Control and method of control for an earth moving system

An earthmoving system, comprising:

• an earthmoving machine, having a cutting blade supported by a blade support, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame,
• a laser receiver mounted on a mast extending upward from, and movable with, said cutting blade, said laser receiver sensing a reference beam of laser light,
• an inclinometer mounted for movement with said cutting blade to provide an indication of the inclination of said blade,
• a sensor for detecting turning of said machine, and
• a control, responsive to said laser receiver, to said inclinometer, and to said sensor, for controlling the operation of said cylinders and adjusting the position of said blade, said control keeping said blade at an unchanged level when rapid turning of said machine is detected, whereby erroneous vertical movement of the blade is reduced.

A method of controlling the position of the cutting blade of a bulldozer, said bulldozer having a frame and said cutting blade, said cutting blade supported by a blade support extending from said frame, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame, comprising the steps of:

• periodically determining the location of the cutting blade by sensing the relative position of a reference beam of laser light using a laser receiver mounted on a mast extending upward from said cutting blade,
• sensing the inclination of the cutting blade with an inclinometer mounted on said blade,
• sensing turning of said bulldozer, and
• controlling the operation of said cylinders and thereby the position of said cutting blade such that the vertical position of the cutting blade is not changed for a period of time during turning of the bulldozer.

An earthmoving system, comprising:

• a bulldozer, having a cutting blade supported by a blade support extending from said frame, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame,
• a reference position system for determining the position of the bulldozer,
• an inclinometer mounted for movement with said cutting blade to provide an indication of the inclination of said blade,
• a sensor for detecting turning of said bulldozer, and
• a control, responsive to said inclinometer and to said sensor, for controlling the operation of said cylinders and adjusting the position of said blade, said control keeping said blade at an unchanged level when rapid turning of said bulldozer is detected, whereby erroneous vertical movement of the blade is reduced.

An earthmoving system, comprising:

• a bulldozer, having a frame and a cutting blade supported by a blade support extending from said frame, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame, and changing the inclination of said blade along its length,
• a position sensor mounted on a mast extending upward from, and movable with, said cutting blade, said position sensor sensing its vertical position,
• an inclinometer mounted for movement with said cutting blade to provide an indication of the inclination of said blade,
• a turning sensor for detecting turning of said bulldozer, and
• a control, responsive to said position sensor, to said inclinometer, and to said turning sensor, for controlling the operation of said cylinders and adjusting the position and inclination of said blade, said preventing operation of said cylinders when rapid turning of said bulldozer is detected, whereby erroneous vertical movement and erroneous tilting of the blade are reduced.

An earthmoving system, comprising:

• a bulldozer, having a frame and a cutting blade supported by a blade support extending from said frame, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame, and changing the inclination of said blade along its length,
• a position sensor mounted on a mast extending upward from, and movable with, said cutting blade, said position sensor sensing its vertical position,
• an inclinometer mounted for movement with said cutting blade to provide an indication of the inclination of said blade,
• a turning sensor for detecting turning of said bulldozer, and
• a control, responsive to said position sensor, to said inclinometer, and to said turning sensor, for controlling the operation of said cylinders and adjusting the position and inclination of said blade, such that errors from the erroneous output from said inclinometer during turning of said bulldozer are minimized.

An earthmoving system, comprising:

• a bulldozer, having a frame and a cutting blade supported by a blade support extending from said frame, said blade support including a hydraulic cylinder for changing the inclination of said blade along its length,
• an inclinometer mounted for movement with said cutting blade to provide an indication of the inclination of said blade,
• a sensor for detecting turning of said bulldozer, and
• a control, responsive to said inclinometer, for controlling the operation of said cylinder and adjusting the inclination of said blade, said control keeping said blade at an unchanged inclination when rapid turning of said bulldozer is detected, whereby erroneous vertical movement and erroneous tilting of the blade are reduced.

A method of controlling the position of the cutting blade of a bulldozer, said bulldozer having a frame and said cutting blade, said cutting blade supported by a blade support extending from said frame, said blade support including hydraulic cylinders for raising and lowering said blade in relation to said frame, and for tilting said blade, comprising the steps of:

• periodically determining the location of a sensor mounted on a mast extending upward from said cutting blade,
• sensing the inclination of the cutting blade and the mast with an inclinometer mounted on said blade,
• sensing turning of said bulldozer, and
• controlling the operation of said cylinders and thereby the position of said cutting blade during turning of the bulldozer such that the height of the blade is not affected by an erroneous output from said inclinometer.