Prediction of tool movement for work machines

Abstract

A controller may identify a command to move an implement in a specific direction and an amount of time for the implement to move in the specific direction. The controller may determine an estimated speed of the implement moving in the specific direction. The controller may determine a predicted travel distance of the implement in the specific direction. The controller may cause the implement to move from a current position to a reset position based on a stop position associated with the specific direction and the predicted travel distance of the implement in the specific direction. The controller may cause the command to be executed such that the implement moves from the reset position to another position in the specific direction and within a certain amount of time without impacting the stop position associated with the specific direction.

Description

Technical Field

[0001] The present invention generally relates to calibrating an implement of a work machine and predicting implement travel to facilitate calibration of the implement. Background Art

[0002] For example, various types of machines used in the construction industry include implements, such as blades, buckets, and / or the like, that perform one or more operations. A machine operator may interact with the machine's operator controls to move the implement in a particular direction (e.g., up, down, right, left). However, the operator may move the implement too far in a particular direction and cause the implement to strike a stop position (e.g., a position associated with full extension of the implement). This may cause the implement to stop abruptly and / or may damage the implement. Furthermore, the implement striking the stop position may cause the implement and / or machine to vibrate, which may affect the performance of the implement and / or machine.

[0003] One attempt to prevent an implement from hitting a stop position is disclosed in Japanese Patent Application Publication No. JP2019052499 (“the '499 Publication”), published on April 4, 2010. In particular, the '499 Publication discloses decelerating the cylinder of an implement of a work machine as the cylinder approaches the end of its stroke to prevent the cylinder from hitting the end of its stroke. While the '499 Publication may effectively reduce the speed of the cylinder of the implement to prevent the cylinder of the implement from hitting the end of its stroke, the '499 Publication does not disclose any way to prevent the cylinder from hitting the end of its stroke without reducing the speed of the cylinder. The system of the present invention solves one or more of the problems described above and / or other problems in the art. Summary of the Invention

[0004] According to some implementations, a method may include identifying a command to move an implement of a work machine in a particular direction and an amount of time the implement moves in the particular direction; determining an estimated speed at which the implement moves in the particular direction based on a previously determined speed at which the implement moves in the particular direction; determining a predicted distance the implement will travel in the particular direction based on the amount of time and the estimated speed; moving the implement from a current position to a reset position based on a stop position associated with the particular direction and the predicted distance the implement will travel in the particular direction; and causing the command to be executed to cause the implement to move in the particular direction for the amount of time, from the reset position to another position, without colliding with the stop position associated with the particular direction.

[0005] According to some implementations, a controller may include one or more memories; and one or more processors communicatively coupled to the one or more memories, configured to: identify a command to move an implement of a work machine in a particular direction and an amount of time to move the implement in the particular direction; determine an estimated speed of the implement moving in the particular direction based on previous movements of the implement in the particular direction; determine a predicted travel distance of the implement in the particular direction based on the amount of time and the estimated speed; cause the implement to move from a current position to a reset position based on the predicted travel distance of the implement in the particular direction; and cause the command to be executed so that the implement moves from the reset position to another position in the particular direction and within the amount of time without colliding with a stop position associated with the particular direction.

[0006] According to some implementations, an implement calibration system may include an implement associated with a work machine and configured to move in a first direction and a second direction, wherein the first direction is opposite to the second direction; an implement control device configured to control the implement; and a controller configured to: obtain a command from the implement control device to move the implement in a first direction; determine an estimated speed of the implement moving in the first direction based on a power level of the command and a calibration map associated with the implement; and determine a predicted travel distance of the implement in the first direction based on an amount of time the implement is moved in the first direction and the estimated speed; causing the implement to move in the second direction from a current position to a reset position based on the predicted distance of travel of the implement in the first direction; causing the command to be executed to cause the implement to move in the first direction for the amount of time, from the reset position to another position without colliding with a stop position associated with the first direction; determining a maximum speed of the implement when moving from the reset position to the another position along the first direction based on causing the command to be executed; and causing the calibration map associated with the implement to be updated to indicate a correlation between the power level of the command and the determined maximum speed of the implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a diagram of an exemplary machine described herein.

[0008] Figure 2 is a diagram of the example environment described in this article.

[0009] Figure 3-4 is a diagram of example operation of an implement via the control devices described herein.

[0010] Figure 5 is a flow chart of an exemplary process for predicting implement travel of a work machine. DETAILED DESCRIPTION

[0011] Figure 1 is a diagram of an exemplary machine 100 described herein. The term "machine" or "work machine" may refer to any machine that performs operations associated with an industry such as mining, construction, farming, transportation, or any other industry. For example, machine 100 may include a mobile machine, such as Figure 1 Track-type tractor as shown, or any other type of mobile machine.

[0012] like Figure 1 As shown, machine 100 includes a frame 102 supporting an engine 104, a drive system 106, a drive axle 108, and a traction system 110. Machine 100 also includes operator controls 112 that interact with controls 114 to control an implement 116.

[0013] Engine 104 is configured to provide power to machine 100. Engine 104 may be an internal combustion engine (e.g., a compression-ignition engine), but generally, engine 104 may be any prime mover that provides power to the various systems of machine 100. Engine 104 may be fueled by fuels such as distillate diesel fuel, biodiesel, dimethyl ether, gaseous fuels (such as hydrogen, natural gas, and propane), alcohol, ethanol, and / or any combination thereof.

[0014] The engine 104 is configured to provide operating power for the operation of the implement 116 via, for example, the drive system 106, the drive shaft 108, etc. The engine 104 is operably configured to receive control information from the control device 114. In addition, the engine 104 and the implement 116 are operably arranged to operate the implement 116 based on the control information received from the control device 114.

[0015] Drive system 106 is movably connected to engine 104 via drive shaft 108 to operate implement 116 and propel machine 100 (eg, via traction system 110 ). Traction system 110 includes a track drive system, a wheel drive system, or any other type of drive system configured to propel machine 100 .

[0016] Operator controls 112 are operatively connected to control device 114 and are configured to generate one or more commands to move implement 116 as described herein. Figure 2 The control device 114 is configured to generate control information to control the movement of the machine 116, as described herein with respect to Figure 2 Further described.

[0017] The implement 116 is operably arranged with the engine 104 so that the implement 116 can be moved by control information transmitted from the control device 114 to the engine 104. The implement 116 is shown as a blade that can be moved up and down, left and right, and / or the like. Other embodiments may include any other suitable implement for performing a variety of tasks, including, for example, ripping, dozing, brushing, compacting, grading, lifting, loading, plowing, and / or the like. Exemplary implements 116 include scarifiers, augers, buckets, breakers / hammers, brushes, compactors, cutters, lifting forks, grader drill bits and end drill bits, grapples, and / or the like.

[0018] The implement 116 is positioned with one or more stop locations 118 (e.g., Figure 1 The stop positions may be positions associated with the full extension of the implement 116 in a particular direction. For example, Figure 1 As shown, stop position 118-1 is a position associated with full extension of implement 116 in an upward direction, while stop position 118-2 is a position associated with full extension of implement 116 in a downward direction. Thus, implement 116 has a full range of motion 120 (e.g., the distance between stop positions 118-1 and 118-2).

[0019] Additionally or alternatively, the implement 116 may be engaged with one or more soft stop positions 122 (e.g., Figure 1 1 and 122 - 2). The soft stop position can be associated with the implement 116 being less than fully extended in a particular direction (e.g., a maximum allowable position in the particular direction to prevent the implement 116 from colliding with a stop position in the particular direction). The soft stop position associated with a particular direction can be a specific distance (e.g., in units of millimeters, centimeters, meters, etc.) from a stop position associated with the particular direction (e.g., in a direction opposite to the particular direction). For example, the soft stop position 122 - 1 associated with the upward direction is a specific distance from the stop position 118 - 1 associated with the upward direction (e.g., in a downward direction). As another example, the soft stop position 122 - 2 associated with the downward direction is a specific distance from the stop position 118 - 2 associated with the downward direction (e.g., in an upward direction). The specific distance can be based on the full range of motion 120 of the implement 116. For example, the specified distance may be a percentage of the full range of motion 120 of the implement 116 (eg, 5%, 10%, 12%, etc., of the full range of motion 120 of the implement 116 ).

[0020] As mentioned above, providing Figure 1 As an example. Other examples are possible and may differ from the combination Figure 1An example of description.

[0021] Figure 2 is a diagram of an example environment 200 in which the systems and / or methods described herein may be implemented. Figure 2 As shown, environment 200 includes operator controls 112, control devices 114, one or more sensing devices 202, etc. The devices of environment 200 may be interconnected via wired connections, wireless connections, or a combination of wired and wireless connections.

[0022] The operator controls 112 may include one or more implement controls, such as dials, knobs, sliders, joysticks, and the like, to control movement of the implement 116. The operator controls 112 are configured to generate one or more commands to move the implement 116 and send the one or more commands (e.g., directly or via one or more other components or devices of the machine 100, such as different controls) to the control device 114 (e.g., on a scheduled basis, on a triggered basis, on an on-demand basis, and / or the like).

[0023] The control device 114 may be a controller, electronic control unit (ECU), and / or the like for the machine 100. The control device 114 may be implemented as a processor, such as a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), and / or another type of processing component. The processor may be implemented using hardware, firmware, and / or a combination of hardware and software. The control device 114 may include one or more processors that can be programmed to perform functions. One or more memories, including random access memory (RAM), read-only memory (ROM), and / or another type of dynamic or static storage device (e.g., flash memory, magnetic memory, and / or optical memory), may store information and / or commands for use by the control device 114. The control device 114 may include a memory (e.g., a non-transitory computer-readable medium) capable of storing commands that, when executed, cause the processor to perform one or more processes and / or methods described herein. The control device 114 is configured to control the movement of the implement 116.

[0024] One or more sensing devices 202 (individually, “sensing device 202” and collectively, “sensing devices 202”) include any type of sensor configured to measure the position of implement 116. For example, sensing device 202 may include a global positioning system (GPS) device, a local positioning system (LPS) device, an inertial measurement unit (IMU) device, etc., to detect the position of implement 116. Sensing device 202 is configured to transmit (e.g., directly or via one or more other components or devices of machine 100, such as a different control device) position information regarding implement 116 to control device 114 (e.g., on a predetermined basis, a triggered basis, an on-demand basis, etc.).

[0025] In the first instance, such as initiating calibration of implement 116, an operator of operator controls 112 interacts (e.g., moves, slides, rolls, pushes, etc.) with one or more implement controls of operator controls 112. For example, the operator may interact with one or more implement controls of operator controls 112 to generate a command to move implement 116 (e.g., change the position of implement 116). Additionally or alternatively, control device 114 may generate (e.g., automatically based on an algorithm) the command.

[0026] The command may indicate a particular direction to move the implement 116 , a power level (e.g., the amount of power (e.g., as a percentage of maximum power) that the engine 104 will supply to the drive system 106 and / or drive shaft 108 to move the implement 116 in a particular direction), etc. For example, the operator may interact with one or more implement controls to generate a command to move the implement 116 (e.g., up, down, right, left, etc.) at a maximum power level (e.g., a 100% power level indicating 100% power of the engine).

[0027] In some implementations, operator controller 112 may send commands to control device 114 (eg, when operator controller 112 generates the commands). Control device 114 may process (eg, parse) the commands to identify and / or determine the specific direction, power level, etc. indicated by the commands.

[0028] The control device 114 can cause a command to be executed to move the implement 116 in a particular direction until the implement 116 reaches a stop position associated with the particular direction. For example, the control device 114 can send control information to the engine 104 to cause the engine 104 to provide an amount of power indicated by the power level to the drive system 106 and / or the drive shaft 108 to move the implement 116 in the particular direction from a starting position to a stop position associated with the particular direction.

[0029] After causing the command to be executed, the control device 114 may determine and / or identify a stop position associated with the particular direction. For example, when the particular direction is up, the control device 114 may determine and / or identify a stop position 118-1 (e.g., Figure 1 As another example, when the specific direction is downward, the control device 114 can determine and / or identify the stop position 118-2 (e.g., as shown in FIG. Figure 1 shown).

[0030] Similarly, the control device 114 can determine and / or identify a soft position associated with a particular direction. For example, when the particular direction is up, the control device 114 can determine and / or identify the soft stop position 122-1 (e.g., Figure 1 As another example, when the specific direction is downward, the control device 114 can determine and / or identify the soft stop position 122-2 (e.g., as shown in FIG. Figure 1 In some implementations, to determine and / or identify a soft position associated with a particular direction, the control device 114 may calculate a particular distance (e.g., based on the full range of motion 120 of the implement 116) and determine and / or identify a position that is a particular distance from a stop position associated with the particular direction (e.g., in a direction opposite the particular direction). Thus, the control device 114 may determine that the soft stop position is a position that is a particular distance from a stop position associated with the particular direction (e.g., as described with respect to FIG. Figure 1 described above).

[0031] Additionally or alternatively, after causing the command to be executed, the control device 114 may determine the speed of the implement 116 moving in the specific direction at the power level. The determined speed of the implement 116 may be an average speed (e.g., mean speed, median speed, etc.), a maximum speed, etc. For example, the control device 114 may determine (e.g., based on position information obtained from the sensing device 202) the starting position of the implement 116 and a stopping position associated with the specific direction, and may determine the distance traveled by the implement 116 (e.g., by comparing the starting position of the implement 116 and the stopping position associated with the specific direction). The control device 114 may divide the travel distance by the amount of time it takes to travel from the starting position of the implement 116 to the stopping position associated with the specific direction to determine the speed (e.g., average speed) of the implement 116 moving in the specific direction at the power level.

[0032] The control device 114 may store the power level, the specific direction, the speed at which the implement 116 is determined to be moving in the specific direction, etc. as entries in a calibration map. The calibration map includes information regarding the corresponding relationship between representative speeds and representative power levels for the implement 116. For example, the calibration map may include one or more entries, each of which may indicate a representative power level; a direction of movement associated with the representative power level; a representative speed of the implement 116 moving in the direction of movement associated with the representative power level, etc. In some implementations, the calibration map includes additional information, such as information identifying one or more stop positions 118 associated with the implement 116, one or more soft stop positions 122 associated with the implement 116, the full range of motion 120 of the implement 116, etc. The calibration map is stored in a data structure (e.g., included in and / or accessible by the control device 114).

[0033] In a second scenario, such as further calibrating the implement 116 after calibration of the implement 116 has already been initiated (e.g., as described herein with respect to the first scenario), the operator may interact with one or more implement controls of the operator controller 112 to generate additional commands, or the control device 114 may generate additional commands to move the implement 116 (e.g., change the position of the implement 116) in a similar manner as described herein (e.g., with respect to the first scenario).

[0034] The additional commands may instruct a specific direction, power level, etc., to move the implement 116. For example, the operator may interact with one or more implement controls to generate additional commands to move the implement 116 (e.g., up, down, right, left, etc.) at a power level that is less than the maximum power level (e.g., a 50%, 75%, 90%, etc. power level).

[0035] In some implementations, the operator controller 112 may send (e.g., when the operator controller 112 generates an additional command) the command to the control device 114. The control device 114 may process (e.g., parse) the additional command to identify and / or determine the specific direction, power level, etc. indicated by the additional command.

[0036] In some implementations, the control device 114 can determine the amount of time it takes to move the implement 116 in a particular direction. For example, the control device 114 can access a time map (e.g., stored in a data structure included in and / or accessible by the control device 114) to determine the amount of time it takes to move the implement 116 in the particular direction. The time map includes information regarding respective relationships between the particular direction in which the implement 116 is moved, the power level at which the implement 116 is moved, and / or the amount of time it takes to move the implement 116 (e.g., which can be associated with the amount of time it takes for the implement 116 to reach a stable or maximum speed). The control device 114 can search the time map based on the particular direction in which the implement 116 is moved and / or the power level at which the implement 116 is moved to determine the amount of time it takes to move the implement 116 in the particular direction.

[0037] Before causing the additional command to be executed, the control device 114 may determine an estimated speed at which the implement 116 may move in a particular direction (e.g., based on the determined amount of time and / or the particular direction, power level, etc. indicated by the additional command). The control device 114 may access a calibration map (e.g., stored in a data structure included in and / or accessible by the control device 114) to determine the estimated speed at which the implement 116 may move in the particular direction.

[0038] For example, the control device 114 may search the calibration map to identify an entry that includes a representative power level greater than or equal to the power level indicated by the additional command (e.g., when the power level is a 60% power level, the control device 114 may search the calibration map to find a representative power level greater than or equal to 60%) and / or a movement direction associated with the representative power level that is the same as the specific direction indicated by the additional command (e.g., when the specific direction is up, the control device 114 may search the calibration map to find an upward movement direction associated with the representative power level). The entry may include a representative speed for the implement 116 moving in the specific direction (e.g., a speed for the implement 116 moving in the specific direction that is predetermined by the control device 114, as described in the first scenario). The control device 114 may identify and / or determine the representative speed and may base the estimated speed on the representative speed. For example, the control device 114 may cause the estimated speed to be a percentage of the representative speed (e.g., 90%, 100%, 115%, etc. of the representative speed).

[0039] Additionally, the control device 114 may determine a predicted travel distance (e.g., based on the estimated speed) for the implement 116 in a particular direction. For example, the control device 114 may determine the predicted travel distance for the implement 116 in a particular direction by multiplying an amount of time (e.g., indicated by a time graph) by the estimated speed.

[0040] In some implementations, the control device 114 can determine the current position of the implement 116 (e.g., based on position information obtained from the sensing device 202) and can determine the maximum remaining travel distance of the implement 116 in a particular direction. The maximum remaining travel distance is the distance between the current position and an end position (e.g., the distance that the implement 116 can travel in the particular direction before colliding with the end position). The end position can be a stop position in the particular direction. Additionally or alternatively, the end position can be a soft stop position in the particular direction.

[0041] The control device 114 determines whether the predicted travel distance is less than or equal to the maximum remaining travel distance. If the control device 114 determines that the predicted travel distance is less than or equal to the maximum remaining travel distance, the maximum remaining travel distance may indicate that the implement 116 can move in the specific direction (e.g., according to the additional command) without hitting the end position in the specific direction. The control device 114 causes the additional command to be executed to move the implement 116 in the specific direction for the specified amount of time. In this way, the control device 114 can move the implement 116 from the current position to another position without hitting the end position (e.g., a stop position associated with the specific direction or a soft stop position associated with the specific direction).

[0042] When the control device 114 determines that the predicted travel distance is greater than the maximum remaining travel distance, which may indicate that the implement 116 may collide with the end position when moving in the specific direction (e.g., in accordance with an additional command), the control device 114 determines and / or identifies a reset position and causes the implement 116 to move from the current position to the reset position. The reset position is in a direction opposite to the specific direction of the current position. The reset position may be: a position greater than or equal to the predicted travel distance from the end position (e.g., in the opposite direction); a soft stop position associated with the opposite direction (e.g., the maximum allowable position of the implement 116 in the opposite direction); a stop position associated with the opposite direction (e.g., a position associated with full extension of the implement 116 in the opposite direction), etc. In this way, the control device 114 can move the reset position away from the end position by a distance greater than or equal to the predicted travel distance of the implement 116 (e.g., to ensure that the implement 116 can move in the specific direction without collide with the end position when the command is executed).

[0043] To move the implement 116 from the current position to the reset position (e.g., in the opposite direction), the control device 114 generates a reset command. The reset command may indicate a default power level (e.g., a constant power level for resetting the implement 116) (e.g., a 15% power level, a 50% power level, a 60% power level, etc.) for moving the implement 116 in the opposite direction of the specified direction, a reset travel distance (e.g., a distance to travel to the reset position), etc. The reset travel distance may be the difference between the predicted travel distance and the maximum remaining travel distance; the difference between the current position and a soft stop position associated with the opposite direction; the difference between the current position and a stop position associated with the opposite direction; and / or similarly, the control device 114 may execute the reset command to move the implement 116 from the current position to the reset position in the opposite direction of the specified direction (e.g., at a specified power level).

[0044] After moving the implement 116 to the reset position, the control device 114 causes additional commands to be executed to move the implement 116 in a specific direction at a power level for a certain amount of time (e.g., as indicated by a time graph) (e.g., in a manner similar to that described herein). In this manner, the control device 114 causes the implement 116 to move from the reset position to another position without hitting an end position (e.g., a stop position associated with the specific direction or a soft stop position associated with the specific direction).

[0045] In some implementations, after causing the additional commands to be executed, the control device 114 determines the speed of the implement 116 while the implement 116 moves in a particular direction (e.g., from a current position to a first other position or from a reset position to a second other position). The determined speed of the implement 116 can be an average speed (e.g., mean speed, median speed, etc.), a maximum speed, etc. For example, the control device 114 can determine the distance traveled by the implement 116 (e.g., by comparing the current position to the first other position or by comparing the reset position to the second other position) and divide the travel distance by the amount of time (e.g., indicated by a time graph) to determine the speed (e.g., average speed) of the implement 116 while moving in the particular direction for the amount of time.

[0046] The control device 114 updates the calibration map based on the additional commands and the determined speed of the implement 116. For example, the control device 114 may store the power level, the specific direction, the determined speed at which the implement 116 moves in the specific direction, etc. as entries in the calibration map (e.g., in a manner similar to that described herein with respect to the first scenario).

[0047] As indicated above, provide Figure 2 As an example. Other examples are possible and may differ from the combination Figure 2 An example of description.

[0048] Figure 3 1 is a diagram illustrating example operations of the implement 116 by the control device 114 (eg, calibrating the implement 116 and / or testing the calibration of the implement 116 without hitting a stop position). Figure 3 As shown, the implement 116 is associated with a stop position 302 in an upward direction and a stop position 304 in a downward direction. A full range of motion 306 is defined by the stop position 302 and the stop position 304. The implement 116 is in a current position 308.

[0049] The control device 114 obtains a command to move the implement 116 in an upward direction. The control device 114 determines a predicted travel distance 310 for the implement 116 in the upward direction (e.g., based on an estimated speed at which the implement 116 is moving in the upward direction and / or an amount of time that the implement 116 is moving in the upward direction as indicated by the calibration map). The control device 114 determines that a maximum remaining travel distance 312 (e.g., a distance between the current position 308 and the stop position 302) is less than the predicted travel distance 310 and causes the implement 116 to move to a reset position 314 (e.g., a position that is a distance in the downward direction from the stop position 302 that is greater than or equal to the predicted travel distance 310). After causing the implement 116 to move to the reset position 314, the control device 114 causes the command to be executed to move the implement 116 in the upward direction for a period of time (e.g., for a period of time consistent with the conditions described herein). Figure 2 In a similar manner as described above. In this manner, the control device 114 causes the implement 116 to move in an upward direction from the reset position 314 to another position without impacting the stop position 302.

[0050] As indicated above, provide Figure 3 As an example. Other examples are possible and may differ from the combination Figure 3 An example of description.

[0051] Figure 4 1 is a diagram illustrating example operations of the implement 116 by the control device 114 (eg, calibrating the implement 116 and / or testing the calibration of the implement 116 without hitting a soft stop position). Figure 4 As shown, the implement 116 is associated with a stop position 402 in an upward direction and a stop position 404 in a downward direction. A full range of motion 406 is defined by the stop position 402 and the stop position 404. The implement 116 is in a current position 408.

[0052] The control device 114 obtains a command to move the implement 116 in a downward direction. The control device 114 determines a predicted travel distance 410 for the implement 116 in the downward direction (e.g., based on an estimated speed at which the implement 116 is moving in the downward direction and / or an amount of time that the implement 116 is moving in the downward direction as indicated by the calibration map). The control device 114 determines that a maximum remaining travel distance 412 (e.g., a distance in the downward direction between the current position 408 and the soft stop position 414) is less than the predicted travel distance 410 and causes the implement 116 to move to a reset position 416 (e.g., a position that is a distance in the upward direction from the soft stop position 414 that is greater than or equal to the predicted travel distance 410). After causing the implement 116 to move to the reset position 416, the control device 114 causes the command to be executed to move the implement 116 in the downward direction for the amount of time indicated by the command (e.g., for a period consistent with the description herein). Figure 2 In a similar manner as described above.) In this manner, the control device 114 causes the implement 116 to move in a downward direction from the reset position 416 to another position without hitting the soft stop position 414.

[0053] As indicated above, provide Figure 4 As an example. Other examples are possible and may differ from the combination Figure 4 An example of description.

[0054] Figure 5 is a flow chart of an exemplary process 500 for predicting work machine implement travel. Figure 5 One or more process blocks of may be performed by a control device (e.g., control device 114). In some implementations, Figure 5 One or more process blocks of may be performed by another device or group of devices separate from or including the controller, such as an operator controller (eg, operator controller 112), a sensing device (eg, sensing device 202), and the like.

[0055] like Figure 5 As shown, process 500 may include identifying a command to move an implement of a work machine in a particular direction and the amount of time the implement is moved in the particular direction (block 510). For example, as described above, a control device may identify a command to move an implement of a work machine in a particular direction and the amount of time the implement is moved in the particular direction.

[0056] like Figure 5 As further shown in FIG5 , process 500 may include determining an estimated speed of the implement moving in a particular direction based on previously moving the implement in the particular direction (block 520). For example, as described above, the control device may determine an estimated speed of the implement moving in a particular direction based on previously moving the implement in the particular direction.

[0057] like Figure 5As further shown in FIG, process 500 may include determining a predicted travel distance of the implement in a particular direction based on the amount of time and the estimated speed (block 530). For example, as described above, the control device may determine a predicted travel distance of the implement in a particular direction based on the amount of time and the estimated speed.

[0058] like Figure 5 As further shown in FIG5 , process 500 may include moving the implement from the current position to the reset position based on the predicted travel distance of the implement in the particular direction (block 540). For example, as described above, the control device may move the implement from the current position to the reset position based on the predicted travel distance of the implement in the particular direction.

[0059] like Figure 5 As further shown in FIG5 , process 500 may include causing a command to be executed to cause the implement to move in a particular direction and for a period of time from a reset position to another position without hitting a stop position associated with the particular direction (block 550). For example, as described above, the control device may cause a command to be executed to cause the implement to move in a particular direction and for a period of time from a reset position to another position without hitting a stop position associated with the particular direction.

[0060] Process 500 may include additional implementations, such as any single implementation or any combination of implementations described below and / or implementations in connection with one or more other processes described elsewhere herein.

[0061] Although Figure 5 Example blocks of process 500 are shown, but in some implementations, process 500 may include Figure 5 5. Additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in FIG. Additionally or alternatively, two or more blocks of process 500 can be executed in parallel.

[0062] Industrial Applicability

[0063] The disclosed control device (e.g., control device 114) can be used with any implement of any work machine where it is desired to prevent the implement from colliding with an end position when moving in a specific direction. The control device is capable of recognizing a command to move the implement of the work machine in a specific direction and, based on the command, determining a predicted travel distance of the implement in the specific direction. If the predicted travel distance is greater than or equal to the maximum remaining travel distance available to the implement before colliding with an end position associated with the specific direction (e.g., a stop position or a soft stop position), the control device causes the implement to move to a reset position at a specific distance from the end position that is greater than the predicted travel distance. The control device can then execute the command to move the implement in the specific direction without colliding with the end position.

[0064] In this manner, by moving the implement to the reset position before executing the command, the control device prevents the implement from impacting the end position associated with the particular direction when the command is executed. This prevents potential damage to the implement if it impacts the rest position and / or prevents vibrations from impacting the implement and / or the work machine that could affect the performance of the implement and / or the work machine.

[0065] Furthermore, the control device can be used to facilitate calibration of the implement. During a calibration process, the implement can be moved alternately between two opposing directions at different power levels to generate a calibration profile associated with the implement. For example, the calibration process may require the implement to move in a first direction at 100% power (e.g., until the implement reaches a stop position as described herein), then move in a second direction at 100% power (e.g., until the implement reaches a stop position as described herein), then move in the first direction at 90% power for a first period of time (e.g., as described herein), then move in the second direction at 90% power for a second period of time (e.g., as described herein), and so on. The control device 114 can automate this calibration process and automatically adjust the implement to a reset position when the predicted travel distance is greater than or equal to the maximum remaining travel distance available to the implement before it crashes into an end position. This can ensure that the implement can move fully in either the first or second direction according to the calibration process, which can result in a more accurate determination of the speed of the implement moving in either direction and at different power levels during that period of time. The more accurate speed determinations may be stored in a calibration map, which may be used to improve the performance of the implement (eg, after the calibration process is complete).

Claims

1. A method for predicting travel of an implement (116) of a work machine (100) and calibrating the implement (116) of the work machine (100), the method comprising: recognizing a command to move an implement (116) of the work machine (100) in a particular direction, wherein the command indicates an amount of time for the implement (116) to move in the particular direction; determining an estimated speed of the implement (116) moving in the particular direction based on a previously determined speed of the implement (116) moving in the particular direction; determining a predicted travel distance (310, 410) of the implement (116) in the particular direction based on the amount of time and the estimated speed; moving the implement (116) from a current position (308, 408) to a reset position (314, 416) based on a stop position (302, 404) associated with the particular direction and the predicted travel distance (310, 410) of the implement (116) in the particular direction; as well as The command is caused to be executed to move the implement (116) from the reset position (314, 416) to another position in the particular direction and within the amount of time without impacting the stop position (302, 404) associated with the particular direction.

2. The method according to claim 1, further comprising: determining a power level associated with the command; determining a maximum speed of the implement (116) when moving from the reset position (314, 416) to the other position in the particular direction based on causing the command to be executed; and A calibration map associated with the implement (116) is updated to indicate a correlation between the power level of the implement (116) and the determined maximum speed.

3. The method of any one of claims 1 to 2, wherein determining the estimated speed of the implement (116) moving in the particular direction comprises: determining a power level for the command; determining a previously commanded power level associated with the previously determined speed at which the implement (116) moved in the particular direction; determining that the previously commanded power level is greater than or equal to the commanded power level; as well as The estimated speed of the implement (116) moving in the particular direction is made the previously determined speed of the implement (116) moving in the particular direction.

4. The method according to any one of claims 1 to 2, wherein moving the implement (116) from the current position (308, 408) to the reset position (314, 416) comprises: determining a soft stop position (302, 404) associated with the particular direction based on the stop position (302, 404) associated with the particular direction, wherein the soft stop position (302, 404) associated with the particular direction is a first distance from the stop position (302, 404) associated with the particular direction in a direction opposite to the particular direction, wherein the first distance is based on a complete range of motion of the implement (116); and determining the reset position (314, 416) based on the soft stop position (302, 404) associated with the particular direction and the predicted travel distance (310, 410) of the implement (116) in the particular direction, wherein the reset position (314, 416) is a second distance from the soft stop position (302, 404) associated with the particular direction in the opposite direction of the particular direction, The second distance is based on the predicted travel distance (310, 410) of the implement (116) in the particular direction.

5. The method of any one of claims 1 to 2, wherein moving the implement (116) from the current position (308, 408) to the reset position (314, 416) comprises: generating an additional command instructing the implement (116) to move at a specific power level in a direction opposite to the specific direction; as well as The additional command is caused to be executed to move the implement (116) from the current position (308, 408) to the reset position (314, 416) in the opposite direction of the particular direction.

6. A controller (114), comprising: one or more memories; as well as One or more processors, communicatively coupled to the one or more memories, configured to: Recognizing a command to move an implement (116) of a work machine (100) in a particular direction for a certain amount of time; determining an estimated speed of the implement (116) moving in the particular direction based on previously moving the implement (116) in the particular direction; determining a predicted travel distance (310, 410) of the implement (116) in the particular direction based on the amount of time and the estimated speed; moving the implement (116) from a current position (308, 408) to a reset position (314, 416) based on the predicted travel distance (310, 410) of the implement (116) in the particular direction; as well as The command is caused to be executed to move the implement (116) from the reset position (314, 416) to another position in the particular direction and within the amount of time without hitting a stop position (302, 404) associated with the particular direction.

7. The controller (114) of claim 6, wherein the command is provided by an operator controller (112) of the work machine (100).

8. The controller (114) of any one of claims 6 to 7, wherein the one or more processors, when determining the estimated speed of the implement (116) moving in the particular direction, are configured to: determining a power level associated with the command; identifying a different power level greater than the power level associated with the command based on a calibration map associated with the implement (116); determining a maximum speed of the implement (116) associated with the different power levels based on the calibration map; and The estimated speed of the implement (116) moving in the particular direction is determined based on the maximum speeds of the implement (116) associated with the different power levels.

9. The controller (114) of any one of claims 6 to 7, wherein the one or more processors, when moving the implement (116) from the current position (308, 408) to the reset position (314, 416), are configured to: determining a distance between the current position (308, 408) and the stop position (302, 404) associated with the particular direction; determining that the distance is less than the predicted travel distance (310, 410); and Based on determining that the distance is less than the predicted travel distance (310, 410), the implement (116) is moved from the current position (308, 408) to the reset position (314, 416).

10. The controller (114) of any one of claims 6 to 7, wherein the implement (116) is a blade, a scarifier, an auger, a bucket, a breaker, a hammer, a brush, a compactor, a cutter, a lifting fork, or a grader drill bit.

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