Caterpillar Trimble Control Technologies LLC

Trimble Inc.

Kyle Davis

Richard Weinel

Richard Piekutowski

Christopher Corwin

Daniel Brosh

Seth Meisel

Grade control systems and methods for an earthmoving machine and control architecture to generate a continuous differential surface associated with a rear curved surface of an earthmoving implement, project the continuous differential surface onto a two-dimensional (2D) plane associated with the earthmoving implement, determine a piecewise-derivative continuous curve based on the continuous differential surface projected on to the 2D plane, determine a derivative of the piecewise-derivative continuous curve, project a design plane normal n* of a ground surface for smoothing onto the 2D plane associated with the earthmoving implement, determine a point of perpendicular intersection between the derivative of the piecewise-derivative continuous curve and the design plane normal n* of the ground surface projected onto the 2D plane, and operate the earthmoving machine using one or more linkage assembly actuators and the point of perpendicular intersection to smooth the ground surface.

Grade control systems and methods for earthmoving implements

In accordance with one embodiment of the present disclosure, a material moving machine comprises a pilot hydraulic switching system. The pilot hydraulic switching system comprises a control unit, a first directional valve, and a second directional valve. The control unit is configured to operate the first and second directional valves to shift a variable position actuator valve between a static state, a retract state, and an extend state. The actuator valve comprises a first and second control element. In the retract and extend states, the first and second directional valves control fluid flow to the variable position actuator valve with a positive net pressure on either the first or second control elements and a negative net pressure on the other control element to move the material moving implement. In the static state, the first and second directional valves control fluid flow equally on the first and second control elements.

Material moving machines and pilot hydraulic switching systems for use therein

An earthmoving machine comprises an implement. The implement defines a variable implement angle &#x3b8;(t) indicative of a current position of the implement relative to horizontal as a function of time t. The implement comprises teeth extending a tooth height h and defining an active raking ratio r. Controllers are programmed to execute an implement teeth grading offset determination process that comprises determining a variable implement offset angle &#x3b8;(t) at least partially based on a difference between an original target design angle &#x3b8;(t) and the variable implement angle &#x3b8;(t), determining an implement offset IO based on h, r, and &#x3b8;(t), and determining a new target design elevation Elv(t) based on IO and an original target design elevation Elv(t).

Implement teeth grading offset determination

An excavator comprises a control architecture having one or more actuators and one or more controllers. The one or more controllers are programmed to execute instructions. The instructions determine if there is a request to operate the excavator boom and the excavating implement in automatics mode. The instructions also receive target design surface data representing a target design surface of an excavating operation. The instructions still further receive an implement angle representing an operating angle of the excavating implement relative to the target design surface. The instructions also determine whether the implement angle is within an activation angle, determine whether the implement angle is outside of a deactivation angle, activate the excavating implement in the automatics mode when the implement angle is within the activation angle and the deactivation angle, and deactivate when the implement angle is outside of the deactivation angle subsequent to the automatics mode activation.

Excavator boom and excavating implement automatic state logic

An excavator comprises a machine chassis, boom, stick, and implement. The boom, stick, and implement collectively define a variable implement angle &#x3b8;(t) indicative of a current position of the implement relative to horizontal as a function of time t. The implement comprises teeth extending a tooth height h from an internal leading edge Jto an external leading edge J. The teeth are spaced along Jand define an active raking ratio r. Controllers are programmed to execute an implement teeth grading offset determination process that comprises determining a variable implement offset angle &#x3b8;(t) at least partially based on a difference between an original target design angle &#x3b8;(t) and the variable implement angle &#x3b8;(t), determining an implement offset IO based on h, r, and &#x3b8;(t), and determining a new target design elevation Elv(t) based on IO and an original target design elevation Elv(t).

Excavator implement teeth grading offset determination

An excavator comprises a control architecture having one or more linkage assembly actuators and one or more controllers. The one or more controllers are programmed to execute instructions. The instructions determine if there is a request to operate the excavator boom and the excavating implement in automatics mode. The instructions also receive target design surface data representing a target design surface of an excavating operation. The instructions further receive an implement position representing a position of the excavating implement relative to the target design surface. The instructions still further receive an implement angle representing an operating angle of the excavating implement relative to the target design surface. The instructions also determine whether the implement position is within an automatics region of the target design surface, wherein the automatics region represents a region on one or both sides of the target design surface.

Growing community of inventors

Dayton, OH, United States of America

Kyle Davis