Patent US5905968A successfully refreshed from Google Patents.
US5905968A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for controlling an earthworking implement to preserve a crown on a road surface
Assignee: Caterpillar Inc
•
Filing: 1997-09-12
•
Granted: 1999-05-18
•
Expires: 2017-09-12
Abstract
Abstract A method and apparatus for controlling an earthworking implement on an earthworking machine to preserve a crown on the surface of a road, including determining the position of the crown on the road surface, choosing a sloped grade on one side of the crown, positioning the earthworking implement on the sloped grade so that a first end of the earthworking implement is on the road surface. The processor determines a desired position of a second end of the earthworking implement so that the second end overlaps the crown and the earthworking implement does not cut the crown.
Inventors
- 👤 Michael D. Staub
- 👤 Louis G. Alster
- 👤 Steve D. Lundquist
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 15:50
CPC Classifications
E; E02; E02F; E02F3/00; E02F3/04; E02F3/76; E02F3/80; E02F3/84; E02F3/844; E02F3/847
Claims Analysis
Total Claims: 28
Claim 1
Independent Claim
261 words
A method for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge and being controllably mounted on an earthworking machine, including the steps of: determining the position of at least one point of discontinuity of said sloped grade on said road surface, said at least one point of discontinuity being a location of said crown, the location of said crown having a known first x, y, and z coordinate (x 1 , y 1 , z 1 ); choosing a sloped grade road surface located on one of two sides of said crown; positioning said cutting edge on said sloped grade road surface at a position for a desired cut, said cutting edge having a first end located on said sloped grade road surface, said first end having a known second x, y, and z coordinate (x 2 , y 2 , z 2 ) ; and determining a desired position of a second end of said cutting edge, said second end having a known third x and y coordinate (x 3 , y 3 ), and a known third z coordinate (z 3 ) corresponding to a position on said road surface at said known third x and y coordinate, including the step of determining a desired z coordinate (z') as a function of said known first and second x, y, and z coordinates, said desired z coordinate being determined to replace said known third z coordinate.
Claim 2
Independent Claim
261 words
A method for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge and being controllably mounted on an earthworking machine, including the steps of: determining the position of at least one point of discontinuity of said sloped grade on said road surface, said at least one point of discontinuity being a location of said crown, the location of said crown having a known first x, y, and z coordinate (x 1 , y 1 , z 1 ); choosing a sloped grade road surface located on one of two sides of said crown; positioning said cutting edge on said sloped grade road surface at a position for a desired cut, said cutting edge having a first end located on said sloped grade road surface, said first end having a known second x, y, and z coordinate (x 2 , y 2 , z 2 ) ; and determining a desired position of a second end of said cutting edge, said second end having a known third x and y coordinate (x 3 , y 3 ), and a known third z coordinate (z 3 ) corresponding to a position on said road surface at said known third x and y coordinate, including the step of determining a desired z coordinate (z') as a function of said known first and second x, y, and z coordinates, said desired z coordinate being determined to replace said known third z coordinate.
Claim 3
Dependent Claim
50 words
A method, as set forth in claim 1, wherein determining the position of at least one point of discontinuity includes the step of determining a point of discontinuity from a predetermined line of discontinuity located in a site database, said line of discontinuity being the crown of said road surface.
Claim 4
Dependent Claim
105 words
A method, as set forth in claim 1, wherein determining the position of at least one point of discontinuity includes the steps of: determining a plurality of points on said road surface along a line extending from a first side of said road surface to a second side of said road surface, each point having a known x and y coordinate; determining a z coordinate for each x and y coordinate from a site database; comparing the z coordinate of each point to the z coordinates of the points located adjacent said point; and determining the location of said crown in response to said comparison.
Claim 5
Dependent Claim
50 words
A method, as set forth in claim 3, wherein determining the location of said crown includes the steps of: calculating a slope of a line defined by the z coordinates of said points; and determining the location of said crown in response to the slope of said line changing direction.
Claim 6
Dependent Claim
32 words
A method, as set forth in claim 3, wherein determining the location of said crown includes the step of determining the z coordinate with a magnitude greater than the remaining z coordinates.
Claim 7
Dependent Claim
42 words
A method, as set forth in claim 1, wherein choosing a sloped grade road surface includes choosing the sloped grade road surface on the side of said crown where more than one half of the length of said cutting edge is located.
Claim 8
Dependent Claim
78 words
A method, as set forth in claim 1, wherein determining a desired position of a second end of said cutting edge includes the steps of: determining a vector defining the position and orientation of said cutting edge; calculating a unit vector of said vector; multiplying said unit vector by the length of said cutting edge; and determining said desired z coordinate (z') as a function of said vector, said unit vector, and the length of said cutting edge.
Claim 9
Dependent Claim
56 words
A method, as set forth in claim 7, wherein determining a vector includes the step of calculating said vector as a function of said first x, y, and z coordinate (x 1 , y 1 , z 1 ) and said second x, y, and z coordinate (x 2 , y 2 , z 2 ).
Claim 10
Dependent Claim
39 words
A method, as set forth in claim 1, wherein determining a desired position of a second end of said cutting edge is performed by calculating the equation: ##EQU7## where B L is a known length of said cutting edge.
Claim 11
Dependent Claim
25 words
A method, as set forth in claim 1, including the step of positioning the second end of said cutting edge at said desired z' coordinate.
Claim 12
Independent Claim
144 words
A method for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge and being controllably mounted on an earthworking machine, including the steps of: determining the position of at least one point of discontinuity of said sloped grade on said road surface, said at least one point of discontinuity being a location of said crown; choosing a sloped grade road surface located on one of two sides of said crown; positioning said cutting edge on said sloped grade road surface at a position for a desired cut, said cutting edge having a first end located on said sloped grade road surface; and determining a desired position of a second end of said cutting edge, said second end having a desired elevation.
Claim 13
Independent Claim
144 words
A method for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge and being controllably mounted on an earthworking machine, including the steps of: determining the position of at least one point of discontinuity of said sloped grade on said road surface, said at least one point of discontinuity being a location of said crown; choosing a sloped grade road surface located on one of two sides of said crown; positioning said cutting edge on said sloped grade road surface at a position for a desired cut, said cutting edge having a first end located on said sloped grade road surface; and determining a desired position of a second end of said cutting edge, said second end having a desired elevation.
Claim 14
Dependent Claim
50 words
A method, as set forth in claim 11, wherein determining the position of at least one point of discontinuity includes the step of determining a point of discontinuity from a predetermined line of discontinuity located in a site database, said line of discontinuity being the crown of said road surface.
Claim 15
Dependent Claim
90 words
A method, as set forth in claim 11, wherein determining the position of at least one point of discontinuity includes the steps of: determining a plurality of points on said road surface along a line extending from a first side of said road surface to a second side of said road surface; determining an elevation for each point from a site database; comparing the elevation at each point to the elevations at the points located adjacent said point; and determining the location of said crown in response to said comparison.
Claim 16
Dependent Claim
49 words
A method, as set forth in claim 13, wherein determining the location of said crown includes the steps of: calculating a slope of a line defined by the elevations at said points; and determining the location of said crown in response to the slope of said line changing direction.
Claim 17
Dependent Claim
30 words
A method, as set forth in claim 13, wherein determining the location of said crown includes the step of determining the point with an elevation greater than the remaining points.
Claim 18
Dependent Claim
42 words
A method, as set forth in claim 11, wherein choosing a sloped grade road surface includes choosing the sloped grade road surface on the side of said crown where more than one half of the length of said cutting edge is located.
Claim 19
Dependent Claim
76 words
A method, as set forth in claim 11, wherein determining a desired position of a second end of said cutting edge includes the steps of: determining a vector defining the position and orientation of said cutting edge; calculating a unit vector of said vector; multiplying said unit vector by the length of said cutting edge; and determining said desired elevation as a function of said vector, said unit vector, and the length of said cutting edge.
Claim 20
Dependent Claim
39 words
A method, as set forth in claim 17, wherein determining a vector includes the step of calculating said vector as a function of the location of said crown and the location of the first end of said cutting edge.
Claim 21
Dependent Claim
24 words
A method, as set forth in claim 11, including the step of positioning the second end of said cutting edge at said desired elevation.
Claim 22
Independent Claim
155 words
An apparatus for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge with a first end and a second end, the earthworking implement being controllably mounted on an earthworking machine, comprising: a position determining system mounted on said earthworking machine; a control system located on said earthworking machine and adapted to receive a position signal from said position determining system and responsively determine a position of said earthworking machine; a database associated with said control system, said database including data related to a desired and an actual geographic terrain of a work site; and processing means for accessing said database and determining a position of the first end of said cutting edge, determining a position of said crown, and responsively calculating a desired position of the second end of said cutting edge.
Claim 23
Independent Claim
155 words
An apparatus for controlling an earthworking implement to preserve a crown on a road surface, the road surface having a sloped grade on each side of the crown, the earthworking implement having a cutting edge with a first end and a second end, the earthworking implement being controllably mounted on an earthworking machine, comprising: a position determining system mounted on said earthworking machine; a control system located on said earthworking machine and adapted to receive a position signal from said position determining system and responsively determine a position of said earthworking machine; a database associated with said control system, said database including data related to a desired and an actual geographic terrain of a work site; and processing means for accessing said database and determining a position of the first end of said cutting edge, determining a position of said crown, and responsively calculating a desired position of the second end of said cutting edge.
Claim 24
Dependent Claim
18 words
An apparatus, as set forth in claim 20, wherein said position determining system includes a position determining receiver.
Claim 25
Dependent Claim
17 words
An apparatus, as set forth in claim 21, wherein said position determining receiver is a GPS receiver.
Claim 26
Dependent Claim
20 words
An apparatus, as set forth in claim 20, wherein said processing means includes a processor associated with said control system.
Claim 27
Dependent Claim
25 words
An apparatus, as set forth in claim 20, wherein said database further includes data related to the location of the crown on said road surface.
Claim 28
Dependent Claim
26 words
An apparatus, as set forth in claim 20, wherein said processing means further includes means for determining the location of the crown on said road surface.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-05-17 | 2002-11-16 | 2003-05-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-05-17 | 2006-11-16 | 2007-05-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-05-17 | 2010-11-16 | 2011-05-18 | $7700.00 | Window Closed / Lapsed |