Construction Equipment Cross Slope Transitions
A mobile construction equipment includes: a blade that is movable with respect to the mobile construction equipment, the blade imparting at least one cross slope on a surface on which the mobile construction equipment is operating; and a controller for receiving at least a first target cross slope, a second target cross slope, and at least one input, and, based on the at least one input, transitioning the blade from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
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The present disclosure generally relates to mobile construction equipment, such as a motor grader, and more particularly to using the mobile construction equipment to establish cross slope of a surface, such as a road.
BACKGROUNDConstruction equipment, such as a motor grader, can be used for road work, ditch work, site preparation. and other surface contouring and finishing tasks. Using a work implement, such as a blade assembly, the motor grader can impart cross slope and longitudinal slope on the road on which it is operating. Cross slope is the transverse slope of the road surface, extending laterally and measured relative to the horizon. Cross slope measures the crown of a road, which generally includes a high point at the center and downwardly-sloping sides when viewed as a lateral cross section. Proper cross slope provides a gradient for water runoff into a drainage system such as a street gutter or ditch. Longitudinal slope, by comparison, is the slope of the road with respect to the direction of travel relative to the horizon. Longitudinal slope measures the grade of the road over a distance traveled, which affects the load on work machines carrying heavy cargo. Maintaining the proper cross slope and longitudinal slope of a road is important for water drainage and safe operation of vehicles on the road, particularly in mining and construction environments.
Rear wheels 22 are operatively supported on tandem axles 24, which are pivotally connected to motor grader 10 between rear wheels 22 on each side of motor grader 10. The power source may be, for example, a diesel engine, a gasoline engine, a natural gas engine, or any other engine. The power source may also be an electric motor linked to a fuel cell, capacitive storage device, battery, or another source of power. The transmission may be a mechanical transmission, hydraulic transmission, or any other transmission type. The transmission may be operable to produce multiple output speed ratios (or a continuously variable speed ratio) between the power source and driven traction devices.
Motor grader 10 includes an articulation joint 62 that pivotally connects front frame 12 and rear frame 14, such that front frame 12 can pivot relative to rear frame 14 about an articulation axis B to help facilitate steering of motor grader 10.
Front frame 12 typically supports an operator station 26 that contains operator controls, along with a variety of displays or indicators for conveying information to the operator for operation of motor grader 10. For example, motor grader 10 may include a machine speed sensor 90, which could be any sensor configured to monitor machine speed V, including sensors associated with any of the front wheels 58, 60, rear wheels 22, axle shafts, motors, or other components of the drivetrain of motor grader 10. Machine speed V could be displayed on a display within operator station 26.
Motor grader 10 may also work in conjunction with a global navigation satellite system, or GNSS. A GNSS is a satellite navigation system with global coverage that can be used to provide autonomous geo-positioning of objects associated with the GNSS, such as an autonomously operated motor grader. One example of a GNSS is a global positioning system, or GPS. The GNSS may include a satellite positioning unit 88 disposed on motor grader 10. Satellite positioning unit 88 generates signals indicative of location L of motor grader 10 (e.g., on road 100). Satellite positioning unit 88 may determine and generate signals corresponding to the latitude and/or longitude of motor grader 10. Satellite positioning unit 88 may be disposed on a top portion of motor grader 10 (e.g., on operator station 26, as shown in
Front frame 12 may also include a beam 28 that supports blade assembly 18 and is employed to move blade 30 to a wide range of positions relative to motor grader 10 (e.g., to impart cross slope 108, fore slope 110, and/or back slope 112 on road 100). Blade assembly 18 includes a drawbar 32 pivotally mounted to a first end 34 of beam 28 via a ball joint or the like. The position of drawbar 32 is typically controlled by hydraulic cylinders: a right lift cylinder 36 and left lift cylinder 38, as shown in
Drawbar 32 may include a large, flat plate, commonly referred to as a yoke plate 42. Beneath yoke plate 42 is a circular gear arrangement and mount, commonly referred to as a circle 44. Circle 44 is rotated by, for example, a hydraulic motor referred to as a circle drive 46. Rotation of circle 44 by circle drive 46 rotates attached blade 30 about an axis A perpendicular to a plane of drawbar yoke plate 42. The blade cutting angle is defined as the angle of work implement 16 relative to a longitudinal axis 48 of front frame 12. For example, at a zero degree blade cutting angle, blade 30 is aligned at a right angle to longitudinal axis 48 of front frame 12 and beam 28, as shown in
Blade 30 is also mounted to circle 44 via a pivot assembly 50 that allows for tilting of blade 30 relative to circle 44. A blade tip cylinder 52 is used to tilt blade 30 forward or rearward. In other words, blade tip cylinder 52 is used to tip or tilt a top edge 54 of blade 30 relative to a bottom cutting edge 56 of blade 30, which is commonly referred to as a blade tip. Blade 30 is also mounted to a sliding joint associated with circle 44 that allows blade 30 to slide or shift from side-to-side relative to circle 44. The side-to-side shift is commonly referred to as blade side shift. A side shift cylinder or the like is used to control the blade side shift.
The foregoing components allow for movement of blade 30 in a number of different manners, all of which can be used to impart a desired cross slope 108 on road 100. Specifically, a motor grader 10 typically includes an automatic cross slope control system where the operator manually controls one side of blade 30, while the other side of blade 30 is automatically controlled to set cross slope 108.
The automatic control of cross slope 108 is accomplished in part by determining a blade position PB of blade 30 using one or more sensors, as shown in
Mainfall sensor 80 may be a single multi-axis inertial measurement unit configured to produce a signal indicative of the longitudinal pitch of motor grader 10 and a signal indicative of the lateral roll of motor grader 10. Inertial measurement units are self-contained sensor systems capable of generating signals indicative of linear and angular motion. A multi-axis inertial measurement unit includes two or more gyroscopes and accelerometers for measuring linear and angular motion in at least two dimensions (e.g., along two axes). The axes of the multi-axis inertial measurement unit are typically aligned with the longitudinal axis of motor grader 10 (e.g., longitudinal axis 48 of front frame 12) and the lateral axis of motor grader 10 to generate signals indicative of the longitudinal pitch and lateral roll of motor grader 10, respectively.
Rotation sensor 82 may be configured to produce a signal indicative of the angle of blade 30 relative to front frame 12 and the lateral axis of motor grader 10. Rotation sensor 82 produces a signal indicative of the direction of blade 30 relative to the direction of travel of motor grader 10 (e.g., along road 100).
Blade slope sensor 84 may be configured to produce a signal indicative lateral slope of blade 30. The axis of mainfall sensor 80 is aligned with the longitudinal axis of motor grader 10 (e.g., longitudinal axis 48 of front frame 12) to generate signals indicative of the longitudinal pitch of motor grader 10, while blade slope sensor 84 generates signals indicative of the lateral roll of motor grader 10 when blade 30 is aligned with a lateral axis of motor grader 10.
Rotation sensor 82 can be used in conjunction with blade slope sensor 84 to determine the lateral roll of motor grader 10 when blade 30 is aligned with the lateral axis of motor grader 10, ensuring the signals from blade slope sensor 84 are measuring the slope of a surface that is perpendicular to the direction of travel of motor grader 10.
At intersections and road transitions, such as intersections 116A-116C shown in
One aspect of the present disclosure is directed to a mobile construction equipment, comprising: a blade that is movable with respect to the mobile construction equipment, the blade being configured to impart at least one cross slope on a surface on which the mobile construction equipment is operating; and a controller configured to receive at least a first target cross slope, a second target cross slope, and at least one input, and, based on the at least one input, transition the blade from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
Another aspect of the present disclosure is directed to a method for imparting at least one cross slope on a surface using a mobile construction equipment, the method comprising: receiving at least a first target cross slope for the surface, a second target cross slope for the surface, and at least one input; and based on the at least one input, transitioning a blade of the mobile construction equipment from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
A further aspect of the present disclosure is directed to a controller for a mobile construction equipment having a blade that is movable with respect to the mobile construction equipment to impart at least one cross slope on a surface on which the mobile construction equipment is operating, the controller being configured to: receive a first target cross slope for the surface; receive a second target cross slope for the surface; receive at least one input; and based on the at least one input, transition the blade from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
The present application describes mobile construction equipment, methods, and controllers used to establish cross slope of a surface, such as a road, in ways that avoid the shortcomings of an operator of the mobile construction equipment attempting to manually establish the cross slope using the mobile construction equipment. In general, the mobile construction equipment may be a motor grader, such as motor grader 10. Motor grader 10 includes blade 30, which is movable with respect to motor grader 10 such that blade 30 can be used to impart or establish at least one cross slope 108 on a surface on which the mobile construction equipment is operating, such as road 100. The mobile construction equipment, methods, and controllers of the present application are particularly useful for establishing cross slope 108 near intersections, such as intersections 116A-116C, as shown in
Control system 94 may incorporate a number of inputs, such as inputs from mainfall sensor 80, rotation sensor 82, blade slope sensor 84, satellite positioning unit 88, machine speed sensor 90, a settings module 98, and a user interface 99, among others. Settings module 98 may store setting information relating to local conditions and the surroundings of motor grader 10, which vary. Exemplary setting information includes, for example, information related to the configuration of motor grader 10, such as tire size.
User interface 99 may be disposed within operator station 26 of motor grader 10 so that the operator of motor grader 10 can input information into controller 96. Alternatively, user interface 99 could be located remote from motor grader 10 (e.g., if motor grader 10 is being operated autonomously). Exemplary information that may be inputted via user interface 99 can include one or more target cross slopes TCS. A target cross slope TCS is a desired cross slope 108 at a particular portion of road 100. Different target cross slopes TCS may be associated with different locations L on road 100. For example, a first target cross slope TCS1 may be associated with a first location L1 on road 100, while a second target cross slope TCS2 may be associated with a second location L2 on road 100, second location L2 being different than first location L1.
Under ideal conditions, a given target cross slope TCS would be exactly the same as cross slope 108 actually established by motor grader 10 on road 100. However, in real-world conditions, a target cross slope TCS, is, as its name suggests, a “target” for cross slope 108, understanding that motor grader 10 may not be able to obtain an exact one-to-one correspondence between target cross slope TCS and cross slope 108 actually established by motor grader 10 on road 100. Nevertheless, target cross slope TCS and cross slope 108 established by motor grader 10 on road 100, can, in practice, be considered equal.
Based at least in part on target cross slope TCS information that is received (e.g., from user interface 99), controller 96 can issue various instructions to control blade position PB of blade 30 with respect to motor grader 10 in order to impart particular target cross slopes TCS at particular locations L on road 100. Specifically, controller 96 can issue instructions to actuate one or more of right lift cylinder 36, left lift cylinder 38, center shift cylinder 40, circle drive 46, blade tip cylinder 52, and/or any other actuators for moving blade 30 to transition blade position PB of blade 30 to a position consistent with a particular target cross slope TCS on road 100. For example, as shown in
In addition to target cross slope TCS, controller 96 can also control blade position PB of blade 30 with respect to motor grader 10 based on other inputs, in that there may be at least one input into controller 96 in addition to one or more target cross slopes TCS, as shown in
Based on information received from one or more of mainfall sensor 80, rotation sensor 82, blade slope sensor 84, satellite positioning unit 88 (e.g., location L), machine speed sensor 90 (e.g., machine speed V), settings module 98, and user interface 99 (e.g., target cross slope TCS), controller 96 can determine a cross slope transition rate RCST. Cross slope transition rate RCST is the rate at which blade 30 transitions from first blade position PB1 to second blade position PB2. For example, if the change from a first target cross slope TCS1 to a second target cross slope TCS2 is aggressive (e.g., a significant cross slope 108 change over a short distance of road 100), then cross slope transition rate RCST may be higher. If, however, the change from first target cross slope TCS1 to second target cross slope TCS2 is minor (e.g., a small cross slope 108 change over a long distance of road 100), then cross slope transition rate RCST may be lower. Cross slope transition rate RCST may also be manually input (e.g., by way of user interface 99) into controller 96, as shown in
Once a particular cross slope transition rate RCST is determined or input, controller 96 can, if desired, transition blade 30 from first blade position PB1 to second blade position PB2 (e.g., while moving from a first location L1 to a second location L2) at the particular cross slope transition rate RCST. In this manner, blade 30 transitions, at cross slope transition rate RCST, from first blade position PB1 to impart a first target cross slope TCS1 on road 100, to second blade position PB2 to impart a second target cross slope TCS2 on road 100. This transition may occur while moving from a first location L1 to a second location L2, for example.
Control system 94 also includes transition mode switch 92, as shown in
In general, the mobile construction equipment, methods, and controllers of the present application are applicable for use in automatically establishing a desired cross slope on a surface, such as a road. When approaching certain features of a road, such as an intersection, bridge, rail crossing, cattle guard, etc., it is desirable to have a smooth cross slope transition at the feature. Rather than relying on an operator of a motor grader to manually implement the desired cross slope at the feature using the mobile construction equipment, the mobile construction equipment, methods, and controllers of the present application allow the motor grader to use a first target cross slope, a second target cross slope, and at least one input to automate the establishment of the cross slope transition on the road. The at least one input may come from one or more of a mainfall sensor, rotation sensor, blade slope sensor, satellite positioning unit, machine speed sensor, transition mode switch, settings module, and user interface associated with the motor grader. By automating the establishment of a desired cross slope transition in this manner, the transition is smoother in comparison to the prior art, resulting in multiple improvements associated with the road (e.g., improved road surface, proper water flow, longer road life, lower operating costs, etc.).
While the invention has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. It will be understood that changes and modifications may be made by those of ordinary skill within the scope of the following claims. In particular, the present invention covers further embodiments with any combination of features from different embodiments described above and below. Additionally, statements made herein characterizing the invention refer to an embodiment of the invention and not necessarily all embodiments.
The terms used in the claims should be construed to have the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the article “a” or “the” in introducing an element should not be interpreted as being exclusive of a plurality of elements. Likewise, the recitation of “or” should be interpreted as being inclusive, such that the recitation of “A or B” is not exclusive of “A and B,” unless it is clear from the context or the foregoing description that only one of A and B is intended. Further, the recitation of “at least one of A, B and C” should be interpreted as one or more of a group of elements consisting of A, B and C, and should not be interpreted as requiring at least one of each of the listed elements A, B and C, regardless of whether A, B and C are related as categories or otherwise. Moreover, the recitation of “A, B and/or C” or “at least one of A, B or C” should be interpreted as including any singular entity from the listed elements, e.g., A, any subset from the listed elements, e.g., A and B, or the entire list of elements A, B and C.
The present disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context.
Claims
1. A mobile construction equipment, comprising:
- a blade that is movable with respect to the mobile construction equipment, the blade being configured to impart at least one cross slope on a surface on which the mobile construction equipment is operating; and
- a controller configured to receive at least a first target cross slope, a second target cross slope, and at least one input, and, based on the at least one input, transition the blade from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
2. The mobile construction equipment of claim 1, further comprising:
- a satellite positioning unit of a global navigation satellite system, the satellite positioning unit being configured to output location of the mobile construction equipment,
- wherein the at least one input comprises the location of the mobile construction equipment.
3. The mobile construction equipment of claim 2, wherein the controller is configured to transition the blade from the first blade position to the second blade position as the mobile construction equipment moves from a first location to a second location.
4. The mobile construction equipment of claim 3, further comprising:
- a machine speed sensor configured to provide a machine speed of the mobile construction equipment,
- wherein the at least one input comprises the machine speed of the mobile construction equipment.
5. The mobile construction equipment of claim 4, wherein the controller is configured to determine, based at least in part on the machine speed, a cross slope transition rate for transitioning the blade from the first blade position to the second blade position, and move the blade at the cross slope transition rate while the mobile construction equipment moves from the first location to the second location.
6. The mobile construction equipment of claim 1, further comprising:
- a transition mode switch movable between an on position and an off position,
- wherein, when the transition mode switch is in the on position, the controller is configured to transition the blade from the first blade position to the second blade position at a cross slope transition rate.
7. The mobile construction equipment of claim 6, wherein the cross slope transition rate is adjustable by an operator of the mobile construction equipment.
8. The mobile construction equipment of claim 6, further comprising:
- a machine speed sensor configured to provide a machine speed of the mobile construction equipment,
- wherein the controller is configured to determine the cross slope transition rate based at least in part on the machine speed.
9. A method for imparting at least one cross slope on a surface using a mobile construction equipment, the method comprising:
- receiving at least a first target cross slope for the surface, a second target cross slope for the surface, and at least one input; and
- based on the at least one input, transitioning a blade of the mobile construction equipment from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
10. The method of claim 9, wherein receiving the at least one input comprises receiving a location of the mobile construction equipment.
11. The method of claim 10, wherein the blade is transitioned from the first blade position to the second blade position as the mobile construction equipment moves from a first location to a second location.
12. The method of claim 11, wherein receiving the at least one input comprises receiving a machine speed of the mobile construction equipment.
13. The method of claim 12, wherein the blade is transitioned from the first blade position to the second blade position at a cross slope transition rate, the cross slope transition rate being determined at least in part based on the machine speed.
14. The method of claim 9, further comprising, before transitioning the blade of the mobile construction equipment from the first blade position to impart the first target cross slope on the surface to the second blade position to impart the second target cross slope on the surface:
- placing the mobile construction equipment in a transition mode; and
- determining a cross slope transition rate for transitioning the blade from the first blade position to the second blade position.
15. The method of claim 14, wherein the cross slope transition rate is adjustable by an operator of the mobile construction equipment.
16. The method of claim 14, wherein receiving at least one input comprises receiving a machine speed of the mobile construction equipment, and
- wherein the cross slope transition rate is based at least in part on the machine speed.
17. A controller for a mobile construction equipment having a blade that is movable with respect to the mobile construction equipment to impart at least one cross slope on a surface on which the mobile construction equipment is operating, the controller being configured to:
- receive a first target cross slope for the surface;
- receive a second target cross slope for the surface;
- receive at least one input; and
- based on the at least one input, transition the blade from a first blade position to impart the first target cross slope on the surface to a second blade position to impart the second target cross slope on the surface.
18. The controller of claim 17, wherein the controller is configured to receive a location of the mobile construction equipment, the at least one input comprising the location, and
- wherein the controller is configured to transition the blade from the first blade position to the second blade position as the mobile construction equipment moves from a first location to a second location.
19. The controller of claim 18, wherein the controller is configured to receive a machine speed of the mobile construction equipment, the at least one input comprising the machine speed, and
- wherein the controller is configured to determine, based at least in part on the machine speed, a cross slope transition rate for transitioning the blade from the first blade position to the second blade position, and move the blade at the cross slope transition rate while the mobile construction equipment moves from the first location to the second location.
20. The controller of claim 17, wherein, when the mobile construction equipment is in a transition mode, the controller is configured to determine a cross slope transition rate for transitioning the blade from the first blade position to the second blade position, the cross slope transition rate being adjustable by an operator of the mobile construction equipment or based at least in part on a machine speed of the mobile construction equipment.
Type: Application
Filed: Jun 28, 2023
Publication Date: Jan 2, 2025
Applicant: Caterpillar Inc. (Peoria, IL)
Inventors: Michael C. Gentle (Maroa, IL), Ethan M. Tevis (Bloomington, IL)
Application Number: 18/342,933