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US 12,571,170 B2Granted
Differential milling and paving
AssigneeWirtgen GmbH
InventorsMatthias Fritz, René Müller, Manuel Rossa
Life of this patent
Estimating the term…
Abstract
A system of differential working is provided wherein a controller of a construction machine is provided with a working depth data set and with a design surface data set. A location of the construction machine within a reference system external to the construction machine is determined, for example using a global navigation satellite system. The controller may determine the desired working depth at the current locations of the ends of the working implement from the working depth data set. The controller may determine the desired cross-slope at the current location of the working implement from the design surface data set. The desired working depths and the desired cross-slope may be communicated to a grade control system of the controller.
Claims26
A method of controlling a construction machine including a machine frame, a working implement supported from the machine frame, and a controller configured to control a working depth of the working implement as the machine moves across a ground surface, the method comprising:
- (a) providing to the controller a working depth data set including x and y coordinate data in a reference system external to the construction machine, and including desired working depth data corresponding to the x and y coordinate data;
- (b) providing to the controller a design surface data set defining a design surface to be created, the design surface data set including x, y and z coordinate data of the design surface in the reference system external to the construction machine;
- (c) performing a working operation with the working implement as the construction machine moves across the ground surface;
- (d) determining a current x, y position in the reference system external to the construction machine of a first end of the working implement during the working operation;
- (e) determining a current x, y position in the reference system external to the construction machine of a second end of the working implement during the working operation;
- (f) determining with the controller from the working depth data set a desired working depth for the first end of the working implement at the current x, y position of the first end of the working implement;
- (g) determining with the controller from the working depth data set a desired working depth for the second end of the working implement at the current x, y position of the second end of the working implement;
- (h) determining with the controller from the design surface data set a desired cross-slope for the working implement at a current location of the working implement corresponding to the current x, y positions of the first and second ends;
- and
- (i) controlling an actual working depth of the working implement by performing at least two steps selected from the group consisting of:
- (i)(1) controlling an actual working depth of the first end of the working implement to correspond to the desired working depth for the first end of the working implement at the current x, y position of the first end of the working implement;
- (i)(2) controlling an actual working depth of the second end of the working implement to correspond to the desired working depth for the second end of the working implement at the current x, y position of the second end of the working implement;
- and
- (i)(3) controlling an actual cross-slope of the working implement to correspond to the desired cross-slope for the working implement at the current location of the working implement.
11 more elements
A construction machine, comprising:
- a machine frame;
- a working implement supported from the machine frame for working a ground surface as the machine moves across the ground surface during a working operation;
- at least one position data determination component operable to determine position data to define a current position of a reference point on the machine in a reference system external to the construction machine;
- a controller associated with a memory, the memory having stored therein a working depth data set and a design surface data set, the controller being operable to receive the position data from the at least one position data determination component;
- wherein the working depth data set includes x and y coordinate data in the reference system external to the construction machine, and desired working depth data corresponding to the x and y coordinate data;
- wherein the design surface data set defines a design surface to be created, the design surface data set including x, y and z coordinate data of the design surface in the reference system external to the construction machine;
- and
- wherein the controller is configured such that during the working operation the controller is configured to:
- (a) determine a current x, y position in the reference system external to the construction machine of a first end of the working implement during the working operation;
- (b) determine a current x, y position in the reference system external to the construction machine of a second end of the working implement during the working operation;
- (c) determine from the working depth data set a desired working depth for the first end of the working implement at the current x, y position of the first end of the working implement;
- (d) determine from the working depth data set a desired working depth for the second end of the working implement at the current x, y position of the second end of the working implement;
- (e) determine from the design surface data set a desired cross-slope for the working implement at a current location of the working implement corresponding to the current x, y positions of the first and second ends of the working implement;
- and
- (f) control an actual working depth of the working implement by performing at least two steps selected from the group consisting of:
- (f)(1) controlling an actual working depth of the first end of the working implement to correspond to the desired working milling depth for the first end of the working implement at the current x, y position of the first end of the working implement;
- (f)(2) controlling an actual working depth of the second end of the working implement to correspond to the desired working depth for the second end of the working implement at the current x, y position of the second end of the working implement;
- and
- (f)(3) controlling an actual cross-slope of the working implement to correspond to the desired cross-slope for the working implement at the current location of the working implement.
16 more elements
Dependencies are inferred from the claim text.