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US 10,066,367 B1Granted
System for determining autonomous adjustments to an implement position and angle
AssigneeRobo Industries, Inc.
InventorsLiang Wang, Linli Zhang
Life of this patent
Estimating the term…
Abstract
A system configured to be mounted to a vehicle for adjusting a position of an implement during an autonomous operation being performed by the vehicle. For example, the vehicle may monitor a height, slope angle, and/or load of an implement during an operation and adjust one or more parameters associated with the implement to achieve a desired finishing profile.
Claims20
A method comprising:
- under control of one or more processors configured with executable instructions,
- receiving a navigation path and a cutting profile for a vehicle having an implement from a remote system via a wireless communication interface of a vehicle, the navigation path indicating at least one trajectory of the vehicle over a terrain;
- determining a height associated with an implement point of interest;
- determining an implement height error associated with the implement point of interest based at least in part on a height indicated by the cutting profile and the height associated with the implement point of interest;
- determining an implement height error change rate;
- receive a pitch angular rate and a pitch angular acceleration of an implement along a Z axis of the vehicle, the Z axis corresponding to an up direction with respect to the vehicle;
- and
- determining an implement lift control command based at least in part on the implement height error, the implement pitch angular rate, the pitch angular acceleration along the Z axis, and the implement height error change rate;
- and
- adjusting a height of the implement in response to determining the implement lift control command.
7 more elements
A method comprising:
- under control of one or more processors configured with executable instructions,
- receiving a navigation path and a cutting profile for a vehicle having an implement from a remote system via a wireless communication interface of a vehicle;
- determining a slope angle associated with an implement;
- determining an implement slope angle error associated with the implement based at least in part on a slope angle indicated by the cutting profile and the slope angle associated with the implement;
- determining an implement slope angle error change rate;
- receiving a roll angular rate and a roll angular acceleration of the implement along a X axis of the vehicle, the X axis corresponding to a direction from a left side of the vehicle to a right side of the vehicle;
- and
- determining an implement slope angle control command based at least in part on the implement slope angle error, the roll angular rate, the roll angular acceleration of the implement along the X axis, and the implement slope angle error change rate;
- and
- adjusting a tilt of the implement in response to determining the implement slope angle control command.
7 more elements
A method comprising:
- under control of one or more processors configured with executable instructions,
- receiving a navigation path and cutting profile for a vehicle having an implement from a remote system via a wireless communication interface;
- receiving data associated with a global position of a vehicle from a positioning unit;
- determining a ground speed associated with the vehicle based at least in part on the data associated with the global position;
- receiving data associated with a velocity of a propulsion device;
- determining a slip rate associated with the propulsion device based at least in part on the ground speed and the slip rate;
- determining that the slip rate is greater than a slip rate threshold;
- adjusting at least one parameter associated with the cutting profile in response to determining that the slip rate is greater than the slip rate threshold;
- and
- altering a position of the implement in response to adjusting the at least one parameter associated with the cutting profile.
7 more elements
Dependencies are inferred from the claim text.