JP4491142B2 - Method and apparatus for controlling a work implement - Google Patents

Description

[0001]
(Technical field)
The present invention relates generally to manual and automatic positioning in a work implement, and more particularly, to a method and apparatus for controlling an operating mode in a work implement of a work machine.
[0002]
(Background technology)
Work machines such as motor graders, bulldozers, tamping machines, paving machines, surface molding machines, and scrapers are used for the work of transforming topographic surfaces. The work machine is provided with a work implement such as a blade that alters the terrain surface, which is movably connected to the work machine frame by one or more hydraulic motors or cylinders, or Depending on the frame of the work machine. The position of the blade with respect to the work surface needs to be accurately controlled so as to cut the desired ground deformation.
[0003]
For example, in a motor grader, the ground modifying blade is movably connected to the grader frame by a pair of independently actuable hydraulic lift cylinders attached to each side of the machine frame. The hydraulic lift cylinders can be expanded and contracted independently so that each side of the corresponding blade moves relative to the machine frame. The operator can set each side of the blade to operate in either a “manual” or “automatic” mode of operation. Further, in either mode, the operator can specify that each side of the blade operate in a “gradient sensor”, “tilt sensor”, or “downforce” mode of operation. The control of each side of the blade is designated as “gradient sensor”, “tilt sensor”, or “downforce” mode on both sides, or “gradient sensor” or “downforce” mode on one side And the other side can be independently designated as one of the “gradient sensor”, “tilt sensor” and “downforce” operating modes.
[0004]
If “gradient sensor” (or “downforce”) and “tilt sensor” modes are specified on both sides of the opposing blade at the same time, the leading edge or tow of the blade is usually in “gradient sensor” mode. Designated, the trailing edge or heel of the blade is designated in the “tilt sensor” mode. In “auto” mode, the gradient sensor maintains the blade sides controlled thereby in a preselected position relative to the gradient reference point. The height of the blade side to be tilt controlled is controlled by a programmed lateral tilt value selected by the operator and controls the "gradient sensor", "down force" and "tilt sensor" operating modes Stored in the device.
[0005]
During leveling work in a certain direction, the operator rotates the blade to the desired leveling angle with respect to the machine frame to enable “gradient sensor” (or “downforce”) and “tilt sensor” control modes. Can be assigned to the opposite blade side. On the return leveling path in the opposite direction, the operator rotates the blade to a mirror image angle and assigns “gradient sensor” (or “downforce”) and “tilt sensor” modes to the opposite blade side. Need to be switched manually. In order to switch the control mode, the operator must manually operate a control switch provided in the cab.
[0006]
In the process of resetting the motor grader for the return leveling path, the operator respecifies the motion control mode that is inappropriate for the blade, resulting in a cut with the wrong lateral slope. there is a possibility. Moreover, the manual resetting work required for leveling in the reverse direction reduces operator accuracy and efficiency.
The present invention is directed to overcoming one or more of the problems as set forth above.
[0007]
(Disclosure of the Invention)
The present invention overcomes the above-described drawbacks and disadvantages associated with known work implement positioning devices and methods. While the invention will be described in the context of particular embodiments, it will be understood that they are not limited to these embodiments. On the contrary, the invention is intended to cover all alternatives, modifications, and equivalents, which may be included within the spirit and scope of the invention.
[0008]
In one aspect of the invention, an apparatus is provided for controlling a work implement of a work machine in first and second motion control modes that occur simultaneously. The appliance control device is operable to specify first and second motion control modes for the work implement. A positioning mechanism can be coupled to each side of the work implement to change the position on each side of the work implement.
[0009]
One of the positioning mechanisms can be operable to move one side of the work implement to the first position, and the other positioning mechanism can move the other side of the work implement to the second position. It can be operable. The sensor is associated with the work implement and is connected to the implement control device to send a signal indicating the position of the work implement to the implement control device. The appliance control device is operable to change the control mode designation for the work implement by determining a predetermined movement of the work implement as indicated by the sensor, eg, a predetermined rotation of the work implement. When determining the predetermined movement of the work implement, the implement control device can be operable to reverse the designation of the first and second control modes for the work implement. It can also be operable to reverse the two positions.
[0010]
In another aspect of the invention, a drive mechanism is operatively coupled to the work implement to move the work implement between the first rotational position and the second rotational position under the control of the implement control device. can do. A manually actuable device is electrically connected to the instrument control device. When the manually operable device is operated, the tool control device is operable to reverse the control designation for the work tool and the rotational position of the work tool.
[0011]
In yet another aspect of the present invention, a method is provided for controlling a work implement of a work machine in simultaneous first and second motion control modes. First and second automatic control modes are assigned to the work implement. The movement of the work implement is detected, and the first and second control modes designated for the work implement are reversed upon a predetermined movement of the work implement as detected in the detection stage.
For a further understanding of the invention, reference is made to the accompanying drawings.
[0012]
(Best Mode for Carrying Out the Invention)
With reference to the figures, and in particular with reference to FIG. 1, there is shown a work machine 10 illustrated as a motor grader that alters a terrain surface, which is a control mode of a work implement 14 illustrated as a conventional grader blade. Is provided with an instrument control system 12 (FIGS. 2A-2B). The work implement 14 is part of a blade subassembly, generally indicated at 16, which includes a pair of hydraulic motors or lift cylinders 20 and a machine frame 18 that can be selectively operated. It is movably attached to the frame 18 of the motor grader 10 via a central moving cylinder 21 connected to the blade subassembly 16. The blade subassembly 16 comprises a circular tow bar, generally indicated at 22, a ring 23 (FIGS. 2A and 2B) rotatably attached to the circular tow bar 22, and a grader attached to the ring 23. A blade 14 is provided. The wheel drive device 24 (FIGS. 2A and 2B) that can be selectively operated includes a vertical shaft 25 (the center of the wheel portion 23 and the blade 14 attached thereto in a known manner. It is attached to a circular tow bar 22 for rotation around (FIG. 3). The grader blade 14 is attached to a sliding joint of a blade mounting bracket that allows the blade 14 to move side-to-side relative to the mounting bracket or ring 23. This lateral movement is generally referred to as lateral movement of the blade and is provided by a lateral movement shift cylinder 25a (FIG. 3). The instrument control system 12 is described in detail below as applied to a motor grader, but other terrain such as bulldozers, tamping machines, paving machines, profilers, scrapers, etc. equipped with suitable terrain surface modification instruments. Those skilled in the art will appreciate that the surface modification equipment is equivalent and within the scope of the present invention.
[0013]
Referring to FIGS. 2A and 2B, the instrument control system 12 is shown applied to a motor grader 10, in particular a grader blade 14. During operation of the motor grader 10, the gradient and lateral tilt position of the blade 14 can be controlled by manually and / or automatically extending and retracting a hydraulic lift cylinder 20 connected to the blade subassembly 16. The pair of hydraulic lift cylinders 20 are movable in a telescopic manner so that the side portions of the corresponding blades 14 move in the vertical direction with respect to the frame 18. The central moving cylinder 21 (FIG. 1) is used to move all of the circular traction bar 22 and all of the blade components attached to the annulus, mainly laterally relative to the front frame 18. This side movement is generally called tow bar side movement or wheel center movement.
[0014]
Each side of the blade 14 can be manually set by an operator to operate in either “manual” or “automatic” operation control mode by a pair of mode selection switches 26, with each mode selection switch 26 is provided for each corresponding side of the blade 14. The control of each side of the blade 14 is independently designated as one of the “manual” and “automatic” operation control modes, eg, both sides are designated as “manual” mode or one side is designated as It can be designated as “manual” mode, the other side is designated as “automatic” mode, or both sides are designated as “automatic” mode. The mode selection switch 26 is electrically connected to an instrument controller 28 that serves to control the side of the blade 14 designated for the “automatic” mode of operation, as will be described in more detail below. The instrument controller 28 is of a suitable type such as a microprocessor with appropriate control software or storage (not shown) that stores selected “manual” and “automatic” operational control modes for each side of the blade 14. Processor (not shown).
[0015]
In the “manual” control mode, the operator uses a pair of work implement positioning devices such as a pair of manually operable control levers 30 provided in the cab 32 (FIG. 1) of the motor grader 10 to move the blade 14. Control the vertical position of one side or both sides. Each manually actuable control lever 30 is connected to a manually actuable or manual control valve 34. The pair of manual control valves 34 is connected between a hydraulic fluid supply source (not shown) and one corresponding hydraulic lift cylinder 20 attached to each side of the machine frame 18. By moving each control lever 30 in a certain direction, hydraulic fluid is allowed to flow under pressure through a manual control valve 34 and actuate the hydraulic lift cylinder 20 to an extended or contracted position. can do. By moving each control lever 30 in the opposite direction, the hydraulic lift cylinder 20 moves in the opposite direction. When the control lever 30 is in the neutral position, the manual control valve 34 is in a neutral or inoperative position that inhibits the flow of hydraulic fluid therethrough.
[0016]
With further reference to FIGS. 2A and 2B, a pair of electrically actuable or automatic control valves 36 provides a hydraulic fluid supply (in order to control the expansion and contraction of the corresponding hydraulic lift cylinder 20 in the “automatic” control mode. (Not shown) and one of the corresponding hydraulic lift cylinders. The automatic control valve 36 is electrically connected to the instrument controller 28 to receive command signals from the instrument controller 28 to adjust the vertical position of the corresponding blade side by actuation of the respective hydraulic lift cylinder. Connected. The automatic control valve 36 is connected in parallel to the manual control valve 34 and is operable independently of the manual control valve 34 as described in detail below.
[0017]
For example, in the “automatic” control mode, each side of the blade 14 can be operated in the “gradient sensor” mode or “tilt” by the operator operating a pair of sensor selection switches 38 dedicated to the corresponding side of the blade 14. Can be specified in “sensor” mode. Similarly, other sensor modes are possible. For example, although not shown, each side of the blade 14 can be designated in a “down force” mode of operation. The control of each side of the blade 14 can be specified independently in one of the “gradient sensor”, “downforce” and “tilt sensor” operating modes, for example, both sides are designated in the “gradient sensor” mode. Or both sides are designated as “down force” mode, or one side is designated as “gradient sensor” or “down force” mode and the other side is designated as “tilt sensor” mode Can be. The sensor mode assigned to each side of the blade 14 is stored in a storage device (not shown) of the instrument control device 28. For the sake of simplicity, only the “gradient sensor” and “tilt sensor” operation modes in the automatic operation of the motor grader 10 will be described below. However, it will be understood that the “gradient sensor”, “downforce”, and “tilt sensor” operating modes can also be assigned to the corresponding sides of the blade 14 in the “manual” control mode as well. Let's go.
[0018]
In the “gradient sensor” mode, an ultrasonic sensor or laser sensor, all 39 (FIGS. 2A and 2B), is applied to each gradient reference point, such as finished ground, curb, groove, thread line or laser reference beam. Can be used to control the vertical position of the blade side. The ultrasonic sensor or laser sensor 39 is connected to the instrument control device 28 and sends a signal indicating the vertical position of the corresponding side of the blade 14 to the instrument control device 28.
[0019]
In “gradient sensor” mode, the side of the blade 14 controlled by the gradient sensor has the actual vertical position as measured by the gradient sensor (not shown) and the desired gradient setting selected by the operator. Is maintained at a substantially predetermined vertical position or gradient by an instrument controller 28 that continuously compares the two. The appliance control device 28 corrects the vertical adjustment of the side portion of the blade 14 whose gradient is controlled by the operation of the corresponding hydraulic lift cylinder 20 as necessary. Upper and lower values of the “gradient sensor” mode selected by the operator (or a pair of values if both sides of the blade are designated for the “gradient sensor” mode) are electrically connected to the instrument controller 28 Designated to the instrument controller 28 via a corresponding one (or both) of a pair of instantaneous rocker switches (not shown).
[0020]
A biaxial blade tilt sensor, indicated generally at 40 (FIGS. 2A and 2B), transmits blade pitch and blade roll signals to the instrument controller 28 via electrical leads (not shown). It is attached to the assembly 16. In the “automatic” control mode, each side of the blade 14 is instead designated in the “tilt sensor” mode, and the side of the blade 14 controlled by the gradient sensor is in a predetermined vertical position as described above. Maintained, the instrument controller 28 controls the lateral tilt of the blade side which is “tilt sensor” controlled based on a motion control algorithm executed by the instrument controller 28. As used herein, “lateral slope” is the slope of the cut made by the blade 14 perpendicular to the direction of machine movement. The instrument controller 28 includes a blade pitch signal and a blade roll signal from the two-axis blade tilt sensor 40, a signal from the blade rotation sensor 42 indicating the rotation of the blade, and a two-axis machine frame sensor attached to the machine frame 18. The machine frame pitch and machine frame roll signals from 44 are received. Each of these values is taken into account by the motion control algorithm to accurately control the lateral lateral tilt controlled by the blade 14 tilt.
[0021]
In the “tilt sensor” mode, the side of the blade 14 controlled by the tilt sensor is predetermined as defined by the vertical position of the side controlled by the gradient of the blade 14 and the lateral tilt value selected by the operator. It is almost maintained at the vertical position. The instrument control device 28 continuously compares the actual lateral tilt value calculated from the various sensor signals with the desired lateral tilt, and activates the corresponding hydraulic lift cylinder 20 as needed to adjust up and down. Correct. The up / down value of the “tilt sensor” mode selected by the operator, that is, the lateral tilt value is designated to the instrument control device 28 by the touch pad set point capture button. The lateral tilt value can be corrected by a corresponding one of a pair of instantaneous rocker switches (not shown) that are electrically connected to the instrument controller 28.
[0022]
As shown in FIGS. 1 and 3, during the leveling operation, the operator rotates the blade 14 to a desired leveling angle with respect to the machine frame 18 by the operation of the wheel drive unit 24. Typically, most of the leveling work is to rotate the blade 14 clockwise or counterclockwise at an angle “α” between about 10 ° and about 45 ° with respect to the axis 43 traversing the machine frame 18. This is done in a rotated state. When the motor grader 10 leveles in the reverse path (or direction) as shown in FIGS. 2A and 2B, both sides of the blade 14 are designated in an “automatic” operational control mode and the blade 14 One side or both sides are designated as “gradient sensor” (or “downforce”) mode, or one side is designated as “gradient sensor” (or “downforce”) mode and the other side is designated as “tilt” Designated for “sensor” mode. When the “gradient sensor” and “tilt sensor” modes are specified on opposite sides of the blade 14 at the same time as shown in FIGS. 2A and 2B, the leading edge or toe 45 of the blade 14 is usually “gradient”. The “sensor” mode is designated and the trailing edge or heel of the blade 14 is designated in the “tilt sensor” mode. When the operator changes direction to level the ground in the opposite direction, the blade 14 is rotated to the angular position of the left-right reversal contrast as indicated generally at 48.
[0023]
In one aspect of the invention, the rotational position of the blade 14 relative to the machine frame 18 is sent to the instrument controller 28 in the form of a pulse width modulated (PWM) signal by a blade rotation sensor 42 (FIGS. 2A and 2B). The appliance control device 28 converts the PWM signal from the blade rotation sensor 42 into a rotation position value, and determines whether or not the blade 14 has been rotated through a predetermined angle “β” which will be referred to as “exchange position”. The blade rotation sensor 42 is a potentiometer (not shown), a limit switch (not shown), an electromechanical actuator (not shown), an encoder (not shown), or an equivalent sensor, that is, a fixed reference. Sensors associated with the annulus 23 and the blade 14 may be provided to send a signal indicative of the rotational position of the blade 14 relative to the point to the instrument controller 28. Instead, the blade rotation signal sent to the instrument controller 28 is generated by sensors (not shown) provided around the motor grader 10 operable to detect the position of the rotated blade 14. You can also.
[0024]
As shown in FIG. 2A, in a leveling path of the motor grader 10, the right side of the blade 14 (when viewed from inside the cab 32), that is, the toe 45, is designated as the “gradient sensor” operating mode, The position is lifted with respect to the left side or heel of The gradient sensor 39 maintains the toe 45 of the blade 14 at a predetermined vertical position with respect to the gradient reference point by the control of the corresponding hydraulic lift cylinder 20 by the instrument control device 28. The heel 46 is designated in the “tilt sensor” mode of operation, and the elevation of the heel 46 is controlled by a lateral tilt value selected, stored and programmed in the appliance controller 28 that controls the corresponding hydraulic lift cylinder 20. .
[0025]
Referring to FIGS. 2A, 2B and 3, if the operator rotates the blade 14 through the “exchange position” and it is measured by the instrument controller 28, the instrument controller 28 may The designation of “gradient sensor” and “tilt sensor” for 45 and heel 46 and the lateral inclination of the blade 14 are automatically changed. The instrument controller 28 designates “gradient sensor” and “tilt sensor” for the toe 45 and heel 46 of the blade 14 to set the motor grader 10 to level in the reverse direction as shown in FIG. 2B. And the lateral inclination of the blade 14 is preferably automatically reversed, ie “replaced”. During “automatic” replacement, each side of the blade 14 can be assigned to a “manual” operating mode to prevent unexpected movement of the blade 14 during the “replacement”.
[0026]
Instead, an automatic mode change switch is provided so that the operator can automatically rotate the blade 14 to the mirror position 48 (FIG. 3) by manually actuating the switch 49 once. 49 (FIGS. 2A and 2B) can be provided in the cab 32. In addition, by pressing the automatic mode change switch 49, as described in detail so far, the designation of “gradient sensor” and “tilt sensor” for the toe and heel of the blade 14 and the lateral inclination of the blade 14 are automatically performed. Will be changed. In this aspect of the invention, the automatic mode change switch 49 is electrically connected to the instrument controller 28. The wheel drive device 24 is an electrohydraulic wheel drive device that operates under the control of the appliance control device 28. The rotational position set on the blade 14 during the intended leveling path is stored in the storage device of the instrument control device 28 and the rotational position is motorized relative to the reverse leveling path in the reverse direction. In order to reset the grader 10, it is called by the instrument controller 28 to automatically move the blade 14 to the mirror position 48 by pressing the switch 49.
[0027]
With particular reference to the flowchart of FIG. 4, the flowchart illustrates a preferred method for automatically moving the motor grader blade 14 from the current blade position to the mirror image position. As will be appreciated by those skilled in the art, this flowchart shows a sequence of steps, but the specific processing order is not critical to achieving the objectives of the present invention. It will also be appreciated that the illustrated method can be performed in software, hardware, or a combination of both, as with the preferred embodiment of the present invention.
[0028]
During operation of the motor grader 10, the operator can perform both automatic and manual control or manual control to adjust the position of the blade 14. First, as represented by block 50, it is determined whether the operator is using manual control. If the operator is using manual control, automatic mirror position control is turned off, as shown in block 52. The appliance control device 28 is the operation required by manual control, as represented by 54, to operate the respective control device, namely the wheel drive 24, the lateral movement cylinder 25a and / or the central movement cylinder 21. A control signal is generated and transmitted according to The program waits for the next synchronous control time as indicated at 56 and determines the next automatic or manual control input signal as represented by block 58.
[0029]
If the operator is not using manual control, it is determined whether the operator has requested automatic mirror image position control by actuating switch 49 as indicated by block 60. If the operator is requesting automatic mirror image position control, automatic mirror image position control is turned on as represented by block 62. Information regarding the actual position of the blade control, i.e., the wheel drive 24, the side moving cylinder 25 a, and the central moving cylinder 21, is provided to the instrument controller 28 as shown in block 64. The instrument controller 28 calculates the mirror image position of the current blade position as represented by block 66. Using this position information, the instrument controller 28 generates and transmits a control signal designed to achieve the mirror image position required by automatic mirror image position control as illustrated by block 68. The control signal causes the blade controller, i.e. the wheel drive 24, the side moving cylinder 25a, and / or the central moving cylinder 21 to automatically move the blade 14 from its actual blade position to its mirror image position. Operate. The program waits for the next synchronization control time as represented by 56 and then determines the next automatic or manual control input signal as indicated by block 58.
If the operator has not requested automatic mirror image position control, the instrument controller 28 generates and transmits a zero control signal as represented by block 70. The program waits for the next synchronization control time as indicated by 56 and then determines the next automatic or manual control input signal as represented by block 58.
[0030]
(Industrial applicability)
With reference to the drawings and operations, the operator of work machine 10 selects a “manual” or “automatic” mode of operation for each side of blade 14 by activating a mode selection switch 26 corresponding to each side of blade 14. To do. In any mode, the operator activates a sensor selection switch 38 corresponding to each side of the blade 14 to “gradient sensor”, “downforce” or Select “Tilt Sensor” control. The control of each side of the blade 14 can be specified independently in one of the “manual” and “automatic” operating modes and in one of the “gradient sensor”, “downforce” and “tilt sensor” modes. .
[0031]
After a leveling path in one direction, the operator rotates the blade 14 relative to the frame 18 to set the rotation of the blade 14 in the reverse leveling path in the reverse direction. When the blade 14 rotates past a predetermined “exchange position”, the instrument controller 28 sets the motor grader 10 against the toe 45 and heel 46 of the blade 14 to set the motor grader 10 to level in the opposite direction. The designation of “gradient sensor” (or “downforce”) and “tilt sensor” and the designation of the lateral tilt of the blade 14 are automatically reversed or “replaced”.
[0032]
Instead, the operator manually activates the automatic mode change switch 49 to automatically rotate the blade 14 to the angular position 48 to be flipped, and a “gradient sensor” for the side of the corresponding blade 14. It is desirable to reverse the designation of (or “downforce”) and “tilt sensor” and the lateral tilt of the blade 14.
The automatic “replacement” performed by the instrument controller 28 increases operator accuracy and efficiency when the blade 14 is set to automatically level in the reverse direction.
Other aspects, objects, and advantages of the invention can be obtained from a study of the drawings, the detailed description, and the claims.
[Brief description of the drawings]
FIG. 1 is a partial perspective view of a motor grader provided with a tool control device for controlling a control mode of a work tool.
2A is a front view of the motor grader of FIG. 1 and a partial block diagram showing an appliance control device for controlling the control mode of the work implement applied to the leveling blade of the motor grader shown in FIG. 1; is there.
2B is a front view of the FIG. 2A motor grader moving in the opposite leveling direction, and a partial block diagram showing the instrument control device for controlling the control mode of the work instrument.
FIG. 3 is a top view of the motor grader shown in FIG. 1;
FIG. 4 is a flow diagram illustrating a method for automatically moving a grader blade from a current blade position to a mirror image position in accordance with the principles of the present invention.

Claims (31)

An apparatus for controlling a work implement (14) of a work machine (10) in first and second operating modes that occur simultaneously,
A tool control device (28) operable to specify the first and second motion control modes for a work tool (14);
A sensor (42) associated with the work implement (14) and connected to the implement control device (28) to send a signal indicating the position of the work implement (14) to the implement control device (28); The appliance control device (28) changes the designation of the control mode for the work implement (14) by determining a predetermined movement of the work implement (14) as indicated by the sensor (42). A device characterized in that it is operable to do so.   The apparatus of claim 1, wherein the appliance control device (28) is operable to detect a predetermined rotation of the work implement (14).   The appliance controller (28) is operable to reverse the designation of the first and second control modes for the work implement (14) by receiving a signal from the sensor (42). The apparatus of claim 1.   A manually operable device (38) connected to the appliance control device (28) for selecting designation of the first and second control modes for the work implement (14). The apparatus according to claim 1.   A sensor associated with the work implement (14) and connected to the implement control device (28) for sending signals indicating the pitch position and roll position of the work implement (14) to the implement control device (28). The apparatus according to claim 1, comprising: (40). A device for controlling opposite sides of a work implement (14) of a work machine (10) in simultaneous first and second motion control modes,
A tool control device (28) operable to designate the first and second motion control modes for opposite sides of the work tool (14), wherein one side of the work tool (14) is In addition to being designated in the first control mode, the other side of the work implement (14) is designated in the second control mode and is further associated with the work implement (14) to position the work implement (14). A sensor (42) connected to the instrument control device (28) for sending a signal to the instrument control device (28), the instrument control device (28) being indicated by the sensor (42); In this way, by determining the predetermined movement of the work implement (14), the operation tool (14) is operable to change the first and second control modes for the opposite side portions. apparatus   The apparatus of claim 6, wherein the appliance controller (28) is operable to detect a predetermined rotation of the work implement (14).   The instrument control device (28) receives the signal from the sensor (42), thereby inverting the designation of the first and second control modes for the opposite sides of the work instrument (14). 7. The device of claim 6, wherein the device is operable.   A manually operable device (38) connected to the appliance control device (28) for selecting designation of the first and second control modes for opposing sides of the work implement (14); The apparatus according to claim 6.   Associated with each side of the work implement (14) and connected to the implement control device (28) is a sensor (39), each of the sensors (39) corresponding to the corresponding work implement (14). The device according to claim 6, characterized in that it is operable to send a signal indicating the vertical position of the side of the device to the instrument control device (28).   A sensor (40) associated with the work implement (14) and connected to the implement control device (28) for sending a signal indicative of the tilt of the work implement (14) to the implement control device (28). The apparatus of claim 6, comprising: An apparatus for controlling opposing sides of a work implement (14) of a work machine (10) in first and second operating modes that occur simultaneously, with respect to opposing sides of the work implement (14) A tool control device (28) operable to designate the first and second motion control modes, wherein one side of the work tool (14) is designated for the first control mode of the work tool; The other side of the work implement (14) is designated in the second control mode, and each side of the work implement (14) is further changed to change the position of each side of the work implement (14). A positioning mechanism (20) coupled to the positioning mechanism (20), wherein one of the positioning mechanisms (20) is operable to move one side of the work implement (14) to a first position; ) Is the work implement 14) operable to move the other side to the second position and associated with the work implement (14), the signal indicating the position of the work implement (14) to the implement controller (28). For sending, a sensor (42) connected to the instrument control device (28) is provided, the instrument control device (28) being a predetermined of the work implement (14) as indicated by the sensor (42). An apparatus operable to change the designation of the control mode and the first and second positions for opposing opposing sides of the work implement (14) by seeking movement.   The appliance control device (28) receives the signal from the sensor (42), thereby inverting the designation of the first and second control modes with respect to opposite sides of the work implement (14). The apparatus of claim 12, wherein the apparatus is operable.   The appliance control device (28) is operable to reverse the first and second positions on opposite sides of the work implement (14) by receiving the signal from the sensor (42). The apparatus of claim 12, wherein:   A sensor (39) associated with each side of the work implement (14) and connected to the implement control device (28) is provided, each of the sensors (39) corresponding to the corresponding work implement (14). Device according to claim 12, characterized in that it is operable to send a signal indicating the vertical position of the side of the instrument control device (28).   A sensor (40) associated with the work implement (14) and connected to the implement control device (28) for sending a signal indicative of the tilt of the work implement (14) to the implement control device (28). The apparatus according to claim 12, comprising: An apparatus for automatically moving a work implement (14) of a work machine (10) from a first rotation position to a rotation position of a second mirror image,
An instrument control device (28);
In order to move the work implement (14) between the first rotational position and the second mirror image rotational position under the control of the instrument control device (28), the implement control device (28) and the work A drive mechanism (24) operatively coupled to the instrument (14);
A device (49) electrically connected to the instrument control device (28) and manually operable, wherein the instrument control device (28) and the drive mechanism (24) manually operate the work instrument (14). A device operable to move from the first rotational position to the second mirror image rotational position by actuation of an operable device (49).   A sensor (42) associated with the work implement (14) and connected to the implement control device (28) to send a signal indicating the rotational position of the work implement (14) to the implement control device (28). The apparatus of claim 17, comprising: A method for controlling a work implement (14) of a work machine (10) in simultaneous first and second motion control modes comprising:
Designating a first control mode for the work implement (14);
Designating a second control mode for the work implement (14);
Detecting the movement of the work implement (14);
Reversing the first and second control modes assigned to the work implement (14) upon a predetermined movement of the work implement (14) as detected during the sensing step. A method characterized by.   The method according to claim 19, wherein the detecting step comprises detecting a rotational movement of the work implement (14). A method for controlling a work implement (14) of a work machine (10) in simultaneous first and second motion control modes comprising:
Designating a first control mode for the work implement (14);
Designating a second control mode for the work implement (14);
Detecting the operation of a manually operable device;
Reversing the first and second control modes assigned to the work implement (14) upon actuation of the manually actuable device (49) as detected during the sensing phase. And a method comprising: A method for controlling opposing opposing sides of a work implement (14) of a work machine (10) in first and second motion control modes that occur simultaneously,
Designating a first control mode on one side of the work implement (14);
Designating a second control mode on the other side of the work implement (14);
Detecting the movement of the work implement (14);
Reversing the first and second control modes assigned to the work implement (14) upon a predetermined movement of the work implement (14) as detected during the sensing step. Feature method.   23. A method according to claim 22, wherein the detecting step comprises detecting a rotational movement of the work implement (14). Positioning one side of the work implement (14) in a first position;
Positioning the other side of the work implement (14) in a second position;
Reversing the first and second positions of the work implement (14) upon a predetermined movement of the work implement (14) as detected during the sensing step. Item 23. The method according to Item 22. A method for automatically moving a blade (14) of a motor grader (10) from a first rotational position to a rotational position of a second mirror image,
Determining a first rotational position of the blade (14);
Processing instructions generated by an operator requesting to move the blade (14) to a second mirror image rotation position;
Determining the second mirror image rotation position of the blade (14);
A method comprising moving the blade (14) to the second mirror image rotation position by processing a command generated by the operator.   The method of claim 25, wherein determining the first rotational position of the blade (14) further comprises determining a lateral movement of the current blade (14).   27. The method of claim 26, wherein determining the second mirror image rotational position of the blade (14) further comprises determining the mirror image position for a current lateral movement of the blade.   26. The method of claim 25, wherein determining the first rotational position of the blade (14) further comprises determining a current lateral movement of the tow bar.   29. The method of claim 28, wherein determining the second mirror image rotational position of the blade (14) further comprises determining the mirror image position for a current lateral movement of the tow bar. A movable machine frame (18);
A work implement (14) movably coupled to the machine frame (18);
A work machine (10) for transforming a terrain surface, characterized in that it comprises a device for controlling a work implement (14) in the first and second motion control modes occurring simultaneously according to claim 1. A movable machine frame (18);
A work implement (14) movably coupled to the frame (18) of the machine;
A working machine for transforming a terrain surface, characterized in that it comprises a device for automatically moving a work implement (14) from a first rotational position to a rotational position of a second mirror image according to claim 17. 10).

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