# US 2021/0340735 A1 · Ground engaging tool control system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0340735 A1 - Document ID: US20210340735A1 - Status: Published application - Kind: A1 - Application number: 15/929,403 - Filed: 2020-04-30 - Published: 2021-11-04 - Earliest claimed: 2020-04-30 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: David A. Veasy - Web page: https://patentgrep.com/patent/US20210340735A1 ## CPC - E02F 3/7654: {with the scraper blade being horizontally movable into a position near the chassis} - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 3/7613: {with the scraper blade adjustable relative to the pivoting arms about a vertical axis, e.g. angle dozers} - E02F 3/7618: {with the scraper blade adjustable relative to the pivoting arms about a horizontal axis} - E02F 3/7627: {with the scraper blade adjustable relative to the frame about a vertical axis} - E02F 3/7631: {with the scraper blade adjustable relative to the frame about a horizontal axis} - E02F 3/764: {with the scraper blade being pivotable about a vertical axis} - E02F 3/7645: {with the scraper blade being pivotable about a horizontal axis disposed parallel to the blade} - E02F 3/765: {with the scraper blade being pivotable about a horizontal axis disposed perpendicular to the blade} - E02F 3/844: {for positioning the blade, e.g. hydraulically} - E02F 3/961: {with several digging elements or tools mounted on one machine (for backhoes E02F3/964 takes precedence)} - E02F 9/205: {Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence)} - E02F 3/7604: {Combinations of scraper blades with soil loosening tools working independently of scraper blades (soil loosening attachments fixed on blades E02F3/8152, E02F3/8155)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A ground engaging tool control system including a first sensor system, a second sensor system, a first actuator system, a second actuator system, and an electronic data processor. The first and second sensor systems detect respective positions of a first ground engaging tool and a second ground engaging tool. The first actuator system is coupled to the first ground engaging tool and the second actuator system is coupled to the second ground engaging tool. The electronic data processor determines a target grade profile and generates two or more control signals to adjust target positions of the first ground engaging tool and the second ground engaging tool. The target position of the second ground engaging tool is determined based on at least one of a position of the first ground engaging tool or the comparison of a current grade profile and a desired grade profile. ## Claims ### Claim 1 A ground engaging tool control system for a work vehicle, the ground engaging tool control system comprising: a first sensor system configured to detect a position of a first ground engaging tool; a second sensor system configured to detect a position of a second ground engaging tool; a first actuator system coupled to the first ground engaging tool; a second actuator system coupled to the second ground engaging tool; and an electronic data processor in communication with the first sensor system and the second sensor system and configured to execute a comparison of a current grade profile and a desired grade profile, generate a first control signal for receipt by the first actuator system to adjust the first ground engaging tool to a first target position based on the comparison, and generate a second control signal for receipt by the second actuator system to adjust the second ground engaging tool to a second target position based on at least one of a position of the first ground engaging tool or the comparison. ### Claim 2 (depends on 1) The ground engaging tool control system of claim 1, wherein the current grade profile is determined from a measured ground topography that is provided by an image sensor in communication with the electronic data processor. ### Claim 3 (depends on 1) The ground engaging tool control system of claim 1, wherein the second ground engaging tool comprises a multi-positional blade. ### Claim 4 (depends on 1) The ground engaging tool control system of claim 1, wherein adjusting the first ground engaging tool to the first target position comprises positioning the first ground engaging tool to perform a first grading operation, and wherein adjusting the second ground engaging tool to the second target position comprises positioning the second ground engaging tool to perform a second grading operation. ### Claim 5 (depends on 1) The ground engaging tool control system of claim 1, wherein the at least one first ground engaging tool comprises at least one of a mid grading blade or a rear ground engaging tool. ### Claim 6 (depends on 1) The ground engaging tool control system of claim 1, wherein the second ground engaging tool comprises a six-position power-angle-tilt blade. ### Claim 7 (depends on 6) The ground engaging tool control system of claim 6, wherein the six-position power-angle-tilt blade is configured to move bidirectionally in at least one of a blade elevation direction, a blade angle direction, a blade tilt direction, or a blade roll direction. ### Claim 8 A work vehicle comprising: a first ground engaging tool coupled to the work vehicle; a second ground engaging tool coupled to the work vehicle forward of the first ground engaging tool; a first sensor system configured to detect a position of the first ground engaging tool; a second sensor system configured to detect a position of the second ground engaging tool; a first actuator system coupled to the first ground engaging tool; a second actuator system coupled to the second ground engaging tool; and an electronic data processor in communication with the first sensor system and the second sensor system and configured to execute a comparison of a current grade profile and a desired grade profile, generate a first control signal for receipt by the first actuator system to adjust the first ground engaging tool to a first target position based on the comparison, and generate a second control signal for receipt by the second actuator system to adjust the second ground engaging tool to a second target position based on at least one of a position of the first ground engaging tool or the comparison. ### Claim 9 (depends on 8) The work vehicle of claim 8, wherein the current grade profile is determined from a measured ground topography that is provided by an image sensor in communication with the electronic data processor. ### Claim 10 (depends on 8) The work vehicle of claim 8, wherein the second ground engaging tool comprises a multi-positional blade. ### Claim 11 (depends on 8) The work vehicle of claim 8, wherein adjusting the first ground engaging tool to the first target position comprises positioning the first ground engaging tool to perform a first grading operation, and wherein adjusting the second ground engaging tool to the second target position comprises positioning the second ground engaging tool to perform a second grading operation. ### Claim 12 (depends on 8) The work vehicle of claim 8, wherein the at least one first ground engaging tool comprises at least one of a mid grading blade or rear ground engaging tool. ### Claim 13 (depends on 8) The work vehicle of claim 8, wherein the second ground engaging tool comprises a six-position power-angle-tilt blade. ### Claim 14 (depends on 13) The work vehicle of claim 13, wherein the six-position power-angle-tilt blade is configured to rotate bidirectionally in at least one of a blade elevation direction, a blade angle direction, a blade tilt direction, or a blade roll direction. ### Claim 15 A method for providing coordinated blade control for a work vehicle, the method comprising: comparing a current grade profile and a desired grade profile; determining a first target position of a first ground engaging tool based on the comparison; determining a second target position of a second ground engaging tool based on at least one of the comparison or the first target position; and adjusting a position of the first ground engaging tool to the first target position to perform a first grading operation and adjusting the second ground engaging tool to the second target position to perform a second grading operation. ### Claim 16 (depends on 15) The method of claim 15, further comprising capturing an image of a ground topography forward of the work vehicle to provide a measured ground topography to determine the current grade profile. ### Claim 17 (depends on 15) The method of claim 15, further comprising monitoring a position of the least one first ground engaging tool and the second ground engaging tool to determine if the first target position or the second target position falls within a desired threshold range. ### Claim 18 (depends on 15) The method of claim 15, further comprising determining at least one of a new first target position or a new second target position if the first target position or the second target position falls outside of the desired threshold range, and wherein a position of each of the first ground engaging tool and the second ground engaging tool is readjusted to fall within the desired threshold range.