US 2020/0270848 A1 · GRADE CONTROL FOR MACHINES WITH BUCKETS

Abstract

method is disclosed. The method may include controlling a leading edge of an implement of a machine using a first control loop to cause the implement to align to a defined design plan; controlling a trailing edge of the implement of the machine using a second control loop to cause the implement to align to the defined design plan; and selectively altering a gain to the second control loop based on a detected deviation of the implement from the defined design plan to increase an angle of approach, using the first control loop, when the implement is positioned above the defined design plan and decrease the angle of approach, using the first control loop, when the implement is aligned to the defined design plan.

Claims20

Dependent claims

A method, comprising:

controlling, by a device, a leading edge of an implement of a machine using a first control loop to cause the implement to align to a defined design plan;
controlling, by the device, a trailing edge of the implement of the machine using a second control loop to cause the implement to align to the defined design plan;
and
selectively altering, by the device, a gain to the second control loop based on a detected deviation of the implement from the defined design plan to increase an angle of approach, using the first control loop, when the implement is positioned above the defined design plan and decrease the angle of approach, using the first control loop, when the implement is aligned to the defined design plan.

1 more element

A system, comprising:

one or more memories;
and
one or more processors communicatively coupled to the one or more memories, configured to:
determine a position of a leading edge of an implement of a machine;
determine a position of a trailing edge of the implement of the machine;
determine, based on the position of the leading edge and the position of the trailing edge, a deviation from a design plan defining a grade for the implement of the machine;
control the leading edge of the implement and suppress control of the trailing edge of the implement to increase a first angle of approach of the implement;
determine, after controlling the leading edge of the implement and suppressing control of the trailing edge of the implement to increase the first angle of approach of the implement, that the position of the leading edge is aligned to the design plan;
control the leading edge of the implement and control the trailing edge of the implement to decrease a second angle of approach of the implement based on determining that the position of the leading edge is aligned to the design plan;
determine, after controlling the leading edge of the implement and controlling the trailing edge of the implement to decrease the second angle of approach of the implement, that the position of the leading edge and the position of the trailing edge are aligned to the design plan;
and
control the leading edge of the implement and control the trailing edge of the implement to maintain alignment of the position of the leading edge and the position of the trailing edge to the design plan.

9 more elements

A machine, comprising:

an articulated implement, comprising:
the articulated implement having an end with a leading edge and a trailing edge;
a first articulation control joint to articulate the leading edge of the articulated implement,
a second articulation control joint to articulate the trailing edge of the articulated implement;
and
a grading control system, configured to:
control the first articulation joint and the second articulation joint to maintain alignment of an angle of approach of the articulated implement with a design plan associated with a configured grade of the machine;
determine, when controlling the first articulation joint and the second articulation joint, a deviation of the articulated implement from the design plan associated with the configured grade of the machine;
suppress control of the second articulation joint;
control, concurrent with suppressing control of the second articulation joint, the first articulation joint to realign the articulated implement with the design plan;
and
end, after controlling the first articulation joint to realign the articulated implement with the design plan, suppression of control of the second articulation joint.

9 more elements

Dependencies are inferred from the claim text.

Grade control for machines with buckets

Life of this patent

Grade control for machines with buckets

Life of this patent

Abstract

Claims20