阅读说明：本技术 地面接合工具控制系统和方法 (Ground engaging tool control system and method ) 是由 D·A·维西 于 2021-04-22 设计创作，主要内容包括：本公开涉及地面接合工具控制系统和方法,该地面接合工具控制系统包括第一传感器系统、第二传感器系统、第一致动器系统、第二致动器系统以及电子数据处理器。该第一传感器系统和第二传感器系统分别对第一地面接合工具的位置和第二地面接合工具的位置进行检测。第一致动器系统联接至第一地面接合工具,并且第二致动器系统联接至第二地面接合工具。该电子数据处理器确定目标坡度分布图,并且生成两个或更多个控制信号,以对第一地面接合工具的目标位置和第二地面接合工具的目标位置进行调节。基于第一地面接合工具的位置和当前坡度分布图与期望的坡度分布图的比较中的至少一者,来确定第二地面接合工具的目标位置。(The present disclosure relates to ground engaging tool control systems and methods that include a first sensor system, a second sensor system, a first actuator system, a second actuator system, and an electronic data processor. The first and second sensor systems detect the position of the first and second ground engaging tools, respectively. A first actuator system is coupled to the first ground engaging tool and a second actuator system is coupled to the second ground engaging tool. The electronic data processor determines a target gradient profile and generates two or more control signals to adjust a target position of the first ground engaging tool and a target position of the second ground engaging tool. A target position of a second ground engaging tool is determined based on at least one of the position of the first ground engaging tool and a comparison of the current slope profile to the desired slope profile.)

1. A ground engaging tool control system (150) of a work vehicle (100), the ground engaging tool control system (150) comprising:

a first sensor system (152), the first sensor system (152) being configured to detect a position of at least one first ground engaging tool (128);

a second sensor system (154), the second sensor system (154) configured to detect a position of a second ground engaging tool (129) comprising a multi-directional shovel (135);

an image sensor (164), the image sensor (164) configured to capture an image of ground terrain in front of the work vehicle (100);

a first actuator system (156), the first actuator system (156) coupled to the first ground engaging tool (128);

a second actuator system (162), the second actuator system (162) coupled to the multi-azimuth shovel (135); and

an electronic data processor (202), the electronic data processor (202) in communication with the first and second sensor systems, and the electronic data processor (202) configured to determine a grade profile based on the measured ground terrain, generate a first control signal for receipt by the first actuator system (156) based on the measured ground terrain to adjust the at least one first ground engaging tool (128) to a first target position, and generate a second control signal for receipt by the second actuator system (162) based on at least one of the position of the at least one first ground engaging tool (128) and the measured ground terrain to adjust the multi-azimuth shovel (135) to a second target position.

2. The ground-engaging tool control system (150) of claim 1, wherein adjusting the first ground-engaging tool (128) to the first target position includes: positioning the first ground engaging tool (128) to perform a first leveling operation, and wherein adjusting the multi-azimuth shovel (135) to the second target position comprises: positioning the multi-orientation shovel (135) to perform a second flattening operation.

3. The ground engaging tool control system (150) of claim 1, wherein the at least one first ground engaging tool (128) includes at least one of a mid-leveling blade (133) and a rear ground engaging tool (130 c).

4. The ground engaging tool control system (150) of claim 1, wherein the multi-orientation shovel (135) includes a hexagonal power angle tilting shovel (137).

5. The ground engaging tool control system (150) of claim 4, wherein the six-azimuth power angle tilting blade (137) is configured to move bi-directionally in at least one of a blade elevation direction (138), a blade angle direction (139), a blade tilting direction (140), and a blade roll direction (141).

6. A work vehicle (100), the work vehicle (100) comprising:

at least one first ground engaging tool (128), the at least one first ground engaging tool (128) coupled to the work vehicle (100);

a second ground engaging tool (129), the second ground engaging tool (129) comprising a multi-directional shovel (135), wherein the multi-directional shovel (135) is coupled to the work vehicle (100) forward of the at least one first ground engaging tool (128);

a first sensor system (152), the first sensor system (152) configured to detect a position of the first ground engaging tool (128);

a second sensor system (154), the second sensor system (154) configured to detect a position of the multi-azimuth shovel (135);

an image sensor (164), the image sensor (164) configured to capture an image of ground terrain in front of the work vehicle (100); and

an electronic data processor (202), the electronic data processor (202) in communication with the first and second sensor systems and configured to determine a grade profile based on the measured ground terrain, generate a first control signal for receipt by a first actuator system (156) based on the measured ground terrain to adjust the at least one first ground engaging tool (128) to a first target position, and generate a second control signal for receipt by a second actuator system (162) based on at least one of the position of the at least one first ground engaging tool (128) and the measured ground terrain to adjust the multi-azimuth shovel (135) to a second target position.

7. The work vehicle (100) of claim 6, wherein adjusting the first ground engaging tool (128) to the first target position comprises: positioning the first ground engaging tool (128) to perform a first leveling operation, and wherein adjusting the multi-azimuth shovel (135) to the second target position comprises: positioning the multi-orientation shovel (135) to perform a second flattening operation.

8. The work vehicle (100) of claim 6, wherein the at least one first ground engaging tool (128) comprises at least one of a mid-leveling blade (133) and a rear ground engaging tool (130 c).

9. The work vehicle (100) of claim 6, wherein the multi-azimuth shovel (135) comprises a six-azimuth power-angle tilting shovel (137).

10. The work vehicle (100) of claim 9, wherein the six-azimuth power-angle tilting blade (137) is configured to move bi-directionally in at least one of a blade elevation direction (138), a blade angle direction (139), a blade tilting direction (140), and a blade roll direction (141).

11. A method (400) of providing coordinated shovel control for a work vehicle (100), the method comprising:

capturing an image of ground terrain in front of the work vehicle (100);

determining a slope profile of the ground terrain;

determining a first target position of a first ground engaging tool (128) based on the gradient profile;

determining a second target position of a multi-azimuth shovel (135) based on at least one of the grade profile and the first target position; and

adjusting a position of the first ground engaging tool (128) to the first target position to perform a first leveling operation, and adjusting the multi-azimuth shovel (135) to the second target position to perform a second leveling operation.

12. The method of claim 11, further comprising the steps of: the position of the at least one first ground engaging tool (128) and the position of the multi-azimuth shovel (135) are monitored to determine whether the first target position or the second target position falls within a desired threshold range.

13. The method of claim 12, further comprising the steps of: determining a new first target position and a new second target position if the first target position or the second target position falls outside of the desired threshold range, and wherein the position of each of the first ground engaging tool (128) and the multi-directional shovel (135) is readjusted to fall within the desired threshold range.

Technical Field

The present disclosure relates generally to ground engaging tool (ground engaging tool) control systems and, more particularly, to ground engaging tool control systems and methods for motor graders.

Background

Work vehicles (work vehicles), such as motor graders, may be used in construction sites and maintenance to grade terrain (grading) into flat surfaces at various angles, slopes (dips), and heights. For example, in paving, motor graders may be used to prepare the subgrade to create a wide, flat surface to support the asphalt layer. The various surfaces to be leveled include surface irregularities as well as different types of floor materials.

Some motor graders are equipped with a front straight blade to break up the material (knock down) and then push it through a push plate (moldboard) under the machine to complete the grading. This may increase the productivity of the motor grader by a factor of two in one operation (pass). Disadvantages of the front blade include: the operator cannot simultaneously guide the material in the same manner as the pusher plate. In addition, material may spill out of the ends of the shovel, causing undesirable cuts in the V-shaped channel, and also resulting in uneven distribution of the material. Accordingly, there is a need in the art for an improved system that provides more accurate grading operation and improves vehicle performance and efficiency.

Disclosure of Invention

According to one embodiment of the present disclosure, a ground engaging tool control system is disclosed. The ground engaging tool control system includes a first sensor system, a second sensor system, a first actuator system, and a second actuator system, all communicatively coupled to an electronic data processor. The first sensor system is configured to detect a current position of the first ground engaging tool. The second sensor system is configured to detect a position of a second ground engaging tool, which may include a multi-directional shovel. A first actuator system is coupled to the first ground engaging tool and a second actuator system is coupled to the second ground engaging tool. The electronic data processor is configured to perform a comparison of the current slope profile to the desired slope profile and generate a first control signal for receipt by the first actuator system to adjust the first ground engaging tool to a first target position based on the comparison. The electronic data processor generates a second control signal for receipt by the second actuator system to adjust the second ground engaging tool to a second target position based on at least one of the position of the first ground engaging tool and the comparison.

According to another embodiment of the present disclosure, a work vehicle is disclosed. The work vehicle includes at least one first ground engaging tool coupled to the work vehicle. The second ground engaging tool is coupled to the work vehicle forward of the at least one first ground engaging tool. The first sensor system is configured to detect a current position of the first ground engaging tool. The second sensor system is configured to detect a position of a second ground engaging tool, which may include a multi-directional shovel. A first actuator system is coupled to the first ground engaging tool and a second actuator system is coupled to the second ground engaging tool. The electronic data processor is configured to perform a comparison of the current slope profile to the desired slope profile and generate a first control signal for receipt by the first actuator system to adjust the first ground engaging tool to a first target position based on the comparison. The electronic data processor generates a second control signal for receipt by the second actuator system to adjust the second ground engaging tool to a second target position based on at least one of the position of the first ground engaging tool and the comparison.

According to another embodiment of the present disclosure, a method is disclosed. The method comprises the following steps: comparing the current gradient profile with the expected gradient profile; determining a first target position of the first ground engaging tool based on the comparison; determining a second target position of a second ground engaging tool based on at least one of the comparison and the first target position; and adjusting the position of the first ground engaging tool to a first target position to perform a first leveling operation and adjusting the second ground engaging tool to a second target position to perform a second leveling operation.

The above and other features will become apparent from the following description and the accompanying drawings.

Drawings

The detailed description of the drawings refers to the accompanying drawings in which:

fig. 1A is a side view of a work vehicle according to an embodiment;

FIG. 1B is a front perspective view of a multi-directional shovel coupled to the work vehicle of FIG. 1A;

FIG. 2 is a block diagram of a ground engaging tool control system according to an embodiment;

FIG. 3 is a block diagram of a vehicle electronics unit according to an embodiment;

FIG. 4 is a flow chart of a method of providing shovel control;

FIG. 5 is a front view of the work vehicle of FIG. 1A in operation with the ground engaging tool control system of FIG. 2;

FIG. 6 is a front view of the work vehicle of FIG. 1A in operation with the ground engaging tool control system of FIG. 2; and

fig. 7 is a front view of the work vehicle of fig. 1A as it is operating with the ground engaging tool control system of fig. 2.

Like reference numerals are used to refer to like elements throughout the several views.

Detailed Description

Referring to fig. 1A-2, a work vehicle 100 including a ground engaging tool control system 150 is shown. Although in fig. 1A, work vehicle 100 is shown as including a motor grader, it should be noted that in other embodiments, the type of work vehicle 100 may vary depending on the application and/or specification requirements. For example, in some embodiments, work vehicle 100 may include a tracked or unmanned vehicle, and may further include: a road grader (road grader), a dozer (dozer), a bulldozer (bulldozer), and a front loader (front loader), and the embodiments discussed herein are for exemplary purposes only to aid in understanding the present disclosure.

As shown in fig. 1A, work vehicle 100 may include a front frame 102 and a rear frame 104, with front frame 102 supported on a pair of front wheels 106 and rear frame 104 supported on a left and right tandem rear wheel set 108. In various embodiments, the design of the front frame 102 and/or the rear frame 104 may vary based on application requirements. For example, in some embodiments, such as shown in fig. 1A, the front frame 102 and the rear frame 104 may comprise rigid frames, while in other embodiments, each frame may comprise an articulated frame.

The cab 110 may be mounted on an upwardly inclined rear region 111 of the front frame 102 and may contain various manually operated controls, such as steering or horizontal controls, which may be used by the vehicle operator to control the operation of the work vehicle 100 and implements (implements) attached thereto. User interface 117 may be disposed in cab 110 and may include one or more user displays 210 (fig. 3), with one or more user displays 210 having screens that provide a vehicle operator with machine data, image data, or selectable menus for controlling various features of work vehicle 100.

An engine 112 is mounted on rear frame 104 and provides power to all driven components of work vehicle 100. For example, the engine 112 may be configured to drive a transmission (not shown) that drives the rear wheels 108 at various selected speeds in either a forward or reverse mode. A tow bar 122 is mounted to the front of the front frame 102, the tow bar having a front end universally (univesally) connected to the front frame 102 by a ball and socket arrangement 124 and having opposite left and right rear regions depending from a raised portion 126 of the front frame 102.

With continued reference to fig. 1A, the work vehicle 100 may include one or more ground engaging tools 130 (e.g., implements) configured to perform a variety of ground preparation tasks. The ground engaging tool 130 may include a push plate (moldboard). The ground engaging tool 130 may be the first ground engaging tool 128 or the second ground engaging tool 129. In some embodiments, the ground engaging tools 130 may be placed at different locations along the work vehicle, for example, the ground engaging tools 130 may include a front ground engaging tool 130a, a middle ground engaging tool 130b, or optionally also a rear ground engaging tool 130 c. Rear ground engaging tool 130c may include ripper/ripper 131 mounted to the rear of work vehicle 100 and may be configured to operate on the ground prior to the grading operation. Movement of the rear ground engaging tools 130c may be controlled via the rear actuator 123. The rear actuator 123 may include: one or more hydraulic cylinders, pneumatic cylinders, electronic actuators, or a combination of these. Although rear ground engaging tool 130c is shown as including ripper/ripper 131, it should be noted that the non-limiting example of fig. 1A is provided for exemplary purposes only. In other embodiments, the rear ground engaging tool 130c may comprise a push plate or other suitable tool depending on the application and/or specification requirements.

Middle ground engaging tool 130b may include a middle grading blade 133 coupled to front frame 102 powered by a circular drive assembly (loop drive assembly) 134. The endless drive assembly 134 may include a rotation sensor 136, the rotation sensor 136 including one or more switches that detect movement, speed, or position of the middle blade 133 relative to the front frame 102. The height of the mid-leveling blade 133 may be controlled by at least one first actuator system 156. In some embodiments, the first actuator system 156 may include left and right lifting link arrangements 158, 160 configured to support the tow bar 122. The left and right lift link arrangements 158 and 160 may be extended or retracted in an upward or downward motion to facilitate movement of the tow bar 122. In some embodiments, the first actuator system 156 may also include a side actuator 120, the side actuator 120 causing lateral movement of the drawbar 122 to adjust the slope of the mid-leveling blade 133. The left and right link arrangements 158, 160 and the side actuator 120 may include: hydraulic cylinders, pneumatic cylinders, electronic actuators, or a combination of these.

Referring to fig. 1A and 1B, front ground engaging tool 130a may include a multi-orientation blade 135, such as a power-angle-tilt blade having multiple angles of rotation and movement, disposed forward of middle grading blade 133. For example, the multi-azimuth shovel 135 may be a hexagonal-power-angle-tilting shovel 137, the hexagonal-power-angle-tilting shovel 137 configured to move or rotate bi-directionally in at least one of a shovel height direction 138, a shovel angle direction 139, a shovel tilting direction 140, and a shovel roll direction 141. In some embodiments, the multi-orientation shovel 135 may be movably coupled to the mounting portion 157 via a second actuator system 162, the second actuator system 162 moving or rotating the shovel 135 in a lifting, tilting, angling, or rolling direction. For example, the second actuator system 162 may hydraulically actuate the multi-directional blade 135 to move vertically up or down in the blade elevation/height direction 138, pitch up or pitch down in the blade pitch direction 140, and yaw left or yaw right in the blade angle direction 139, and roll left or roll right in the blade roll direction 141. The second actuator system 162 may include: hydraulic cylinders, pneumatic cylinders, electronic actuators, or a combination of these.

Each of the mid-leveling blade 133 and the multi-azimuth blade 135 may be configured to cut, separate, or transport ground material across the worksite 10. For example, as work vehicle 100 travels across worksite 10, each of shovels 133, 135 may be configured to collect ground material, such as soil, dirt, snow, and gravel, from the terrain and move the collected ground material to a different location. It should also be noted that the arrangement of the multi-directional shovel 135 is particularly advantageous because it provides improved transport control through its increased range of motion (e.g., six-way movement) which allows multiple tasks to be accomplished simultaneously. For example, the multi-azimuth shovel 135 may create features on the ground, including: flat areas, slopes (grades), elevated areas such as hills, roads, or more complex shaped features.

Referring now to fig. 2 and 3, the ground engaging tool control system 150 may include: each of the first actuator system 156 and the second actuator system 162, the first sensor system 152, the second sensor system 154, and the image sensor 164 or other sensory sensor are communicatively coupled to the electronic data processor 202. In some embodiments, first sensor system 152 may include one or more first sensors 153, the one or more first sensors 153 being removably or fixedly coupled to either or both of rear ground engaging tool 130c and middle ground engaging tool 130 b. The one or more first sensors 153 may include: a position or inclination sensor, a GPS (e.g., position determining receiver 218), an angle sensor, a rotation sensor, a linear sensor, a gyroscope, an accelerometer, an inertial measurement unit, or other suitable device configured to detect an actual position of rear ground engaging tool 130c or middle ground engaging tool 130b relative to work vehicle 100. Alternatively, the one or more first sensors 153 may detect a position indicative of the actual position of the rear ground engaging tool 130c or the middle ground engaging tool 130b relative to the work vehicle 100.

The second sensor system 154 may include one or more second sensors 155 that are removably or fixedly coupled to the forward ground engaging tool 130 a. The one or more second sensors 155 are configured to detect the position of the multi-directional shovel 135. Alternatively, the one or more second sensors 155 may detect a position indicative of the actual position of the second ground engaging tool 129 or the multi-azimuth shovel 135. The one or more second sensors 155 may include: a GPS (e.g., position determining receiver 218), a laser radar (LIDAR) system, a radar system, a vision system, a gyroscope, an accelerometer, an inertial measurement unit, or other suitable device that measures angular velocity or linear acceleration of the multi-directional blade 135. For example, in some embodiments, the second sensor 155 may be configured to detect the tilt angle of the multi-directional blade 135 by measuring linear acceleration on three substantially vertical axes, thereby determining the tilt angle based on the direction of gravity.

The electronic data processor 202 may be provided locally as part of the vehicle electronics unit 200 of the work vehicle 100 (fig. 3), or remotely at a remote processing center (not shown). In various embodiments, the electronic data processor 202 may include: a microprocessor, microcontroller, central processing unit, programmable logic array, programmable logic controller, other suitable programmable circuitry adapted to perform data processing and/or system control operations. For example, the electronic data processor 202 may receive data signals from each of the first sensor system 152, the second sensor system 154, and the image sensor 164 to determine an optimal shovel position.

As will be appreciated by those skilled in the art, fig. 1A-3 are provided for illustrative and exemplary purposes only, and are not intended to limit the present disclosure or its applications in any way. In other embodiments, the arrangement and/or structural configuration of the various system and vehicle components may vary. For example, in some embodiments, the structural arrangement and number of ground engaging tools 130 may vary according to design and specification requirements. Although in the embodiments discussed herein, work vehicle 100 is shown to include three ground engaging tools 130, in other embodiments, the work vehicle may include fewer or more ground engaging tools 130 and variations in the types of tools used. For example, in some embodiments, ground engaging tools 130 may include a dual shovel arrangement that includes a front engaging tool 130a and a rear ground engaging tool 130c or a middle ground engaging tool 130b or other suitable configuration. Furthermore, in still other embodiments, the ground engaging tool control system 150 may include additional sensors or other control devices mounted on the outer or inner surfaces of the assembly and components attached thereto.

Referring now to fig. 3, a vehicle electronics unit 200 is shown according to an embodiment. The vehicle electronic unit 200 may include: an electronic data processor 202, a data storage device 204, an electronic device 206, a wireless communication device 216, a user display 210, a position determination receiver 218, and a vehicle data bus 220, all communicatively interfaced with the data bus 208. As depicted, various devices (i.e., data storage device 204, wireless communication device 216, user display 210, and vehicle data bus 220) may communicate information, such as sensor signals, to the electronic data processor 202 through the data bus 208.

The data storage device 204 stores information and data (e.g., geographic coordinates or map data) for access by the electronic data processor 202 or the vehicle data bus 220. The data storage 204 may similarly include: electronic memory, non-volatile random access memory, optical storage device, magnetic storage device, or another device for storing and accessing electronic data on any recordable, rewritable or readable electronic, optical or magnetic storage medium.

The position determination receiver 218 may include: a receiver that determines the position or orientation of an object or vehicle using satellite signals, terrestrial signals, or both. In one embodiment, the position determining receiver 218 includes a Global Positioning System (GPS) receiver with a differential correction receiver for providing an accurate measurement of the geographic coordinates or position of the vehicle. The differential correction receiver may receive satellite or terrestrial signal transmissions of correction information from one or more reference stations having generally known geographic coordinates in order to improve accuracy in determining the position of the GPS receiver. In other embodiments, positioning and mapping techniques such as simultaneous positioning and mapping (SLAM) may be employed. For example, in areas with low reception rates and/or in indoor environments (such as caves, mines, or urban worksites), SLAM techniques may be used to improve positioning accuracy in those areas.

The electronic data processor 202 manages data transfer between various vehicle systems and components, which in some embodiments may include data transfer to and from a remote processing system (not shown). For example, the electronic data processor 202 collects and processes data (e.g., ground terrain data, grade profile data, and map data) from the data bus 208 for transmission in a forward or backward direction.

The electronic device 206 may include: electronic memory, non-volatile random access memory, flip-flop (flip-flop), computer-writable or computer-readable storage medium, or another electronic device for storing, retrieving, reading or writing data. The electronic device 206 may include one or more software modules that record and store data collected by the first sensor system 152, the second sensor system 154, the image sensor 164, or other network devices coupled to or capable of communicating with the vehicle data bus 220. In some embodiments, the one or more software modules may include: a grade profile module 230, a blade position module 232, or optionally a grade control module 234, which include executable software instructions or data structures that are processed by the electronic data processor 202.

As used herein, the term "module" may include a hardware and/or software system that operates to perform one or more functions. Each module may be implemented in a number of suitable configurations and should not be limited to any particular implementation illustrated herein unless such limitations are explicitly indicated. Furthermore, in various embodiments described herein, each module corresponds to a defined function; however, in other embodiments, each function may be distributed to more than one module. Likewise, in other embodiments, multiple defined functions may be implemented by a single module performing the multiple functions, possibly side-by-side with other functions, or distributed differently among groups of modules than specifically illustrated in the examples herein.

A grade profile module 230 may record and store the real-time imaging data collected by the image sensor 164. For example, the slope profile module 230 may generate a two-dimensional or three-dimensional slope profile of the ground material based on the captured images. Additionally, in some embodiments, the slope profile module 230 may also associate color data, location data, environmental data, and/or ground characteristics (e.g., humidity or temperature characteristics) with the slope profile. The grade profile may vary based on the type of ground material being collected or transported. For example, ground material may vary based on worksite operations and conditions, and may include, but is not limited to, materials such as soil, stones, pebbles, stones, minerals, organics, clays, or vegetation.

The shovel positioning module 232 may determine optimal shovel positions for the multi-azimuth shovel 135 and the mid-leveling shovel 133 based on the generated grade profile. For example, the blade positioning module 232 may output command signals received by the first actuator system 156 and the second actuator system 162 to adjust the position of the multi-azimuth blade 135 in coordination with the mid-leveling blade 133 based on a desired grade profile. This control and position arrangement of the shovels 133, 135 is particularly advantageous as it allows for optimal displacement of the ground material when collecting or moving it and improves vehicle efficiency. In other embodiments, the orientation and/or position of the multi-azimuth shovel 135 and the mid-leveling shovel 133 may be controlled by the grade control module 234. For example, the grade control module 234 may utilize GPS and stored terrain data output by the grade control system 236 to adjust the position and orientation of the blades 133, 135. In still other embodiments, the shovel positioning module 232 may also be configured to coordinate control of the rear ground engaging tools 130c in combination with either or both of the multi-azimuth shovel 135 and the mid-leveling shovel 133.

The vehicle controller 222 may include the following: the apparatus steers or guides each of the work vehicle 100 and the ground engaging tools 130 based on feedback received from the first sensor system 152, the image sensor 164, and the second sensor system 154. For example, in some embodiments, the vehicle controller 222 may be in communication with a grade control system 236, the grade control system 236 receiving one or more position signals from the position determination receiver 218 to position the ground engaging tool 130. Upon receiving the position signals, the grade control system 236 may determine the position of the mid-leveling shovel 133 and the multi-azimuth shovel 135 and generate command signals that are transmitted to the vehicle controller 222 to change the position of at least one of the shovels 133, 135 by actuating the first actuator system 156 and the second actuator system 162.

In other embodiments, the electronic data processor 202 may execute software stored in the grade control module 234 to enable mapping of position data to grade maps or cross referencing with stored maps or models. For example, in some embodiments, grade control system 236 may include a collection of stored maps and models that may be used to determine a desired blade position.

Referring now to FIG. 4, a flow chart of a method 400 of providing coordinated shovel control for ground engaging tool control system 150 is shown. At 402, upon starting up work vehicle 100 or upon an operator being enabled via a start input on selection user interface 117 or user display 210, ground engaging tool control system 150 may be started up and a desired grading operation and initial target position may be set for all ground engaging tools 130. The desired leveling operation may include surface smoothing (smoothing), trench creation (pitch creation), slope creation (slope) or other operations. Because the multi-azimuth shovel 135, the intermediate grading shovel 133, and the rear ground engaging tool 130c may be independently controlled, the operator may select different grading operations and initial target positions for each of the shovels 135, 133 and the rear ground engaging tool 130 c.

As work vehicle 100 travels across worksite 10, image sensor 164 captures a plurality of images of worksite 10 and sends the image data to electronic data processor 202 for processing. The electronic data processor 202 may receive signals from the first and second sensor systems 152, 154 indicating the actual and target positions of the mid-leveling shovel 133 and the multi-azimuth shovel 135, which may be displayed on the user display 210.

At 404, a desired grade profile is generated by the grade profile module 230 based on the selected leveling operation and the captured image data. For example, an operator may select one or more leveling operations, such as surface smoothing, surface shaping (e.g., trench or bevel creation), or road maintenance based on the captured image data.

Next, at 406 and 408, the blade positioning module 232 may determine first and second target positions for the mid-leveling blade 133 and the multi-azimuth blade 135, respectively, based on the determined grade profile and the selected leveling operation. In some embodiments, the selected grading operation and grade profile may require two distinct tasks to be performed by each of the intermediate grading shovel 133 and the multi-azimuth shovel 135 in a single operation. For example, at 406, a first target position of the middle leveling blade 133 may be determined to enable the leveling blade 133 to perform a first leveling operation, such as surface smoothing.

At 408, a second target position of the multi-directional shovel 135 may be determined based on the first target position to enable it to perform a second leveling operation, such as slope creation (FIG. 6) in coordination with the first grade operation. In other embodiments, the multi-orientation blade 135 and the mid-leveling blade 133 may be positioned to perform the same leveling operation and determine respective corresponding first and second target positions. Additionally, as previously discussed, in some embodiments, the rear ground engaging tools 130c may also be coordinated with either or both of the mid-leveling blade 133 and the multi-azimuth blade 135.

At 410, as the grading operation is being performed, current position data for each of the intermediate grading shovel 133 and the multi-directional shovel 135 is monitored by the first sensor system 152 and the second sensor system 154 and displayed on the user display 210. The current position data may correspond to the height, angle, or inclination of the one or more shovels 133, 135.

Based on the received data, at 412, a decision is made to determine whether the actual or current location data is outside of a desired threshold range. For example, the electronic data processor 202 may compare the actual position to a predetermined threshold (a target position set by an operator or retrieved from the data storage device 204) to determine whether the actual position exceeds or falls below the predetermined threshold. If the actual position exceeds or falls below the predetermined threshold, the electronic data processor 202 may determine new first and second target positions for each of the mid-leveling shovel 133 and the multi-azimuth shovel 135 via the shovel positioning module 232 and repeat steps 406 through 410.

For example, in one embodiment, the target position may be updated, for example, based on changes in ground terrain data output by grade control module 236 or sensed via lidar or radar. In response, the electronic data processor 202 may output command signals to the second actuator system 162 to control the height, inclination, and/or pitch of the multi-directional blade 135 to a target position based on feedback received from the second sensor system 154. If the actual position exceeds or falls below a predetermined threshold, the electronic data processor 202 may automatically control the second actuator system 162 to adjust the height of the multi-directional shovel 135 to the target position. In other embodiments, the operator may change the desired leveling operation from surface smoothing to material stripping and enter a new target location to enable stripping of material from one side of the multi-directional blade 135. In still other embodiments, the desired leveling operation may be automatically changed based on data output received from the second sensor system 154.

However, it should be noted that regardless of the selected job, the second target location may be coordinated with and determined based on the first target location. This coordinated control is advantageous due to the increased range of motion (e.g., 6-way movement) of the multi-directional shovel 135, which may enable height, angle, and inclination control of the multi-directional shovel 135, providing better control of the ground material. For example, the multi-azimuth shovel 135 may be positioned at an elevated location to break up (knock down) a hill or mound prior to the grade setting operation performed by the middle grading shovel 133, while the middle grading shovel 133 and rear ground engaging tool 130c may be positioned to break up the hill a second time.

Once the first and second target positions are determined, the position of each of the middle leveling blade 133 and the multi-azimuth blade 135 is adjusted by the first actuator system 156 and the second actuator system 162 at 414. In other embodiments, the new target position may be set directly by the operator (such as by a switch, an increment or decrement button that may modify the target position), or the operator may enter the new position via the user display 210.

As shown in fig. 5-7, dual and independent control of the mid-leveling blade 133 and the multi-azimuth blade 135 may enable multiple ground features to be created at a single time. For example, in one embodiment, multi-directional blade 135 may be positioned at a first inclination angle (e.g., θ) with respect to ground 60₁) Oriented such that the central leveling blade 133 may be positioned at a second angle (e.g., θ) relative to the ground 60₂) Oriented to create a ground feature such as a V-groove. In other examples, such as the example shown in fig. 6, the mid-leveling blade 133 and multi-azimuth blade 135 may be controlled to different heights. As shown in fig. 6, the intermediate leveling blade 133 may be raised to a height H to enable the intermediate leveling blade 133 to move ground material along a first plane 512 at a higher height, and the multi-directional blade 135 may be oriented at a lower height to move ground material along a second plane 514. Additionally, referring now to fig. 7, the mid-leveling blade 133 and multi-azimuth blade 135 may also be positioned at different inclination angles to shed shovel-engaged (organized) ground material along a first path 608 and a second path 610.

Without in any way limiting the scope, interpretation, or application of the claims presented, a technical effect of one or more of the example embodiments disclosed herein is to provide a system and method of shovel control and coordinated shovel control. An advantage of a coordinated ground engaging tool control system is that it increases the efficiency of the vehicle and enables optimal displacement of ground material as the work vehicle collects or moves the ground material.

While the disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are not to be considered limiting in character, it being understood that illustrative embodiments have been shown and described and that all changes and modifications that come within the spirit of the disclosure are desired to be protected. Alternative embodiments of the present disclosure may not include all of the features described yet still benefit from at least some of the advantages of such features. Those of ordinary skill in the art may devise their own implementations that incorporate one or more of the features of the present disclosure and fall within the spirit and scope of the appended claims.