 54 to ensure thatblade 16 maintains the selected blade pitch during the grading operation. For example, ifblade pitch sensor 54 detects an orientation ofblade 16 other than the position that corresponds to the selected blade pitch,controller 102 may signalblade pitch actuator 132 to operateblade pitch cylinder 52 to returnblade 16 to the appropriate orientation. - In a
step 608, the operator may override the selected blade pitch or end the grading operation. For example,controller 102 may indicate an error or warning condition, or the operator may repeatstep 602 and select a different blade pitch from the plurality of predetermined blade pitches, may activate a manual control, may deactivatemotor grader 10, etc. -
FIGS. 7A-7C are side views ofblade 16 with various blade pitches. It is noted that various components ofmotor grader 10 are omitted inFIGS. 7A-7C for clarity. The blade pitches shown inFIGS. 7A-7C may be displayed onuser interface 104 with selectable icons or images of the configurations, words descriptive of the various functions (e.g., spreading, grading, cutting, etc.), or other indicators. As mentioned above,blade pitch cylinder 52, and thusblade 16, may be positioned in any number of operator-defined positions, for example, viauser interface 104. Furthermore, as discussed below,blade 16 may be laterally movable relative toblade pitch cylinder 52, for example,blade pitch cylinder 52 may be coupled to a top portion ofblade 16 via a peg in slot configuration. In such a configuration,blade 16 may be laterally movable relative toblade pitch cylinder 52, andblade pitch cylinder 52 may control the pitch ofblade 16 withblade 16 in any lateral position. -
Blade 16 is supported bysupport arms 39 andsupport plate 41, and includes a blade pitch that is controlled viablade pitch cylinder 52. Although not shown,blade 16 and/orblade pitch cylinder 52 may also includeblade pitch sensor 54, as discussed above. InFIG. 7A ,blade 16 is positioned in a rolled back position, which may correspond to a spreading operation. The rolled back position may include a blade pitch of approximately negative five degrees, withtop edge 38 being approximately one inch behind cuttingedge 36. The rolled back position may be used to spread gravel, dirt, rocks, etc., and may correspond to a lower amount of wear on cuttingedge 36. -
FIG. 7B illustratesblade 16 with a blade pitch of approximately ten degrees forward, which may correspond to a general or neutral grading position. In this configuration,top edge 38 may be approximately two inches forward of cuttingedge 36. This position may be used in a finish grading operation and may help to promote efficient rolling of the material being graded by positioning cuttingedge 36 approximately parallel to the surface being traversed. This position may be the optimum position for most grading operations, and may result in a moderate amount of wear on cuttingedge 36. - In
FIG. 7C ,blade 16 is positioned with a blade pitch of approximately 40 degrees forward, which may correspond to an aggressive or forward grading position. In this configuration,top edge 38 may be well ahead of cuttingedge 36, and cuttingedge 36 may be approximately perpendicular to the surface being traversed. This position may correspond to a cutting operation, and may helpblade 16 to penetrate hard packed material and/or shave off hard spots of material on the surface being traversed. The cutting operation withblade 16 in the blade pitch orientation ofFIG. 7C may result in a higher amount of wear on cuttingedge 36.Blade pitch cylinder 52, and thusblade 16, may be positioned at any number of operator-defined positions. As discussed above,blade pitch sensor 54 may detect a blade pitch in order to confirm thatblade 16 maintains the selected or operator-defined blade pitch, andcontroller 102 andblade pitch actuator 132 may adjustblade pitch cylinder 52 as necessary to position or maintain the selected blade pitch. -
FIGS. 8, 9A, and 9B illustrate various aspects of this disclosure related to adjusting the sideshift ofblade 16. For example,FIG. 8 is a flow diagram portraying an exemplary bladesideshift adjustment method 800 that may be performed bycontrol system 100 to positionblade 16.Method 800 includes astep 802, wheremachine 10 may receive an operator input (e.g., through user interface 104) toposition blade 16 in one of a plurality of predetermined blade sideshift positions. The predetermined blade sideshift positions may be stored in the memory ofcontroller 102 and transmitted touser interface 104. For example,user interface 104 may include a blade sideshift icon displayed on a home screen for a blade sideshift selection mode. An operator may select the blade sideshift selection mode, anduser interface 104 may then display the plurality of predetermined blade sideshift positions, for example, with individual selectable icons. Alternatively, the blade sideshift selection mode may allow an operator to input a specific blade sideshift position. The selected blade sideshift position may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 804,motor grader 10 may set the position ofblade 16 to the selected blade sideshift position. For example,controller 102 may receive information fromblade sideshift sensor 58 related to the current position ofblade 16, and thus the current sideshift position ofblade 16. If there is a difference between the current position ofblade 16 and the selected blade sideshift position,controller 102 may signalblade sideshift actuator 134 to adjust thesideshift cylinder 56 such thatblade 16 is positioned in the selected blade sideshift position. Step 804 may also include indicating onuser interface 104 thatblade 16 has been positioned in the selected blade sideshift position. - In a
step 806,motor grader 10 may perform a grading operation. Step 806 may include receiving an operator input, for example, viauser interface 104, a joystick, pedal, etc., to advance along a path. The path may be pre-programmed or operator controlled (e.g., via a steering wheel). During the grading operation, step 806 may include monitoring the blade sideshift position viablade sideshift sensor 58 to ensure thatblade 16 maintains the selected blade sideshift position during the grading operation. For example, ifsideshift sensor 58 detects an sideshift position ofblade 16 other than the position that corresponds to the selected blade sideshift position,controller 102 may signalblade sideshift actuator 134 to operatesideshift cylinder 56 to returnblade 16 to the appropriate position. - In a
step 808, the operator may override the selected blade sideshift position or end the grading operation. For example,controller 102 may indicate an error or warning condition, or the operator may repeatstep 802 and select a different blade sideshift position from the plurality of predetermined blade sideshift positions, may activate a manual control, may deactivatemotor grader 10, etc. -
FIGS. 9A and 9B are front views ofmotor grader 10 withblade 16 positioned in various blade sideshift positions. It is noted that various components ofmotor grader 10 are omitted inFIGS. 9A and 9B for clarity.FIG. 9A showsblade 16 in a centered position relative tomotor grader 10 andfront frame 12. The centered position may be selected to provide a centered reference point when positioningmotor grader 10 or transportingmotor grader 10 over the worksite, sinceblade 16 is centered relative to the width ofmotor grader 10.FIG. 9B showsblade 16 in an extended position relative tomotor grader 10 andfront frame 12. The extended position ofFIG. 9B may correspond to a general spreading operation for gravel, dirt, etc., as the heel or back edge ofblade 16 and a resulting windrow of material may fall well outside of the tracks ofrear tandem wheels 18. Although not shown,blade 16 may be positioned in one or more positioned between the positions shown inFIGS. 9A and 9B . Furthermore,blade 16 may be positioned in an extended position to either the right or left side ofmotor grader 10.Blade 16 may also be further extended fromdrawbar 26 via blade sideshift cylinder 56 (FIG. 2A ), and such configuration may correspond to grading material that is further away from the centerline ofmotor grader 10. The blade sideshift positions shown inFIGS. 9A and 9B may be displayed onuser interface 104 with selectable icons or images of their configurations, words descriptive of the various functions (e.g., centered, reference, extended, spreading, etc.), or other indicators. As mentioned above,blade sideshift cylinder 56, and thusblade 16, may be positioned at any number of operator-defined or preprogrammed positions, for example, viauser interface 104. Furthermore,sideshift sensor 58 may detect a blade sideshift position in order to confirm thatblade 16 maintains the selected blade sideshift position during the grading operation. For example, ifsideshift sensor 58 detects an position ofblade 16 other than the position that corresponds to the selected or operator-defined blade sideshift,controller 102 may signalblade sideshift actuator 128 to operateblade sideshift cylinder 32 to returnblade 16 to the appropriate position. -
FIGS. 10 and 11A-11C illustrate various aspects of this disclosure related to adjusting the centershift ofdrawbar 26. For example,FIG. 10 is a flow diagram portraying an exemplary drawbarcentershift adjustment method 1000 that may be performed bycontrol system 100 to positiondrawbar 26.Method 1000 includes astep 1002, wheremachine 10 may receive an operator input (e.g., through user interface 104) to positiondrawbar 26 in one of a plurality of predetermined drawbar centershift positions. The predetermined drawbar centershift positions may be stored in the memory ofcontroller 102 and transmitted touser interface 104. For example,user interface 104 may include a drawbar centershift icon displayed on a home screen for a drawbar centershift selection mode. An operator may select the drawbar centershift selection mode, anduser interface 104 may then display the plurality of predetermined drawbar centershift positions, for example, with individual selectable icons. Alternatively, the drawbar centershift selection mode may allow an operator to input a specific drawbar centershift position. The selected drawbar centershift position may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 1004,motor grader 10 may set the position ofdrawbar 26 to the selected drawbar centershift position. For example,controller 102 may receive information fromdrawbar centershift sensor 42 related to the current position ofdrawbar 26, and thus the current centershift position ofdrawbar 26. If there is a difference between the current position ofdrawbar 26 and the selected drawbar centershift position,controller 102 may signal drawbar centershift actuator 128 to adjust thecentershift cylinder 32 such thatdrawbar 26 is positioned in the selected drawbar centershift position.Step 1004 may also include indicating onuser interface 104 that drawbar 26 has been positioned in the selected drawbar centershift position. - In a
step 1006,motor grader 10 may perform a grading operation.Step 1006 may include receiving an operator input, for example, viauser interface 104, a joystick, pedal, etc., to advance along a path. The path may be pre-programmed or operator controlled (e.g., via a steering wheel). During the grading operation,step 1006 may include monitoring the drawbar centershift position viadrawbar centershift sensor 42 to ensure thatdrawbar 26 maintains the selected drawbar centershift position during the grading operation. For example, ifcentershift sensor 42 detects a centershift position ofblade 16 other than the position that corresponds to the selected or operator-defined drawbar centershift position,controller 102 may signal drawbar centershift actuator 128 to operatecentershift cylinder 32 to returndrawbar 26 to the appropriate position. - In a
step 1008, the operator may override the selected drawbar centershift position or end the grading operation. For example,controller 102 may indicate an error or warning condition, or the operator may repeatstep 1002 and select a different drawbar centershift position from the plurality of predetermined drawbar centershift positions, may activate a manual control, may deactivatemotor grader 10, etc. -
FIGS. 11A-11C are front views ofmotor grader 10 withblade 16 in various positions that correspond to drawbar 26 being positioned in various drawbar centershift positions. It is noted that various components ofmotor grader 10 are omitted inFIGS. 11A-11C for clarity, and thatblade 16 may include a blade tilt or blade angle.FIG. 11A showsmotor grader 10 andblade 16 withdrawbar 26 in a centered position relative tomotor grader 10 andfront frame 12. The centered position may be selected to provide a centered reference point or a baseline position, which may be used when spreading material (e.g., gravel, dirt, etc.).FIG. 11B showsmotor grader 10 withdrawbar 26 at a slight angle fromfront frame 12, for example, 10 to 15 degrees, such thatblade 16 extends to a side ofmotor grader 10. The configuration shown inFIG. 11B may be used for grading such that the graded material is cast outside of therear tandem wheels 18.FIG. 11C showsmotor grader 10 withdrawbar 26 extended fromfront frame 12, for example, 20 to 45 degrees, such thatblade 16 extends well beyond the sides ofmotor grader 10. The configuration shown inFIG. 11C may be used for grading an area well outside the path ofmotor grader 10. As shown in the configurations ofFIGS. 11B and 11C ,right lift cylinder 28 and leftlift cylinder 30 may pivot in a direction opposite to the direction of drawbar extension. Additionally, the configuration shown inFIG. 11C , along with positions ofdrawbar 26, may be used in one or more maintenance or ditching modes (FIGS. 13 and 15A-15D ). It is noted thatcontroller 102 may controlcentershift cylinder 32 in order to shiftdrawbar 26 left or right relative tofront frame 12, and thus extendblade 16 to the left or right ofmotor grader 10. - For those motor grader operations requiring more drawbar extension than the
centershift cylinder 32 can accommodate alone, such as in maintenance and ditching operation modes, thelinkbar 34 can be side-shifted. As discussed above in connection withFIG. 2C ,linkbar 34 can be side-shifted by repositioning the fulcrum of thelinkbar 34 into different position holes 70 oflinkbar 34. For example, in a first step, thedrawbar 26 can be moved to a maximum reach in a direction toward the grading location, then theblade 16 may then be grounded by controlling the right and leftlift cylinders linkbar pin 76 is controlled to retract out of the position hole 70 (e.g. out of a center-most position hole 84) to allow side-shifting oflinkbar 34. Thecentershift cylinder 32 is then actuated in a direction away from the grading location and anew position hole 70 is aligned with thelinkbar pin 76. Thelinkbar pin 76 is then extended into thenew position hole 70 and thecentershift cylinder 32 can be extended toward the grading location for additional reach. When side-shifting thelinkbar 34 to anoutermost position hole 70, thelift cylinders position hole 70 with thelinkbar pin 76. - The drawbar centershift angles shown in
FIGS. 11A-11C may be displayed onuser interface 104 with selectable icons or images of their configurations, word descriptive of the various functions (e.g., centered, reference, angled, casting, grading, maintenance, ditching, etc.), or other indicators. As mentioned above,centershift cylinder 32, and thusdrawbar 26, may be positioned at any number of operator-defined positions, for example, viauser interface 104. Furthermore, it is noted that blade sideshift and drawbar centershift may be selected and adjusted separately or may be selected and adjusted simultaneously in order to positionblade 16 anddrawbar 26 for the grading operation. -
FIGS. 12 and 13 illustrate various aspects of this disclosure related to positioning ofblade 16 anddrawbar 26 for inspection, maintenance, replacement, etc. of cutting edge 36 (referred to as a “maintenance mode”). For example,FIG. 12 is a flow diagram portraying anexemplary method 1200 that may be performed bycontrol system 100 to positiondrawbar 26 andblade 16 to allow for an operator to inspect, maintain, replace, or otherwise treat cuttingedge 36 or other portions ofblade 16.Method 1200 includes astep 1202, wheremotor grader 10 may receive an operator input (e.g., through user interface 104) to enter one or more maintenance modes, each of which include predetermined blade and drawbar positions. The predetermined blade and drawbar positions may be stored in the memory ofcontroller 102 and transmitted touser interface 104. For example,user interface 104 may include a maintenance mode icon displayed on a home screen. An operator may select the maintenance mode, anduser interface 104 may then display the one or more maintenance modes with the predetermined blade and drawbar positions, for example, with individual selectable icons depicting the positions and/or listing the maintenance job to be performed. The various maintenance modes may correspond to various maintenance functions. For example, a first maintenance mode may be designed for inspectingcutting edge 36, and may include first blade and drawbar positions on a right side ofmotor grader 10. A second maintenance mode may be designed for replacingcutting edge 36, and may include second blade and drawbar positions on the right side ofmotor grader 10. Similarly, third and fourth maintenance modes may be similar to first and second maintenance modes, but on the left side of motor grader. Alternatively, one maintenance mode may allow an operator to input specific positions ofblade 16 anddrawbar 26. The selected maintenance mode position may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 1204,motor grader 10 may set the position ofblade 16 anddrawbar 26 to positions that correspond to the selected maintenance mode. For example,controller 102 may receive information from at least one ofblade tilt sensor 40,drawbar centershift sensor 42,circle angle sensor 50,blade pitch sensor 54,side shift sensor 58, leftblade lift sensor 114, rightblade lift sensor 116,linkbar position sensor 122, etc. related to the current position and orientation ofblade 16 anddrawbar 26. If there is a difference between the current position and orientation ofblade 16 anddrawbar 26 and the selected maintenance mode position,controller 102 may signal leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132,blade sideshift actuator 134,linkbar pin actuator 82, etc. in order to actuate one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 56,linkbar pin 76, etc.Step 1204 may also include indicating onuser interface 104 thatblade 16 anddrawbar 26 have been positioned in the selected maintenance position. - For example,
step 1204 may includecontroller 102 signaling the actuators to make the following adjustments in order to repositionblade 16,drawbar 26, andcircle 46 from a grading position (e.g.,FIG. 4A ) to a maintenance mode position (e.g.,FIG. 13 ). For example, as shown inFIG. 13 , first maintenance mode may include side-shifting thelinkbar 34 to anoutermost position hole 70 oflinkbar 34 and elevatingright lift cylinder 28 and leftlift cylinder 30 such thatblade 16 is elevated away from the ground.Right lift cylinder 28 may also be elevated to a higher level thanleft lift cylinder 30 in order toblade 16 anddrawbar 26 to be angled relative to the ground, which may allow an operator to accesscircle 46,circle drive motor 48,circle angle sensor 50, etc.Centershift cylinder 32 may be shifted fully to the right ofmotor grader 10 to positiondrawbar 26, andcircle drive motor 48 may rotatecircle 46 approximately 45 to 60 degrees clockwise around axis A (FIG. 1 ).Sideshift cylinder 56 may also be shifted fully to the right to positionblade 16 to the side. Finally, in the first maintenance mode, and as shown inFIG. 13 ,blade pitch cylinder 52 may be retracted rearward (e.g., approximately five degrees). Although not shown, the second maintenance mode may be similar to the first maintenance mode, butblade pitch cylinder 52 may be extended forward (e.g., approximately 40 degrees), which may allow an operator to access the backside ofblade 16 and its connections todrawbar 26,support arms 39,support plate 41,circle 46, etc. The third and fourth maintenance modes may be similar to first and second maintenance modes, respectively, withcontroller 102 signaling the actuators to positionblade 16,drawbar 26, andcircle 46 to the left ofmotor grader 10. - In a
step 1206, a maintenance operation may be performed.Step 1206 may include an operator inspecting a portion ofblade 16 ordrawbar 26. In one aspect, if the operator notices an issue, the operator may perform maintenance for a portion ofblade 16 ordrawbar 26. For example, if the operator notices that cuttingedge 36 is worn down, the operator may sharpen cuttingedge 36, may replaceblade 16 or a portion of blade 16 (e.g., by unscrewingscrews 43 anduncoupling blade 16 fromdrawbar 26 andcircle 46 by uncouplingblade 16 from support plate 41), may tightenscrews 43, etc. - In one aspect, the operator may notice a potential issue, and may need to reposition
blade 16,drawbar 26,circle 46, etc. in order to further inspect or to repair the issue. In this aspect,step 1206 may include repositioningblade 16 ordrawbar 26 to a different maintenance mode configuration viauser interface 104. For example, the operator may inspectblade 16 in the first maintenance mode and may then repositionblade 16 to the second maintenance mode in order to adjust or replace components ofmotor grader 10. Alternatively, the operator may inspectblade 16 and may make manual adjustments to the position ofblade 16 and/ordrawbar 26 in order to better inspect, repair, or replace a component ofmotor grader 10. In either aspect, the repositioning may be done viauser interface 104. - A
step 1208 may include returningblade 16 to a grading position.Step 1208 may includecontroller 102 signaling leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132,blade sideshift actuator 134,linkbar pin actuator 82, etc. in order to actuate one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 58, etc. to positionblade 16 anddrawbar 26 beneath motor grader, andlinkbar pin 76.Step 1208 may include returningblade 16,drawbar 26, andcircle 46 to the respective positions before the components were moved in the maintenance mode(s). Alternatively,step 1208 may include returningblade 16,drawbar 26, andcircle 46 to a predetermined centered position (e.g.,FIG. 5A ).Step 1208 may also include indicating onuser interface 104 thatblade 16,drawbar 26, andcircle 46 have been positioned in the grading position. -
FIGS. 14 and 15A-15D illustrate various aspects of this disclosure related topositioning blade 16 anddrawbar 26 to perform one or more ditching operations. For example,FIG. 14 is a flow diagram portraying anexemplary method 1400 that may be performed bycontrol system 100 to positiondrawbar 26 andblade 16 to allow for an operator to perform a variety of ditching operations.Method 1400 includes astep 1402, wheremotor grader 10 may receive a operator input (e.g., through user interface 104) to enter one or more ditching modes, each of which include predetermined blade and drawbar positions. The predetermined blade and drawbar positions for the ditching modes may be stored in the memory ofcontroller 102 and transmitted touser interface 104. For example,user interface 104 may include a ditching mode icon displayed on a home screen. An operator may select the ditching mode, anduser interface 104 may then display the one or more ditching modes with the predetermined blade and drawbar positions, for example, with individual selectable icons depicting the blade and drawbar positions and/or listing the type of ditching functions to be performed. The various ditching modes may correspond to various ditching functions. For example, a first ditching mode may be to form a marking pass (FIG. 15A ), and a second ditching mode may be to form a back slope (FIG. 15B ). Additionally, a third ditching mode may be to form a high bank slope (FIG. 15C ), and a fourth ditching mode may be to perform a shoulder clean (FIG. 15D ). - The ditching modes may include
positioning blade 16 anddrawbar 26 to the right side ofmotor grader 10, as shown inFIGS. 15A-15D , but may also include options to position blade anddrawbar 26 on the left side ofmotor grader 10. Alternatively, one ditching mode may allow an operator to input specific positions or adjustments ofblade 16 anddrawbar 26.User interface 104 may also display additional ditching modes and/or user interfaces to modify or customize the preprogrammed ditching modes. The selected ditching mode position may be transmitted fromuser interface 104 to controller 102 (FIG. 3 ). - In a
step 1404,motor grader 10 may set the position ofblade 16 anddrawbar 26 to positions that correspond to the selected ditching mode. For example,controller 102 may receive information from at least one ofblade tilt sensor 40,drawbar centershift sensor 42,circle angle sensor 50,blade pitch sensor 54,side shift sensor 58, leftblade lift sensor 114, rightblade lift sensor 116,linkbar position sensor 122, etc. related to the current position and orientation ofblade 16 anddrawbar 26. If there is a difference between the current position and orientation ofblade 16 anddrawbar 26 and the selected ditching mode position,controller 102 may signal leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132,blade sideshift actuator 134,linkbar pin actuator 82, etc. in order to actuate one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 58,linkbar pin 76, etc.Step 1404 may also include indicating onuser interface 104 thatblade 16 anddrawbar 26 have been positioned in the selected ditching position. - For example,
step 1404 may includecontroller 102 signaling the actuators to make the following adjustments in order to repositionblade 16 anddrawbar 26 from a grading position (e.g.,FIG. 4A ) to the selected ditching mode position (e.g.,FIGS. 15A-15D ). For example, the first ditching mode shown inFIG. 15A may include side-shifting thelinkbar 34 to anouter position hole 70 oflinkbar 34 and positioningleft lift cylinder 30 at a lower position that right lift cylinder 28 (not shown) to create a blade tilt of approximately 15 degrees. In one aspect, the left side ofblade 16 may extend approximately 4-6 inches into the surface being traversed. The right side ofblade 16 may be elevated above the surface being traversed such that material may be directed betweenrear wheels 18. First ditching mode may also include rotating circle 46 (via circle drive motor 48) toposition blade 16 at a blade angle of approximately 45 degrees. Moreover, first ditching mode may include any appropriate forward blade pitch. - In a step 1406, a ditching operation may be performed. Step 1406 may include receiving an operator input, for example, via
user interface 104, a joystick, pedal, etc., to advance along a path. The path may be pre-programmed or operator controlled (e.g., via a steering wheel). During the ditching operation, step 1406 may include monitoring the position and orientation ofblade 16 anddrawbar 26 and repositioning or reorientingblade 16 anddrawbar 26 if necessary, as discussed above. Additionally, performing the ditching operation may include a wheel lean, articulation, or other positioning or steering configuration ofmotor grader 10 discussed herein. As discussed above,controller 102 may be in communication with various sensors to determine whetherblade 16 maintains the selected or operator-defined blade position and orientation, andcontroller 102 and the actuators may adjust the position and orientation ofblade 16 as necessary. - In a
step 1408,motor grader 10 or an operator may determine whether a ditching operation is complete. For example,controller 102 may include a pre-programmed duration or distance for the ditching operation, or may include a pre-programmed ditching protocol that includes a plurality of ditching operations. Furthermore,controller 102 may indicate an error or warning condition, and may stopmotor grader 102 or adjust the position ofblade 16 ordrawbar 26. Alternatively or additionally, an operator may useuser interface 104 to select a different ditching mode or activate a manual control, such thatcontroller 102 signals the various actuators to adjustblade 16,drawbar 26, and other components ofmotor grader 10 to the selected ditching mode or configuration. - If the ditching operation is complete, a
step 1410 includes returningblade 16 anddrawbar 26 to one or more grading positions. As discussed with respect to the maintenance modes,step 1410 may includecontroller 102 signaling leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132,blade sideshift actuator 134,linkbar pin actuator 82, etc. in order to actuate one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 58,linkbar pin 76, etc. to positionblade 16 anddrawbar 26 beneathmotor grader 10.Step 1410 may include returningblade 16,linkbar 34, anddrawbar 26 to the respective positions before the components were moved in the ditching mode(s). Alternatively,step 1410 may include returningblade 16,drawbar 26, andcircle 46 to a predetermined centered position (e.g.,FIG. 5A ).Step 1410 may also include indicating onuser interface 104 thatblade 16 anddrawbar 26 have been positioned in the grading position. -
FIGS. 15A-15D are perspective views ofmotor grader 10 withblade 16 anddrawbar 26 in various positions that correspond to various ditching modes. It is noted that various components ofmotor grader 10 are omitted inFIGS. 15A-15D for clarity. As discussed above,FIG. 15A shows a side view ofmotor grader 10 andblade 16 withdrawbar 26 in a first ditching mode. The first ditching mode may be may be used to form a marking pass. The marking pass may be performed with a wheel lean if necessary, and may be performed in a low gear ofengine 22, which may be measured via engine sensor 106 (FIG. 3 ). In one aspect, when creating a V-shaped ditch, it may be necessary to make an initial marking pass. -
FIG. 15B shows a front view ofmotor grader 10 in the second ditching mode withblade 16 anddrawbar 26 extended to the right side ofmotor grader 10. The second ditching mode may be used to form a back slope. In order to positionblade 16 anddrawbar 26 in the second ditching mode,linkbar 34 may be side-shifted as discussed above, anddrawbar centershift cylinder 32 may be extended far right ofmotor grader 10 in order to extenddrawbar 26 far right.Right lift cylinder 28 and leftlift cylinder 20 may be extended as well.Circle drive motor 48 may rotatecircle 46 approximately 45 degrees, andsideshift cylinder 56 may sideshiftblade 16 to the right. As shown inFIG. 15B ,blade 16 may be tilted such that the left side ofblade 16 engages with the material being traversed, and the right side ofblade 16 may be elevated such that material is bladed into the bottom of the ditch. Additionally,wheels 18 may be leaned, as controlled by wheellean actuators 136. -
FIG. 15C shows a rear view ofmotor grader 10 in the third ditching mode withblade 16 and drawbar extended at a high angle to the right side ofmotor grader 10. The third ditching mode may be used to cut a high bank slope from a ditch. The position ofblade 16 anddrawbar 26 inFIG. 15C may be similar to the respective positions in the second ditching mode ofFIG. 15B , except to form a higher cut. Accordingly,controller 102 may actuate the various actuators to positionblade 16,linkbar 34, anddrawbar 26 as discussed with respect toFIG. 15B , andright lift cylinder 28 and leftlift cylinder 30 may be adjusted such thatblade 16 matches (or approximates) the angle of the bank slope angle. Additionally,blade 16 may be slid away frommotor grader 10 bysideshift cylinder 56, and the right side ofblade 16 is elevated such that material is moved from the bank slope into the ditch. Additionally,wheels 18 may be leaned, as controlled by wheellean actuators 136. -
FIG. 15D shows a front view ofmotor grader 10 in the fourth ditching mode withblade 16 anddrawbar 26 substantially beneath frames 12 and 14 of motor grader. The fourth ditching mode may be used to perform a shoulder clean.Centershift cylinder 32 may positiondrawbar 26 in a centered position.Circle 46 may be rotated bycircle drive motor 48 toangle blade 16 at approximately 60 degrees or such that the right side ofblade 16 is substantially aligned with the frontright wheel 18.Blade pitch cylinder 52 may pitchblade 16 forward approximately 40 degrees.Motor grader 10 may traverse the ground such that a windrow of material is substantially centered betweenwheels 18 offront frame 12. In this aspect, the blade angle imparted bycircle 46 may position a left side ofblade 16 outside of thetandem wheels 18 ofrear frame 14. Furthermore,wheels 18 may be leaned, as controlled by wheellean actuators 136, andfront frame 12 andrear frame 14 may be articulated, as controlled byarticulation actuators 138. -
FIGS. 15A-15D illustrate several grading modes. However, this disclosure is not limited to the grading modes shown inFIGS. 15A-15D .Motor grader 10 may include a variety of additional grading modes. For example,motor grader 10 may include a light or finish blading mode for lightly passingblade 16 over a surface, a curb blading mode forpositioning blade 16 in order to cut or form a curb, a heavy blading mode for passingblade 16 over the surface to form a deep cut into the surface, etc. -
FIGS. 16, 17A, and 17B illustrate various aspects of this disclosure related tosteering motor grader 10 andpositioning blade 16 anddrawbar 26 to perform an automatic turnaround operation. For example,FIG. 16 is a flow diagram portraying anexemplary method 1600 that may be performed bycontrol system 100 to steermotor grader 10 andposition drawbar 26 andblade 16 to perform an automatic turnaround operation.Method 1600 includes astep 1602, wheremotor grader 10 may receive a operator input (e.g., through user interface 104) to perform an automatic turnaround operation. The instructions and/or the configurations for an automatic turnaround operation may be stored in the memory of controller, and may be transmitted touser interface 104. For example,user interface 104 may include an automatic turnaround mode icon displayed on a home screen. An operator may select the automatic turnaround mode, and may input whether to turnaround to the left or to the right.Controller 102 may be coupled to one or more additional sensors to detect whether there is a safe area aroundmotor grader 10 to perform the automatic turnaround. Alternatively or additionally,controller 102 may display a prompt on user interface asking the operator to check and confirm that the area aroundmotor grader 10 is safe for the automatic turnaround. - Next, a
step 1604 includescontroller 102 performing the automatic turnaround.Step 1606 may includecontroller 102 receiving information from at least one ofblade tilt sensor 40,drawbar centershift sensor 42,circle angle sensor 50,blade pitch sensor 54,side shift sensor 58, leftblade lift sensor 114, rightblade lift sensor 116, etc. related to the current position and orientation ofblade 16 anddrawbar 26.Controller 102 may store the current position and orientation ofblade 16 anddrawbar 26 in the memory, as the resulting configuration ofblade 16 anddrawbar 26 after the automatic turnaround may be a mirror image of the configuration before the automatic turnaround relative to a centerline ofmotor grader 10. In one aspect, for example, as shown inFIG. 17A ,blade 16 anddrawbar 26 may be centered relative tofront frame 12 andrear frame 14. In this aspect, performing the automatic turnaround may includecontroller 102steering wheels 18, actuatingarticulation actuators 138 to articulatefront frame 12 relative torear frame 12, and/or actuating wheellean actuators 136 to control a wheel lean (lean left in a left turn and lean right in a right turn) in order to positionmotor grader 12 in a direction opposite to the original direction. The automatic turnaround may include steeringmotor grader 10 in a partial circle (FIG. 17B ). - In another aspect, as shown in
FIG. 17B , blade 16 (and/or drawbar, although not shown) may be positioned at an angle tomotor grader 10 based on an orientation ofcircle 46. In this aspect, performing the automatic turnaround may includecontroller 102steering wheels 18, actuatingarticulation actuators 138 to articulatefront frame 12 relative torear frame 12, and/or actuating wheellean actuators 136 to control a wheel lean in order to positionmotor grader 12 in a direction opposite to the original direction, as discussed above. In addition,controller 102 may signal one or more of leftblade lift actuator 124, rightblade lift actuator 126,drawbar centershift actuator 128,circle angle actuator 130,blade pitch actuator 132,blade sideshift actuator 134, etc. in order to actuate one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 58, etc. such thatblade 16 is in a mirrored position relative to a centerline ofmotor grader 10 compared to the original blade position. In this aspect, after an operator performs a first grading pass (as discussed above) withmotor grader 10,motor grader 10 may have deposited a windrow or pile of material. The operator may activate the automatic turnaround operation. The automatic turnaround operation may include steeringmotor grader 10 in a partial circle andrepositioning blade 16,drawbar 26,circle 46, etc. to a mirrored position. The automatic turnaround operation may positionmotor grader 10 andblade 16 such that at least a portion ofblade 16 after the automatic turnaround operation overlaps with a position of at last a portion ofblade 16 before the automatic turnaround operation. Then, with the mirrored blade configuration,motor grader 10 may perform a second grading pass in order to continue grading and move the deposited windrow or pile of material. - Lastly, a
step 1606 may include indicating onuser interface 104 that the automatic turnaround has been completed, and thatblade 16 anddrawbar 26 have been positioned in the mirrored position. The operator may then initiate a spreading operation, grading operation, cutting operation, ditching operation, or other blading operation, as discussed above. -
FIG. 18 illustrates an exemplarycontrol panel display 1800 that may be displayed onuser interface 104 or on another display on or remote tomotor grader 10.Control panel display 1800 may be a touch screen (e.g., an iPad, tablet, etc.), or may instead include a display or a plurality of displays and one or more pushbuttons, switches, joysticks, keyboards, etc. -
Control panel display 1800 may include an automated operation control screen that displays various input options for automated control or positioning ofblade 16,drawbar 26,linkbar 34, and other components ofmotor grader 10.Control panel display 1800 may also include various measured values or other information that may aid or other be helpful to the operator. In one aspect,control panel display 1800 may include one or more information bars, for example, afirst information bar 1802 on a top portion ofcontrol panel display 1800 and asecond information bar 1804 on a bottom portion ofcontrol panel display 1800.First information bar 1802 may include thetime 1806 and/or date (not shown), auser identifier 1808 which may correspond to the logged in or otherwise identified operator, and one or morealert indications 1810. The one or morealert indications 1810 may be in communication with the various sensors discussed above and may indicate one or more alert situations to the operator, for example, by illumination, flashing, color change, etc.First information bar 1802 may also include ablade pitch indicator 1812, for example, as measured byblade pitch sensor 54.Blade pitch indicator 1812 may include a visual representation of the blade pitch and/or a numerical representation of the pitch ofblade 16 as an angle or percentage of a total possible blade pitch in one or more directions (e.g., forward or backward from vertical). Additionally,first information bar 1802 may include acontrol indicator 1814, for example, to indicate whethermotor grader 10 is in an automatic control mode or a manual control mode. -
Second information bar 1804 may include additional sensed or measured information regarding the performance or operation ofmotor grader 10. For example,second information bar 1804 may include anengine output indicator 1816. In one aspect, engine output indicator may indicate a measured value output by the engine poweringmotor grader 10, for example, in Newtons per minute (as shown), rotations per minute, or another appropriate measurement unit. Furthermore,second information bar 1804 may indicate additional performance or operation information formotor grader 10, such as, for example,gear ratios 1818.Second information bar 1804 may also indicate aspeed 1820 ofmotor grader 10, for example, in kilometers per hour (as shown), miles per hour, etc. -
Control panel display 1800 may include additional information regarding the performance and/or operation ofmotor grader 10, either onfirst information bar 1802,second information bar 1804, or another position oncontrol panel display 1800. For example,control panel display 1800 may also include a fuel andoil display 1822 to indicate the respective levels of fuel and oil. Fuel andoil display 1822 may include indicators on respective gauges to indicate levels of fuel and oil. Although not shown, fuel andoil display 1822 may include numerical indicators to indicate the respective fuel and oil levels, for example, as a percentage of full, as a volumetric value, etc. Fuel andoil display 1822 may also include indicators that may illuminate, flash, change color, or otherwise indicate a low level of either fuel or oil.Control panel display 1800 may also include a drop-down selector 1824. Drop-down selector 1824 may be selected by the operator in order for a drop-down menu (not shown) to appear. The drop-down menu may allow the operator to select a different operating mode, return to a home or default screen, adjust various settings foruser interface 104, or other display or control features. -
Control panel display 1800 may include a plurality of automated control or positioning icons. Each of the plurality of automated control or positioning icons may correspond to respective features ofblade 16,drawbar 26,circle 46, and other components ofmotor grader 10. Selecting one of the automated control or positioning icons will then causeuser interface 104 to display an operation-specific control panel display (FIG. 19 ). Each of the operation-specific control panel displays may allow the operator to select one or more positions or configurations forblade 16,drawbar 26,circle 46, or other components ofmotor grader 10, as discussed above. - As shown in
FIG. 18 ,control panel display 1800 may include acircle angle icon 1826 that is selectable to control an angle ofcircle 46 and thus an angle of blade 16 (FIGS. 4 and 5A-5D ), ablade pitch icon 1828 that is selectable to control a pitch of blade 16 (FIGS. 6 and 7A-7C ), ablade sideshift icon 1830 that is selectable to control a sideshift of blade 16 (FIGS. 8, 9A, and 9B , and adrawbar sideshift icon 1832 that is selectable to control a sideshift of drawbar 26 (FIGS. 10 and 11A-11C ). Furthermore,control panel display 1800 may include amaintenance icon 1834 that is selectable to control a position ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to position the components in one or more maintenance positions (FIGS. 12 and 13 ).Control panel display 1800 may include a ditchingicon 1836 that is selectable to control a position ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to position the components in one or more ditching positions (FIGS. 14 and 15A-15D ).Control panel display 1800 may also include an auto-turnaround icon, which is selectable to control a position ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to position the components and drive and steerwheels 18 in order to perform an automatic turnaround operation (FIGS. 16 and 17A-17B ). -
Control panel display 1800 may include additional icons. For example,control panel display 1800 may include alight grading icon 1840, a heavinggrading icon 1842, and afinish grading icon 1844. Each oflight grading icon 1840, heavinggrading icon 1842, and finishgrading icon 1844 may allow the operator to select a light grading operation, a heaving grading operation, or a heavy grading operation, and each type of operation may include predetermined positions for one or more ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10. Once the operator selects the icon that corresponds to the desired operation,controller 102 may position the components to the corresponding positions, and/oruser interface 104 may display a respective display to allow the operator to view and/or adjust the positions of the components. -
Control panel display 1800 may further include afavorites icon 1846. Selectingfavorites icon 1846 may allow the operator to selectively position one or more ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to one or more operator-selected arrangements. The operator may then save the one or more operator-selected arrangements as a “favorite” arrangement. Selectingfavorites icon 1846 may also display the pre-programmed favorite arrangements. The operator may then select one of the pre-programmed favorite arrangements, andcontroller 102 may then positionblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to the selected favorite arrangement. -
Control panel display 1800 may also include amirror icon 1848. Selectingmirror icon 1848 may positionblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to a mirrored configuration. For example, ifblade 16 is tilted 30 degrees to the left in a first configuration,blade 16 will be tilted 30 degrees to the right in the mirrored configuration, similar to the auto-turnaround discussed above with respect toFIGS. 16, 17A, and 17B but without reversing a travel direction ofmotor grader 10. Moreover,control panel display 1800 may include an editblade position icon 1850. Selecting editblade position icon 1850 may causeuser interface 104 to display an additional display screen that allows the operator to edit or adjust various aspects of the position ofblade 16, for example, tilt, angle, pitch, sideshift, lift, etc.Control panel display 1800 may also include amanual control icon 1852. Selectingmanual control icon 1852 may causeuser interface 104 to display an additional display screen that allows the operator to fully manually control the positions and configurations ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10.Control panel display 1800 may further include additional icons or buttons to allow the operator to control or adjust additional aspects ofblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10. For example, after selectingmanual control icon 1852, an operator may select an automated control icon (not shown) to return tocontrol panel display 1800 for the above-discussed automated positioning and control options. -
FIG. 19 illustrates a second exemplary control panel display, for example, an operation-specificcontrol panel display 1900. In this aspect,FIG. 19 illustrates a display that may be displayed onuser interface 104 after the operator selectscircle angle icon 1828. Additionally,display 1900 may includevarious instructions 1902 for the operator. In one aspect,instructions 1902 may indicate to the operator to perform one or more functions when certain conditions are present. In one aspect, with a grading path or “target selected” andmotor grader 10 in an automated operation condition (i.e., with the “auto switch on”)instructions 1902 may instruct the operator to activate an interface or joystick to start motion ofmotor grader 10. - Furthermore, operation-specific
control panel display 1900 may correspond tocircle angle icon 1828 and may display a plurality of automated circle angle options. The automated circle angle options may include corresponding icons, such as, for example, aspread icon 1904, alight grade icon 1906, amoderate grade icon 1908, anaggressive cut icon 1910, etc. Each icon may include a visual depiction of the positions and configurations ofblade 16 andcircle 46 that correspond to each circle angle option, for example, as shown inFIGS. 5A-5D . Selecting one ofspread icon 1904,light grade icon 1906,moderate grade icon 1908, oraggressive cut icon 1910 may signalcontroller 102 to positioncircle 46, and thusblade 16, in the selected configuration. Additionally,controller 102 may signalmotor grader 10 to begin performing the grading operation with the selected configuration. Alternatively, the operator may actuate one or more controls (e.g., a joystick, foot pedal, steering wheel, etc.) to steer and drivemotor grader 10. -
Display 1900 may also include amirror icon 1912, editblade position icon 1850, manual control icon, and one or morealert indications 1810. For example, once a grading configuration icon has been selected, the operator may selectmirror icon 1912, andcontroller 102 may positionblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10 to a mirrored configuration. For example, ifcircle 46 is at aposition 30 degrees to the left in a first configuration,circle 46 will be positioned 30 degrees to the right in the mirrored configuration, similar to the auto-turnaround discussed above with respect toFIGS. 16, 17A, and 17B but without reversing a travel direction ofmotor grader 10. Moreover, selecting editblade position icon 1850 may causeuser interface 104 to display an additional display screen that allows the operator to edit or adjust various aspects of the position ofblade 16, for example, tilt, angle, pitch, sideshift, lift, etc. Selectingmanual control icon 1852 may allow the operator to manually controlblade 16,wheels 18,drawbar 26,circle 46, and/or other components ofmotor grader 10. Moreover, if an error or alarm situation, the one or more alert indications may indicate one or more alert situations to the operator, for example, by illumination, flashing, color change, etc. - The disclosed aspects of
motor grader 10 may be used in any grading or sculpting machine to assist in positioning of one ofblade 16,drawbar 26,circle 46, or other elements, and may help an inexperienced operator perform one or more complex or complicated maneuvers. Becausecontroller 102 is coupled to the plurality of sensors and actuators,motor grader 10 may more accurately positionblade 16,drawbar 26, orcircle 46 to one or more predetermined positions. Additionally, if one ofblade 16,drawbar 26, orcircle 46 rotates, lifts, or is otherwise moved, which is common due to the heavy forces involved in grading,controller 102 may indicate the movement to the operator viauser interface 104, and/or may automatically repositionblade 16,drawbar 26, orcircle 46 to the selected predetermined position. Alternatively or additionally, onceblade 16,drawbar 26,circle 46,linkbar 34, and other elements are positioned in one or more configurations, the operator may then take manual control to adjust the position or configuration of one or more elements based on ground conditions, material being spread or graded, environmental factors, obstacles, etc. As such,motor grader 10 may yield a clean, accurately graded or sculpted surface aftermotor grader 10 passes over the ground surface. - Furthermore,
controller 102 includes a memory that stores the plurality of predetermined positions and orientations forblade 16,drawbar 26,circle 46, along with the corresponding positions for one or more ofright lift cylinder 28,left lift cylinder 30,centershift cylinder 32,circle drive motor 48,blade pitch cylinder 52,sideshift cylinder 58, etc. Accordingly, the operator may accurately positionblade 16,drawbar 26,circle 46, and the other components to one of the plurality of predetermined positions and orientations without having to estimate the respective positions and orientations from the operator's position incab 20, control individual actuators, or require on assistance from another operator positioned aroundmotor grader 10. Accurately positioning and orientingblade 16,drawbar 26,circle 46, and the other components may helpmotor grader 10 to more accurately and/or efficiently perform a grading operation, a maintenance operation, a ditching operation, an automatic turnaround operation, etc. As a result, the aspects disclosed herein may help an operator accurately and quickly maneuvermotor grader 10 and perform various operations. Moreover,positioning blade 16,drawbar 26, andcircle 46 in one of the plurality of predetermined positions may help ensure thatblade 16 is positioned at an appropriate blade tilt, blade angle, blade pitch, sideshift position, etc., which may reduce wear on cuttingedge 36, promote material rolling in a spreading operation, efficiently penetrate or cut material in grading or cutting operations, accurately cast the spread, graded, or cut material, etc. Reducing wear on cuttingedge 36 and accurately positioningblade 16,drawbar 26, andcircle 46 may increase the lifetime ofblade 16 and other components ofmotor grader 10, while also allowing an operator to efficiently perform the various operations and maneuvers discussed herein. - It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed machine without departing from the scope of the disclosure. Other embodiments of the machine will be apparent to those skilled in the art from consideration of the specification and practice of the control system for a grading machine disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims and their equivalents.
Claims (20)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
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US16/204,646 US20200173138A1 (en) | 2018-11-29 | 2018-11-29 | Control system for a grading machine |
CN201911182599.4A CN111236340A (en) | 2018-11-29 | 2019-11-27 | Control system for soil leveling machine |
DE102019132196.4A DE102019132196A1 (en) | 2018-11-29 | 2019-11-27 | CONTROL SYSTEM FOR A LEVELING MACHINE |
Applications Claiming Priority (1)
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US16/204,646 US20200173138A1 (en) | 2018-11-29 | 2018-11-29 | Control system for a grading machine |
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US20200173138A1 true US20200173138A1 (en) | 2020-06-04 |
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US16/204,646 Abandoned US20200173138A1 (en) | 2018-11-29 | 2018-11-29 | Control system for a grading machine |
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US (1) | US20200173138A1 (en) |
CN (1) | CN111236340A (en) |
DE (1) | DE102019132196A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US20220112684A1 (en) * | 2020-10-14 | 2022-04-14 | Jiangsu Xcmg Construction Machinery Research Institute Ltd. | Grader and slope scraping control method and device thereof |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
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WO1991004378A1 (en) * | 1989-09-14 | 1991-04-04 | Kabushiki Kaisha Komatsu Seisakusho | Blade controller of bulldozer |
US5078215A (en) | 1990-05-29 | 1992-01-07 | Spectra-Physics Laserplane, Inc. | Method and apparatus for controlling the slope of a blade on a motorgrader |
US5925085A (en) * | 1996-10-23 | 1999-07-20 | Caterpillar Inc. | Apparatus and method for determining and displaying the position of a work implement |
US6286606B1 (en) * | 1998-12-18 | 2001-09-11 | Caterpillar Inc. | Method and apparatus for controlling a work implement |
US20130255977A1 (en) * | 2012-03-27 | 2013-10-03 | Caterpillar, Inc. | Control for Motor Grader Curb Operations |
EP3359748B1 (en) * | 2015-10-06 | 2023-01-04 | Topcon Positioning Systems, Inc. | Automatic blade control system for a motor grader |
CN108487351B (en) * | 2018-05-24 | 2024-05-10 | 徐州徐工筑路机械有限公司 | Land leveler shovel blade control mechanism and multi-working-condition shovel angle control system thereof |
-
2018
- 2018-11-29 US US16/204,646 patent/US20200173138A1/en not_active Abandoned
-
2019
- 2019-11-27 CN CN201911182599.4A patent/CN111236340A/en active Pending
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20220112684A1 (en) * | 2020-10-14 | 2022-04-14 | Jiangsu Xcmg Construction Machinery Research Institute Ltd. | Grader and slope scraping control method and device thereof |
US11970835B2 (en) * | 2020-10-14 | 2024-04-30 | Jiangsu Xcmg Construction Machinery Research Institute Ltd. | Grader and slope scraping control method and device thereof |
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DE102019132196A1 (en) | 2020-06-04 |
CN111236340A (en) | 2020-06-05 |
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