US 10,501,913 B2Granted

Coordinated and proportional grade and slope control using gain matrixes

AssigneeGOMACO Corporation

InventorChad Schaeding

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Abstract

A multiple-input multiple-output (MIMO) computer control system in a heavy equipment machine is in communication with multiple sensors in order to measure deviations from a path to be followed. Sensor corrections are applied to return the heavy equipment machine to a path to be followed or to restrain the machine from deviating from the path to be followed. Sensor corrections affect a controlled variable, such as cross-slope. Sensor corrections may account for false positives and false negatives. Sensor corrections are applied to the heavy equipment machine using a gain matrix (G). The multiple vectors of gain values comprising the gain matrix (G) are utilized by the MIMO computer control system to simultaneously and proportionally actuate each drive leg of the machine to obtain a desired grade including a compensated slope and/or elevation.

Claims10

Dependent claims

A control system for controlling cross-slope in a paving machine during a paving operation, comprising:

a first sensor communicatively coupled to a first height adjustable drive leg of a paving machine;
a second sensor communicatively coupled to a second height adjustable drive leg of the paving machine;
and
a multi-input-multi output (MIMO) controller, said MIMO controller having a processor communicatively coupled to said first sensor and second sensor, and to said first height adjustable drive leg and second height adjustable drive leg, said processor having a memory with one or more programmable instructions executable by said processor to:
obtain a first sensor value for the first sensor and a second sensor value for the second sensor;
determine one or more leg offset values based on the first sensor value and the second sensor value;
determine a controller output based on the one or more leg offset values;
and
transmit the controller output to the first height adjustable drive leg to reciprocally adjust the first height adjustable drive leg according to a height adjustment previously provided to the second height adjustable drive leg.

6 more elements

A construction machine comprising:

a plurality of sensors coupled to two or more elevation cylinders on a paving machine, each elevation cylinder configured to adjust the height of a corresponding drive leg connected to a drive track;
and
a multi-input-multi-output (MIMO) controller, said MIMO controller having a processor communicatively coupled to said plurality of sensors and to said two or more elevation cylinders, said processor having a memory with one or more programmable instructions executable by said processor to:
determine a path to be followed;
detect one or more deviations from the path to be followed;
obtain a gain matrix (G) based on unique weights given to said plurality of sensors;
and
determine a vector of controller outputs to reciprocally actuate or restrain actuation at an elevation cylinder of the two or more elevation cylinders,
wherein the actuation or restraining actuation at the elevation cylinder results in a reciprocally controlled variable due to the two or more elevation cylinders moving in a near-synchronous fashion, and resulting in a return of the construction machine to the path to be followed.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/235,300Filed 12 Aug 2016 · division
Priority: 29 Oct 2015
Published: US 2017/0121939 A14 May 2017
Granted: 10 Dec 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

E02F 9/2029
Particular purposes of control systems not otherwise provided for: controlling the position of implements in function of its load, e.g. modifying…
E01C 19/004
Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming,…: devices…
E01C 19/18
For distributing granular or liquid materials: devices for distributing road-metals mixed with binders, e.g. cement, bitumen, without…
E01C 19/48
Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming,…: for…

Family

Application14/927,257Parent of this division · filed 29 Oct 2015
US 2017/0121939 A1Pre-grant publication · published 4 May 2017
US 9,458,581 B1Parent of this division
US 10,501,913 B2This patent

From the US filing history. Foreign family members aren’t listed.

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