# US 9,752,336 B2 · Systems and methods for controlling an implement of a machine utilizing an orientation leveling system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,752,336 B2 - Document ID: US9752336B2 - Status: Granted - Kind: B2 - Application number: 15/019,488 - Filed: 2016-02-09 - Published: 2017-08-10 - Granted: 2017-09-05 - Earliest claimed: 2016-02-09 - Assignees: Caterpillar Inc. - Applicants: Caterpillar Inc. - Inventors: Andrew D. Meinert - Web page: https://patentgrep.com/patent/US9752336B2 ## CPC - E04G 21/0463: {with boom control mechanisms, e.g. to automate concrete distribution} - B25J 5/06: Manipulators combined with a control cab for the operator - B25J 9/00: Program-controlled manipulators - B25J 9/04: by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type - B25J 13/089: {Determining the position of the robot with reference to its environment} - B33Y 30/00: Apparatus for additive manufacturing; Details thereof or accessories therefor - B33Y 50/02: for controlling or regulating additive manufacturing processes - E02F 9/2025: {Particular purposes of control systems not otherwise provided for (E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence)} - E04G 21/0436: {on a mobile support, e.g. truck} - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - G05D 3/12: using feedback - G05B 2219/45012: Excavator - E04G: SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B33Y: ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract A control system for an implement associated with a machine, the machine operating on a work surface lying in a surface plane, is disclosed. The system includes a base plate attached to the machine, the base plate establishing a plate plane and the orientation of the plate plane alters with changes in orientation of the base plate. The system may further include an orientation leveling system which includes an orientation sensor, one or more plate actuators for altering orientation of the base plate, and an electronic controller. The electronic controller is configured to determine if the plate plane is substantially parallel with the surface plane and actuate the one or more actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if the plate plane is not substantially parallel with the surface plane. ## Claims ### Claim 1 A control system for an implement associated with a machine, the machine operating on a work surface, the work surface lying in a surface plane, the control system comprising: a base plate attached to the machine, the base plate establishing a plate plane and orientation of the plate plane alters with changes in orientation of the base plate; an orientation leveling system including: an orientation sensor configured to determine initial orientation information for the base plate, the initial orientation information being relative to the surface plane; one or more plate actuators for altering orientation of the base plate; and a first electronic controller configured to receive the initial orientation information from the orientation sensor, determine if the plate plane is substantially parallel with the surface plane, and actuate the one or more plate actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if, based on the initial orientation information, the plate plane is not substantially parallel with the surface plane; and a multi-axis control system, the multi-axis control system including: a plurality of axis actuators, each of the plurality of axis actuators configured to position the implement along an axis relative to the plate plane; and a second electronic controller configured to actuate the plurality of axis actuators to position the implement. ### Claim 2 (depends on 1) The control system of claim 1, further comprising a rotary actuator configured to rotate the multi-axis control system, relative to the base plate, in response to instructions from the second controller. ### Claim 3 (depends on 2) The control system of claim 2, further including a rotational plate, the rotational plate disposed substantially parallel with the base plate and connected to the base plate. ### Claim 4 (depends on 3) The control system of claim 3, wherein the rotational plate is connected to the base plate via a slewing bearing, the slewing bearing enabling rotation of the rotational plate relative to the base plate. ### Claim 5 (depends on 3) The control system of claim 3, further including a rotational sensor operatively associated with the rotational plate and configured to determine rotational positioning of the rotational plate, relative to the base plate. ### Claim 6 (depends on 1) The control system of claim 1, wherein the plurality of axis actuators includes an x-axis actuator for positioning the implement about an x-axis, a y-axis actuator for positioning the implement about a y-axis, and a z-axis actuator for positioning the implement about a z-axis, wherein each of the x-axis, the y-axis, and the z-axis are disposed relative to the plate plane. ### Claim 7 (depends on 6) The control system of claim 6, wherein the x-axis actuator, the y-axis actuator, and the z-axis actuator are linear actuators. ### Claim 8 (depends on 1) The control system of claim 1, wherein the implement is an additive construction implement. ### Claim 9 (depends on 8) The control system of claim 8, wherein the a second electronic controller of the multi-axis control system is configured to actuate the plurality of axis actuators to position the additive construction implement in accordance with an additive construction plan. ### Claim 10 (depends on 1) The control system of claim 1, wherein the orientation sensor includes one or more of an accelerometer, a gyroscope, and a global positioning system (GPS). ### Claim 11 An effector for controlling an additive construction implement during an additive construction operation on a work surface, the work surface lying in a surface plane, the effector comprising: a base plate for attachment to a machine, the base plate establishing a plate plane and orientation of the plate plane alters with changes in orientation of the base plate; an orientation sensor configured to determine initial orientation information for the base plate, the initial orientation information being relative to the work surface; one or more plate actuators for altering orientation of the base plate; an electronic controller configured to receive the initial orientation information from the orientation sensor, determine if the plate plane is substantially parallel with the surface plane, and actuate the one or more plate actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if, based on the initial orientation information, the plate plane is not substantially parallel with the surface plane; a plurality of axis actuators, each of the plurality of axis actuators configured to position the additive construction implement along an axis relative to the plate plane. ### Claim 12 (depends on 11) The effector of claim 11, wherein the machine is a construction machine including a crane, the effector further includes a connecting linkage configured for connecting the effector to the crane of the machine, and the construction machine is configured to utilize the additive construction implement, via the effector, for additive construction of a structure. ### Claim 13 (depends on 11) The effector of claim 11, further comprising: a rotational plate connected to the base plate on a first surface and connected to the plurality of axis actuators on a second surface; and a rotary actuator configured to rotate the rotational plate and plurality of axis actuators relative to the base plate. ### Claim 14 (depends on 13) The effector of claim 13, wherein the rotational plate is connected to the base plate via a slewing bearing, the slewing bearing enabling rotation of the rotational plate relative to the base plate. ### Claim 15 (depends on 13) The effector of claim 13, further comprising a rotational sensor operatively associated with the rotational plate and configured to determine rotational positioning of the rotational plate, relative to the base plate. ### Claim 16 A method for controlling an implement associated with a machine during an operation, utilizing an effector which connects the implement to the machine, the effector including a base plate that establishes a plate plane, orientation of the plate plane altering with changes in orientation of the base plate, one or more plate actuators, and a plurality of axis actuators, the machine operating on a work surface, the work surface lying in a surface plane, the method comprising: determining, using an orientation sensor operatively associated with the base plate, initial orientation information for the base plate; determining, using one or more electronic controllers, if the plate plane is substantially parallel with the surface plane based on the initial orientation information; controlling, using the one or more electronic controllers, the one or more plate actuators to alter the orientation of the base plate such that the plate plane is substantially parallel with the surface plane, if the plate plane is not substantially parallel with the surface plane; and controlling, using the one or more electronic controllers, the plurality of axis actuators to position the implement, each of the plurality of axis actuators positioning the implement along an axis relative to the plate plane. ### Claim 17 (depends on 16) The method of claim 16, wherein the effector further includes a rotary actuator, the method further comprising rotating the plurality of axis actuators, relative to the base plate, by the rotary actuator in response to instructions from the one or more electronic controllers. ### Claim 18 (depends on 17) The method of claim 17, wherein the effector further includes a rotational plate, connected to the base plate and disposed substantially parallel to the base plate, wherein the axis actuators are connected to the rotational plate, and wherein rotating the plurality of axis actuators includes rotating the rotational plate using the rotary actuators in response to instructions from the one or more electronic controllers. ### Claim 19 (depends on 16) The method of claim 16, wherein the implement is an additive construction implement and controlling the plurality of axis actuators includes controlling the plurality of axis actuators to position the additive construction implement based on an additive construction plan. ### Claim 20 (depends on 19) The method of claim 19, further comprising disposing materials in accordance with the additive construction plan once the implement is positioned, via the axis actuators, in accordance with the additive construction plan.