WO1999004106A1 - Method and apparatus for monitoring and controlling an earthworking implement as it approaches a desired depth of cut - Google Patents
Method and apparatus for monitoring and controlling an earthworking implement as it approaches a desired depth of cut Download PDFInfo
- Publication number
- WO1999004106A1 WO1999004106A1 PCT/US1998/011888 US9811888W WO9904106A1 WO 1999004106 A1 WO1999004106 A1 WO 1999004106A1 US 9811888 W US9811888 W US 9811888W WO 9904106 A1 WO9904106 A1 WO 9904106A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- earthworking
- implement
- cut
- machine
- desired depth
- Prior art date
Links
Classifications
-
- 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
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
-
- 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
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
-
- 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
- E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
Definitions
- This invention relates generally to a method and apparatus for monitoring and controlling an earthworking implement and, more particularly, to a method and apparatus for monitoring and controlling an earthworking implement as it approaches a desired depth of cut between two regions of material .
- Earthworking machines e.g., track-type tractors
- a layer of a first material to expose an underlying layer of a second material.
- the layer of soil is commonly known as overburden, and needs to be removed to mine the ore.
- control system developed by the Stratton Patent does not differentiate between the material desired to be removed and the material desired to be exposed.
- the control system may determine that the blade can be lowered to push more material, with the result that some material which is desired to remain intact may be removed in the process .
- the terrain covered by an earthworking machine is usually uneven. As the machine traverses the terrain, the machine will follow the contours of the ground, causing the blade to periodically cut lower than the desired depth of cut and remove part of the material that should not be removed .
- the present invention is directed to overcoming one or more of the problems as set forth above .
- a method for monitoring and controlling an earthworking implement with respect to a desired depth of cut includes the steps of monitoring the position and movement of the implement, stopping the movement of the implement toward the desired depth of cut in response to the implement nearing the desired depth of cut, and lifting the implement in response to the implement moving lower than the desired depth of cut .
- an apparatus for monitoring and controlling an earthworking implement with respect to a desired depth of cut includes a control system, a machine position determination system, an implement position determination system, and a site database including data determining the location of the desired depth of cut.
- the apparatus also includes a controller in the control system which receives a machine position signal, an implement position signal, and the site data, and responsively determines the position of the implement with respect to the desired depth of cut.
- Fig. 1 is a diagrammatic illustration of an earthworking machine as embodied in the present invention
- Fig. 2 is a diagrammatic illustration of an earthworking implement in one embodiment of the present invention.
- Fig. 3 is a diagrammatic illustration of an earthworking implement in another embodiment of the present invention.
- Fig. 4 is a diagrammatic illustration of an earthworking implement in yet another embodiment of the present invention
- Fig. 5 is a block diagram illustrating the apparatus of the present invention
- Fig. 6 is a flow diagram illustrating one aspect of the present invention.
- Fig. 7 is a flow diagram illustrating another aspect of the present invention.
- an earthworking machine 102 as embodied in the present invention is shown.
- the earthworking machine 102 of Fig. 1 is shown as a track-type tractor.
- other types of earthworking machines e.g., scrapers, motor graders, excavators, may be used in the present invention.
- the earthworking machine 102 includes an earthworking implement 104, e.g., a bulldozer blade.
- the earthworking implement 104 is used to move material.
- the earthworking implement 104 may remove a layer of material from a site.
- the type of material to remove may be a layer of overburden that is covering a layer of a second material, such as ore to be mined. It may also be desired to remove material to cause the site to conform to a desired depth and contour, e.g., for construction of a road or parking lot .
- a layer of a material to remove 108 is located over a layer of a material to remain 110.
- the material to remove 108 may be overburden that covers a layer of ore to be mined.
- the boundary between the material to remove 108 and the material to remain 110 is known in the present invention as a desired depth of cut 106.
- Figs. 2-4 three embodiments of the operation of the present invention are shown.
- the earthworking implement 104 is shown removing a portion of the material to remove 108. Part of the material to remove 108 is not being removed, resulting in the material to remain 110 remaining unexposed.
- a track-type tractor is generally considered to be a rough cut machine, i.e., it is difficult to remove material with a high degree of accuracy.
- the track-type tractor may be used to remove material to remove 108 to a predetermined distance above the desired depth of cut 106.
- a more precise earthworking machine such as a motor grader or wheel loader may remove the remaining material to remove 108 to the desired depth of cut 106.
- Fig. 3 a second embodiment of the operation of the present invention is shown.
- the earthworking implement 104 is removing the entire layer of the material to remove 108, and exposing the material to remain 110 without removing any of the material to remain 110.
- the desired depth of cut 106 is reached in one pass, thus optimizing the efficiency of the earthworking operation.
- a third embodiment of the operation of the present invention is s own.
- the earthworking implement 104 is removing the entire layer of the material to remove 108, and is removing a portion of the material to remain 110.
- the condition shown in Fig. 4 results in wasteful removal of a material that is desired to be mined.
- the desired depth of cut 106 is for construction of a site, removing too much material may require adding material back to the site to restore the desired depth of cut 106.
- FIG. 5 a block diagram of the present invention is shown.
- a machine position determination system 502 is located on the earthworking machine 102.
- the machine position determination system 502 includes a GPS antenna 112 mounted on a fixed position on the earthworking machine 102, preferably above the operator's cab of the machine to maximize the satellite signal reception.
- GPS satellite signals from the GPS antenna 112.
- the theory and operation of GPS positioning is well known in the art and will not be discussed further.
- the machine position determination system 502 delivers a machine position signal to a control system 514 located on the earthworking machine 102.
- the control system 514 is discussed in more detail below.
- the machine position determination system 502 is designed to determine the position coordinates of the point of location of the GPS antenna 112 on the earthworking machine 102. It is often desired to determine the position coordinates of a point on the earthworking implement 104, preferably a point on the cutting edge of the implement.
- An implement position determination system 506 includes a pitch sensor 508 that senses the pitch of the earthworking machine 102, an implement position sensor 510 that determines the position of the earthworking implement 104, and a ground speed sensor 512 that senses the ground speed of the earthworking machine 102.
- the implement position determination system 506 delivers an implement position signal to the control system 514.
- the control system 514 includes a site database 518, which contains data describing features of the site.
- Data in the site database includes, but is not limited to, data determining the location of the desired depth of cut 106.
- the control system 514 also includes a controller 516.
- the controller 516 is a microprocessor.
- the controller 516 receives the machine position signal, the implement position signal, and the site data, and responsively determines the position of the earthworking implement 104 with respect to the desired depth of cut 106.
- a display 520 receives data from the control system 514 and displays the position of the earthworking implement 104 with respect to the interface 106.
- FIG. 6 a flowchart illustrating a method for monitoring and controlling an earthworking implement 104 with respect to an interface 106 is shown.
- a first control block 602 the position and movement of the earthworking implement 104 is monitored with respect to the location of the desired depth of cut 106.
- a first decision block 604 it is determined if the earthworking implement 104 has moved lower than the desired depth of cut 106, as illustrated in Fig. 4, therefore causing the earthworking implement 104 to remove some of the material to remain 110. If it is determined that the earthworking implement 104 has moved lower than the desired depth of cut 106, then control proceeds to a second control block 606, where the earthworking implement 104 is lifted out of the material to remain 110. Otherwise, control proceeds to a second decision block 608.
- the second decision block 608 it is determined if the earthworking implement 104 is nearing the desired depth of cut 106. In the preferred embodiment, movement of the earthworking implement 104 below a predetermined threshold above the desired depth of cut 106 would result in the determination that the desired depth of cut 106 is being approached.
- control proceeds to a third control block 610, where the movement of the earthworking implement 104 toward the desired depth of cut 106 is stopped. Otherwise, control returns to the first control block 602.
- FIG. 7 a flowchart illustrating a method for determining the position of the earthworking implement 104 with respect to the interface 106 is shown.
- a first control block 702 the location of the desired depth of cut 106 is determined with respect to the earthworking machine 102.
- the geographical coordinates of the GPS antenna 112 mounted on the earthworking machine 102 are determined using, for example, an x,y,z coordinate system, where x,y,z refers to latitude, longitude, and altitude, respectively.
- the geographical location of the desired depth of cut 106 at the GPS antenna x and y coordinates is then looked up in the site database 518.
- the position of the earthworking implement 104 with respect to the earthworking machine 102 is determined.
- Control then proceeds to a third control block 706, where the position of the earthworking implement 104 is calculated with respect to the desired depth of cut 106.
- This is easily accomplished since the position of the earthworking implement 104 and the location of the desired depth of cut 106 have both been determined with respect to the earthworking machine 102. Therefore, the position of the earthworking machine, i.e., the geographical coordinates of the GPS antenna 112 mounted on the earthworking machine 102, is a common point of reference linking the locations of the earthworking implement 104 and the desired depth of cut 106 together.
- a fourth control block 708 the position of the earthworking implement 104 relative to the desired depth of cut 106 is displayed to an operator.
- the display 520 is graphical.
- the display 520 is located on the earthworking machine 102.
- the display 520 is located at a remote site.
- the earthworking machine 102 operates autonomously, and the display 520 is not used.
- an earthworking machine 102 e.g., a track-type tractor, is used to remove layers of overburden from a work site where it is desired to expose a layer of ore. Due to uneven terrain and to control systems on the earthworking machine 102 designed to optimize the amount of material removed, some of the ore is frequently removed with the overburden. This results in valuable ore being wasted in the process.
- the present invention is designed to monitor the position of the earthworking implement 104, e.g., a bulldozer blade, with respect to the ore interface 106, and prevent the earthworking implement 104 from removing ore during the overburden removal process.
- the earthworking implement 104 e.g., a bulldozer blade
- the controller in the present invention overrides any command to position the blade at the current depth, and the blade is raised to the desired depth of cut 106.
- an earthworking machine 102 e.g., a track-type tractor, is used to remove material at a site to achieve a desired level and grade.
- the design for a parking lot may require a predetermined slope to allow rain to flow to a drain. If the earthworking machine 102 removes too much material, then material must be added back to the site. This adds unwanted time and costs to the operation.
- the system of the present invention monitors the position of the earthworking implement 104 with respect to the desired depth of cut 106, and prevents the depth of cut of the earthworking implement 104 from moving lower than the desired depth of cut 106.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Operation Control Of Excavators (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU80625/98A AU745270B2 (en) | 1997-07-15 | 1998-06-10 | Method and apparatus for monitoring and controlling an earthworking implement as it approaches a desired depth of cut |
DE19881191T DE19881191T1 (en) | 1997-07-15 | 1998-06-10 | Method and device for monitoring and controlling an earth-working tool when it approaches a desired depth of cut |
JP11507158A JP2001500937A (en) | 1997-07-15 | 1998-06-10 | Method and apparatus for monitoring and controlling earthworking tools approaching a desired cut depth |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US89295197A | 1997-07-15 | 1997-07-15 | |
US08/892,951 | 1997-07-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999004106A1 true WO1999004106A1 (en) | 1999-01-28 |
Family
ID=25400766
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US1998/011888 WO1999004106A1 (en) | 1997-07-15 | 1998-06-10 | Method and apparatus for monitoring and controlling an earthworking implement as it approaches a desired depth of cut |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP2001500937A (en) |
AU (1) | AU745270B2 (en) |
DE (1) | DE19881191T1 (en) |
WO (1) | WO1999004106A1 (en) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006025885A1 (en) * | 2004-08-26 | 2006-03-09 | Caterpillar Trimble Control Technologies Llc | A method and system for performing the determination of the position of an implement |
US7178606B2 (en) | 2004-08-27 | 2007-02-20 | Caterpillar Inc | Work implement side shift control and method |
CN103140632A (en) * | 2011-09-30 | 2013-06-05 | 株式会社小松制作所 | Blade control system and construction machine |
US20140176709A1 (en) * | 2012-12-21 | 2014-06-26 | Caterpillar, Inc. | Video Overlays for RC/Autonomous Machine |
CN103906877A (en) * | 2012-10-26 | 2014-07-02 | 株式会社小松制作所 | Blade control device, work machine, and blade control method |
US10458099B2 (en) | 2004-08-26 | 2019-10-29 | Caterpillar Trimble Control Technologies Llc | Auto recognition of at least one standoff target to determine position information for a mobile machine |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7725234B2 (en) | 2006-07-31 | 2010-05-25 | Caterpillar Inc. | System for controlling implement position |
US8083004B2 (en) | 2007-03-29 | 2011-12-27 | Caterpillar Inc. | Ripper autodig system implementing machine acceleration control |
US8731784B2 (en) * | 2011-09-30 | 2014-05-20 | Komatsu Ltd. | Blade control system and construction machine |
Citations (9)
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US4157118A (en) * | 1976-08-31 | 1979-06-05 | Kabushiki Kaisha Komatsu Seisakusho | Automatic control systems for the working tool of a civil machine |
US4818107A (en) * | 1986-05-21 | 1989-04-04 | Kabushiki Kaisha Komatsu S Eisakusho | System for measuring the position of a moving body |
US4888890A (en) * | 1988-11-14 | 1989-12-26 | Spectra-Physics, Inc. | Laser control of excavating machine digging depth |
GB2228507A (en) * | 1989-02-24 | 1990-08-29 | John Kelly | Control apparatus for earthworking machines |
EP0443026A1 (en) * | 1989-09-14 | 1991-08-28 | Kabushiki Kaisha Komatsu Seisakusho | Blade controller of bulldozer |
US5375663A (en) * | 1993-04-01 | 1994-12-27 | Spectra-Physics Laserplane, Inc. | Earthmoving apparatus and method for grading land providing continuous resurveying |
DE19510376A1 (en) * | 1994-03-23 | 1995-09-28 | Caterpillar Inc | System and method for determining completion of a digging section or section of an excavation or excavation work cycle |
US5560431A (en) | 1995-07-21 | 1996-10-01 | Caterpillar Inc. | Site profile based control system and method for an earthmoving implement |
WO1997001105A1 (en) * | 1995-06-20 | 1997-01-09 | Caterpillar Inc. | Apparatus and method for determining the position of a work implement |
-
1998
- 1998-06-10 AU AU80625/98A patent/AU745270B2/en not_active Ceased
- 1998-06-10 JP JP11507158A patent/JP2001500937A/en active Pending
- 1998-06-10 WO PCT/US1998/011888 patent/WO1999004106A1/en active IP Right Grant
- 1998-06-10 DE DE19881191T patent/DE19881191T1/en not_active Withdrawn
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4157118A (en) * | 1976-08-31 | 1979-06-05 | Kabushiki Kaisha Komatsu Seisakusho | Automatic control systems for the working tool of a civil machine |
US4818107A (en) * | 1986-05-21 | 1989-04-04 | Kabushiki Kaisha Komatsu S Eisakusho | System for measuring the position of a moving body |
US4888890A (en) * | 1988-11-14 | 1989-12-26 | Spectra-Physics, Inc. | Laser control of excavating machine digging depth |
GB2228507A (en) * | 1989-02-24 | 1990-08-29 | John Kelly | Control apparatus for earthworking machines |
EP0443026A1 (en) * | 1989-09-14 | 1991-08-28 | Kabushiki Kaisha Komatsu Seisakusho | Blade controller of bulldozer |
US5375663A (en) * | 1993-04-01 | 1994-12-27 | Spectra-Physics Laserplane, Inc. | Earthmoving apparatus and method for grading land providing continuous resurveying |
DE19510376A1 (en) * | 1994-03-23 | 1995-09-28 | Caterpillar Inc | System and method for determining completion of a digging section or section of an excavation or excavation work cycle |
WO1997001105A1 (en) * | 1995-06-20 | 1997-01-09 | Caterpillar Inc. | Apparatus and method for determining the position of a work implement |
US5560431A (en) | 1995-07-21 | 1996-10-01 | Caterpillar Inc. | Site profile based control system and method for an earthmoving implement |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8478492B2 (en) | 1998-11-27 | 2013-07-02 | Caterpillar Trimble Control Technologies, Inc. | Method and system for performing non-contact based determination of the position of an implement |
US9422692B2 (en) | 1998-11-27 | 2016-08-23 | Caterpillar Trimble Control Technologies Llc | Systems for performing non-contact based determination of the position of an implement |
US9481983B2 (en) | 1998-11-27 | 2016-11-01 | Caterpillar Trimble Control Technologies Llc | Performing non-contact based determination of the position of an implement |
US9650763B2 (en) | 1998-11-27 | 2017-05-16 | Caterpillar Trimble Control Technologies Llc | Methodss for performing non-contact based determination of the position of an implement |
WO2006025885A1 (en) * | 2004-08-26 | 2006-03-09 | Caterpillar Trimble Control Technologies Llc | A method and system for performing the determination of the position of an implement |
US10458099B2 (en) | 2004-08-26 | 2019-10-29 | Caterpillar Trimble Control Technologies Llc | Auto recognition of at least one standoff target to determine position information for a mobile machine |
US7178606B2 (en) | 2004-08-27 | 2007-02-20 | Caterpillar Inc | Work implement side shift control and method |
CN103140632A (en) * | 2011-09-30 | 2013-06-05 | 株式会社小松制作所 | Blade control system and construction machine |
CN103140632B (en) * | 2011-09-30 | 2014-07-02 | 株式会社小松制作所 | Blade control system and construction machine |
CN103906877A (en) * | 2012-10-26 | 2014-07-02 | 株式会社小松制作所 | Blade control device, work machine, and blade control method |
CN103906877B (en) * | 2012-10-26 | 2015-06-03 | 株式会社小松制作所 | Blade control device, work machine, and blade control method |
US20140176709A1 (en) * | 2012-12-21 | 2014-06-26 | Caterpillar, Inc. | Video Overlays for RC/Autonomous Machine |
Also Published As
Publication number | Publication date |
---|---|
JP2001500937A (en) | 2001-01-23 |
AU745270B2 (en) | 2002-03-14 |
AU8062598A (en) | 1999-02-10 |
DE19881191T1 (en) | 1999-12-23 |
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