公开(公告)号：US20140326471A1

公开(公告)日：2014-11-06

申请号：US13886894

申请日：2013-05-03

Applicant: CATERPILLAR INC.

Inventor： Yongliang Zhu ,  Jessica Perschbacher

IPC: E02F3/84

CPC classification number: E02F3/764 ,  E02F3/7645 ,  E02F3/765 ,  E02F3/7654 ,  E02F3/845 ,  E02F9/0841

Abstract: A motor grader is provided having cross slope cut angle control for providing accurate cuts generally, and particularly while the machine is travelling in other than a straight and level fashion. A controller is configured to adjust the cross slope angle of the blade, so that the cross slope cut angle corresponds to a desired cross slope cut angle. The controller receives a signal indicative of the desired cross slope cut angle and executing a pure pursuit procedure to identify a blade cross slope angle to yield the desired cross slope cut angle. The pure pursuit procedure includes identifying a blade travel direction, and identifying a horizontal component thereof. The blade edge is projected onto a plane perpendicular to the horizontal component of the blade travel direction, generating a slope function specifying the cross slope cut angle as a function of blade cross slope angle.

Abstract translation: 提供了一种具有十字斜切角控制的自动平地机，用于提供一般的精确切割，特别是在机器以直线和水平方式行进的情况下。 控制器被配置为调节叶片的十字斜角，使得十字斜切角对应于期望的交叉斜度切割角。 控制器接收指示期望的交叉斜度切割角度的信号，并且执行纯粹的追踪程序以识别叶片十字倾斜角度以产生期望的交叉斜率切割角度。 纯追求过程包括识别刀片​​行进方向，并识别其水平分量。 叶片边缘投影到垂直于叶片行进方向的水平分量的平面上，产生指定作为叶片十字倾斜角的函数的十字斜角切割角度的斜率函数。