Self-propelled work vehicle and control method for blade stabilization accounting for chassis movement

Patent metadata

Field	Value
Publication number	US-11629477-B2
Application number	US-202016889854-A
Country	US
Kind code	B2
Filing date	Jun 2, 2020
Priority date	Jun 2, 2020
Publication date	Apr 18, 2023
Grant date	Apr 18, 2023

Abstract

Systems and methods are disclosed herein for controlling a work implement (e.g., front-mounted blade) relative to a work vehicle to produce a desired profile in a ground surface. Chassis-mounted sensor(s) detect an actual pitch velocity and an actual pitch angle of the chassis relative to the ground. Further sensor(s) detect an actual lift position of the blade relative to the chassis. A desired profile to be produced by the blade with respect to the ground surface is determined, for example via an automated grade control system, via manually-initiated trigger(s), and/or via time-based rolling averages of detected values. A position of the implement is automatically controlled as a function of each of the actual pitch velocity, the actual pitch angle of the chassis relative to the ground, and the actual lift position of the work implement relative to the chassis, corresponding to the desired profile with respect to the ground surface.

First claim

What is claimed is:

1. A method of controlling a blade relative to a chassis of a self- propelled work vehicle to produce a desired profile in a ground surface, wherein the blade is coupled to the chassis and further at least lifted relative to the chassis via at least a blade positioning unit, the method comprising:
detecting, via a first set of one or more chassis-mounted sensors, an actual pitch velocity of the chassis and an actual pitch angle of the chassis relative to the ground;
detecting, via a second set of one or more sensors associated with the blade positioning unit, an actual lift position of the blade relative to the chassis;
determining a desired profile to be produced by the blade with respect to the ground surface; and
automatically controlling a position of the blade as a function of each of the actual pitch velocity of the chassis, the actual pitch angle of the chassis relative to the ground, and the actual lift position of the work implement relative to the chassis, corresponding to the desired profile with respect to the ground surface.

2. The method of claim 1 , wherein the step of determining a desired profile to be produced by the blade with respect to the ground surface comprises:
setting a first target value corresponding to a pitch angle of the chassis relative to the ground, and
setting a second target value corresponding to a lift position of the blade relative to the chassis.

3. The method of claim 2 , further comprising:
determining error values corresponding at least to detected differences between the actual pitch angle, the actual lift position, and the respective first and second target values, and
automatically controlling the position of the blade, further as a function of the determined error values.

4. The method of claim 3 , further comprising displaying indicia on a display unit associated with an operator of the work vehicle, the indicia corresponding to one or more of the determined error values.

5. The method of claim 2 , wherein the first and second target values are set to correspond with inputs received from a user via a user interface to an automated grade control system.

6. The method of claim 5 , wherein the step of determining a desired profile to be produced by the blade with respect to the ground surface further comprises:
dynamically setting a third target value corresponding to a pitch velocity of the chassis.

7. The method of claim 2 , further comprising:
selectively enabling a first mode of operation, wherein at least a lift position is controlled based on control signals responsive to manual input commands, upon conclusion of the first mode of operation when manual input commands are terminated, setting the first and second target values to correspond with respective detected actual values for the pitch angle of the chassis relative to the ground and the lift position of the blade relative to the chassis, and
initiating a second mode of operation, for automatically controlling the position of the blade as a function of each of the actual pitch velocity of the chassis, the actual pitch angle of the chassis relative to the ground, and the actual lift position of the work implement relative to the chassis, corresponding to the desired profile with respect to the ground surface.

8. The method of claim 2 , wherein detected actual values for the pitch angle of the chassis relative to the ground and the lift position of the blade relative to the chassis are provided as inputs to a filtering stage, wherein the first and second target values are dynamically set to correspond with respective outputs from the filtering stage.

9. The method of claim 1 , further comprising displaying indicia on a display unit associated with an operator of the work vehicle, the indicia corresponding to one or more of:
the actual pitch velocity of the chassis;
the actual pitch angle of the chassis relative to the ground;
the actual lift position of the work implement relative to the chassis;
the desired profile with respect to the ground surface; and
control signals associated with a controlled position of the blade.

10. The method of claim 1 , further comprising projecting one or more virtual sensors upon respective locations associated with the blade, wherein the step of determining a desired profile to be produced by the blade with respect to the ground surface comprises setting one or more target values corresponding to respective characteristics at each of the one or more locations, and the method further comprises:
generating predicted values for the respective characteristics at each of the one or more locations, as a function of at least each of the actual pitch velocity of the chassis, the actual pitch angle of the chassis relative to the ground, and the actual lift position of the work implement relative to the chassis.

11. The method of claim 10 , further comprising:
determining error values corresponding at least to calculated differences between the predicted values and the target values for the respective characteristics, and
automatically controlling the position of the blade, further as a function of the determined error values.

12. The method of claim 11 , further comprising displaying indicia on a display unit associated with an operator of the work vehicle, the indicia corresponding to one or more of the determined error values.

13. A self-propelled work vehicle comprising:
a chassis supported by a plurality of ground engaging units;
a blade coupled to a front of the chassis in a working direction via a positioning unit configured to at least raise or lower the blade relative to the chassis;
a first set of one or more sensors fixed with respect to the chassis and configured to generate output signals corresponding to an actual pitch velocity of the chassis and an actual pitch angle of the chassis relative to the ground;
a second set of one or more sensors coupled to the positioning unit and configured to generate output signals corresponding to an actual lift position of the blade relative to the chassis; and
a controller functionally linked to the first set of sensors, the second set of sensors, and the positioning unit, and configured to control the positioning unit to at least raise or lower the blade relative to chassis, as a function of each of the actual pitch velocity of the chassis, the actual pitch angle of the chassis relative to the ground, and the actual lift position of the blade relative to the chassis, corresponding to a desired profile to be generated by the blade with respect to the ground surface.

14. The self-propelled work vehicle of claim 13 , wherein the controller is configured to
determine the desired profile to be produced by the blade with respect to the ground surface by setting a first target value corresponding to a pitch angle of the chassis relative to the ground and a second target value corresponding to a lift position of the blade relative to the chassis,
determine error values corresponding at least to detected differences between the actual pitch angle, the actual lift position, and the respective first and second target values, and
automatically control the position of the blade, further as a function of the determined error values.

15. The self-propelled work vehicle of claim 14 , wherein the first and second target values are set to correspond with inputs received from a user via a user interface to an automated grade control system.

16. The self-propelled work vehicle of claim 14 , wherein the controller is configured to:
selectively enable a first mode of operation, wherein at

Assignees

• Deere & Co

Inventors

• Velde Todd F
• Kassen Daniel M

Classifications

• E02F9/20

  Drives; Control devices (gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P) · CPC title

• E02F9/00

  Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00 (laying-out or take-up devices for trailing electric cables B66C) · CPC title

• E02F9/265

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

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• E02F3/8152

  Attachments therefor, e.g. wear resisting parts, cutting edges (E02F3/8155, E02F3/8157 take precedence; teeth per se E02F9/28) · CPC title