Systems and methods of blade control for automated grade operations

Abstract

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Description

FIELD OF THE DISCLOSURE

[0001] The present disclosure relates generally to self-propelled vehicles such as earth working machines in the construction and / or agricultural industries which include front-mounted implements for working the terrain. More particularly, the present disclosure relates to systems and methods for generating topography targets and controlling the position of the front-mounted work implement during grading operations of a terrain. BACKGROUND

[0002] Earth working machines as discussed herein may typically include a self-propelled vehicle for modifying a terrain or equivalent working environment, which, for example, may include dozers, compact track loaders, excavator machines, skid steer loaders, and the like. Work vehicles with ground-engaging blades may be used to shape and smooth ground surfaces. During the ground-working operation, the ground surface may be uneven, especially during initial work operations for grading the ground surface to a desired target grade. The uneven surface can cause the blade to be overloaded or underloaded during a pass along the ground surface of the worksite, resulting in inefficient operations and increased time for grading, and / or in rapid blade rise when compensating for the load of the blade. BRIEF SUMMARY

[0003] The current disclosure provides an enhancement to conventional systems, at least in part by introducing a novel system and method for grading a work site and operating a selfpropelled earth working machine having an earth working implement for working a terrain, the method including generating or retrieving, or both, a design topography for the terrain to be 2026201573   02 Mar 2026 worked by the earth working implement. The method may include retrieving or mapping, or both, an actual topography for at least a first portion of the terrain to be worked by the earth working implement and determining a lowest elevation of the actual topography for the first portion of the terrain to be worked by the earth working implement. In some aspects, the method may include calculating a volume of material disposed above a plane of the lowest elevation within the first portion and comparing the volume of material to a capacity volume of the earth working implement. In some aspects, the method may include setting a first position of the earth working implement for working the terrain based at least in part on the volume of material.

[0004] In one exemplary embodiment, the methods described herein relate to adjusting the first position of the earth working implement for a subsequent portion of the terrain based at least in part on a volume of material of the subsequent portion being less than the capacity volume of the earth working implement.

[0005] In one exemplary embodiment, the methods described herein relate to a method including adjusting the first position of the earth working implement for a subsequent portion of the terrain based at least in part on a volume of material of the subsequent portion being greater than a capacity volume of the earth working implement.

[0006] In one exemplary embodiment, the methods described herein relate to a sensor external to or onboard the earth working machine for sensing the actual topography of a terrain on a worksite. In some aspects, the sensor may include a laser system for sensing the actual topography.

[0007] In one exemplary embodiment, the methods described herein relate to controlling movement of the earth working implement for working the terrain based at least in part on the calculated volume of material. 2026201573   02 Mar 2026

[0008] In one exemplary embodiment, the methods described herein relate to retrieving or mapping, or both, an actual topography for at least a second portion of the terrain to be worked by the earth working implement; determining a lowest elevation of the actual topography for the second portion of the terrain to be worked by the earth working implement; calculating a volume of material disposed above a plane of the lowest elevation within the second portion; comparing the volume of material to a capacity volume of the earth working implement.

[0009] In one exemplary embodiment, the methods described herein relate to adjusting the first position of the earth working implement to a second position based at least in part on the volume of material disposed above the lowest elevation within the second portion.

[0010] In one exemplary embodiment, the methods described herein relate to comparing the design topography and the actual topography and determining that a total volume of material above the design topography exceeds a maximum capacity of material capable of being moved by the earth working implement over a single pass of the terrain to be worked by the earth working machine.

[0011] In one exemplary embodiment, the methods described herein relate to generating an intermediate topography target having a target elevation wherein at least a portion of the target elevation is above an elevation of the design topography.

[0012] In one exemplary embodiment, the methods described herein relate to at least a portion of the target elevation of the intermediate topography target equals the elevation of the design topography, but not below the elevation of the design topography.

[0013] In one exemplary embodiment, the methods described herein relate to calculating a volume of material disposed above a plane of the lowest elevation within the first portion wherein the calculating is begun prior to the earth working implement beginning to work the terrain. 2026201573   02 Mar 2026

[0014] In one exemplary embodiment, the methods described herein relate to calculating a volume of material disposed above a plane of the lowest elevation within the first portion wherein the calculating is conducted during a time the earth working implement is working the terrain.

[0015] In one exemplary embodiment, a control system as described herein relates to a system for performing the methods disclosed herein. In some aspects, the control system may include a data storage network having stored therein a design plan including design data representing a target profile of the terrain, wherein the design data include x, y, and z coordinate data in a reference system external to the earth working machine. In some aspects, the control system may include a sensor external to or onboard the earth working machine including a laser for sensing an actual topography of the terrain. In some aspects, the control system may include one or more controllers configured to receive data from the sensor, determine a lowest elevation of the actual topography, calculate a volume of material disposed above a plane of the lowest elevation, and generate an intermediate topography target. In some aspects, the control system may include a grade controller capable of receiving signals from the controller and configured to control the earth working machine in accordance with the intermediate topography target.

[0016] In one exemplary embodiment, the control system may include one or more controllers, wherein the one or more controllers comprise a grade controller further configured to set a first position of the earth working implement for working the terrain, wherein the first position is based at least in part on the volume of material.

[0017] In one exemplary embodiment, the control system may include a controller configured to adjust the first position of the earth working implement for working the terrain based on changes to the volume of material. 2026201573   02 Mar 2026

[0018] In one exemplary embodiment, the control system may include a controller configured to direct the operation of the earth working implement based at least in part on the volume of material.

[0019] In one exemplary embodiment, the control system may include a controller for generating a plurality of intermediate topography targets.

[0020] In one exemplary embodiment, the control system may include a grade controller configured to control the earth working machine based at least in part on selection of one of the plurality of intermediate topography targets.

[0021] Numerous objects, features, and advantages of the embodiments set forth herein will be readily apparent to those skilled in the art upon reading of the following disclosure when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Fig. 1 is a perspective view representing a work vehicle and a blade as an exemplary implement in a earth working machine according to the present disclosure.

[0023] Fig. 2 is a block diagram representing a control system for an exemplary earth working machine according to an embodiment of the present disclosure.

[0024] Fig. 3 is a flowchart representing an exemplary method according to an embodiment of the present disclosure.

[0025] Fig. 4 is a side view illustration representing an exemplary worksite and topographies according to an embodiment of the present disclosure.

[0026] Fig. 5 is a side view illustration representing a portion of a worksite according to Fig. 4.

[0027] Fig. 6 is a side view illustration representing an exemplary worksite with intermediate topography targets according to an embodiment of the present disclosure. 2026201573   02 Mar 2026

[0028] Fig. 7 is a graph illustrating a volume of material handled by an exemplary earth working implement according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] Referring now to Figures 1-7, various embodiments of a work vehicle, methods of operation, and control systems thereof may now be described. Generally stated, the following various embodiments may utilize various sensors, controllers, and data storage systems, among other components, to improve the grading operations of a work vehicle and its associated frontmounted implements for working a terrain.

[0030] Fig. 1 is a perspective view of an exemplary work vehicle 100 as disclosed herein. While Fig. 1 represents one example of a work vehicle, other types of work vehicles will be understood to be included in this disclosure, and limitations of this disclosure and the claims should not be limited to a single illustrated embodiment. In the illustrated embodiment of Fig. 1, the work vehicle 100 is a crawler dozer, but may be any work vehicle with a ground-engaging blade 142 or, what may also be referred to as a work implement 142, such work vehicles including but not limited to a compact track loader, motor grader, scraper, skid steer, and tractor, to name but a few examples. The work vehicle 100 may be operated to engage the ground and grade, cut, and / or move material to achieve simple or complex features on the ground. While operating, the work vehicle 100 may experience movement in three directions and rotation in three directions. A direction for the work vehicle may also be referred to with regards to a longitudinal direction 102, a latitudinal or lateral direction 106, and a vertical direction 110. Rotation for work vehicle 100 may be referred to as roll 104 or the roll direction, pitch 108 or the pitch direction, and yaw 112 or the yaw direction or heading.

[0031] Illustrated in the embodiment of Fig. 1, an operator’s cab 136 may be located on the chassis 140. The operator’s cab 136 and the working implement 142 may both be mounted on the 2026201573   02 Mar 2026 chassis 140 so that the operator’s cab faces in the working direction of the working implement 142. A control station including a user interface (not shown) may be located in the operator’s cab 136. As used herein, directions with regard to work vehicle 100 may be referred to from the perspective of an operator seated within the operator’s cab: the left of work vehicle is to the left of such an operator, the right of work vehicle is to the right of such an operator, the front or fore of work vehicle is the direction such an operator faces, the rear or aft of work vehicle is behind such an operator, the top of work vehicle is above such an operator, and the bottom of work vehicle is below such an operator. The foregoing directions may also be used in embodiments wherein no operator is required, such as autonomous work vehicles. In such embodiments, the directions may be used as if an operator were seated and operating the work vehicle.

[0032] As illustrated in the embodiment of Fig. 1, the work vehicle 100 is supported on the ground by an undercarriage 114. The undercarriage 114 includes ground engaging units 116, 118, which in the present example are formed by a left track 116 and a right track 118, and provide tractive force for the work vehicle 100. Each track may be comprised of shoes with grousers that sink into the ground to increase traction, and interconnecting components that allow the tracks to rotate about front idlers 120, track rollers 122, rear sprockets 124, and top idlers 126. Such interconnecting components may include links, pins, bushings, and guides, to name a few components. Front idlers 120, track rollers 122, and rear sprockets 124, on both the left and right sides of the work vehicle 100, provide support for the work vehicle 100 on the ground. Front idlers 120, track rollers 122, rear sprockets 124, and top idlers 126 are all pivotally connected to the remainder of the work vehicle 100 and rotationally coupled to their respective tracks so as to rotate with those tracks. The track frame 128 provides structural support or strength to these components and the remainder of the undercarriage 114. In alternative 2026201573   02 Mar 2026 embodiments, the ground engaging units 116, 118 may comprise, e.g., wheels on the left and right sides of the work vehicle.

[0033] Front idlers 120 are positioned at the longitudinal front of the left track 116 and the right track 118, and provide a rotating surface for the tracks to rotate about and a support point to transfer force between the work vehicle 100 and the ground. The left and right tracks rotate about the front idlers as they transition between their vertically lower and vertically upper portions parallel to the ground, so approximately half of the outer diameter of each of the front idlers is engaged with the respective left or right track. This engagement may be through a sprocket and pin arrangement, where pins included in the left and right tracks are engaged by recesses in the front idler so as to transfer force. Track rollers 122 are longitudinally positioned between the front idler 120 and the rear sprocket 124 along the bottom left and bottom right sides of the work vehicle 100. Each of the track rollers may be rotationally coupled to the left track 116 or the right track 118 through engagement between an upper surface of the tracks and a lower surface of the track rollers. This configuration may allow the track rollers to provide support to the work vehicle, and in particular may allow for the transfer of forces in the vertical direction between the work vehicle and the ground. This configuration also resists the upward deflection of the left and right tracks as they traverse an upward ground feature whose longitudinal length is less than the distance between the front idler and the rear sprocket. Rear sprockets 124 may be positioned at the longitudinal rear of each of the left track 116 and the right track 118 and, similar to the front idlers 120, provide a rotating surface for the tracks to rotate about and a support point to transfer force between the work vehicle 100 and the ground. The left and right tracks rotate about the rear sprockets as they transition between their vertically lower and vertically upper portions parallel to the ground, so approximately half of the outer diameter of each of the rear sprockets is engaged with the respective left or right track. This 2026201573   02 Mar 2026 engagement may be through a sprocket and pin arrangement, where pins included in the left and right tracks are engaged by recesses in the rear sprockets so as to transfer force.

[0034] In some aspects, as disclosed herein, each of the rear sprockets 124 may be powered by a rotationally coupled hydraulic motor so as to drive the left track 116 and the right track 118 and thereby control propulsion and traction for the work vehicle 100. Each of the left and right hydraulic motors may receive pressurized hydraulic fluid from a hydrostatic pump whose direction of flow and displacement controls the direction of rotation and speed of rotation for the left and right hydraulic motors. Each hydrostatic pump may be driven by an engine 134 (or equivalent power source) of the work vehicle, and may be controlled by an operator issuing commands which may be received by the controller 138 and communicated to the left and right hydrostatic pumps. In some embodiments, the work vehicle 100 may be an autonomous vehicle, or may be a remotely controlled vehicle, wherein an operator is not located on the vehicle, but the commands may be generated by the vehicle based on a remote operator or based on autonomous inputs and outputs for controlling the vehicle. In some aspects, each of the rear sprockets may be driven by a rotationally coupled electric motor or a mechanical system transmitting power from the engine.

[0035] Top idlers 126 are longitudinally positioned between the front idlers 120 and the rear sprockets 124 along the left and right sides of the work vehicle 100 above the track rollers 122. Similar to the track rollers, each of the top idlers may be rotationally coupled to the left track 116 or the right track 118 through engagement between a lower surface of the tracks and an upper surface of the top idlers. This configuration may allow the top idlers to support the tracks for the longitudinal span between the front idler and the rear sprocket, and prevent downward deflection of the upper portion of the tracks parallel to the ground between the front idler and the rear sprocket. 2026201573   02 Mar 2026

[0036] As illustrated in the embodiment of Fig. 1, the undercarriage 114 is affixed to, and provides support and tractive effort for, the chassis 140 of the work vehicle 100. The chassis is the frame which provides structural support and rigidity to the work vehicle, allowing for the transfer of force between the blade 142 and the left track 116 and right track 118. In this embodiment, the chassis is a weldment comprised of multiple formed and joined steel members, but in alternative embodiments it may be comprised of any number of different materials or configurations.

[0037] The blade 142 is a work implement which may engage the ground or material, for example to move material from one location to another and to create features on the ground, including flat areas, grades, hills, roads, or more complexly shaped features. In this embodiment, the blade of the work vehicle 100 may be referred to as a six-way blade, six-way adjustable blade, or power-angle-tilt (PAT) blade. The blade may be hydraulically actuated to move vertically up or down (hereinafter, blade “lift”), roll left or right (hereinafter, blade “tilt”), and yaw left or right (hereinafter, blade “angle”). Alternative embodiments may utilize a blade with fewer hydraulically controlled degrees of freedom, such as a 4-way blade that may not be angled, or actuated, in the direction of yaw 112.

[0038] The blade 142 is movably connected to the chassis 140 of the work vehicle 100 through a linkage 146 which supports and actuates the blade and is configured to allow the blade to be lifted (i.e., raised or lowered in the vertical direction 110) relative to the chassis. The linkage may include multiple structural members to carry forces between the blade and the remainder of the work vehicle, and may provide attachment points for hydraulic cylinders which may actuate the blade in the lift, tilt, and angle directions. An “implement control unit” 204 as referred to herein, and as further described below with respect to Fig. 2, may for example 2026201573   02 Mar 2026 comprise the linkage, along with the hydraulic cylinders, and additional and / or equivalent structures associated with actuation of the blade in the lift, tilt, and angle directions.

[0039] In some embodiments, the linkage 146 includes a c-frame 148, a structural member with a C-shape positioned rearward of the blade 142, with the C-shape open toward the rear of the work vehicle 100. Each rearward end of the c-frame is pivotally connected to the chassis 140 of the work vehicle 100, such as through a pin-bushing joint, allowing the front of the c-frame to be raised or lowered relative to the work vehicle about the pivotal connections at the rear of the c-frame. The front portion of the c-frame, which is approximately positioned at the lateral center of the work vehicle, connects to the blade through a ball-socket joint. This allows the blade three degrees of freedom in its orientation relative to the c-frame (lift-tilt-angle) while still transferring rearward forces on the blade to the remainder of the work vehicle.

[0040] In certain aspects of this disclosure, one or more sensors may be provided in association with the implement control unit 204. The blade 142 may be lifted (i.e., raised or lowered) relative to the work vehicle 100 by the actuation of lift cylinders 150, which may raise and lower the c-frame 148. For each of the lift cylinders, the rod end is pivotally connected to an upward projecting clevis of the c-frame and the head end is pivotally connected to the remainder of the work vehicle just below and forward of the operator cab 136. The configuration of the linkage 146 and the positioning of the pivotal connections for the head end and rod end of the lift cylinders results in the extension of the lift cylinders lowering the blade and the retraction of the lift cylinders raising the blade. In alternative embodiments, the blade may be raised or lowered by a different mechanism, or the lift cylinders may be configured differently, such as a configuration in which extension of the lift cylinders raises the blade and retraction of the lift cylinders lowers the blade. In a particular embodiment, at least one of the one or more sensors is 2026201573   02 Mar 2026 preferably located in association with the lift cylinders, for example to generate an output signal corresponding to an extension of the lift cylinders.

[0041] In certain embodiments, during operation of the work vehicle 100, the blade 142 may be used to engage the ground and grade, cut, and / or move material to achieve a desired topography of the terrain. The terrain to be worked may have an initial topography which is different than the desired topography, requiring use of the work vehicle to work the terrain and achieve the desired topography. The operation of the work vehicle 100 may include one or more controllers to carry out its function. Further by reference to Fig. 2, an exemplary control system 200 for the earth working machine 100 may include a single controller 212 or discrete controllers for each of the work implement 142 and the work vehicle 100. The earth working machine 100, whether drawing or otherwise integrating the work implement 142, may include an operator cab within which the control system 200 or at least certain components thereof may be disposed, including for example one or more interface devices 220 located proximal to an operator seat and configured to generate control signals and / or present displays (via display unit 222) associated with operation of the earth working machine 100. In one example, the interface device 220 may be used to receive user inputs regarding and further generally, or selectively, display information regarding operation of the work vehicle 100 and / or of the work implement 142. Display information regarding operation of the work vehicle 100 and / or of the work implement 142 to the display unit 222 based upon inputs from one or more of a positioning and steering control unit 202, an implement control unit 204, work state sensors 206, positioning and steering sensors 208, implement sensors 210, and other control units and sensors as may be appropriate and otherwise contemplated by one of skill in the art.

[0042] Although the various control units 202, 204 and sensors 206, 208, 210 are discretely indicated on Fig. 2 and may be described separately in the context of various functions herein, 2026201573   02 Mar 2026 the control units and sensors may in many instances overlap in function such that the same component is provided in more than one of the represented modules, or two or more of the represented modules may for example have identical functionality.

[0043] In accordance with a work plan for the earth working machine 100 as further described below, an actual topography 402 (shown in Fig. 4) for the ground surface, and / or a target topography 404 for the ground surface may be utilized by one or more controllers for planning and executing grading operations. A cut-fill map corresponding to the actual topography 402 and the design topography 404 may for example be provided by a site planning or work planning file or program which indicates a target topography of the area in which the earth working machine 100 is located for operations. In some aspects, the actual topography 402 may be generated on site, or during grading operations. As one example, the design topography 404 for a site may include where a building foundation is to be poured, even though the actual topography of the site is hilly or otherwise uneven. As another example, a complex topography for a site which includes roads, hills, slopes, ditches, and other three-dimensional features may be used, which requires complex work operations of the earth working machine 100 to achieve the desired design topography 404.

[0044] The positioning and steering control unit 202 and / or positioning and steering sensor 208 provided on the earth working machine 100 may include a GNSS receiver system which determines its position and communicates that position to controllers or monitors throughout the earth working machine 100. In other embodiments, the method or type of positioning system utilized may vary, and may include positioning systems utilizing one or more of satellite, cellular, or local positioning signals, or inertial sensors, and these systems may directly determine position or communicate with another system which determines position. 2026201573   02 Mar 2026

[0045] An exemplary but non-limiting list of possible work state sensors 206 associated with the earth working machine 100 may include one or more sensors configured to generate output signals representing a wheel speed, wheel slip, engine load, draft load, position (e.g., location, elevation), such as may be determined using a global navigation satellite system (GNSS) transceiver, and the like.

[0046] An exemplary but non-limiting list of possible implement sensors 210 may include one or more sensors configured to generate output signals representing an absolute blade height (e.g., using GNSS), a relative blade height (e.g., using hydraulic cylinder-mounted sensors or an equivalent), gate position, engine load, draft load, fill level (e.g., using a stereo camera, profile scanner, or the like), etc.

[0047] Generally speaking, the controller 212 may be in communication with any or all of an electro-hydraulic valve, engine, transmission, user, positioning and steering control unit, an implement control unit, work state sensors, positioning and steering sensors, implement sensors, and display unit, along with various other sensors and tools as may otherwise be described herein but not shown in the figures. The controller 212 may for example receive signals indicative of parameters of the engine of the work vehicle 100, such as those relating to rotational speed (speed), torque, and power, and may control certain aspects of the operation of the engine, such as rotational speed, torque, and power. The controller 212 may communicate with the engine through intermediate components, such as an engine control unit (ECU), and thus may control the engine indirectly by sending commands to the ECU, which in turn controls the engine. Similarly, the controller 212 may receive signals indicative of rotational speed, gear or speed ratio, torque, and power of the transmission, and may control those some aspects of the operation of the transmission, including through an intermediate component such as a transmission control unit (TCU). While the controller 212 is described above as communicating with the various 2026201573   02 Mar 2026 control units 202, 204, in various embodiments such units may be integrated into a common control unit while providing substantially the same end functionality.

[0048] The controller 212 further includes or may be associated with a processor 250, a computer readable medium (“CRM”) 252, communication unit 254, and / or data storage 256 such as for example a database network. It is understood that the controller 212 described herein may be a single controller having some or all of the described functionality, or it may include multiple controllers wherein some or all of the described functionality is distributed among the multiple controllers.

[0049] Various operations, steps, or algorithms as described in connection with the controller 212 can be embodied directly in hardware, in a computer program product such as a software module executed by the processor 250, or in a combination of the two. The computer program product can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, or any other form of computer-readable medium 252 known in the art. An exemplary computer-readable medium 252 can be coupled to the processor 250 such that the processor can read information from, and write information to, the memory / storage medium. In the alternative, the medium 252 can be integral to the processor 250. The processor 250 and the medium 252 can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In the alternative, the processor 250 and the medium 252 can reside as discrete components in a user terminal.

[0050] The term “processor” 250 as used herein may refer to at least general-purpose or specific-purpose processing devices and / or logic as may be understood by one of skill in the art, including but not limited to a microprocessor, a microcontroller, a state machine, and the like. A processor 250 can also be implemented as a combination of computing devices, e.g., a 2026201573   02 Mar 2026 combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0051] The communication unit 254 may support or provide communications between the controller 212 and external communications units, systems, or devices, and / or support or provide communication interface with respect to internal components of the earth working machine 100. The communications unit may include wireless communication system components (e.g., via cellular modem, WiFi, Bluetooth, or the like) and / or may include one or more wired communications terminals such as universal serial bus ports.

[0052] The data storage 256 as further described below may, unless otherwise stated, generally encompass hardware such as volatile or non-volatile storage devices, drives, electronic memory, and optical or other storage media, as well as in certain embodiments one or more databases residing thereon. The data storage 256 may store design topography data and / or worksite topography data. The design topography data may be a target elevation of the ground surface that is worked by the earth working machine. In some embodiments, the design topography data may be a three-dimensional mapping of the ground surface that is to be achieved, at least in part, by the earth working machine. The three-dimensional mapping may be in for form of an x, y, and z coordinate data set, for example. Other work machines may also be used to achieve the final design topography. In some embodiments, the design topography data may be a civil engineering survey map or the like.

[0053] The controller 212 may also communicate with another controller located on the earth working machine 100 or through a cellular or satellite communication unit 254 to a computing device or network located remotely, such as a server or a device operated by a remote operator, system administrator, fleet manager, or the like. Communication with such controllers may be utilized to obtain remotely provided design topographies and / or plans to the controller 212, 2026201573   02 Mar 2026 download remotely generated work plans and / or design topographies to the controller, set certain parameters of the controller, or for the controller to report out parameters of the operation of the earth working machine 100, such as the route taken at a work site, the number of passes made by the work machine 100 over a work site, the distance traveled, the area(s) of terrain which been worked, etc. In certain embodiments, it may be desirable for the controller 212 to generate a design topography for a work site. In yet other embodiments, it may not be necessary (or even desired) that the controller 212 for any particular earth working machine 100 generates its own work plan for a given work site. In addition to generating and / or receiving a design topography for a work site, in some embodiments, it may be desirable for the controller 212 to map the actual topography of a work site, or at least map a portion of the actual topography of a work site, for generating a work plan to be carried out by the work vehicle 100. In yet other embodiments, it may not be necessary (or even desirable) that the controller 212 map the actual topography, or a portion of the actual topography, of the work site.

[0054] In some embodiments, the design topography for the work site may be hosted at a remote computing environment such as for example a cloud server, wherein the work plans are downloaded to the respective earth working machines 100 upon request, to initiate a specified working operation, etc.

[0055] Referring now to Fig. 3, with further illustrative reference back to Figs. 1 and 2, an embodiment of a method 300 may now be described which is exemplary but not limiting on the scope of the present disclosure unless otherwise specifically noted. One of skill in the art may appreciate that alternative embodiments may include fewer or additional steps, and that certain disclosed steps may for example be performed in different chronological order or simultaneously. Unless otherwise specifically noted, certain operations, steps, functions, processes, and the like as disclosed in association with the method 300 may be executed or 2026201573   02 Mar 2026 directed by a single computing device, or via multiple computing devices in operable communication via a communications network. It will be appreciated that certain steps may be carried out without the need for computing devices in certain embodiments. Exemplary computing devices may include onboard controllers 212 or machine control systems 200, remote (e.g., cloud) servers, mobile user devices, and the like.

[0056] The method 300 may include step 310, the generation of, retrieval of, or otherwise obtaining, a design topography for the terrain to be worked by the earth working machine 100. As previously noted, the design topography may take the form of a planned arrangement of the ground surface of the work site, which may, for example, include where a foundation for a structure is to be poured, a parking lot is to be created, or being a complex topography for a site which includes roads, hills, slopes, ditches, and other three-dimensional features to be part of the terrain. As discussed previously, the design topography may be obtained via a remote network, such as a server or a device operated by a remote operator, system administrator, fleet manager, or the like. The communication with the remote network may be utilized to remotely obtain design plans to the controller or download remotely generated work plans to the controller, which may be stored on the data storage device. The design topography may be used by the controller as part of a work site plan for modifying the actual topography to the design topography.

[0057] The method 300 may include step 320, the retrieval of, or mapping of, an actual topography for one or more portions of the terrain to be worked by the earth working implement. The actual topography of the work site may be understood to be, in certain embodiments, a threedimensional representation of the ground surface that is to be worked. In some aspects, the actual topography may be mapped, or sensed, using an integrated device or an external device to the work vehicle, which may include sensor(s), a camera(s), and / or on-board laser imaging 2026201573   02 Mar 2026 system such as LIDAR, as but a few examples. Said mapping devices may be integral to the work vehicle, may be external to the work vehicle, or may be mounted on the work vehicle. In some embodiments, the sensor(s) may be a laser system, such as LIDAR, for sensing the topography.

[0058] In certain embodiments wherein an actual topography is retrieved, the controller may obtain the actual topography data in a similar manner as with the design topography, namely, as an example, via a remote network, such as a server or a device operated by a remote operator, system administrator, fleet manager, or the like. Communication with the remote network may be utilized to remotely obtain actual topography data sent to the controller or download remotely generated actual topography data to the controller, which may be stored on the data storage device. The actual topography data may be used by the controller as part of a work site plan for modifying the actual topography of the work site to a desired design topography.

[0059] In certain embodiments wherein actual topography is mapped by a mapping device, the actual topography data is obtained and transmitted to the controller. The controller may compare the design topography and the actual topography and determine that a total volume of material above the design topography exceeds a maximum capacity of material capable of being moved by the earth working implement over a single pass of the terrain to be worked. The actual topography may include one or more portions of the terrain, of which the controller may calculate a volume of material above the design topography.

[0060] In such embodiments, the controller may, as shown in step 322, determine that a plurality of passes over the work site, or portion of the work site, are necessitated. When implementing a plurality of passes over the work site, or portion of the work site, the controller may generate intermediate grading plans for grading the work site. In certain embodiments, the controller may transmit the intermediate grading plans to a grade controller for implementation 2026201573   02 Mar 2026 and control of the grading operations. The intermediate grading plans may include intermediate topography targets having a target elevation wherein at least a portion of the target elevation is above an elevation of the design topography. One of skill in the art may appreciate that grading an elevation below the design topography may be disadvantageous and may require additional grading to resurface the topography to the design topography elevation.

[0061] In some aspects, the intermediate grading plan may be implemented to move the maximum amount of terrain material for a given pass, without underfilling and / or overfilling the work implement and without grading past the design topography. Implementation of the intermediate grading plan(s) having intermediate topography targets may be advantageous because it may reduce manual intervention in the grade control operation, whether by the controller, or an operator. Additionally, the implementation of the intermediate grading plan(s) with intermediate topography targets may reduce the time required to perform the grading operation as the number of passes to grade the terrain will be minimized by grading of the maximum amount of material per pass.

[0062] As illustrated in Fig. 6, an actual topography 402 may be retrieved or mapped for one or more portions of the terrain. Fig. 6 illustrates a first intermediate topography target 406 and a second intermediate topography target 408. Each intermediate target having a target elevation that the controller may use for each successive pass until the design topography is reached. In a first pass along the work site, an earth working machine 100 may grade the actual topography to the first intermediate topography target 406. In a second pass along the work site, an earth working machine 100 may grade the first intermediate topography to the second intermediate topography target 408. In a third pass along the work site, an earth working machine 100 may grade the second intermediate topography to the design topography 404, thereby completing the grading process for the work site. 2026201573   02 Mar 2026

[0063] By utilizing intermediate targets, the volume of material handled by the earth working implement may be efficiently moved in comparison to working the terrain without intermediate targets and when there is a greater volume of material than the volume capacity of the earth working implement. As illustrated in Fig. 7, each pass by the earth working machine handles a volume of material to maximize the blade capacity, while avoiding overloading and underloading of the blade based on the volume of material to be moved. Fig. 7 illustrates three passes for two intermediate targets topographies and a final design topography of an earth working machine disclosed herein, wherein the first pass 702 yields the most material movement at the highest capacity level without overloading the capacity of the implement, wherein the volume capacity of the implement 701 is shown as a dotted line at the top of the graph. The volume of material moved during the distance traveled by the earth working machine never exceeds the volume capacity of the implement in this example. The second pass 703 of the earth working machine demonstrates the volume of material moved for the second intermediate target, and the third pass 704 of the earth working machine demonstrates the volume of material moved the final design topography. Each subsequent pass required less material to be moved because the method for operating the earth working machine, as disclosed herein, may preplan the material movement based on the actual topography data and design topography data so that the maximum material movement occurs as efficiently as possible with each pass of the machine, whether in a single pass of the terrain, or multiple passes with intermediate topography targets.

[0064] Returning now to Fig. 3, the method 300 may include step 330, determining a lowest elevation of the actual topography for one or more portions of the terrain to be worked by the earth working implement. The actual topography of the work site may be understood to be a three-dimensional representation of the terrain to be worked. Fig. 4 is an illustration showing a cross-section of the actual topography 402 and design topography 404. The vertical axis (y) 2026201573   02 Mar 2026 represents the elevation of the actual topography, and the horizontal axis (x) represents the distance in the forward direction from the work vehicle 100.

[0065] In some aspects, the controller may identify a first portion of the work site for grading, wherein the first portion may be in front of the work vehicle based on the forward movement of the work vehicle. In Fig. 4, this first portion may be illustrated as portion 410 along the horizontal axis having a length (l). In certain aspects, multiple portions 410, 412, 414 may be identified, thereby dividing the work site into smaller portions of terrain to be worked. In certain aspects, the portion 410 of the work site to be graded may be mapped by the mapping device, for example, a laser imaging system such as LIDAR. The LIDAR system may capture the actual topography of the work site, or at least a portion of said work site, wherein the captured actual topography data may be transmitted to the controller. The controller may identify the first portion, and / or may identify subsequent portions of the work site to be worked by the work vehicle and the earth working implement.

[0066] In certain aspects, the actual topography data provides a continuous, or nearly continuous, indication of the elevation of the ground surface, which may include undulations along the ground surface, thereby the actual topography having higher and lower elevations within the one or more portions of the work site. The elevation of the first portion of the actual topography may be analyzed to determine a lowest elevation 416.

[0067] The method 300 may include step 340 calculating a volume of material disposed above a plane of the lowest elevation of the first portion. Illustrated in Fig. 4, based on the lowest elevation 416 of the first portion 410, the volume of material 418 above the lowest elevation is calculated to determine a total amount of material within said first portion. For calculating said volume of material 418 in one embodiment, a plane 420 may be positioned at the lowest elevation 416 in the x-axis direction for the length of the first portion 410. The 2026201573   02 Mar 2026 calculation may be done by the controller using the plane 420 as a reference and the elevation level of the actual topography for calculating the total amount of material within the first portion. In some embodiments, the calculation may begin prior to the earth working implement beginning to work the terrain. In some embodiments, the calculation may be completed prior to the earth working implement beginning to work the terrain. In some embodiments, the calculation may be conducted during a time that the earth working implement is working the terrain. In some embodiments, the calculation is ongoing, and may be conducted at any of the time points disclosed above, or at all three time points. In some embodiments, the calculation may be considered to be iterative, such that the calculation is ongoing and is performed consecutively for portions of the terrain, such as a first portion 410, second portion 412, and third portion 414.

[0068] The method 300 may include step 350 comparing the calculated volume of material to a capacity volume of the earth working implement. As one non-limiting example, the capacity volume of the earth working implement may be approximately 4.1 cubic meters, SAE Blade Capacity (J1265_200305). In one aspect, the controller may compare the value of the total calculated volume of material to the capacity volume of the earth working implement. The capacity volume may be set by a user (either on site or remotely), or may be automatically input based on a type of implement being used. In some embodiments, a user may select a blade implement from a pre-populated list of possible implements stored in the controller, or retrieved by the controller from a data storage device. Each implement within the list of possible implements may include various specifications of said implement, including the capacity volume. In some embodiments, a user may select an SAE Blade Capacity from a list of possible SAE standards stored in the controller, or retrieved by the controller from a data storage device. As an example, the controller may calculate a volume of material disposed above a plane of the lowest elevation within the first portion, thereby generating a cubic meter volume. The 2026201573   02 Mar 2026 controller may compare said cubic meter volume to the SAE Blade Capacity (J1265_200305) of 4.1 cubic meters and determine if the cubic meter volume of the material is less than, equal to, or more than the capacity volume of the blade.

[0069] The method 300 may include step 360 setting a first position of the earth working implement for working the terrain based at least in part on the volume of material. In some embodiments, the controller may determine the cubic meter volume of the material is less than the cubic meter volume of the implement. The controller may set the blade at a height lower than the reference plane to add additional quantity of material for grading. In some embodiments, the controller may use a cuboid volume calculation wherein the height of the blade is determined by the volume difference (Vdiff = material volume (-) blade volume) divided by the length (l) of the first portion along the x-axis time the blade width (b). The calculation may be h=Vdiff / (l x b). When the material volume is less than the blade volume, the calculated height (h) may be negative, thereby indicating that the height of the blade may be lower along the (y) axis (indicated by h1) than the reference plane 420, as illustrated in Fig. 5. The controller may calculate the height of the blade position and set the position of the blade according to the height calculation via the cuboid volume calculation. In doing so, the controller compensates for the volume of material that is absent due to the lowest elevation compared to the surrounding elevation of the actual topography. By compensating for the absent material volume, the controller moves a greater volume of material than would be moved when the blade is positioned at the reference plane, thereby increasing efficiency and productivity, requiring few passes of the earth working machine along the terrain, and avoiding underfilling and / or overfilling of the blade.

[0070] In some embodiments, the controller may determine the cubic meter volume of the material is more than the cubic meter volume of the implement. The controller may set the blade 2026201573   02 Mar 2026 at a height higher than the reference plane to add reduce the quantity of material for grading. In some embodiments, the controller may use the cuboid volume calculation disclosed herein, such that the calculation may be h=Vdiff / (l x b). When the material volume is more than the blade volume, the calculated height (h) may be positive, thereby indicating that the height of the blade may be higher along the (y) axis (indicated by h2) than the reference plane 420, as illustrated in Fig. 5. The controller may calculate the height of the blade position and set the position of the blade according to the height calculation via the cuboid volume calculation. In doing so, the controller compensates for the volume of material that is surrounding the lowest elevation of the actual topography. By compensating for the surrounding material volume, the controller moves a lesser volume of material than would be moved when the blade is positioned at the reference plane, thereby increasing efficiency and productivity, requiring few passes of the earth working machine along the terrain, and avoiding underfilling and / or overfilling of the blade.

[0071] In some embodiments, the method 300 may include retrieving and / or mapping of an actual topography for at least a second portion of the terrain to be worked by the earth working implement. Similar to the retrieving step 320 previously disclosed, the method may include retrieving and / or mapping an actual topography for a second portion, such as, for example, portion 412, illustrated in Fig. 4. It will be understood that the retrieval process for the actual topography for one or more portions of the terrain may be achieved at the same time, such that the actual topography for multiple portions of the terrain are retrieved simultaneously, or consecutively in a short period of time. In some embodiments, a single actual topography may be retrieved for one portion of the terrain to be worked, to which the controller may apportion one or more sections of the single actual topography data to generate one or more portions of the terrain. It will also be understood that mapping of the actual topography may be done for one or more portions of the terrain at the same time, such that the actual topography for multiple 2026201573   02 Mar 2026 portions of the terrain are mapped simultaneously, or consecutively in a short period of time. In some embodiments, a single actual topography may be mapped for one portion of the terrain to be worked, to which the controller may apportion one or more sections of the single actual topography date to generate one or more portions of the terrain. It may also be understood that the mapping of the actual topography for multiple portions of the terrain occurs consecutively as the earth working machine traverses across the terrain and maps each portion of the terrain.

[0072] As disclosed previously, the actual topography of the work site may be understood to be a three-dimensional representation of the terrain to be worked. Fig. 4 is an illustration showing a cross-section of the actual topography 402 and design topography 404. The vertical axis (y) represents the elevation of the actual topography, and the horizontal axis (x) represents the distance in the forward direction from the work vehicle 100.

[0073] In some aspects, the controller may identify a second portion of the work site for grading, wherein the second portion may be in front of the work vehicle based on the forward movement of the work vehicle, and wherein the second portion may be adjacent the first portion. In Fig. 4, this first portion may be illustrated as portion 410 along the horizontal axis having a length (l), and the second portion may be illustrated as portion 412 along the horizontal axis, having a length (l2). In certain aspects, the second portion 412 of the work site to be graded may be mapped by the mapping device, for example, a laser imaging system such as LIDAR. The LIDAR system may capture the actual topography of the work site, or at least a portion of said work site, wherein the captured actual topography data may be transmitted to the controller. The controller may identify the second portion, and / or may identify subsequent portions of the work site to be worked by the work vehicle and the earth working implement.

[0074] In certain aspects, the actual topography data provides a continuous, or nearly continuous, indication of the elevation of the ground surface, which may include undulations 2026201573   02 Mar 2026 along the ground surface, thereby the actual topography having higher and lower elevations within the one or more portions of the work site. The elevation of the second portion of the actual topography may be analyzed to determine a lowest elevation as disclosed previously for the first portion of the terrain.

[0075] The method 300 at step 320 may be repeated for subsequent portions of the terrain to be worked, including step 330 for determining a lowest elevation of the actual topography for the second or subsequent portion of the terrain to be worked by the earth working implement, step 340 for calculating a volume of material disposed above a plane of the lowest elevation within the second or subsequent portion, and step 350 for comparing the volume of material to a capacity volume of the earth working implement.

[0076] In some embodiments, the method as disclosed herein may include adjusting the first position of the earth working implement for a second or subsequent portion of the terrain. As one example, the controller may determine the lowest elevation of a first portion of the terrain, calculate the volume of material above the lowest elevation, as disclosed herein, compare the volume of material to a capacity volume of the earth working implement, and set a first position of the earth working implement based at least in part on the volume of material. The controller may adjust the earth working implement from the first position to a second position for working a second or subsequent portion of the terrain based at least in part on the volume of material of the second or subsequent portion being less than the capacity volume of the earth working implement. The controller may also adjust the earth working implement from the first position to a second position for working a second or subsequent portion of the terrain based at least in part on the volume of material of the second or subsequent portion being greater than the capacity volume of the earth working implement. Each portion of the terrain to be worked may have a different volume of material than another portion, and therefore, the controller may need 2026201573   02 Mar 2026 to adjust the height of the blade to account for an increase or decrease in the volume of material per portion of the terrain. The adjustment of the blade may accommodate changes in volume of material so as to maintain efficiency and productivity, requiring few passes of the earth working machine along the terrain, and avoiding underfilling and / or overfilling of the blade even when working multiple portions of the terrain as the earth working machine traverses the work site.

[0077] In one embodiment, as a non-limiting example, the controller may set a first position of the earth working implement based at least in part on the volume of material of the first portion of the terrain. The controller may set the implement at 1 inch below the reference plane at the lowest elevation because the volume of material is less than the blade capacity for the first portion of the terrain. In a second position for the second portion of terrain, the controller may set the implement at 2 inches below the reference plane of the lowest elevation of the second portion because the volume of material of the second portion is less than the first portion of the terrain, and less than the blade capacity. In another example, the controller may set a second position at 1.0 inches above the reference plane of the lowest elevation of the second portion because the volume of material of the second portion is greater than the volume of material of the first portion of the terrain, and greater than the blade capacity. This method may be repeated for each subsequent portion of the terrain that is to be worked by the earth working machine and its implement. The controller may iteratively account for increasing and / or decreasing volumes of material for each portion of the terrain and adjusting the blade accordingly.

[0078] In some aspects, the portions of the terrain to be worked by the earth working machine may range from 0.05 meters in length to 10 meters in length, wherein the length is understood to be represented by the length (l) along the x-axis as illustrated in Fig. 4. In some aspects, the length of one or more portions of the terrain to be worked is 0.1 meters, is 0.2 meters, is 0.3 meters, is 0.4 meters, is 0.5 meters, is 0.6 meters, is 0.7 meters, is 0.8 meters, is 0.9 meters, is 1.0 2026201573   02 Mar 2026 meters, is 1.25 meters, is 1.5 meters, is 1.75 meters, is 2.0 meters, is 2.25 meters, is 2.5 meters, is 2.75 meters, is 3.0 meters, is 3.25 meters, is 3.5 meters, is 3.75 meters, is 4.0 meters, is 4.25 meters, is 4.5 meters, is 4.75 meters, or is 5.0 meters. In some aspects, the length of the one or more portions of the terrain is less than or equal to 1.0 meters. In some aspects, the length of the one or more portions of the terrain is greater than or equal to 1.0 meters. In some aspects, the length of the one or more portions of the terrain is less than or equal to 2.0 meters. In some aspects, the length of the one or more portions of the terrain is greater than or equal to 2.0 meters. In some aspects, the length of the one or more portions of the terrain is less than or equal to 5.0 meters. In some aspects, the length of the one or more portions of the terrain is greater than or equal to 5.0 meters. In some aspects, the length of the one or more portions of the terrain is less than or equal to 10.0 meters. In some aspects, the length of the one or more portions of the terrain is greater than or equal to 10.0 meters.

[0079] In some embodiments, a control system for operating an earth working machine is disclosed herein. The control system may include, for example, a data storage network, a sensor, and one or more controllers. In some embodiments, the control system as disclosed herein may be capable of performing the method of operating an earth working machine. In one or more embodiments, the data storage network may have stored therein a design plan comprising design data representing a target profile of the terrain. The target profile, or what may also be referred to as a design profile or design topography, may be understood to be an intermediate or final topography of the terrain during or after the earth working machine grades the actual topography to said target profile. The design plan may also include other relevant data and / or information for grading the topography. In some aspects, the design data may include x, y, and z coordinate data in a reference system external to the earth working machine. In some aspects, the design data may include a plurality of reference points. The plurality of reference points may be along the traveling direction 2026201573   02 Mar 2026 of the earth working machine for working the terrain, wherein one or more reference points are along the path of the implement. As an example, the target profile may be as shown in Figs. 4 and 5 wherein the design topography 404 is flat, or relatively flat. However, the target profile may be of any shape, and may be a complex combination of shapes, slopes, grades, and features.

[0080] In some embodiments, a sensor external to or onboard the earth working machine may be used for sensing the actual topography of the terrain. The sensor may be a camera(s), and / or onboard laser imaging system such as LIDAR. The sensor may sense the topography of the terrain prior to grading operations as well as during grading operations. As an example, a LIDAR system may be mounted or integral to the earth working machine and may detect or sense the topography of the terrain in front of the machine and the implement in the direction of travel. In some embodiments, other portions of the terrain such as adjacent to, or behind the machine may be detected as well. The sensor, in this example, may transmit the topography data to one or more controllers for further processing or for use by the controller(s) for performing functions or actions by the machine and / or implement.

[0081] In one embodiment, a sensor for sensing the topography of the terrain may be used such that as the earth working machine traverses the work site in a traveling direction, the sensor senses the topography and generates topography data for the terrain in front of the machine and its implement. The sensor continuously, or intermittently, generates the topography data which is representative of the actual topography that is to be graded by the grading operations of the machine. The sensor may transmit the data to one or more controllers, which may then undertake one or more steps of the method as disclosed herein. For example, the controller may analyze the topography data to determine a lowest elevation of the topography for a first portion of the terrain, calculate a volume of material disposed above a reference plane of the lowest elevation, compare the volume of material to a capacity volume of the earth working implement, 2026201573   02 Mar 2026 and set a position of the implement for working the terrain. As the earth working machine traverses the terrain, the sensor continuously, or intermittently, generates the topography data for a portion of the terrain and transmits said data to the controller, which continuously or intermittently performs one or more steps of the method disclosed herein. In one aspect, the controller may receive the topography data from the sensor, and then may determine a first portion of the terrain, perform one or more steps of the method utilizing the topography data as disclosed above, and then repeat said method for a second portion of the terrain, a third portion of the terrain, a fourth portion of the terrain, and so on until reaching an end point of the work site for grading operations. As previously disclosed, a portion, or one or more portions, of the terrain may be from 0.05 meters in length to 10 meters in length, wherein the length is the distance in front of the machine or implement in the traveling direction.

[0082] In one embodiment, one or more controllers may be configured to receive data from the sensor, determine a lowest elevation of the actual topography, calculate a volume of material disposed above a plane of the lowest elevation, and generate an intermediate topography target. As provided previously, an intermediate target may be understood to be a target topography below an actual topography and above and / or including a portion of the design topography. This may be illustrated in Fig. 6 with intermediate topography targets 406, 408. Based on generating an intermediate topography target, an intermediate grading plan may be generated by the controller. The intermediate grading plan may be implemented to move the maximum amount of terrain material for a given pass, without underfilling and / or overfilling the work implement and without grading past the design topography. Implementation of the intermediate grading plan(s) having intermediate topography targets may be advantageous because it may reduce manual intervention in the grade control operation, whether by the controller, or an operator. Additionally, the implementation of the intermediate grading plan(s) with intermediate topography targets may 2026201573   02 Mar 2026 reduce the time required to perform the grading operation as the number of passes to grade the terrain will be minimized by grading of the maximum amount of material per pass.

[0083] In some embodiments, one or more controllers may be used to communicate with the components of the earth working machine to carry out the disclosed method. In some embodiments, a grade controller may be used to direct grading operations, or at least a portion of the grading operations, of the earth moving machine and its implement. The grade controller may be capable of receiving signals from the controller and configured to control the earth working machine in accordance with an actual topography, design topography, and / or intermediate topography target. A controller and / or a grade controller may be configured to communicate with and / or control various components of the earth working machine, including the earth working implement, and may be capable of directing the movement of the machine and / or implement. In some embodiments, the movement of the machine and / or implement may be based at least in part on the actual topography, design topography, intermediate topography, lowest elevation of a portion of the terrain, a volume of material of the terrain, and / or a capacity volume of the implement.

[0084] In some embodiments, a controller and / or grade controller may be configured to set a first position of the earth working implement for working the terrain. In one aspect, the setting of the first position may be based at least in part on the volume of material calculated above a reference plane of the lowest elevation of the terrain, or of a portion of the terrain. The controller and / or grade controller may communicate a height of the implement for grading operations. As grading operations occur, the controller and / or grade controller may communicate a change in the height of the implement, including changing the height or setting a new height based on volume of material. Wherein there are changes in the volume of material based on different portions of the terrain to be worked, the controller and / or grade controller may determine a different height for the implement based at least in part on the changes in volume of material. In some embodiments, the 2026201573   02 Mar 2026 controller and / or grade controller may control the earth working machine and / or the machine’s implement based at least in part on one or more of the plurality of intermediate targets. The controller and / or grade controller may determine and set a height of the implement based on the intermediate target and its relative depth to the actual topography. Additionally, the controller and / or grade controller may determine and set a height of the implement based on the design topography so that the grading operation of the machine does not grade material past the design topography.

[0085] Thus, it is seen that the apparatus, methods, and control systems of the present disclosure readily achieve the ends and advantages mentioned as well as those inherent therein. While certain embodiments of the disclosure have been illustrated and described for present purposes, numerous changes in the arrangement and construction of parts and steps may be made by those skilled in the art, which changes are encompassed within the scope and spirit of the present disclosure as defined by the appended claims. Each disclosed feature or embodiment may be combined with any of the other disclosed features or embodiments.

Claims

1. A method of operating an earth working machine having an earth working implement forworking a terrain, the method comprising:generating or retrieving, or both, a design topography for the terrain to be worked by the earth working implement;retrieving or mapping, or both, an actual topography for at least a first portion of the terrain to be worked by the earth working implement;determining a lowest elevation of the actual topography for the first portion of the terrain to be worked by the earth working implement;calculating a volume of material disposed above a plane of the lowest elevation within the first portion;comparing the volume of material to a capacity volume of the earth working implement; andsetting a first position of the earth working implement for working the terrain based at least in part on the volume of material.

2. The method of claim 1, further comprising adjusting the first position of the earth workingimplement for a subsequent portion of the terrain based at least in part on a volume of material of the subsequent portion being less than the capacity volume of the earth working implement.

3. The method of claim 1, further comprising adjusting the first position of the earth workingimplement for a subsequent portion of the terrain based at least in part on a volume of material of the subsequent portion being greater than a capacity volume of the earth working implement.2026201573   02 Mar 20264.     The method of claim 1, wherein the actual topography is sensed by a sensor external to oronboard the earth working machine.

5. The method of claim 4, wherein the sensor comprises a laser for sensing the actualtopography.

6. The method of claim 1, further comprising controlling movement of the earth workingimplement for working the terrain based at least in part on the volume of material.

7. The method of claim 1, further comprising retrieving or mapping, or both, an actualtopography for at least a second portion of the terrain to be worked by the earth working implement;determining a lowest elevation of the actual topography for the second portion of the terrain to be worked by the earth working implement;calculating a volume of material disposed above a plane of the lowest elevation within the second portion; andcomparing the volume of material to a capacity volume of the earth working implement.

8. The method of claim 7, further comprising adjusting the first position of the earth workingimplement to a second position based at least in part on the volume of material disposed above the lowest elevation within the second portion.

9. The method of claim 1, further comprising comparing the design topography and the actualtopography and determining that a total volume of material above the design topography exceeds a2026201573   02 Mar 2026maximum capacity of material capable of being moved by the earth working implement over a single pass of the terrain to be worked by the earth working machine.

10. The method of claim 9, further comprising generating an intermediate topography target having a target elevation wherein at least a portion of the target elevation is above an elevation of the design topography.

11. The method of claim 10, wherein at least a portion of the target elevation of the intermediate topography target equals the elevation of the design topography, but not below the elevation of the design topography.

12. The method of claim 1, wherein calculating a volume of material is begun prior to the earth working implement beginning to work the terrain.

13. The method of claim 1, wherein calculating a volume of material is conducted during a time the earth working implement is working the terrain.

14. A control system for performing the method of claim 1, the control system comprising:a data storage network having stored therein a design plan comprising design data representing a target profile of the terrain, wherein the design data comprise x, y, and z coordinate data in a reference system external to the earth working machine;a sensor external to or onboard the earth working machine comprising a laser for sensing an actual topography of the terrain;2026201573   02 Mar 2026one or more controllers configured to receive data from the sensor, determine a lowest elevation of the actual topography, calculate a volume of material disposed above a plane of the lowest elevation, and generate an intermediate topography target; anda grade controller configured to control the earth working machine in accordance with the intermediate topography target.

15. The control system of claim 14, wherein the one or more controllers includes a grade controller further configured to set a first position of the earth working implement for working the terrain, wherein the first position is based at least in part on the volume of material.

16. The control system of claim 15, wherein the one or more controllers is configured to adjust the first position of the earth working implement for working the terrain based on changes to the volume of material.

17. The control system of claim 14, wherein the one or more controllers is configured to direct operation of the earth working implement based at least in part on the volume of material.

18. The control system of claim 14, wherein the one or more controllers generates a plurality of intermediate topography targets.

19. The control system of claim 18, wherein the grade controller is configured to control the earth working machine based at least in part on selection of one of the plurality of intermediate topography targets.

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