Excavator implement teeth grading offset determination

Patent metadata

Field	Value
Publication number	US-10480155-B2
Application number	US-201715846919-A
Country	US
Kind code	B2
Filing date	Dec 19, 2017
Priority date	Dec 19, 2017
Publication date	Nov 19, 2019
Grant date	Nov 19, 2019

Abstract

An excavator comprises a machine chassis, boom, stick, and implement. The boom, stick, and implement collectively define a variable implement angle θ Bucket (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 J I to an external leading edge J E . The teeth are spaced along J I and 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 θ Delta (t) at least partially based on a difference between an original target design angle θ Tgt (t) and the variable implement angle θ Bucket (t), determining an implement offset IO based on h, r, and θ Delta (t), and determining a new target design elevation Elv Tgt,New (t) based on IO and an original target design elevation Elv Tgt,Orig (t).

First claim

What is claimed is:

1. An excavator comprising
a machine chassis,
an excavating linkage assembly,
an excavating implement, and
control architecture, wherein:
the excavating linkage assembly comprises an excavator boom and an excavator stick;
the excavating linkage assembly is configured to swing with, or relative to, the machine chassis;
the excavator stick is mechanically coupled to the excavator boom and is configured to curl relative to the excavator boom;
the excavating implement is mechanically coupled to a terminal point of the excavator stick and is configured to curl relative to the excavator stick;
the excavator boom, the excavator stick, and the excavating implement collectively define a variable implement angle θ Bucket (t) that is indicative of a current position of the excavating implement relative to horizontal as a function of time t;
the excavating implement comprises a plurality of implement teeth extending a tooth height h from an internal leading edge J I of the excavating implement to an external leading edge J E of the excavating implement;
the plurality of implement teeth are spaced along the internal leading edge J I and define an active raking ratio r;
the control architecture comprises one or more linkage assembly actuators and one or more architecture controllers programmed to execute an implement teeth grading offset determination process, the implement teeth grading offset determination process comprising
determining a variable implement offset angle θ Delta (t) at least partially based on a difference between an original target design angle θ Tgt (t) and the variable implement angle θ Bucket (t), the original target design angle θ Tgt (t) indicative of a target implement slope relative to horizontal as a function of time t,
determining an implement offset IO based on the tooth height h, the active raking ratio r, and the variable implement offset angle θ Delta (t), and
determining a new target design elevation Elv Tgt,New (t) based on the implement offset IO and an original target design elevation Elv Tgt,Orig (t); and

the one or more architecture controllers are further programmed to operate the excavator to grade a terrain using the plurality of implement teeth at least partially based on the new target design elevation Elv Tgt,New (t).

2. The excavator of claim 1 , wherein a tooth axis P intersects a bottom edge point of the excavating implement and a coaxially aligned point on a tooth of the plurality of implement teeth at the external leading edge J E of the excavating implement.

3. The excavator of claim 2 , wherein the variable implement angle θ Bucket (t) is indicative of the current position of the excavating implement relative to horizontal and with respect to the tooth axis P.

4. The excavator of claim 2 , wherein the original target design angle θ Tgt (t) is indicative of the target implement slope relative to horizontal and with respect to the tooth axis P.

5. The excavator of claim 1 , wherein the excavating implement comprises a rear implement point Q.

6. The excavator of claim 5 , wherein the one or more architecture controllers are programmed to execute the implement teeth grading offset determination process when the excavating implement is curled to bring the plurality of implement teeth closer to the terrain than the rear implement point Q such that the plurality of implement teeth are configured to be used for grading the terrain.

7. The excavator of claim 5 , wherein the one or more architecture controllers are further programmed to return to the original target design elevation Elv Tgt,Orig (t) as a grading setting when the excavating implement is curled to bring the rear implement point Q closer to the terrain than the plurality of implement teeth such that the rear implement point Q is configured to be used for grading the terrain.

8. The excavator of claim 7 , wherein the one or more architecture controllers are further programmed to execute the implement teeth grading offset determination process when the excavating implement is curled to bring the plurality of implement teeth closer to the terrain than the rear implement point Q such that the plurality of implement teeth are configured to be used for grading the terrain.

9. The excavator of claim 1 , wherein the plurality of implement teeth include uniform teeth heights.

10. The excavator of claim 1 , wherein the plurality of implement teeth include variable teeth heights.

11. The excavator of claim 10 , wherein the tooth height h is defined by an average of the variable teeth heights.

12. The excavator of claim 10 , wherein the tooth height h is defined by a common tooth height, and the common tooth height is defined by a majority height of the plurality of implement teeth.

13. The excavator of claim 1 , wherein the plurality of implement teeth comprise straight edge teeth.

14. The excavator of claim 13 , for X number of teeth and Y number of spaces, wherein each tooth comprises a tooth width w 1 , each space between the plurality of implement teeth comprises an air space width w 2 , and the active raking ratio r comprises:

r
=

Yw
2

Xw
1

15. The excavator of claim 1 , wherein the plurality of implement teeth comprise one or more angled teeth, one or more non-uniform shaped teeth, or combinations thereof.

16. The excavator of claim 15 , wherein the active raking ratio r is at least partially based on an average width of the plurality of implement teeth and an average width of spaces between the plurality of implement teeth.

17. The excavator of claim 1 , wherein the implement offset TO comprises a following equation:
h*r *sin θ Delta ( t )

18. The excavator of claim 1 , wherein the new target design elevation Elv Tgt,New (t) is defined by a following equation:
Elv Tgt,New ( t )= Elv Tgt,Orig ( t )+ h*r *sin θ Delta ( t )

19. The excavator of claim 18 , wherein the variable implement offset angle θ Delta (t) is in a range of from about 0 degrees to about 180 degrees.

20. The excavator of claim 18 , wherein when the variable implement offset angle θ Delta (t) is outside a range of from about 0 degrees to about 180 degrees, sin θ Delta (t) is set to zero.

Assignees

• Caterpillar Trimble Control Tech Llc

Inventors

• Davis Kyle

Classifications

• E02F9/264

  Sensors and their calibration for indicating the position of the work tool · CPC title

• E02F3/435 Primary

  for dipper-arms, backhoes or the like · CPC title

• E02F3/769

  Graders, bulldozers, or the like comprising loaders · CPC title

• E02F3/844 Primary

  for positioning the blade, e.g. hydraulically · CPC title