Mobile grading machine with improved grading control system

Abstract

The present invention relates to a mobile grading machine having an improved grade control system. In particular, a mobile work machine is provided that includes a first grade control system that receives external reference position signals from a geopositioning system and generates blade control signals to control the orientation of a blade when grading a work site. The mobile work machine also includes a second grade control system that uses blade primary pitch and cross slope and chassis (or main frame) primary pitch and cross slope to control the orientation of the blade relative to the frame of the work machine to form a flat grade having a desired primary pitch and cross slope. When the functionality of the first grade control system is interrupted, the mobile work machine automatically switches to using the second grade control system to perform the grading operation until the interruption to the functionality of the first grade control system is restored.

Description

TECHNICAL FIELD

[0001] This specification relates to mobile work machines. More particularly, this specification relates to mobile work machines used in performing grading operations. BACKGROUND

[0002] There are many different types of mobile work machines. Some mobile work machines include construction machines that can be controlled to perform grading operations at a worksite.

[0003] For example, some such work machines include implements, such as blades, that are used to grade a worksite. For example, a grader has a blade that is movable to change the height and angle of the blade. A track-tread device is often a rail machine with a blade that can be raised or lowered and rotated in order to grade a worksite. These are simple examples of mobile work machines with blades that can be moved in multiple degrees of freedom to interact with a worksite. Achieving the proper grade at a worksite is often the first step in an entire operation, and the last step to complete the operation.

[0004] The above discussion is provided solely as background information to facilitate a better understanding of the subject matter of the required claims. The discussion is not an admission that any or all of the background information was known at the time of the filing of this specification. SUMMARY

[0005] A mobile work machine is provided that includes a first grade control system that receives an external reference position signal from a geopositioning system and generates a blade control signal to control the orientation of a blade when grading a worksite. The mobile work machine also includes a second grade control system that uses a blade main fall and cross slope and a chassis (or main frame) main fall and cross slope to control the orientation of the blade relative to the frame of the work machine to form a flat grade with a desired main fall and cross slope. When the functionality of the first grade control system is interrupted, the mobile work machine automatically switches to using the second grade control system to perform the grading operation until the interruption to the functionality of the first grade control system is restored.

[0006] The summary is provided to introduce a selection of concepts, which is further described below in the detailed description. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all of the disadvantages noted in the background. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a diagrammatic illustration of an example of a mobile work machine.

[0008] Figure 2 is a block diagram showing one example of a mobile work machine in more detail.

[0009] Figure 3 is a flowchart illustrating one example of operations of a mobile work machine when switching between two different grade control systems.

[0010] Figures 4 to 6 shows an example of a mobile device that can be used with the mobile work machines described in the various figures.

[0011] Figure 7 is a block diagram of one example of a computing environment that can be used with the mobile work machines illustrated and described with reference to the previous figures. DETAILED DESCRIPTION

[0012] As discussed above, some mobile work machines control actuators in order to control the orientation of a blade when performing grading operations on a worksite. There are a variety of different types of automatic grade control systems that can be used to automatically control the position or orientation of a blade in order to achieve a specified grading operation. For example, one type of automatic grade control system is referred to as a three-dimensional (3D) grade control system. A 3D grade control system receives a position signal that represents an external reference that indicates the geographic location or position of the machine. The external reference can be a position signal from a satellite of a global navigation satellite system (GNSS). For example, there can be a satellite signal receiver on the blade or elsewhere on the mobile work machine that receives a position signal from a GNSS satellite as the external reference. Similarly, the 3D grade control system can receive a position signal from a local positioning system (or LPS) such as a total station as the external reference. The 3D control system receives the external reference position information or position signal and uses it to calculate how to orient the blade in order to perform a grading operation based on a predefined plan that indicates a designed grade for the worksite.

[0013] Another example of an automatic grade control system is a two-dimensional (2D) grade control system. A 2D grade control system does not use an external reference position for the machine. Instead, the 2D grade control system uses sensors on the mobile work machine to sense the orientation of the blade relative to another component of the mobile work machine such as the frame (e.g., the chassis or main frame) of the mobile work machine or relative to gravity or another manner (e.g., the primary fall and cross slope). The 2D grade control system attempts to control the orientation of the blade in order to generate a flat grade with a desired cross slope and primary fall.

[0014] Sometimes it happens that when a 3D grade control system is enabled, some function of the 3D grade control system is interrupted. For example, the mobile work machine can move to a location where the external reference (e.g., position signal) is interrupted. If position signals are received, for example, from GNSS satellites, the grader can move under a bridge or some other obstruction that blocks the mobile work machine from receiving GNSS signals. Also, the 3D grade control system only provides the desired grade control signal within the design area covered by the model or map representing the desired design. If the machine moves outside the design area, the 3D control system cannot accurately control the blade. Similarly, the local positioning system typically relies on line-of-sight to send position signals to the mobile work machine. Thus, the mobile work machine can move to a location where line-of-sight is blocked by physical structures, or where it is blocked by terrain, obstructions, or other items. In these scenarios, where the 3D grade control system is enabled, and the external reference (e.g., position signal) is interrupted, the 3D grade control system stops correcting the orientation of the blade, causing the grading operation to quickly become inaccurate. Thus, in these scenarios, the operator can observe that the 3D grade control system is no longer functioning properly, and take manual control to attempt to manually control the blade. The operator can then attempt to re-enable the 3D grade control system at some later time.

[0015] Thus, the present specification is directed to a control system that monitors the presence of an external reference (e.g., position signal), and also monitors the orientation of the blade and monitors a predefined target orientation (primary fall and cross slope) that specifies the grade, so that the 2D grade control system can use the monitored orientation and the target orientation. When the control system detects that the position signal is interrupted (e.g., is no longer being received at the mobile work machine or the strength of the position signal is insufficient to accurately convey the position), then the control system automatically switches to using the 2D grade control system to automatically control the mobile work machine using the latest known blade orientation and target orientation, rather than using the 3D grade control system. The operator can be notified that the automatic 2D system is now controlling the work machine, and the 3D system is no longer controlling the work machine. When the position signal is reacquired, the operator can be notified, and the control system can automatically switch back to using the 3D grade control system.

[0016] Figure 1 FIG. 1 is a side view showing an example of a work site 100. The work site 100 includes a mobile work machine 102 that can be controlled by an operator 104. Figure 1The machine 102 is shown to be a tracked dozer. However, in other examples, the machine 102 can be a grader, a skid steer loader, a scraper, or other mobile work machine. The operator 104 illustratively interacts with the machine 102 through user interface mechanisms 112. The user interface mechanisms 112 can include a screen, joystick, pedals, steering wheel, levers, switches, buttons, touch screen, microphone, or a wide variety of other user interface mechanisms. The user interface mechanisms can be used to surface, display, or otherwise present information to the user 104, and to detect user input for controlling and maneuvering the mobile work machine 102.

[0017] Figure 1 A powertrain 108 is also shown, which transfers power from a power source, such as an engine, to ground engaging elements, such as tracks. The operator 104 can use the user interface mechanisms 112 to control the powertrain 108. Figure 1 The mobile work machine 102 is also shown to include a blade 106 and a ripper 110. The blade 106 can be any of a wide variety of different types of blades, which can be oriented differently relative to a frame (e.g., a chassis or main frame) 114 of the mobile work machine 102, or relative to gravity, or in some other manner. Controlling blade orientation can be performed using a set of actuators 116. For example, the blade 106 can be a 6-way blade, which can be positioned or oriented in a desired manner to affect a work site terrain 120 of the work site 100.

[0018] As discussed above, the operator 104 can be assisted in controlling the position and / or orientation of the shovel 106 by an autonomous or semi-autonomous grade control system, shown in greater detail below. For example, one or more sensors 118 can sense conditions of the terrain 120 on the worksite 100 and / or can sense characteristics of the machine 102 to assist in the automatic or semi-automatic control of the machine 102. The sensors 118 can include a wide variety of different types of sensors. For example, the sensors 118 can include one or more of sensors on the frame 114 of the machine 102, on the shovel 106, on actuators 116 that control the position and orientation of the shovel 106, and relative to the ground, relative to the frame 114 of the machine 102, relative to gravity, or in another manner. The sensors 118 can include external reference sensors, such as one or more of a geopositioning sensor (e.g., a GNSS receiver that receives position / location signals from satellites 124) or a receiver that receives signals from a local positioning system transmitter 122. The sensors can also include accelerometers, internal measurement units, gyroscopes, linear displacement transducers, distance scanners (such as LIDAR or RADAR), video cameras, etc. In one example, the sensors 118 monitor the height and orientation of the shovel 106 relative to the frame 114 or powertrain 108, such that the cutting depth and angle at which the shovel 106 engages the ground 120 (e.g., the shovel's primary fall and cross slope) are known.

[0019] Figure 2 is a block diagram showing one example of a mobile work machine 102 in greater detail. Figure 2 Some of the items shown are similar to Figure 1 those shown and numbered similarly. In Figure 2 the example shown, the mobile work machine 102 includes one or more processors 130, a data store 132, a position detector 134 (which can be a GNSS receiver that receives position / location signals from satellites 124 as discussed above with reference to the sensors 118), a grade control system 136, and a user interface 138. The grade control system 136 can be implemented in hardware, software, or a combination of hardware and software. The grade control system 136 can be implemented as a separate system or as part of the machine control system 128. The grade control system 136 can be implemented as a separate system or as part of the machine control system 128. Figure 1One of the sensors 118 under discussion, a grade control switching system 137, a position signal presence detector 136, an operator interface mechanism 112, a 3D grade control system 138, an automatic 2D grade control system 140, one or more controllable subsystems 142 (which can include the implement position actuator 116 and other items 144), other work machine functions 146, and an implement (e.g., a shovel) 106. The grade control switching system 137 can include a toggle trigger detector 150, a 2D monitor control system 152, a system enable / disable signal generator 154, and it can include other items 156. The automatic 2D grade control system 140 can include an implement (e.g., a shovel) detection system 158. The system 158 can include one or more of a frame orientation sensor 160, a design angle monitor 161, a shovel orientation sensor 162, an angle identifier 164, and other items 165. The design angle monitor 161 monitors target angles (e.g., target cross-slope and main fall angles of grade) of the shovel 106 based on a design as model that can be stored in the data storage 132. The angle identifier 164 can receive sensor signals from the sensors 160 and 162, and a main fall detector 166 can identify the orientation of the frame 114 and / or the shovel 106 and / or the main fall angle of grade, while a cross-slope detector 168 can identify the orientation of the frame 114 and / or the shovel 106 and / or the cross-slope of grade. The angle identifier 164 can also include other angle identifiers 170. Also, the implement detection system 158 can include a 2D control function 172. A brief description of some of the items in the mobile work machine 102 and their operation is provided before describing the overall operation of the mobile work machine 102.

[0020] The position detector 134 illustratively receives an external reference indicative of a geographic location or position of the machine 100 or a portion of the machine 100. For example, the external reference can be a geographic position signal 180 from a position signal transmitter, such as the local position system 122 or the GNSS satellites 124. The position detector 134 generates a position signal (e.g., a geographic location and / or orientation) of the machine 102 based on the position signal 180. The geographic location and / or orientation of various components of the machine 102 can be sensed or also derived from the position signal. The position signal presence detector 136 detects whether the position signal 180 is interrupted for some reason. When the position signal 180 is interrupted, it means that the 3D grade control system 138 will not operate properly. As such, the position signal presence detector 136 can detect the interruption of the position signal 180 and provide an indication of this to the grade control switching system 137. It should be noted that the position signal presence detector 136 can detect the interruption of the position signal 180 within the position detector 134 or external to the position detector 134 or otherwise.

[0021] The 3D grade control system 138 can be enabled by the operator 104 through the operator interface mechanism 112 or otherwise. When enabled, the 3D grade control system 138 generates control signals to control the controllable subsystems 104 such that the implement 106 is controlled and oriented in a desired manner to engage the ground in a desired manner to perform a desired grading operation, for example, based on a predefined model of as-built. In generating such control signals, the 3D grade control system 138 receives position signals from the position detector 134. Without the position signals, the 3D grade control system 138 does not correct the orientation and position of the implement 106. Instead, the operator 104 can note that the 3D grade control system 138 is not operating correctly and take manual control of the implement 106 using the operator interface mechanism 112.

[0022] The automatic 2D grade control system 140 can use the 2D control function 172 and the orientation of the frame 114, the orientation of the blade 106 (e.g., relative to gravity or the frame 114 or powertrain), and the target main fall and cross slope of the grade to control the blade to make a desired flat cut at the desired main fall and cross slope. In doing so, the automatic 2D control system 140 generates control signals to control the controllable subsystems 142 (e.g., the position actuators 116 that position the implement or blade 106).

[0023] During operation, it is first assumed that the operator has enabled the 3D grade control system 138 such that the system 138 is controlling the blade 106 based on input from sensor signals, such as from the position detector 134, and based on a design model. During operation of the 3D grade control system 138, the automatic 2D grade control system 140 monitors the target main fall and cross slope of the grade being formed by the blade 106. This monitoring can be done in a number of different ways. In one example, the automatic 2D grade control system 140 monitors the frame orientation using the frame orientation sensor 160 and also monitors the blade orientation using the blade orientation sensor 112. In another example, the 3D grade control system 138 updates the automatic 2D grade control system 140 by sending updated target or actual values of the grade main fall and cross slope to the 2D grade control system 140. The 2D monitoring control system 152 monitors and stores the target main fall and cross slope angles generated by the main fall detector 166 and the cross slope detector 168 (based on input from the sensors 160 and 162), as well as the target angles obtained by the design angle monitor 161, and / or the angles or other position information communicated from the 3D grade control system to the automatic 2D grade control system.

[0024] The switch-over trigger detector 150 receives input from the position signal presence detector 136. When the signal from the detector 136 indicates that the position signal 180 has been interrupted, the switch-over trigger detector 150 detects this indication as a trigger to switch from automatically controlling the machine 102 with the 3D grade control system 138 to automatically controlling the machine 102 with the 2D grade control system. In one example, by automatic, it is meant to perform the operation without further human input, except perhaps to initiate or authorize the operation. The grade control switch system 137 notifies the operator 104 of the switch through the operator interface mechanism 112. The system enable / disable signal generator 154 therefore generates a signal to automatically disable the 3D grade control system 138 and enable the 2D grade control system 140. The 2D control function 172 accesses the target main fall angle and cross-slope angle of the grade most recently obtained by the 2D monitor control system 152 and the design angle monitor 161, and uses those angles to automatically control the orientation of the implement 106 with the actuators 116.

[0025] When the position signal presence detector 136 again detects the presence of the position signal 180, the detector 136 provides this indication to the switch-over trigger detector 150, which recognizes the presence of the position signal 180 as a switch-over trigger to switch back to using the 3D grade control system 138 to control the machine 102, rather than using the automatic 2D grade control system 140. The system enable / disable signal generator 154 then generates control signals to disable the 2D grade control system 140 and enable the 3D grade control system 138. The 2D monitor control system 152 continues to monitor the main fall angle and cross-slope angle detected by the implement detection system 158, and the monitor 161 monitors the target angles so that if the position signal 180 is again interrupted, the 2D grade control system 140 can again take over automatic control of the machine 100.

[0026] It is also noted that when a switch-over trigger is detected by the switch-over trigger detector 150, an output can be generated to the operator interface mechanism 112 to indicate to the operator 104 that the grade control system being used to control the mobile work machine 102 has been switched from the 3D grade control system 138 to the 2D grade control system 140, or from the 2D grade control system 140 to the 3D grade control system 138. The notification to the operator 104 can be visual and / or audio and / or tactile, or by using other notification mechanisms.

[0027] Figure 3is a flowchart illustrating one example of the operation of the mobile work machine 102 in which the presence and / or interruption of the position signal 180 is monitored and switching between automatic control of the machine 10 with the 3D grade control system 138 and the 2D grade control system 140 is performed. It is first assumed that the mobile work machine 102 is operating. This is indicated by block 182 in the flowchart. Again, the mobile work machine 102 can be a bulldozer 186, a grader 188, a skid steer loader 190, a scraper 192, or another mobile work machine 194 having a blade or other implement that engages the ground in a desired orientation. Figure 3 is indicated by block 184 in the flowchart. Again, the mobile work machine 102 can be a bulldozer 186, a grader 188, a skid steer loader 190, a scraper 192, or another mobile work machine 194 having a blade or other implement that engages the ground in a desired orientation.

[0028] At some point, the operator 104 provides input through the operator interface structure 112 to enable the 3D grade control system 138. The 3D grade control system 138 then begins controlling the controllable subsystems 142, such as the actuators 116 that control the position of the blade 106, based on the position signal from the position detector 134, based on predefined desired grades (e.g., the primary fall and cross slope) according to a model or other system, and other sensor inputs. Detection of the enabling of the 3D grade control system is indicated by block 196 in the flowchart of Figure 3 is indicated by block 196 in the flowchart of Figure 3 is indicated by block 198 in the flowchart of

[0029] While the 3D grade control system 138 is controlling the controllable subsystems 142, the implement detection system 158 continues to detect the angle of the blade 106 and the frame 114, which is the angle that the 2D grade control system 140 automatically controls the blade. In another example, the implement detection system 158 receives the grade primary fall angle and cross slope angle or other angles from the 3D grade control system 138. The 2D monitor control system 152 continues to store values for the primary fall angle and cross slope angle, for example. These angles can include the primary fall angle and cross slope angle of the graded work surface, the orientation of the blade 106, and / or the orientation of the frame 114. In another example, the design angle monitor 161 can also continue to monitor the design angle (e.g., according to a design, from a design model that indicates the desired angle or the orientation of the blade 106 and / or the target primary fall and cross slope).

[0030] Monitoring the current primary fall angle and cross slope angle of the grade and / or the orientation of the blade 106 and / or the orientation of the frame 114 and monitoring the desired design primary fall angle and cross slope angle (or target orientation) is indicated by block 200 in the flowchart of Figure 3The current orientation of the main fall and / or the design orientation of the blade and / or the graded surface is indicated by block 202. The current cross-slope angle and the design cross-slope angle are monitored as indicated by block 204. Other angle or orientation indicators can also be monitored as indicated by block 206.

[0031] Moreover, the position signal presence detector 136 continues to detect the presence of an external reference (e.g., a geo-location signal) 180. Detecting the external reference is indicated by block 208. The signal strength of the geo-location signal 180 can also be detected as indicated at block 210. The geo-location signal 180 can be detected from a GNSS signal 212 or a local positioning system as indicated by block 214. The geo-location signal 180 can also come from another source as indicated by block 216. Figure 3

[0032] At some point, the geo-location signal 180 can be interrupted. The signal interruption is detected by the detector 136 and a signal indicating the detected interruption is provided to the handoff trigger detector 150. As long as the geo-location signal 180 is present, the process returns to block 198 where the 3D grade control system 138 continues to control the machine 102. However, if at block 218 the trigger detector 150 detects that the geo-location signal 180 is interrupted (e.g., no longer present or too weak), the trigger detector 150 outputs to the system enable / disable signal generator 154 which generates a disable signal for disabling the 3D grade control system 138 and an enable signal for enabling the 2D grade control system 140. The automatic disabling of the 3D grade control system 138 and the automatic enabling of the 2D grade control system 140 is indicated by block 220 of the flowchart of FIG. 2. Figure 3 The 2D control function 172 then automatically controls the mobile work machine 102 using the latest main fall angle and cross-slope angle as indicated by block 222 of the flowchart of FIG. 2. The function 172 can also control the machine 102 based on the latest monitored design main fall angle and cross-slope angle as indicated by block 224. Figure 3 The signal generator 154 also illustratively generates a signal that controls the operator interface mechanism 112 to generate an operator output indicating the loss of 3D control functionality and the automatic enabling of the automatic 2D grade control system as indicated by block 224.

[0033] The position signal presence detector 136 continues to detect whether the geo-location signal 180 has been reacquired. Once the geo-location signal has been reacquired, the detector 136 provides a signal to the handoff trigger detector 150 indicating that the geo-location signal 180 is again present. Until the geo-location signal 180 is present (as indicated by block 226), the process returns to block 218 where the trigger detector 150 continues to monitor for the interruption of the geo-location signal 180. Figure 3 ​to block 226 in the flowchart of FIG. 22, processing returns to block 222, where the 2D grade control system 140 continues to automatically control grading operations of the machine 102.

[0034] However, if at block 226 the geo-location signal 180 is again present, the trigger detector 150 generates an output signal to the system enable / disable signal generator 154. The signal generator 154 controls the operator interface mechanism 112 to notify the operator that the 3D grade control system 138 is re-enabled, as indicated by block 228. The signal generator 154 also generates an output signal to disable the 2D grade control system 140 and enable the 3D grade control system 138, as indicated by block 230 in the flowchart of FIG. 22. Then, processing again returns to block 198, where the 3D grade control system 138 resumes control of the mobile work machine 102. This type of operation can continue until the mobile work machine 102 is no longer operated, or until the operator 104 provides input to control the mobile work machine 102 in a different manner. Figure 3

[0035] It can thus be seen that the present specification describes a system that continues to detect whether the geo-location signal 180 is available to the 3D grade control system 138. If the geo-location signal is not available, the system automatically disables the 3D grade control system 138 and begins to control the shovel 106 using the 2D grade control system 140. When the location signal 180 is reacquired, control switches back to the 3D grade control system 138. The operator can also be notified of these transitions.

[0036] The present discussion has mentioned processors and servers. In one example, the processors and servers include computer processors with associated memory and timing circuitry, as well as appropriate circuits for communicating with other electronic and / or optical devices. The processors and servers are functional parts of the systems or devices to which they belong, are enabled by, and facilitate the functionality of, other components or items in those systems.

[0037] ​Also, a number of user interface displays have been discussed. The displays can take a wide variety of different forms, and can have a wide variety of different user actuatable input mechanisms disposed thereon. For example, the user actuatable input mechanisms can be text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. The user actuatable mechanisms can also be actuated in a wide variety of different ways. For example, they can be actuated using a pointing device such as a trackball or a pointer. They can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which the actuatable mechanisms are displayed is a touch sensitive screen, they can be actuated using touch gestures. Also, where the device that displays the actuators has a speech recognition component, the actuators can be actuated using voice commands.

[0038] A number of data storage devices have also been discussed. Note that they can all be divided into a number of data storage devices. All of the data storage devices can be local to the system that accesses them, all can be remote, or some can be local and others remote. All of these configurations are contemplated herein.

[0039] Also, the figures show a number of blocks and attribute functionality to various ones of the blocks. Note that fewer blocks can be used, such that fewer components perform the functionality. Also, more blocks can be used, and functionality distributed among more components.

[0040] Note that the above discussion has described a number of different systems, components and / or logic. It should be appreciated that such systems, components and / or logic can include hardware items that perform the functionality associated with those systems, components and / or logic, such as processors and associated memory, or other processing components, some of which are described below. In addition, the systems, components and / or logic can include software that is loaded into memory and then executed by a processor or server, or other computing component, as described below. The systems, components and / or logic can also include different combinations of hardware, software, firmware, etc., some examples of which are described below. These are just some examples of different structures that can be used to form the systems, components and / or logic described above. Other structures can also be used.

[0041] Note also that elements or portions of Figure 2 may be disposed on a wide variety of different devices. Some of those devices include: servers, desktop computers, laptop computers, tablet computers, or other mobile devices such as palm computers, cellular phones, smartphones, multimedia players, personal digital assistants, etc.

[0042] Figure 4is a simplified block diagram of one exemplary example of a handheld or mobile computing device that can deploy the present system (or portions thereof), which can be used as a handheld device 16 of a user or client. For example, a mobile device can be deployed in an operator cab of a mobile work machine 102 for use in generating, processing, or displaying data. Figures 5 to 6 is an example of a handheld or mobile device.

[0043] Figure 4 A general block diagram of components of a client device 16 is provided, which can run Figure 2 Some components are shown, interact with these components, or both. In the device 16, a communication link 13 is provided that allows the handheld device to communicate with other computing devices, and in some examples, provides a channel for automatically receiving information, such as by scanning. Examples of the communication link 13 include allowing communication over one or more communication protocols, such as wireless services used to provide cellular access to a network, and protocols that provide local wireless connectivity to a network.

[0044] In other examples, applications can be received through a removable secure digital (SD) card connected to an interface 15. The interface 15 and the communication link 13 communicate with a processor 17 (which can also embody the processor according to the previous figures) along a bus 19 that is also connected to a memory 21 and input / output (I / O) components 23, as well as a clock 25 and a positioning system 27.

[0045] In one example, the I / O components 23 are provided to facilitate input and output operations. The I / O components 23 for various examples of the device 16 can include input components, such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components, such as display devices, speakers, and / or printer ports. Other I / O components 23 can likewise be used.

[0046] The clock 25 illustratively includes a real-time clock component that outputs time and date. It can also illustratively provide timing functions for the processor 17.

[0047] The positioning system 27 illustratively includes a component that outputs a current geographic position of the device 16. This can include, for example, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. It can also include, for example, mapping or navigation software that generates a desired map, navigational route, and other geographic functions.

[0048] Memory 21 stores operating system 29, network settings 31, applications 33, application configuration settings 35, data store 37, communication drivers 39, and communication configuration settings 41. Memory 21 can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory 21 stores computer readable instructions that, when executed by processor 17, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor 17 can also be enabled to facilitate the functions thereof by other components.

[0049] Figure 5 One example is shown in which device 16 is a tablet computer 600. In Figure 5 , computer 600 displays a user interface display 602. Screen 602 can be a touch screen or a pen-enabled interface that receives input from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it can also be attached to a keyboard or other user input device, e.g., by a suitable attachment mechanism such as a wireless link or USB port. Computer 600 can also illustratively receive voice input.

[0050] Figure 6 The device can be a smart phone 71. Smart phone 71 has a touch sensitive display 73 that displays icons or tiles or other user input mechanisms 75. A user can use mechanisms 75 to run applications, make calls, perform data transfer operations, etc. Smart phone 71 is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone.

[0051] It should be noted that other forms of device 16 are possible.

[0052] Figure 7 is one example of a computing environment that, e.g., can deploy Figure 1 elements or portions thereof. Referring to Figure 7 , an example system for implementing some embodiments includes a computing device in the form of a computer 810 programmed to operate as discussed above. The components of computer 810 can include, but are not limited to, a processing unit 820 (which can include a processor or server according to the previous figures), a system memory 830, and a system bus 821 that couples various system components including the system memory to the processing unit 820. The system bus 821 can be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and program deployment described with reference to Figure 2 may be deployed in corresponding portions of Figure 7 .

[0053] Computer 810 typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by computer 810 and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media can comprise computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. It includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computer 810. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

[0054] The system memory 830 includes computer storage media in the form of volatile and / or nonvolatile memory such as read only memory (ROM) 831 and random access memory (RAM) 832. A basic input / output system 833 (BIOS), containing the basic routines that help to transfer information between elements within computer 810, such as during start-up, can typically be stored in ROM 831. RAM 832 typically contains data and / or program modules that are immediately accessible to and / or presently being operated on by processing unit 820. By way of example, and not limitation, as Figure 7 Operating system 834, application programs 835, other program modules 836, and program data 837 are shown as program modules that can typically be stored on the mass storage computer readable media, such as hard disk drive 841, floppy disk drive 852 accessible via removable storage drive interface 850, or optical disk drive 855.

[0055] Computer 810 can also include other removable / non-removable volatile / nonvolatile computer storage media. By way of example only, Figure 7 Hard disk drive 841, which also can be used to read or write data using non-removable, nonvolatile media, is shown in FIG. 8 as being connected to system bus 822 through an advanced technology attachment (ATA) interface 840. The RAM 832, the ROM 831, the programs 835, the other removable / non-removable volatile / nonvolatile computer storage media 844, and data 837 are shown in FIG. 8 as being connected to system bus 822 by nonremovable memory interface 840 such as interface to the system memory 830.

[0056] Alternatively, or additionally, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g., ASICs), Application-specific Standard Products (e.g., ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0057] The drives and their associated computer storage media discussed above and illustrated in Figure 7 provide storage of computer-readable instructions, data structures, program modules and other data for the computer 810. In Figure 7 for example, the hard disk drive 841 is illustrated as storing an operating system 844, application programs 845, other program modules 846, and program data 847. Note that these components can either be the same as or different from operating system 834, application programs 835, other program modules 836, and program data 837.

[0058] A user can enter commands and information into the computer 810 through input devices such as a keyboard 862, a microphone 863, and a pointing device 861, such as a mouse, trackball or touch pad. Other input devices (not shown) can include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit 820 through a user input interface 860 that is coupled to the system bus, but can be connected by other interface and bus structures, as will be

[0059] The computer 810 is operated in a networked environment using logical connections to one or more remote computers, such as a remote computer 880. The remote computer 880 can be a personal computer, a hand-held device, a server, a router, a network PC, a peer device or other common network node, and the like, as

[0060] When used in a LAN networking environment, the computer 810 is connected to the LAN 871 through a network interface or adapter 870. When used in a WAN networking environment, the computer 810 typically includes a modem 872 or other means for establishing communications over the WAN 873, such as the Internet. In a networked environment, program modules can be stored in the remote memory storage device. Figure 7 The remote application programs 885 are as illustrated, for example, can reside on remote computer 880.

[0061] It should also be noted that the different examples described herein can be combined in different ways. That is, one or more examples of the parts of one or more examples can be combined with one or more examples of the parts of one or more other examples. All of these are contemplated herein.

[0062] Example 1. A mobile work machine, the mobile work machine comprising:

[0063] a frame;

[0064] a ground engaging implement;

[0065] a first grade control system to control orientation of the implement based on a geo-location signal received from a geo-location system;

[0066] a second automatic grade control system to automatically control orientation of the implement; and

[0067] a grade control switching system to receive a presence signal indicative of a presence of the geo-location signal, and to automatically control activation of the first grade control system and the second automatic grade control system based on the presence of the geo-location signal.

[0068] Example 2 is the mobile work machine of any or all previous examples, and further comprising:

[0069] an angle identifier to identify a predetermined target primary fall and cross fall of the grade when the first grade control system is controlling orientation of the implement.

[0070] Example 3 is the mobile work machine of any or all previous examples, wherein the angle identifier is configured to provide the identified predetermined target primary fall and cross fall to the second grade control system when the presence signal indicates that the geo-location signal is interrupted.

[0071] Example 4 is the mobile work machine of any or all previous examples, wherein the implement comprises a shovel, and wherein the angle identifier comprises:

[0072] a shovel orientation sensor to detect orientation of the shovel; and

[0073] a frame orientation sensor to detect orientation of the frame.

[0074] Example 5 is the mobile work machine of any or all previous examples and further comprising an operator interface mechanism, wherein the grade control switching system is configured to generate an operator notification on the operator interface mechanism indicating to switch between control of the first grade control system and control of the second grade control system.

[0075] Example 6 is the mobile work machine of any or all previous examples and further comprising:

[0076] a location detector that receives the geographic location signal and generates a geographic location output indicative of the geographic location based on the geographic location signal.

[0077] Example 7 is the mobile work machine of any or all previous examples, wherein the geographic location system comprises a global navigation satellite system (GNSS), and wherein the location detector comprises:

[0078] a GNSS receiver.

[0079] Example 8 is the mobile work machine of any or all previous examples, wherein the geographic location system comprises a local position system, and wherein the location detector comprises:

[0080] a local position system receiver.

[0081] Example 9 is a method of controlling a mobile work machine having a frame and a ground engaging implement, the method comprising the steps of:

[0082] receiving a geographic location signal from a geographic location system transmitter;

[0083] controlling an orientation of the implement based on the geographic location signal with a first grade control system;

[0084] detecting an interruption of the geographic location signal; and

[0085] automatically switching to control the orientation of the implement with a second automatic grade control system that is different than the first grade control system.

[0086] Example 10 is the method of any or all previous examples and further comprising the steps of:

[0087] detecting a presence of the geographic location signal; and

[0088] automatically switching to control the orientation of the implement with the first grade control system based on the presence of the geographic location signal.

[0089] Example 11 is the method of any or all previous examples and further comprising the step of:

[0090] identifying a predetermined target main and cross fall of the grade when the first grade control system is controlling orientation of the implement.

[0091] Example 12 is the method of any or all previous examples and further comprising the step of:

[0092] providing the predetermined target main and cross fall to the second grade control system when the presence signal indicates the geographic position signal is interrupted.

[0093] Example 13 is the method of any or all previous examples wherein the step of automatically switching to control orientation of the implement with the second grade control system comprises:

[0094] controlling orientation of the implement with the second grade control system based on the predetermined target main and cross fall of the grade.

[0095] Example 14 is the method of any or all previous examples wherein the implement comprises a shovel and wherein the step of controlling orientation of the implement with the second grade control system based on the predetermined target main and cross fall comprises:

[0096] detecting orientation of the shovel; and

[0097] detecting orientation of the frame.

[0098] Example 15 is the method of any or all previous examples and further comprising the step of:

[0099] generating an operator notification on an operator interface mechanism on the mobile work machine indicating to switch between controlling orientation of the implement with the first grade control system and controlling orientation of the shovel with the second grade control system.

[0100] Example 16 is the method of any or all previous examples wherein the step of receiving the geographic position signal comprises:

[0101] receiving the geographic position signal with a global navigation satellite system (GNSS) receiver.

[0102] Example 17 is the method of any or all previous examples wherein the step of receiving the geographic position signal comprises:

[0103] receiving the geographic position signal with a local position system receiver.

[0104] Example 18 is a control system for controlling a mobile work machine, the control system comprising:

[0105] one or more processors;

[0106] a data storage device storing computer executable instructions that, when executed by the one or more processors, cause the one or more processors to perform the steps of:

[0107] receiving a geographic position signal from a geographic position system;

[0108] controlling orientation of the implement based on the geographic position signal with a first slope control system;

[0109] detecting an interruption of the geographic position signal;

[0110] based on detecting the interruption of the geographic position signal, automatically switching to controlling orientation of the implement with a second automatic slope control system that is different from the first slope control system;

[0111] detecting a presence of the geographic position signal; and

[0112] based on the presence of the geographic position signal, automatically switching to controlling orientation of the implement with the first slope control system.

[0113] Example 19 is the control system of any or all previous examples, wherein the computer executable instructions, when executed by the one or more processors, cause the one or more processors to perform the steps of:

[0114] identifying a predetermined target main and cross fall of a slope when the first slope control system is controlling orientation of the implement; and

[0115] providing the predetermined target main and cross fall to the second automatic slope control system when the presence signal indicates that the geographic position signal is interrupted.

[0116] Example 20 is the control system of any or all previous examples, wherein the step of automatically switching to controlling orientation of the implement with a second automatic slope control system comprises:

[0117] controlling orientation of the implement with the second automatic slope control system based on the predetermined target main and cross fall.

[0118] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A mobile work machine (102), comprising: a frame (114); a ground engaging implement (106); one or more actuators; a first grade control system (138) that controls the one or more actuators based on a geo-location signal (180) received from a geo-location system to control a position of the ground engaging implement (106) relative to the frame; a frame orientation sensor configured to sense an orientation of the frame (114) relative to a reference during the first grade control system controlling the position of the ground engaging implement relative to the frame; an implement orientation sensor configured to sense an implement orientation of the ground engaging implement relative to the frame during the first grade control system controlling the position of the ground engaging implement relative to the frame; and a grade control switching system (137) that: receives a presence signal indicative of a presence of the geo-location signal (180); and automatically controls an activation of a selected one of the first grade control system (138) and a second grade control system (140) based on the presence of the geo-location signal (180), wherein, during the presence signal indicating the geo-location signal is interrupted, the second grade control system is configured to: obtain a target primary fall and a target crossfall, wherein the target primary fall and the target crossfall are based on: a frame orientation of the frame during the first grade control system controlling the position of the ground engaging implement relative to the frame, and an implement orientation of the ground engaging implement during the first grade control system controlling the position of the ground engaging implement relative to the frame; and control the one or more actuators to control the ground engaging implement based on the target primary fall and the target crossfall. the ground engaging implement (106) comprises a blade, and wherein the second grade control system (140) comprises:

2. The mobile work machine of claim 1, wherein, a blade orientation sensor (162) that detects the implement orientation of the blade relative to the frame. the grade control switching system (137) is configured to generate an operator notification on the operator interface mechanism indicating a switch between controlling activation of the first grade control system (138) and controlling activation of the second grade control system (140).

3. The mobile work machine according to claim 1, further comprising an operator interface mechanism (112), wherein, 4. The mobile work machine of claim 1, further comprising: a position detector (134) that receives the geo-location signal (180) and, based on the geo-location signal (180), generates a geo-location output indicative of a geo-location. the geo-location system comprises a global navigation satellite system, GNSS (124), and wherein the position detector (134) comprises:

5. The mobile work machine of claim 4, wherein, a GNSS receiver. the geo-location system comprises a local position system (122), and wherein the position detector (134) comprises:

6. The mobile work machine of claim 4, wherein, a local position receiver. Local position system receiver.

7. A method of controlling a mobile work machine (102) having a frame (104) and a ground engaging implement (106), the method comprising the steps of: receiving a geo-location signal (180) from a geo-location system transmitter external to the mobile work machine; controlling a position of the ground engaging implement (106) relative to the frame with a first slope control system (138) based on the geo-location signal (108) received from the geo-location system transmitter external to the mobile work machine; detecting an interruption of the geo-location signal (180) received from the geo-location system transmitter external to the mobile work machine; obtaining frame orientation data from a frame orientation sensor internal to the mobile work machine during the controlling of the position of the ground engaging implement relative to the frame by the first slope control system, the frame orientation data indicating a frame orientation of the frame relative to a reference; and automatically switching to controlling the ground engaging implement with a second slope control system (140) different from the first slope control system when the geo-location signal received from the geo-location system transmitter external to the mobile work machine is interrupted, wherein the controlling of the ground engaging implement with the second slope control system includes: obtaining a target primary fall and a target crossfall, wherein the target primary fall and the target crossfall are based on: the frame orientation of the frame during the controlling of the position of the ground engaging implement relative to the frame by the first slope control system; and an implement orientation of the ground engaging implement during the controlling of the position of the ground engaging implement relative to the frame by the first slope control system; and controlling the implement orientation of the ground engaging implement based on the target primary fall and the target crossfall.

8. The method of claim 7, wherein, The obtaining of the primary fall and the target crossfall includes: identifying the target primary fall and the target crossfall of a slope when the first slope control system (138) is controlling the implement orientation of the ground engaging implement (106).

9. The method of claim 8, further comprising the steps of: providing the target primary fall and the target crossfall to the second slope control system (140) when the geo-location signal (180) is interrupted.

10. The method of claim 9, wherein, The step of automatically switching to controlling the implement orientation of the ground engaging implement (106) with the second slope control system (140) includes: controlling the implement orientation of the ground engaging implement (106) with the second slope control system (140) based on the target primary fall and the target crossfall.

11. The method of claim 10, wherein, The ground engaging implement (106) includes a shovel.

12. The method of claim 11, further comprising the steps of: An operator notification is generated on an operator interface mechanism (112) on the mobile work machine (102) indicating a switch between controlling the implement orientation of the shovel with the first grade control system (138) and controlling the implement orientation of the shovel with the second grade control system (140).

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