# US 9,752,300 B2 · System and method for positioning implement of machine > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,752,300 B2 - Document ID: US9752300B2 - Status: Granted - Kind: B2 - Application number: 14/697,657 - Filed: 2015-04-28 - Published: 2016-11-03 - Granted: 2017-09-05 - Earliest claimed: 2015-04-28 - Assignees: Caterpillar Inc. - Applicants: Caterpillar Inc. - Inventors: Insu Chang; Salim A. Jaliwala; Yanchai Zhang; James S. Chase - Web page: https://patentgrep.com/patent/US9752300B2 ## CPC - E02F 3/844: {for positioning the blade, e.g. hydraulically} - 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 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) ## Abstract A system associated with an implement of a machine is provided. The system includes a plane determination module configured to determine a track plane based on a relationship between at least two tracks of the machine. The system also includes an implement control module. The implement control module is configured to compute a location of two or more blade tip points of the implement of the machine in three dimensional space based on at least one constraint of a geometry of the implement. The implement control module is also configured to determine a blade tip point plane based on a relationship between at least two blade tip points of the implement. The implement control module is further configured to compare the blade tip point plane with the track plane and determine if the blade tip point plane is parallel to the track plane based on the comparison. ## Claims ### Claim 1 A system associated with an implement of a machine, the system comprising: a plane determination module configured to determine a track plane based on a relationship between at least two tracks of the machine; and an implement control module coupled to the plane determination module, the implement control module configured to: compute a location of two or more blade tip points of the implement of the machine in three dimensional space based on at least one constraint of a geometry of the implement; determine a blade tip point plane based on a relationship between at least two blade tip points of the implement; compare the blade tip point plane with the track plane; and determine if the blade tip point plane is parallel to the track plane based on the comparison. ### Claim 2 (depends on 1) The system of claim 1, wherein the implement control module is further configured to: set a position of the implement in three dimensional space based on the determination. ### Claim 3 (depends on 2) The system of claim 2, wherein the implement control module is configured to adjust a tilt angle of the implement for setting the position of the implement. ### Claim 4 (depends on 3) The system of claim 3, wherein the implement control module is coupled to an output module. ### Claim 5 (depends on 4) The system of claim 4, wherein the implement control module is configured to notify an operator of the tilt angle of the implement. ### Claim 6 (depends on 1) The system of claim 1, wherein the implement control module is coupled to actuators associated with the implement. ### Claim 7 (depends on 1) The system of claim 1, wherein the at least one constraint includes matching of an elevation of the two or more blade tip points of the implement and an elevation of a blade midpoint of the implement. ### Claim 8 A method for analyzing a position of an implement of a machine, the method comprising: determining a track plane based on a relationship between at least two tracks of the machine; computing a location of two or more blade tip points of the implement of the machine in three dimensional space based on at least one constraint of a geometry of the implement; determining a blade tip point plane based on a relationship between at least two blade tip points of the implement; comparing the blade tip point plane with the track plane; and determining if the blade tip point plane is parallel to the track plane based on the comparison. ### Claim 9 (depends on 8) The method of claim 8 further comprising: setting a position of the implement in three dimensional space based on the determination. ### Claim 10 (depends on 9) The method of claim 9, wherein the setting step further comprises: adjusting a tilt angle of the implement for setting the position of the implement. ### Claim 11 (depends on 10) The method of claim 10 further comprising: notifying an operator of the tilt angle of the implement. ### Claim 12 (depends on 8) The method of claim 8, wherein the at least one constraint includes matching of an elevation of the two or more blade tip points of the implement and an elevation of a blade midpoint of the implement. ### Claim 13 A track-type machine comprising: an engine; a frame; an implement coupled to the frame of the machine; a plane determination module configured to determine a track plane based on a relationship between at least two tracks of the machine; and an implement control module coupled to the plane determination module, the implement control module configured to: compute a location of two or more blade tip points of the implement of the machine in three dimensional space based on at least one constraint of a geometry of the implement; determine a blade tip point plane based on a relationship between at least two blade tip points of the implement; compare the blade tip point plane with the track plane; and determine if the blade tip point plane is parallel to the track plane based on the comparison. ### Claim 14 (depends on 13) The machine of claim 13, wherein the implement control module is further configured to: set a position of the implement in three dimensional space based on the determination. ### Claim 15 (depends on 14) The machine of claim 14, wherein the implement control module is configured to adjust a tilt angle of the implement for setting the position of the implement. ### Claim 16 (depends on 15) The machine of claim 15, wherein the implement control module is coupled to an output module. ### Claim 17 (depends on 16) The machine of claim 16, wherein the implement control module is configured to notify an operator of the tilt angle of the implement. ### Claim 18 (depends on 13) The machine of claim 13, wherein the implement control module is coupled to actuators associated with the implement. ### Claim 19 (depends on 13) The machine of claim 13, wherein the at least one constraint includes matching of an elevation of the two or more blade tip points of the implement and an elevation of a blade midpoint of the implement.