Work machines and methods and systems to control and determine a position of an associated implement

Patent metadata

Field	Value
Publication number	US-10526766-B2
Application number	US-201715665138-A
Country	US
Kind code	B2
Filing date	Jul 31, 2017
Priority date	Jul 31, 2017
Publication date	Jan 7, 2020
Grant date	Jan 7, 2020

Abstract

Work machines and methods and systems to control and determine a position of an associated implement are disclosed. An example work machine including a first vehicle component movable relative to a second vehicle component; and a processor to: cause the first vehicle component to move toward a commanded position; predict a first position of the first vehicle component of the work machine using first processes; determine a second position of the first vehicle component using second processes; and in response to a difference between the first position and the second position, to cause the first vehicle component to move further toward the commanded position to correct for the difference.

First claim

What is claimed is:

1. A work machine, comprising:
a position predictor to predict a first position of a vehicle component of the work machine using first processes-based on sensor data and a commanded position of the vehicle component;
a position determiner to determine a second position of the vehicle component using second processes based on a location of a target within image data, the target coupled to the vehicle component;
a comparator to compare the first position of the vehicle component and the second position of the vehicle component; and
based on a difference between the first position and the second position, an actuator controller to cause the vehicle component to move further toward the commanded position to correct for the difference.

2. The work machine of claim 1 , in response to the first position and the second position being different, the position predictor to perform an update process to enable future predictions to be made with increased accuracy.

3. The work machine of claim 1 , wherein the position predictor is to predict the first position of the vehicle component using the first processes including processing sensor data from one or more sensors.

4. The work machine of claim 3 , wherein the one or more sensors includes a sensor carried by an actuator of the work machine or a sensor carried by a circle rotate of the work machine.

5. The work machine of claim 1 , wherein the position determiner is to determine the second position of the vehicle component using second processes including processing image data to identify one or more characteristics of interest and comparing the one or more characteristics of interest to reference data.

6. The work machine of claim 5 , wherein the characteristics of interest include one or more of a target carried by the first vehicle component, a fiducial of the target, a size of the target, or an orientation of the target in an image.

7. The work machine of claim 5 , wherein the position determiner is to associate the identified one or more characteristics of interest to a position parameter, the position parameter associating a position or an orientation of the characteristic of interest with at least one of a relative position between the first vehicle component and a second vehicle component of the work machine or a position of the first vehicle component.

8. A method, comprising:
predicting, by executing an instruction with at least one processor, a first position of a vehicle component of a work machine using first processes based on sensor data and a commanded position of the vehicle component;
determining, by executing an instruction with the at least one processor, a second position of the vehicle component using second processes based on a location of a target within image data, the target coupled to the vehicle component;
comparing, by executing an instruction with the at least one processor, the first position of the vehicle component and the second position of the vehicle component; and
based on a difference between the first position and the second position, causing, by executing an instruction with the at least one processor, the vehicle component to move further toward the commanded position to correct for the difference.

9. The method of claim 8 , wherein in response to the first position and the second position being different, further including updating a prediction model associated with the predicting and the first processes to enable future predictions to be made with increased accuracy.

10. The method of claim 8 , wherein the predicting of the first position of the first vehicle component using the first processes includes processing sensor data from one or more sensors.

11. The method of claim 10 , wherein the one or more sensors includes a sensor carried by an actuator of the work machine or a sensor carried by a circle rotate of the work machine.

12. The method of claim 8 , wherein determining the second position of the vehicle component using the second processes includes processing image data to identify one or more characteristics of interest and comparing the one or more characteristics of interest to reference data.

13. The method of claim 12 , wherein the characteristics of interest includes one or more or a target carried by the first vehicle component, a fiducial of the target, a size of the target, or an orientation of the target in an image.

14. The method of claim 12 , further including associating the identified one or more characteristics of interest to a position parameter, the position parameter associating a position or an orientation of the characteristic of interest with at least one of a relative position between the first vehicle component and a second vehicle component of the work machine or a position of the first vehicle component.

15. A non-transitory computer-readable medium comprising instructions that, when executed, cause a processor to, at least:
predict a first position of a vehicle component of a work machine using first processes based on sensor data and a commanded position of the vehicle component;
determine a second position of the vehicle component using second processes based on a location of a target within image data, the target coupled to the vehicle component;
compare the first position of the vehicle component and the second position of the vehicle component; and
based on a difference between the first position and the second position, cause the vehicle component to move further toward the commanded position to correct for the difference.

16. The computer-readable medium as defined in claim 15 , wherein the instructions, when executed, further cause the processor to update a prediction model associated with the prediction and the first processes to enable future predictions to be made with increased accuracy when the first position and the second position are different.

17. The computer-readable medium as defined in claim 15 , wherein the determination of the second position of the vehicle component using the second processes includes processing image data to identify one or more characteristics of interest and comparing the one or more characteristics of interest to reference data.

18. The computer-readable medium as defined in claim 17 , wherein the characteristics of interest include one or more or a target carried by the first vehicle component, a fiducial of the target, a size of the target, or an orientation of the target.

19. The computer-readable medium as defined in claim 17 , wherein the instructions, when executed, further cause the processor to associate the identified one or more characteristics of interest to a position parameter, the position parameter associating a position or an orientation of the characteristic of interest with at least one of a relative position between the first vehicle component and a second vehicle component of the work machine or a position of the first vehicle component.

20. A work machine, comprising:
a first vehicle component movable relative to a second vehicle component; and
a processor to:
cause the first vehicle component to move toward a commanded position;
predict a first position of the first vehicle component of the work machine using first processes based on sensor data and the commanded position;
determine a second position of the first vehicle component using second processes based on a location of a target within image data, the target coupled to the vehicle component; and
in response to a difference between the first position and t

Assignees

• Deere & Co

Inventors

• Hageman John M
• Cherney Mark J
• Kean Michael G
• Breutzman Mark E
• Loukili Tarik
• Peat Michael D

Classifications

• E02F9/2041

  Automatic repositioning of implements, i.e. memorising determined positions of the implement (for dipper-arms or bucket-arms E02F3/434, E02F3/437, E02F3/438, E02F3/439 take precedence) · CPC title

• E02F9/265

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• E02F3/847 Primary

  using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams · CPC title

• E02F9/2058 Primary

  Electric or electro-mechanical or mechanical control devices of vehicle sub-units (for vehicles in general B60W) · CPC title

• E02F9/2029 Primary

  Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed (control for hydraulic or pneumatic drives E02F9/2203, E02F9/2221 and E02F9/2253 take precedence) · CPC title