Continuous calibration of grade control system

Patent metadata

Field	Value
Publication number	US-12398533-B2
Application number	US-202217725931-A
Country	US
Kind code	B2
Filing date	Apr 21, 2022
Priority date	Apr 21, 2022
Publication date	Aug 26, 2025
Grant date	Aug 26, 2025

Abstract

A work machine includes a frame, a linkage assembly, a work implement connected to the linkage assembly, and a grade control calibration system. The grade control calibration system includes a vision processing system, which includes a sensor fixed to the linkage assembly and a first controller. The vision processing system is configured to measure a length of a cutting portion of the work implement, and to transmit the length of the cutting portion of the work implement. The grade control calibration system also includes a grade control system in communication with the vision processing system and the linkage assembly. The grade control system includes a second controller configured to receive the length of the cutting portion of the work implement from the first controller, and to calibrate a position of the work implement based on the received length of the cutting portion of the work implement.

First claim

What is claimed is:

1. A work machine, comprising:
a frame;
a linkage assembly;
a work implement connected to the linkage assembly; and
a grade control calibration system including:
a vision processing system including a sensor fixed to the linkage assembly and a first controller, the vision processing system configured to measure a length of a cutting portion of the work implement and to transmit the length of the cutting portion of the work implement, and
a grade control system in communication with the vision processing system and the linkage assembly, the grade control system including a second controller configured to receive the length of the cutting portion of the work implement from the first controller and to calibrate a position of the work implement based on the received length of the cutting portion of the work implement.

2. The work machine of claim 1 , wherein the linkage assembly includes a boom pivotally connected to the frame and a stick pivotally connected to the boom and the work implement.

3. The work machine of claim 1 , wherein the work implement is a bucket including a plurality of teeth.

4. The work machine of claim 3 , wherein the cutting portion of the work implement corresponds to the plurality of teeth and the sensor is configured to measure the length of each of the plurality of teeth.

5. The work machine of claim 3 , wherein the work implement is a bucket including a smooth cutting edge, the smooth cutting edge extending a width of the bucket.

6. The work machine of claim 5 , wherein the cutting portion of the work implement corresponds to the smooth cutting edge and the sensor is configured to measure the length of the smooth cutting edge along the width of the bucket.

7. The work machine of claim 1 , wherein the sensor is a stereo camera that generates a three-dimensional point cloud of the cutting portion of the work implement.

8. The work machine of claim 7 , wherein the stereo camera includes a monochrome lens and a color lens.

9. A grade control calibration system for a work machine including a frame, a linkage assembly and a work implement, the grade control calibration system, including:
a vision processing system, including:
an imaging device fixed to the linkage assembly and configured to generate a three-dimensional point cloud of a cutting portion of the work implement, and
a vision controller in electronic communication with the imaging device and configured to calculate a current length of the cutting portion of the work implement based on the three-dimensional point cloud generated by the imaging device, the vision controller further configured to transmit the current length of the cutting portion of the work implement; and

a grade control system in communication with the vision processing system and the linkage assembly, the grade control system including:
a grading controller configured to receive the current length of the cutting portion of the work implement from the vision controller and to calibrate a position of the work implement relative to a terrain based on the received current length of the cutting portion of the work implement.

10. The grade control calibration system of claim 9 , wherein the linkage assembly includes a boom, a stick and a plurality of electrohydraulic position sensors configured to transmit kinematics data to the vision controller.

11. The grade control calibration system of claim 10 , wherein the vision controller determines whether the work implement is within a field of view of the imaging device using the kinematics data.

12. The grade control calibration system of claim 9 , wherein the grade control system includes a memory module for storing a three-dimensional site map and a work tool profile, the work tool profile including an original length of the cutting portion of the work implement and a last measured length of the cutting portion of the work implement.

13. The grade control calibration system of claim 12 , wherein the grading controller updates the last measured length of the cutting portion of the work implement to the current length of the cutting portion of the work implement in the memory module.

14. The grade control calibration system of claim 13 , wherein the grading controller calibrates the grade control system using the site map and the updated last measured length of the cutting portion of the work implement.

15. A method of grading terrain using a work implement of a work machine, the work machine including a linkage assembly and a sensor coupled to the linkage assembly, the method comprising:
detecting the work implement within a field of view of the sensor;
identifying, by the sensor, a cutting portion of the work implement;
calculating, by a controller electronically coupled to the sensor, a length of the cutting portion of the work implement;
calibrating, by the controller, a grade control system of the work machine based on the calculated length of the cutting portion of the work implement;
maneuvering, by the calibrated grade control system, the cutting portion of the work implement proximate the terrain; and
grading the terrain with the cutting portion of the work implement.

16. The method of claim 15 , wherein the work implement is a bucket, and the cutting portion of the work implement is a plurality of teeth.

17. The method of claim 16 , wherein the calculating further includes calculating, by the controller, the length of each of the plurality of teeth.

18. The method of claim 15 , wherein the identifying further includes:
generating, by the sensor, a current three-dimensional point cloud scan of the cutting portion of the work implement.

19. The method of claim 18 , wherein the calculating further includes:
retrieving, by the controller, a previous three-dimensional point cloud scan of the cutting portion of the work implement, and
generating, by the controller, a disparity map of the cutting portion of the work implement based on the previous three-dimensional point cloud scan and the current three-dimensional point cloud scan.

20. The method of claim 19 , wherein the calculating the length of the cutting portion of the work implement is based on the generated disparity map.

Assignees

• Caterpillar Sarl

Inventors

• Steinlage Justin L
• Wright Christopher

Classifications

• E02F3/847

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

• E02F3/842

  using electromagnetic, optical or photoelectric beams, e.g. laser beams · CPC title

• E02F3/16

  Safety or control devices (safety devices in general F16P; controlling in general G05) · CPC title

• G06T2207/30164

  Workpiece; Machine component · CPC title

• G06T2207/10012

  Stereo images · CPC title