# US 9,435,101 B2 · Semi-automatic control of a joystick for dozer blade control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,435,101 B2 - Document ID: US9435101B2 - Status: Granted - Kind: B2 - Application number: 14/260,646 - Filed: 2014-04-24 - Published: 2015-10-29 - Granted: 2016-09-06 - Earliest claimed: 2014-04-24 - Assignees: Topcon Positioning Systems, Inc. - Applicants: Topcon Positioning Systems, Inc. - Inventors: Alexey Vladislavovich Zhdanov; Stanislav Georgievich Saul; Alexey Andreevich Kosarev; Ivan Giovanni di Federico; Anton Gennadievich Golovanov - Web page: https://patentgrep.com/patent/US9435101B2 ## CPC - E02F 3/844: {for positioning the blade, e.g. hydraulically} - E02F 3/841: {Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine (construction of roads E01C19/008)} - E02F 3/845: {using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums} - E02F 3/847: {using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams} - E02F 9/2012: {Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation} - E02F 9/264: {Sensors and their calibration for indicating the position of the work tool} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract On a dozer, a semi-automatic system automatically translates a joystick to control blade elevation and provides an indicator display to guide manual control of blade slope angle. A mechanical linkage operably couples the joystick to an electrical motor. A computational system receives measurements from measurement units mounted on the dozer; calculates estimated values of elevation and slope angle; compares the estimated values to reference values; and calculates error and control signals. Drivers generate a motor drive signal and a display drive signal. In response to the motor drive signal, the electrical motor translates the joystick to control elevation. In response to the display drive signal, the indicator display generates a graphical representation of the status of slope angle. When the operator needs to take manual control, a proximity sensor detects the presence of at least a portion of the operator's hand, wrist, or forearm and disengages automatic control of elevation. ## Claims ### Claim 1 A system for controlling a joystick, wherein a first translation of the joystick controls a first degree of freedom of an implement operably coupled to a vehicle body, and wherein a second translation of the joystick controls a second degree of freedom of the implement, the system comprising: at least one measurement unit mounted on at least one of the vehicle body or the implement, wherein the at least one measurement unit is configured to generate at least one plurality of measurements; a proximity sensor configured to: in response to not detecting at least a portion of an object selected from a group consisting of a hand, a wrist, and a forearm, generate a first object detection signal; and in response to detecting at least a portion of an object selected from the group consisting of a hand, a wrist, and a forearm, generate a second object detection signal; a computational system configured to: receive the at least one plurality of measurements; calculate, based at least in part on the at least one plurality of measurements, an estimated value of the first degree of freedom; calculate, based at least in part on the estimated value of the first degree of freedom and a reference value of the first degree of freedom, an error signal corresponding to the first degree of freedom; in response to receiving the first object detection signal, calculate, based at least in part on the error signal corresponding to the first degree of freedom, a first motor control signal; calculate, based at least in part on the at least one plurality of measurements, an estimated value of the second degree of freedom; calculate, based at least in part on the estimated value of the second degree of freedom and a reference value of the second degree of freedom, an error signal corresponding to the second degree of freedom; and calculate, based at least in part on the error signal corresponding to the second degree of freedom, a display control signal corresponding to the second degree of freedom; and in response to receiving the second object detection signal, calculate, based at least in part on the error signal corresponding to the first degree of freedom, a second motor control signal; a motor driver configured to: in response to receiving the first motor control signal, generate a first motor drive signal; in response to receiving the second motor control signal, generate a second motor drive signal; a mechanical linkage operably coupled to the joystick; an electrical motor operably coupled to the mechanical linkage, wherein the electrical motor is configured to: in response to receiving the first motor drive signal, automatically control the mechanical linkage to translate along a first automatically-controlled mechanical linkage trajectory and automatically control the joystick to translate along a first automatically-controlled joystick trajectory corresponding to the first automatically-controlled mechanical linkage trajectory, wherein a translation speed of the joystick has a first maximum value; in response to receiving the second motor drive signal, automatically control the mechanical linkage to translate along a second automatically-controlled mechanical linkage trajectory and automatically control the joystick to translate along a second automatically-controlled joystick trajectory corresponding to the second automatically-controlled mechanical linkage trajectory, wherein the translation speed of the joystick has a second maximum value less than the first maximum value; a display driver configured to: in response to receiving the display control signal corresponding to the second degree of freedom, generate a display drive signal corresponding to the second degree of freedom; and an indicator display configured to: in response to receiving the display drive signal corresponding to the second degree of freedom, display a graphical representation of a difference between the estimated value of the second degree of freedom and the reference value of the second degree of freedom. ### Claim 2 (depends on 1) The system of claim 1, wherein the computational system is further configured to: in response to receiving the second object detection signal, not generate a motor control signal. ### Claim 3 (depends on 1) The system of claim 1, wherein: the computational system is further configured to: calculate, based at least in part on the error signal corresponding to the first degree of freedom, a display control signal corresponding to the first degree of freedom; the display driver is further configured to: in response to receiving the display control signal corresponding to the first degree of freedom, generate a display drive signal corresponding to the first degree of freedom; and the indicator display is further configured to: in response to receiving the display drive signal corresponding to the first degree of freedom, display a graphical representation of a difference between the estimated value of the first degree of freedom and the reference value of the first degree of freedom. ### Claim 4 (depends on 1) The system of claim 1, wherein: the vehicle body comprises a dozer body; the implement comprises a blade; the first degree of freedom of the implement comprises a blade elevation; and the second degree of freedom of the implement comprises a blade slope angle. ### Claim 5 (depends on 4) The system of claim 4, wherein the at least one measurement unit comprises an inertial measurement unit mounted on the blade. ### Claim 6 (depends on 4) The system of claim 4, wherein the at least one measurement unit comprises an inertial measurement unit mounted on the vehicle body. ### Claim 7 (depends on 4) The system of claim 4, wherein the at least one measurement unit comprises: a global navigation satellite system antenna mounted on the dozer body; and a global navigation satellite system receiver mounted on the dozer body. ### Claim 8 (depends on 4) The system of claim 4, wherein the at least one measurement unit comprises: a global navigation satellite system antenna mounted on the blade; and a global navigation satellite system receiver mounted on the blade or on the dozer body. ### Claim 9 A method for controlling a joystick, wherein a first translation of the joystick controls a first degree of freedom of an implement operably coupled to a vehicle body, wherein a second translation of the joystick controls a second degree of freedom of the implement, and wherein an electrical motor is operably coupled to the joystick with a mechanical linkage, the method comprising the steps of: receiving at least one plurality of measurements from at least one measurement unit mounted on at least one of the vehicle body or the implement; generating a first object detection signal or a second object detection signal, wherein: the first object detection signal is generated in response to not detecting at least a portion of an object selected from a group consisting of a hand, a wrist, and a forearm; and the second object detection signal is generated in response to detecting at least a portion of an object selected from the group consisting of a hand, a wrist, and a forearm; calculating, based at least in part on the at least one plurality of measurements, an estimated value of the first degree of freedom; calculating, based at least in part on the estimated value of the first degree of freedom and a reference value of the first degree of freedom, an error signal corresponding to the first degree of freedom; in response to the first object detection signal: calculating, based at least in part on the error signal corresponding to the first degree of freedom, a first motor control signal; generating, based at least in part on the first motor control signal, a first motor drive signal; and driving the electrical motor with the first motor drive signal to translate the joystick along a first automatically-controlled joystick trajectory, wherein a translation speed of the joystick has a first maximum value; in response to the second object detection signal: calculating, based at least in part on the error signal corresponding to the first degree of freedom, a second motor control signal; generating, based at least in part on the second motor control signal, a second motor drive signal; and driving the electrical motor with the second motor drive signal to translate the joystick along a second automatically-controlled joystick trajectory, wherein the translation speed of the joystick has a second maximum value less than the first maximum value; calculating, based at least in part on the at least one plurality of measurements, an estimated value of the second degree of freedom; and displaying a graphical representation of a difference between the estimated value of the second degree of freedom and a reference value of the second degree of freedom. ### Claim 10 (depends on 9) The method of claim 9, further comprising the step of: in response to the second object detection signal, not driving the electrical motor with a motor drive signal. ### Claim 11 (depends on 9) The method of claim 9, further comprising the step of: displaying a graphical representation of a difference between the estimated value of the first degree of freedom and the reference value of the first degree of freedom. ### Claim 12 (depends on 9) The method of claim 9, wherein: the vehicle body comprises a dozer body; the implement comprises a blade; the first degree of freedom of the implement comprises a blade elevation; and the second degree of freedom of the implement comprises a blade slope angle. ### Claim 13 (depends on 12) The method of claim 12, wherein the at least one measurement unit comprises an inertial measurement unit mounted on the blade. ### Claim 14 (depends on 12) The method of claim 12, wherein the at least one measurement unit comprises an inertial measurement unit mounted on the vehicle body. ### Claim 15 (depends on 12) The method of claim 12, wherein the at least one measurement unit comprises: a global navigation satellite system antenna mounted on the dozer body; and a global navigation satellite system receiver mounted on the dozer body. ### Claim 16 (depends on 12) The method of claim 12, wherein the at least one measurement unit comprises: a global navigation satellite system antenna mounted on the blade; and a global navigation satellite system receiver mounted on the blade or on the dozer body.