Ground engaging tool control system and method

Abstract

The present disclosure relates to a ground-engaging tool control system and method, comprising a first sensor system, a second sensor system, a first actuator system, a second actuator system, and an electronic data processor. The first sensor system and the second sensor system respectively detect the position of a first ground-engaging tool and the position of a second ground-engaging tool. The first actuator system is coupled to the first ground-engaging tool, and the second actuator system is coupled to the second ground-engaging tool. The electronic data processor determines a target grade profile and generates two or more control signals to adjust the target position of the first ground-engaging tool and the target position of the second ground-engaging tool. The target position of the second ground-engaging tool is determined based on at least one of the position of the first ground-engaging tool and a comparison of a current grade profile with a desired grade profile.

Description

[0001] Related applications

[0002] This application is related to U.S. application No. 16 / 058,055, filed on August 8, 2018, entitled “SYSTEM AND METHOD OF SOIL MANAGEMENT FOR AN IMPLEMENT,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates generally to ground engaging tool control systems and, more particularly, to ground engaging tool control systems and methods for motor graders. Background Art

[0004] Work vehicles, such as motor graders, can be used on construction sites and in maintenance operations to grade terrain into a flat surface at various angles, slopes, and heights. For example, when paving a road, a motor grader can be used to prepare the roadbed to create a broad, flat surface to support the asphalt layer. The various surfaces to be graded include surface irregularities and different types of ground material.

[0005] Some motor graders are equipped with a front straight blade to break up the material, which is then pushed by a moldboard underneath the machine to complete the grade. This can triple the productivity of a motor grader in a single pass. Disadvantages of using a front straight blade include the operator being unable to simultaneously direct the material in the same manner as a moldboard. Furthermore, material can spill from both ends of the blade, creating undesirable cuts in the V-grooves and leading to uneven material distribution. Therefore, there is a need in the art for an improved system that provides more precise grading operations and enhances vehicle performance and efficiency. Summary of the Invention

[0006] 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 of which are communicatively coupled to an electronic data processor. The first sensor system is configured to detect a current position of a 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-azimuth shovel. The first actuator system is coupled to the first ground-engaging tool, and the second actuator system is coupled to the second ground-engaging tool. The electronic data processor is configured to compare a current grade profile with a desired grade profile and, based on the comparison, generate a first control signal for the first actuator system to adjust the first ground-engaging tool to a first target position. The electronic data processor generates a second control signal for 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.

[0007] 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. A second ground-engaging tool is coupled to the work vehicle in front of the at least one first ground-engaging tool. A first sensor system is configured to detect a current position of the first ground-engaging tool. A second sensor system is configured to detect a position of the second ground-engaging tool, which may include a multi-azimuth 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. An electronic data processor is configured to compare a current grade profile with a desired grade profile and, based on the comparison, generate a first control signal for the first actuator system to adjust the first ground-engaging tool to a first target position. The electronic data processor generates a second control signal for 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.

[0008] According to another embodiment of the present disclosure, a method is disclosed. The method includes the steps of comparing a current grade profile with a desired grade profile; determining a first target position of a 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 the first target position to perform a first grading operation, and adjusting the second ground-engaging tool to the second target position to perform a second grading operation.

[0009] The above and other features will become apparent from the following description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The detailed description of the drawings refers to the accompanying figures, in which:

[0011] Figure 1A is a side view of a work vehicle according to an embodiment;

[0012] Figure 1B is connected to Figure 1A A front perspective view of a multi-directional shovel of a work vehicle;

[0013] Figure 2 is a block diagram of a ground engaging tool control system according to an embodiment;

[0014] Figure 3 is a block diagram of a vehicle electronic unit according to an embodiment;

[0015] Figure 4 is a flow chart of a method for providing shovel control;

[0016] Figure 5 yes Figure 1A of operating vehicles are using Figure 2 A front view of a ground engaging tool control system in operation;

[0017] Figure 6 yes Figure 1A of operating vehicles are using Figure 2 an elevation view of a ground engaging tool control system in operation; and

[0018] Figure 7 yes Figure 1A of operating vehicles are using Figure 2 Front view of the ground engaging tool control system in operation.

[0019] The same reference numbers are used throughout the several drawings to refer to the same elements. DETAILED DESCRIPTION

[0020] Reference Figures 1A to 2 , shows a work vehicle 100 including a ground engaging tool control system 150. Although in Figure 1AIn the present disclosure, the work vehicle 100 is shown as including a motor grader, but 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, the work vehicle 100 may include a tracked or unmanned vehicle, and may also include a road grader, a dozer, a bulldozer, and a front loader. The embodiments discussed herein are merely for exemplary purposes to facilitate understanding of the present disclosure.

[0021] like Figure 1A As shown, the work vehicle 100 may include a front frame 102 and a rear frame 104, wherein the front frame 102 is supported on a pair of front wheels 106 and the rear frame 104 is 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 a vehicle such as Figure 1A In some of the embodiments shown, the front frame 102 and the rear frame 104 may comprise rigid frames, while in other embodiments, each frame may comprise an articulated frame.

[0022] Cab 110 may be mounted on an upwardly angled rear region 111 of front frame 102 and may contain various manually operated controls (such as steering or level controls) that may be used by the vehicle operator to control the operation of work vehicle 100 and an implement attached thereto. User interface 117 may be provided in cab 110 and may include one or more user displays 210 ( Figure 3 ), the one or more user displays 210 having screens that provide the vehicle operator with machine data, image data, or selectable menus for controlling various features of the work vehicle 100.

[0023] An engine 112 is mounted on the rear frame 104 and provides power to all driven components of the work vehicle 100. For example, the engine 112 can 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 drawbar 122 is mounted to the front of the front frame 102, having a front end universally connected to the front frame 102 by a ball and socket arrangement 124 and having opposed left and right rear regions suspended from a raised portion 126 of the front frame 102.

[0024] Continue to refer to Figure 1AThe 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 tools 130 may include a moldboard. The ground-engaging tools 130 may be a first ground-engaging tool 128 or a second ground-engaging tool 129. In some embodiments, the ground-engaging tools 130 may be positioned 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, a rear ground-engaging tool 130c. The rear ground-engaging tool 130c may include a ripper / scarifier 131 mounted to the rear of the work vehicle 100 and may be configured to manipulate the ground prior to grading operations. Movement of the rear ground-engaging tool 130c may be controlled via the rear actuator 123. The rear actuator 123 may include one or more hydraulic cylinders, pneumatic cylinders, electric actuators, or a combination thereof. Although the rear ground engaging tool 130c is shown as including a ripper / stripper 131, it should be noted that Figure 1A The non-limiting example of is provided for exemplary purposes only. In other embodiments, the rear ground engaging tool 130c may include a push plate or other suitable tool, depending on the application and / or specification requirements.

[0025] The center ground-engaging tool 130b can include a center grading blade 133 coupled to the front frame 102 and powered by a circle drive assembly 134. The circle drive assembly 134 can include a rotation sensor 136 comprising one or more switches that detect the movement, speed, or position of the center grading blade 133 relative to the front frame 102. The height of the center grading blade 133 can be controlled by at least one first actuator system 156. In some embodiments, the first actuator system 156 can include left and right lift linkage arrangements 158 and 160 configured to support the drawbar 122. The left and right lift linkage arrangements 158 and 160 can be extended or retracted in an upward or downward motion to facilitate movement of the drawbar 122. In some embodiments, the first actuator system 156 may further include a side actuator 120 that causes lateral movement of the drawbar 122 to adjust the pitch of the center grading blade 133. The left and right linkage arrangements 158, 160 and the side actuators 120 may include hydraulic cylinders, pneumatic cylinders, electric actuators, or a combination thereof.

[0026] Reference Figure 1A and Figure 1BThe front ground-engaging tool 130a may include a multi-position blade 135, such as a power-angle-tilt blade having multiple rotation and movement angles, positioned forward of the center grading blade 133. For example, the multi-position blade 135 may be a six-position power-angle-tilt blade 137 configured to move or rotate bidirectionally in at least one of a blade height direction 138, a blade angle direction 139, a blade tilt direction 140, and a blade roll direction 141. In some embodiments, the multi-position blade 135 may be movably coupled to the mounting portion 157 via a second actuator system 162 that moves or rotates the blade 135 in a lift, tilt, angle, or roll direction. For example, the second actuator system 162 can hydraulically actuate the multi-directional shovel 135 to move vertically upward or downward in the shovel lift / height direction 138, pitch up or pitch down in the shovel pitch direction 140, yaw left or right in the shovel angle direction 139, and roll left or right in the shovel roll direction 141. The second actuator system 162 can include hydraulic cylinders, pneumatic cylinders, electric actuators, or a combination thereof.

[0027] Each of the center grading shovel 133 and the multi-directional shovel 135 can be configured to cut, separate, or transport ground material across the worksite 10. For example, as the work vehicle 100 travels across the worksite 10, each of the shovels 133 and 135 can 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 enables multiple tasks to be performed simultaneously. For example, the multi-directional shovel 135 can create features in the ground, including flat areas, grades, elevated areas such as hillocks, roads, or more complex-shaped features.

[0028] Now refer to Figure 2 and Figure 3Ground-engaging tool control system 150 may include: each of first actuator system 156 and second actuator system 162; first sensor system 152; second sensor system 154; and image sensor 164 or other sensory sensor, all communicatively coupled to electronic data processor 202. In some embodiments, first sensor system 152 may include one or more first sensors 153 that are removably or fixedly coupled to either or both of rear ground-engaging tool 130c and middle ground-engaging tool 130b. The one or more first sensors 153 may include: a position or tilt sensor, a GPS (e.g., position determination 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 the 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 tools 130 c or the middle ground-engaging tools 130 b relative to the work vehicle 100 .

[0029] The second sensor system 154 may include one or more second sensors 155 removably or fixedly coupled to the front ground-engaging tool 130a. The one or more second sensors 155 are configured to detect the position of the multi-azimuth 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., a position determination receiver 218), a LIDAR system, a radar system, a vision system, a gyroscope, an accelerometer, an inertial measurement unit, or other suitable device for measuring the angular velocity or linear acceleration of the multi-azimuth shovel 135. For example, in some embodiments, the second sensor 155 may be configured to detect the tilt angle of the multi-azimuth shovel 135 by measuring linear acceleration along three substantially perpendicular axes, thereby determining the tilt angle based on the direction of gravity.

[0030] The electronic data processor 202 may be provided locally as part of the vehicle electronics unit 200 of the work vehicle 100 ( Figure 3), or remotely located at a remote processing center (not shown). In various embodiments, the electronic data processor 202 may include a microprocessor, a microcontroller, a central processing unit, a programmable logic array, a programmable logic controller, or other suitable programmable circuitry suitable for performing 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.

[0031] As will be appreciated by those skilled in the art, providing Figures 1A to 3 This description is for illustrative and exemplary purposes only and is in no way intended to limit the present disclosure or its applications. In other embodiments, the arrangement and / or structural configuration of the various systems and vehicle components may vary. For example, in some embodiments, the structural arrangement and number of ground-engaging tools 130 may vary depending on design and specification requirements. Although the work vehicle 100 is shown as including three ground-engaging tools 130 in the embodiments discussed herein, in other embodiments, the work vehicle may include fewer or more ground-engaging tools 130, as well as variations in the types of tools used. For example, in some embodiments, the ground-engaging tools 130 may include a dual-blade arrangement including a front engaging tool 130a and a rear ground-engaging tool 130c or a center ground-engaging tool 130b, or other suitable configurations. Furthermore, in still other embodiments, the ground-engaging tool control system 150 may include additional sensors or other control devices mounted on exterior or interior surfaces of the assembly and components attached thereto.

[0032] Now, refer to Figure 3 , shows a vehicle electronics unit 200 according to an embodiment. The vehicle electronics 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 of which are communicatively interfaced with a data bus 208. As depicted, the various devices (i.e., the data storage device 204, the wireless communication device 216, the user display 210, and the vehicle data bus 220) may transmit information, such as sensor signals, to the electronic data processor 202 via the data bus 208.

[0033] 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 device 204 may similarly include electronic memory, non-volatile random access memory, optical storage, magnetic storage, or another device for storing and accessing electronic data on any recordable, rewritable, or readable electronic, optical, or magnetic storage medium.

[0034] The position determination receiver 218 may include a receiver that uses satellite signals, terrestrial signals, or both to determine the position or orientation of an object or vehicle. In one embodiment, the position determination receiver 218 includes a global positioning system (GPS) receiver with a differential correction receiver that is used to provide accurate measurements of the geographic coordinates or position of the vehicle. The differential correction receiver can receive satellite or terrestrial signal transmissions of correction information from one or more reference stations with generally known geographic coordinates to improve accuracy in determining the position of the GPS receiver. In other embodiments, positioning and mapping technologies such as simultaneous localization and mapping (SLAM) can be used. For example, in areas with low reception rates and / or indoor environments (such as caves, mines, or urban construction sites), SLAM technology can be used to improve positioning accuracy in those areas.

[0035] The electronic data processor 202 manages the transfer of data between various vehicle systems and components, which in some embodiments may include transferring data to and from a remote processing system (not shown). For example, the electronic data processor 202 collects and processes data from the data bus 208 (e.g., ground topography data, slope profile data, and map data) for transmission in the forward or reverse direction.

[0036] Electronics 206 may include electronic memory, non-volatile random access memory, flip-flops, computer-writable or computer-readable storage media, or another electronic device for storing, retrieving, reading, or writing data. Electronics 206 may include one or more software modules that record and store data collected by first sensor system 152, second sensor system 154, image sensor 164, or other network devices connected to or capable of communicating with vehicle data bus 220. In some embodiments, one or more software modules may include a grade profile module 230, a shovel positioning module 232, or optionally, a grade control module 234, each of which comprises executable software instructions or data structures processed by electronic data processor 202.

[0037] As used herein, the term "module" may include hardware and / or software systems that operate to perform one or more functions. Each module may be implemented in a variety of suitable configurations and should not be limited to any particular implementation illustrated herein unless such limitation is explicitly stated. Furthermore, in various embodiments described herein, each module corresponds to a defined function; however, in other embodiments, each function may be distributed across more than one module. Similarly, in other embodiments, multiple defined functions may be implemented by a single module that performs the multiple functions, may be implemented side by side with other functions, or may be distributed differently among groups of modules than specifically illustrated in the examples herein.

[0038] The grade profile module 230 can record and store real-time imaging data collected by the image sensor 164. For example, the grade profile module 230 can generate a two-dimensional or three-dimensional grade profile of the ground material based on the captured image. In addition, in some embodiments, the grade profile module 230 can also associate color data, location data, environmental data, and / or ground characteristics (e.g., moisture or temperature characteristics) with the grade profile. The grade profile can change based on the type of ground material collected or transported. For example, the ground material can change based on the worksite operations and conditions and can include, but is not limited to, materials such as soil, rock, pebbles, stone, minerals, organic matter, clay, or vegetation.

[0039] The shovel positioning module 232 can determine optimal shovel positions for the multi-directional shovel 135 and the center grading shovel 133 based on the generated grade profile. For example, the shovel positioning module 232 can output command signals, received by the first actuator system 156 and the second actuator system 162, to coordinate the position of the multi-directional shovel 135 with the center grading shovel 133 based on the desired grade profile. This control and positioning arrangement of the shovels 133 and 135 is particularly advantageous because it allows for optimal displacement of ground material when collecting or moving ground material and improves vehicle efficiency. In other embodiments, the orientation and / or position of the multi-directional shovel 135 and the center grading shovel 133 can be controlled by the grade control module 234. For example, the grade control module 234 can utilize GPS and stored terrain data output by the grade control system 236 to adjust the position and orientation of the shovels 133 and 135. In still other embodiments, the shovel positioning module 232 may be configured to coordinate control of the rear ground engaging tool 130 c in combination with either or both of the multi-azimuth shovel 135 and the center grading shovel 133 .

[0040] Vehicle controller 222 may include means for maneuvering or directing work vehicle 100 and each of ground-engaging tools 130 based on feedback received from first sensor system 152, image sensor 164, and second sensor system 154. For example, in some embodiments, vehicle controller 222 may communicate with grade control system 236, which receives one or more position signals from position determination receiver 218 to locate ground-engaging tools 130. Upon receiving the position signals, grade control system 236 may determine the position of center grading blade 133 and multi-azimuth blade 135 and generate command signals to be transmitted to vehicle controller 222 to change the position of at least one of blades 133, 135 by actuating first actuator system 156 and second actuator system 162.

[0041] In other embodiments, the electronic data processor 202 may execute software stored in the grade control module 234 to enable mapping of the position data to a grade profile or cross-reference with a stored map or model. For example, in some embodiments, the grade control system 236 may include a collection of stored maps and models that may be used to determine a desired shovel position.

[0042] Now, refer to Figure 4, a flow chart illustrating a method 400 for providing coordinated shovel control for a ground-engaging tool control system 150 is shown. At 402, upon starting the work vehicle 100 or upon an operator enabling the operation via a select user interface 117 or a start input on the user display 210, the ground-engaging tool control system 150 may be activated and a desired grading operation and initial target position may be set for all ground-engaging tools 130. The desired grading operation may include surface smoothing, ditch creation, slope creation, or other operations. Because the multi-directional shovel 135, the center grading shovel 133, and the rear ground-engaging tool 130c may be independently controlled, the operator may select a different grading operation and initial target position for each of the shovels 135, 133, and the rear ground-engaging tool 130c.

[0043] As work vehicle 100 travels across worksite 10, image sensor 164 captures multiple images of worksite 10 and sends the image data to electronic data processor 202 for processing. Electronic data processor 202 may receive signals from first sensor system 152 and second sensor system 154 indicating the actual and target positions of center grading shovel 133 and multi-azimuth shovel 135, which may be displayed on user display 210.

[0044] At 404, a desired grade profile is generated by the grade profile module 230 based on the selected grading operations and the captured image data. For example, the operator may select one or more grading operations such as surface smoothing, surface shaping (e.g., trench or slope creation), or road maintenance based on the captured image data.

[0045] Next, at 406 and 408, the shovel positioning module 232 can determine a first target position and a second target position for the central grading shovel 133 and the multi-directional shovel 135, respectively, based on the determined grade profile and the selected grading operation. In some embodiments, the selected grading operation and grade profile may require the central grading shovel 133 and the multi-directional shovel 135 to perform two distinct tasks in a single operation. For example, at 406, the first target position for the central grading shovel 133 can be determined to enable the grading shovel 133 to perform a first grading operation, such as surface smoothing.

[0046] At 408, a second target position for the multi-directional shovel 135 may be determined based on the first target position to enable it to perform a second grading operation, such as slope creation ( Figure 6In other embodiments, the multi-directional shovel 135 and the intermediate grading shovel 133 can be positioned to perform the same grading operation and determine respective first and second target positions. Furthermore, as previously discussed, in some embodiments, the rear ground-engaging tool 130c can also be coordinated with either or both of the intermediate grading shovel 133 and the multi-directional shovel 135.

[0047] At 410, as the grading operation is being performed, current position data for each of the central grading shovel 133 and the multi-azimuth 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 a height, angle, or tilt of the one or more shovels 133, 135.

[0048] Based on the received data, a determination is made at 412 to determine whether the actual or current position 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 the operator or a target position 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, via the shovel positioning module 232, a new first target position and a new second target position for each of the center grading shovel 133 and the multi-azimuth shovel 135 and repeat steps 406 through 410.

[0049] For example, in one embodiment, the target position can be updated based on changes in ground topography data output by grade control module 236 or changes in ground topography data sensed via lidar or radar. In response, electronic data processor 202 can output command signals to second actuator system 162 based on feedback received from second sensor system 154 to control the height, inclination, and / or pitch of multi-azimuth shovel 135 to the target position. If the actual position exceeds or falls below a predetermined threshold, electronic data processor 202 can automatically control second actuator system 162 to adjust the height of multi-azimuth shovel 135 to the target position. In other embodiments, the operator can change the desired grading operation from surface smoothing to material shedding and input a new target position to enable shedding of material from one side of multi-azimuth shovel 135. In still other embodiments, the desired grading operation can be automatically changed based on data output received from second sensor system 154.

[0050] However, it should be noted that regardless of the selected operation, the second target position can be coordinated with and determined based on the first target position. This coordinated control is advantageous due to the increased range of motion (e.g., 6-way movement) of the multi-directional shovel 135, which enables height, angle, and tilt control of the multi-directional shovel 135, thereby providing greater control over ground material. For example, the multi-directional shovel 135 can be positioned in an elevated position to break up a hillock or mound prior to the grade setting operation performed by the center grading shovel 133, while the center grading shovel 133 and the rear ground engaging tool 130c can be positioned to break up the hillock a second time.

[0051] Once the first and second target positions are determined, the positions of each of the center grading shovel 133 and the multi-directional shovel 135 are adjusted at 414 via the first and second actuator systems 156, 162. In other embodiments, the new target positions may be set directly by the operator (such as via a switch, increment or decrement buttons that modify the target positions), or the operator may input the new positions via the user display 210.

[0052] like Figures 5 to 7 As shown, the dual and independent control of the center grading blade 133 and the multi-directional blade 135 can enable the creation of multiple ground features in a single operation. For example, in one embodiment, the multi-directional blade 135 can be oriented at a first inclination angle (e.g., θ1) relative to the ground 60, while the center grading blade 133 can be oriented at a second angle (e.g., θ2) relative to the ground 60 to create a ground feature such as a V-shaped groove. Figure 6 In other examples of the illustrated example, the middle leveling shovel 133 and the multi-directional shovel 135 can be controlled to different heights. Figure 6 As shown, the middle grading shovel 133 can be raised to a height H so that the middle grading shovel 133 can move ground material along a first plane 512 at a higher height, and the multi-directional shovel 135 can be oriented at a lower height to move ground material along a second plane 514. Figure 7 The intermediate leveling shovel 133 and the multi-directional shovel 135 may also be positioned at different tilt angles to dislodge ground material enaged by the shovel along the first path 608 and the second path 610 .

[0053] 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 systems and methods for shovel control and coordinated shovel control. The advantage of a coordinated ground engaging tool control system is that it increases vehicle efficiency and enables optimal displacement of ground material as the work vehicle collects or moves ground material.

[0054] Although the present disclosure has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are not restrictive in character, and it should be understood that illustrative embodiments have been shown and described, and that protection is desired for all changes and modifications that fall within the spirit of the present disclosure. Alternative embodiments of the present disclosure may not include all of the features described, but still benefit from at least some of the advantages of such features. Those skilled in the art can design 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.

Claims

1. A ground engaging tool control system (150) for a work vehicle (100), the ground engaging tool control system (150) comprising: a first sensor system (152) configured to detect a position of at least one first ground-engaging tool (128); a 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) being configured to capture an image of the ground terrain in front of the work vehicle (100); a first actuator system (156) coupled to the first ground-engaging tool (128); a second actuator system (162) coupled to the multi-azimuth shovel (135); and An electronic data processor (202) in communication with the first sensor system and the second sensor system, the electronic data processor (202) being configured to determine a grade profile based on measured ground topography, generate a first control signal for receipt by the first actuator system (156) based on the measured ground topography 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 the position of the at least one first ground-engaging tool (128) and the measured ground topography 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 grading operation, and wherein adjusting the multi-azimuth shovel (135) to the second target position includes positioning the multi-azimuth shovel (135) to perform a second grading 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 center grading blade (133) and a rear ground engaging tool (130c).

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

5. The ground-engaging tool control system (150) of claim 4, wherein: The six-position power angle tilt shovel (137) is configured to move bidirectionally in at least one of a shovel height direction (138), a shovel angle direction (139), a shovel tilt direction (140), and a shovel side roll direction (141).

6. A work vehicle (100), comprising: 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) in front of the at least one first ground-engaging tool (128); a 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) being configured to detect the position of the multi-directional shovel (135); an image sensor (164) configured to capture an image of the ground terrain in front of the work vehicle (100); and An electronic data processor (202) in communication with the first sensor system and the second sensor system and configured to determine a grade profile based on measured ground topography, generate a first control signal for receipt by a first actuator system (156) based on the measured ground topography 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 the position of the at least one first ground-engaging tool (128) and the measured ground topography to adjust the multi-azimuth shovel (135) to a second target position.

7. The work vehicle (100) according to claim 6, 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 grading operation, and wherein adjusting the multi-azimuth shovel (135) to the second target position includes positioning the multi-azimuth shovel (135) to perform a second grading operation.

8. The work vehicle (100) according to claim 6, wherein: The at least one first ground engaging tool (128) includes at least one of a center grading blade (133) and a rear ground engaging tool (130c).

9. The work vehicle (100) according to claim 6, wherein: The multi-directional shovel (135) includes a six-directional power angle tilting shovel (137).

10. The work vehicle (100) according to claim 9, wherein: The six-position power angle tilt shovel (137) is configured to move bidirectionally in at least one of a shovel height direction (138), a shovel angle direction (139), a shovel tilt direction (140), and a shovel side roll direction (141).

11. A method (400) of providing coordinated shovel control for a work vehicle (100), the method comprising the steps of: Taking an image of the ground terrain in front of the work vehicle (100); determining a slope distribution map of the ground topography; determining a first target position of a first ground-engaging tool (128) based on the slope profile; determining a second target position of the multi-directional shovel (135) based on the slope distribution map and the first target position; as well as The position of the first ground engaging tool (128) is adjusted to the first target position to perform a first grading operation, and the multi-directional shovel (135) is adjusted to the second target position to perform a second grading operation.

12. The method according to claim 11, further comprising the steps of: The position of the 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 according to claim 12, further comprising the steps of: If the first target position or the second target position falls outside the desired threshold range, a new first target position and a new second target position are determined, and wherein the position of each of the first ground-engaging tool (128) and the multi-azimuth shovel (135) is readjusted to fall within the desired threshold range.

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