CONTROL OF A MACHINE FOR ENDING A SWATH

Abstract

A control unit (202) for a working machine (100) can increase the angle of a soil-engaging implement (120) of the working machine (100) while maintaining a distance between the trailing edge of the soil-engaging implement (120) and a centerline of the working machine (100). The control unit (202) can detect that the working machine (100) has traveled a certain distance from its position at the time the angle of the soil-engaging implement (120) increases. Based on this detection, the control unit (202) for the working machine (100) can cause the working machine (100) to steer away from a swath.

Description

Technical area

[0001] The present disclosure relates generally to earthmoving machines and, for example, to controlling a machine to finish a windrow. State of the art

[0002] Earthmoving equipment, such as motor graders, is used to displace, distribute, and level material, such as soil. For example, a motor grader shapes or levels a ground surface by pressing a working tool, such as a blade, against the ground surface over which the motor grader is driven. A windrow is a ridge or long, narrow pile of material formed by the motor grader during road construction or maintenance work. During a grading operation, the motor grader can move the windrows in multiple passes, mixing the soil material until the material is evenly distributed.

[0003] The motor grader typically includes a linkage assembly for the implement that can control implement angle, implement raising and lowering, implement lateral translation, and implement tilt. Due to the implement's many degrees of freedom, a motor grader operator may have difficulty controlling the implement's position. Accordingly, a windrow formed by the motor grader (e.g., at the end of a pass) may end with a lack of precision, with one end of the windrow characterized by material spread over a large area rather than having a tight taper. Therefore, the windrow may not be completely cleared during a subsequent pass, leaving excess material behind.The excess material can create an uneven surface, prevent proper mixing of the material, and / or potentially require more frequent road maintenance. Furthermore, the excess material can wear out or damage the tires of motor graders or other equipment traversing the area. Furthermore, the excess material can become compacted, making removal and repair of the excess material time-consuming.

[0004] The control system of the present disclosure solves one or more of the problems listed above and / or other problems of the prior art. Brief description

[0005] A motor grader may include a front section, a rear section, an articulation between the front section and the rear section, a linkage assembly of the front section having a drawbar, a circle connected to the drawbar, and a ground-engaging implement connected to the circle that is positionable at an angle defining a leading edge and a trailing edge of the ground-engaging implement, and a controller. The controller may be configured to receive an input indicating that a swath formed by the motor grader in connection with a grading operation is to be terminated. The controller may be configured, based on the input, to cause an increase in the angle of the ground-engaging implement by articulating the front section relative to the rear section and rotating the circle.The controller may be configured to detect that the motor grader has traveled a specific distance from a location of the motor grader at a time when the angle of the ground-engaging implement is increased. The controller may be configured to perform a swath termination action based on detecting that the motor grader has traveled the specific distance.

[0006] A control system for a work machine having a linkage assembly including a drawbar, a circle connected to the drawbar, and a ground-engaging implement connected to the circle, the implement being positionable at an angle defining a leading edge and a trailing edge of the ground-engaging implement. The control system may include one or more sensors configured to detect a position of the ground-engaging implement, a circle rotation actuator configured to rotate the circle, an articulation actuator configured to articulate a forward portion of the work machine relative to a rearward portion of the work machine, and a controller. The controller may be configured to identify that the work machine is to perform an operation for terminating a swath formed by the work machine in conjunction with a grading operation.The controller may be configured to cause an increase in the angle of the ground-engaging implement by articulating the front portion relative to the rear portion and rotating the circle based on identifying that the work machine is to perform the operation. The controller may be configured to detect that the work machine has traveled a specific distance from a location of the work machine at a time of increasing the angle of the ground-engaging implement. The controller may be configured to perform a swath termination action based on detecting that the work machine has traveled the specific distance.

[0007] A method for terminating a swath formed by a work machine may include increasing, by a controller, an angle of a ground-engaging implement of the work machine while maintaining a distance between a trailing edge of the ground-engaging implement and a centerline of the work machine. The method may include detecting that the work machine has traveled a predetermined distance from a location of the work machine at a time of increasing the angle of the ground-engaging implement. The method may include causing the work machine to steer away from the swath based on detecting that the work machine has traveled the predetermined distance. Short description of the drawings Fig. 1 is a side elevation view of an exemplary machine. Fig. Figure 2 is a representation of an exemplary tax system. Fig. Figure 3 is an illustration of an example associated with the control of a machine for terminating a swath. Fig. Figure 4 is an illustration of an example associated with the control of a machine for terminating a swath. Fig. 5 is a flow diagram of an exemplary process associated with controlling a machine to terminate a windrow. Detailed description

[0008] This disclosure relates to a control system applicable to any machine that includes a ground-engaging implement. For example, the machine may be a motor grader, a bulldozer, a loader, a plow, a harvester, or the like. Fig. 1 is a side elevation view of an exemplary machine 100. The machine 100 is a work machine. Fig. 1 shows an example where the machine 100 is a motor grader.

[0009] However, as described above, the machine 100 may be any machine that includes a ground engaging implement.

[0010] The machine 100 includes a steerable front section 102 and a driven rear section 104. An articulated connection 106 (e.g., with a hinge) may be located between the front section 102 and the rear section 104 to allow the front section 102 and the rear section 104 to be articulated relative to each other. The front section 102 and the rear section 104 are carried on front ground-engaging elements and rear ground-engaging elements, respectively, which are configured as a pair of front wheels 108 (only a left wheel 108 is shown in Fig. 1 visible) carrying the front section 102, and one or more pairs of rear wheels 110 (only left wheels 110 are shown in Fig. 1) supporting the rear portion 104. Alternatively, the ground engaging elements may include one or more chain assemblies or the like.

[0011] The front section 102 includes a front frame section 112. Attached to the front frame section 112 is a linkage assembly 114 that can be used for grading. The linkage assembly 114 includes a drawbar 116 pivotally mounted to the front frame section 112 (e.g., via a ball joint (not shown)), a circle 118 connected to the drawbar 116, and a ground-engaging implement 120, such as a blade or blade, connected to the circle 118 (e.g., the linkage assembly 114 can include a drawbar-circle-blade arrangement). A position of the drawbar 116 can be controlled by lift cylinders 122 (of which Fig. 1 only one is visible) and a drawbar sideshift cylinder 124. The lift cylinders 122 can control the raising and lowering of the implement 120 relative to a ground surface and / or the tilting of the implement 120 relative to the ground surface (e.g., when the lift cylinders 122 are operated independently of each other). The drawbar sideshift cylinder 124 can control the lateral translation of the implement 120 relative to the front frame section 112. An angular position of the circuit 118 can be controlled by a circuit drive motor 126 (e.g., a hydraulic motor). The circuit 118 can, for example, include a plurality of gears that mesh with a gear coupled to the circuit drive motor 126. The circular drive motor 126 can control an angle of the implement 120 relative to the front frame section 112 by rotating the circle 118.

[0012] A position of the work tool 120 can be controlled by a blade tilt cylinder (not shown) and / or a blade sideshift cylinder (not shown). The blade tilt cylinder can control forward or reverse rotation of an upper edge of the work tool 120. The blade sideshift cylinder can control lateral translation of the work tool 120 relative to the front frame section 112. Accordingly, the linkage assembly 114 allows the work tool 120 to be moved into a variety of different positions. For example, the work tool 120 can be positionable at an angle relative to the front frame section 112 that defines a leading edge (also referred to as a "toe") and a trailing edge (e.g., also referred to as a "heel") of the work tool 120.The front edge of the implement 120 is a front edge of the implement 120 with respect to a direction of movement of the machine 100, and the rear edge is a rear edge of the implement 120 with respect to a direction of movement of the machine 100.

[0013] The machine 100 may also include an operator cab 128. The operator cab 128 may include a console 130 and one or more operator controls 132. The console 130 may include a display, a touchscreen display, and / or one or more operating mode selectors (e.g., buttons, switches, or the like). The operator controls 132 may include a steering mechanism, a speed throttle, a joystick, a joystick, a touchscreen controller, or the like. An operator occupying the operator cab 128 may control various functions of the machine 100 using the console 130 and / or the operator controls 132.

[0014] The rear section 104 includes a rear frame section 134. A prime mover 136 is supported on the rear frame section 134. The prime mover 136 may include, among other things, an engine (e.g., an internal combustion engine), such as a diesel engine, a gasoline engine, or a gas engine. Additionally or alternatively, the prime mover 136 may include an electric motor (e.g., for providing electrical power to the machine 100 or for providing hybrid power to the machine 100 with the engine). The prime mover 136 is configured to drive the machine 100 via the rear wheels 110. The prime mover 136 may be coupled to a hydraulic system 138.The hydraulic system 138 may include one or more pumps (not visible) to drive or power operations of the machine 100, such as steering the wheels 108 or the wheels 110 or moving the linkage assembly 114 to control a position of the work implement 120.

[0015] The machine 100 includes one or more sensors 140 mounted on the front frame portion. The sensor(s) 140 may be directed toward a front region of the machine 100 and configured to collect data related to a configuration (e.g., a size, a shape, and / or a location) of one or more swaths on a ground surface being worked by the machine 100. A sensor 140 may include, among others, an optical sensor, such as a camera (e.g., a two-dimensional camera, a three-dimensional camera, or a stereo camera) or a lidar sensor, a sound sensor (e.g., an ultrasonic sensor), and / or a wireless sensor (e.g., a radar sensor).

[0016] The machine 100 includes a control system 200 which, in conjunction with Fig. 2. The control system 200 may enable autonomous grading control for the machine 100. Autonomous grading control operations may be performed in conjunction with an autonomous mode or a semi-autonomous mode of the machine 100. Alternatively, autonomous grading control operations may be performed in conjunction with an operator assist mode of the machine 100, which provides autonomous or semi-autonomous operation of certain functions of the machine 100 while the machine 100 is otherwise manually operated.

[0017] As stated above, Fig. 1 is provided as an example. Other examples may differ from what is stated in relation to Fig. 1 is described.

[0018] Fig. 2 is an illustration of an exemplary control system 200 as described herein. The control system 200 includes a controller 202 (e.g., an electronic control module (ECM)). The controller 202 includes one or more memories and one or more processors communicatively coupled to the one or more memories. A processor may include a central processing unit, a graphics processor, a microprocessor, a controller, a microcontroller, a digital signal processor, a general-purpose circuit, an application-specific integrated circuit, or another type of processing component. The processor may be implemented in hardware, firmware, or a combination of hardware and software. The processor may be programmed to perform one or more operations or processes described elsewhere herein. A memory may include volatile and / or non-volatile memory.The memory may include, for example, random access memory (RAM), read-only memory (ROM), a hard disk drive, and / or another type of memory (e.g., flash memory, magnetic storage, and / or optical storage). The memory may be a non-transitory computer-readable medium. The memory may store information, one or more instructions, and / or software (e.g., one or more software applications) associated with the operation of the controller 202.

[0019] The control system 200 may include one or more implement position sensors communicatively coupled to the controller 202 and configured to detect a position of the implement 120. The implement position sensors may include, for example, a blade sideshift sensor 204 to measure, among other things, an amount of lateral shift of the implement 120, a blade tilt sensor 206 to measure an amount of tilt of the implement 120, a left blade lift sensor 208 to measure an amount of lift on a left side of the implement 120, a right blade lift sensor 210 to measure an amount of lift on a right side of the implement 120, a circle rotation sensor 212 to measure an amount of rotation of the circle 118 (e.g., an angle of the implement 120), and / or a drawbar sideshift sensor 214 to measure the amount of sideshift of the drawbar 116 (e.g.,a handling of the lateral shift of the work tool 120). As an example, the blade sideshift sensor 204 may be coupled to the blade sideshift cylinder (not shown), the blade tilt sensor 206 may be coupled to the blade tilt cylinder (not shown), the left blade lift sensor 208 may be coupled to a left drawbar lift cylinder 122, the right blade lift sensor 210 may be coupled to a right drawbar lift cylinder 122, the circle rotation sensor 212 may be coupled to the circle 118, and the drawbar sideshift sensor 214 may be coupled to the drawbar sideshift cylinder 124.

[0020] The control system 200 may also include a tie rod pin sensor 215 communicatively coupled to the controller 202 and configured to detect a position of a tie rod pin (not shown) of a connecting rod (not shown) of the linkage assembly 114. Additionally, the control system 200 may include a steering angle sensor 216 communicatively coupled to the controller 202 and configured to measure a steering angle or direction of the machine 100. Furthermore, the control system 200 may include an articulation sensor 217 communicatively coupled to the controller 202 and configured to detect an articulation angle of the front section 102 relative to the rear section 104.The implement position sensor, the tie rod pin sensor 215, the steering angle sensor 216, and / or the articulation sensor 217 may include an inertial measurement unit (IMU), an angular position or rotation sensor, a linear displacement sensor, or another type of sensor.

[0021] Additionally, control system 200 may include sensor(s) 140, which may be communicatively coupled to controller 202. In some implementations, multiple sensors may be integrated into a single sensor, or a single sensor may perform the functions of multiple sensors described above.

[0022] Based on data from the above-mentioned sensors, the controller 202 may generate and provide control signals to one or more actuators communicatively coupled to the controller 202. The actuators may include one or more implement position actuators. The implement position actuators may, for example, include, among others:one or more blade sideshift actuators 218 to cause lateral translation of the work tool 120, one or more blade tilt actuators 220 to cause tilt rotation of the work tool 120, one or more left blade lift actuators 222 to cause raising or lowering of a left side of the work tool 120, one or more right blade lift actuators 224 to cause raising or lowering of a right side of the work tool 120, one or more circle rotation actuators 226 to cause rotation of the circle 118, and / or one or more drawbar sideshift actuators 228 to cause lateral translation of the drawbar 116.For example, the blade sideshift actuator 218 may control the blade sideshift cylinder (not shown), the blade tilt actuator 220 may control the blade tilt cylinder (not shown), the left blade lift actuator 222 may control a left drawbar lift cylinder 122, the right blade lift actuator 224 may control a right drawbar lift cylinder 122, the circle rotation sensor 226 may control the circle drive motor 126, and the drawbar sideshift actuator 228 may control the drawbar sideshift cylinder 124. Additionally, the actuators may include one or more tie rod pin actuators 229 to shift a position of the tie rod pin in the tie rod (e.g., the position of the tie rod pin in the tie rod may control a lateral position of the tie rod 116).Furthermore, the actuators may include one or more steering actuators 230 for controlling a steering angle of the machine 100 and / or a wheel tilt of the machine 100. Furthermore, the actuators may include one or more articulation actuators 231 for controlling an articulation angle of the front portion 102 relative to the rear portion 104 of the machine 100. An actuator may include a control valve or solenoid for a hydraulic cylinder, an electric actuator, or another type of actuator. In some implementations, multiple actuators may be integrated into a single actuator, or a single actuator may perform the functions of multiple actuators described above.

[0023] The control system 200 may include the console 130 and / or the operator controls 132, which may be communicatively coupled to the controller 202. For example, the controller 202 may receive an input provided via the console 130 and / or the operator controls 132 indicating an operating mode for the machine 100. The operating mode may include, for example, enabling or disabling autonomous control of grading operations of the machine 100. Additionally, the controller 202 may output information for presentation on one or more displays of the console 130. The information may indicate, for example, whether autonomous control of grading operations is enabled or disabled, a status of autonomous control of grading operations, or the like. In some implementations, a memory of the controller 202 may store information related to the machine 100 (e.g.,Machine configuration parameters, such as the dimensions of the machine 100, attachments on the machine 100, or the like. In some implementations, the control system 200 may include a joystick position motor 232 configured to provide force feedback to a joystick of the controls 132.

[0024] As stated above, Fig. 2 is provided as an example. Other examples may differ from what is stated in relation to Fig. 2 is described.

[0025] Fig. 3 is an illustration of an example 300 associated with the control of a machine for terminating a windrow.

[0026] The controller 202 may be configured to perform operations associated with the autonomous control of grading operations of the machine 100, as described herein. During a grading operation (e.g., in which the machine 100 travels along a ground surface to perform one or more grading passes on the ground surface), the work tool 120 may be positioned at an angle θ (e.g., relative to a transverse line to the rear portion 104) that defines a leading edge and a trailing edge of the work tool 120, as described herein. The work tool 120 may, for example, be steered to the angle by an operator of the machine 100. The controller 202 may monitor a position of the work tool 120 during the grading operation to identify the leading edge and trailing edge of the work tool 120. The controller 202 may, for example (e.g.,The controller 202 may detect (at regular or irregular intervals) a position of the implement 120 based on signals output from one or more of the implement position sensors, such as the circular rotation sensor 212. Continuing with the example, the controller 202 may determine, based on the position of the implement 120, whether the leading edge of the implement 120 is toward a first side (e.g., a left side) of the machine 100 or toward a second side (e.g., a right side) of the machine 100.

[0027] As represented by reference numeral 305, the controller 202 may identify that the machine 100 should perform an operation to terminate a swath formed by the machine 100 in connection with the grading operation. The controller 202 may transition to an autonomous mode based on the identification that the machine 100 should perform the operation to terminate the swath.

[0028] For example, to identify that the machine 100 should perform the windrow end operation, the controller 202 may receive an input indicating that a windrow formed by the machine 100 in connection with the grading operation should be terminated. For example, the controller 202 may receive an input indicating that the machine 100 should perform the windrow end operation. The controller 202 may receive the inputs via the console 130, via the one or more controls 132, via another input device of the operator cab 128, and / or via a remote control device for the machine 100. For example, an operator of the machine 100 may press a button to initiate an end-window sequence for the machine 100. The controller 202 may receive the input (e.g., the operator may press the button) when the machine 100 is approaching an end of a grading pass.In one example, the end of the grading pass may correspond to a time at which the front end of the machine 100 reaches the end of a swath formed during a previous grading pass. Additionally or alternatively, the end of the grading pass may occur according to a site plan or an operational plan for the grading operation.

[0029] As another example, the controller 202 may retrieve data collected from one or more sensors 140 to identify that the machine 100 should perform the windrow end operation. For example, the data may be collected from one or more optical sensors and / or one or more acoustic sensors of the machine 100. The data may indicate a configuration of one or more windrows formed during the grading operation. For example, the data may include one or more images, a point cloud, and / or a three-dimensional model associated with the material (e.g., a ground surface) being processed by the machine 100 with the work tool 120. The controller 202 may determine that the machine 100 should perform the windrow end operation based on the data.For example, the controller 202 may determine the arrangement of the one or more swaths based on the data, and the controller 202 may determine that the machine 100 should perform the swath ending operation based on the arrangement of the one or more swaths indicating that the machine 100 is nearing the end of a grading pass, in a manner similar to that described above. For example, the controller 202 may use a machine learning model (e.g., trained using a large number of images, point clouds, three-dimensional models, or the like) to identify that the machine 100 is nearing the end of a grading pass based on the arrangement of the one or more swaths indicated by the data. As represented by reference numeral 310, the controller 202 may determine that the machine 100 should perform the swath ending operation based on the arrangement of the one or more swaths indicated by the data (e.g.,based on the input), cause the angle θ of the implement 120 to increase while maintaining a distance (e.g., an approximately fixed or constant distance) between a trailing edge of the implement 120 and a centerline of the machine 100 (e.g., a centerline of the rear portion 104 of the machine 100). As the machine 100 moves across the ground surface to form the windrow, the trailing edge of the implement 120 may be translated, for example, along a straight line with respect to the formed windrow. The controller 202 may cause the angle of the implement 120 to increase by articulating the front portion 102 relative to the rear portion 104 and rotating the circle 118. The articulation of the front portion 102 relative to the rear portion 104 may occur simultaneously (e.g., at least partially overlapping in time or simultaneously) with the rotation of the circle 118.To effect articulation of the front section 102 relative to the rear section 104, the controller 202 may generate a control signal that effects actuation of the articulation actuator 231. To effect rotation of the circle 118, the controller 202 may generate a control signal that effects actuation of the circle rotation actuator 226. By articulating the front section 102 relative to the rear section 104, the front section 102 may be moved closer to the forming swath. For example, the articulation of the front section 102 relative to the rear section 104 may be an articulation toward the trailing edge of the implement 120. The articulation of the front section 102 relative to the rear section 104 may be an articulation of X degrees (e.g., approximately 10 degrees or 15 degrees), as further described in connection with. Fig. 4. The articulation of the front section 102 relative to the rear section 104 may occur at a predetermined speed. The rotation of the circle 118 may move the front edge of the implement 120 closer to the forming swath. The rotation of the circle 118 may be a rotation of Y degrees, as further described in connection with Fig. 4. The rotation of the circle 118 can occur at a predetermined speed. The combination of the articulation of the front section 102 relative to the rear section 104 and the rotation of the circle 118 quickly increases the angle of the implement 120 to enable faster discharge of the material away from the implement 120 to maintain a straight swath.

[0030] In some implementations, the controller 202 may determine whether articulating the front portion 102 relative to the rear portion 104 and / or rotating the circle 118 would result in a collision of the implement 120 with the machine 100 (e.g., damaging ground-engaging elements of the machine 100, a ladder of the machine 100, or the like). Based on a determination that articulating the front portion 102 relative to the rear portion 104 and rotating the circle 118 would not result in a collision of the implement 120 with the machine 100, the controller 202 may cause the angle of the implement 120 to increase (e.g., by articulating the front portion 102 relative to the rear portion 104 and rotating the circle 118).

[0031] The controller 202 may detect that the machine 100 has traveled a certain distance from a location of the machine 100 at a time of increasing the angle of the implement 120 (e.g., from a start of increasing the angle of the implement 120). The certain distance may be at least half the length of the machine 100 (e.g., if the length is indicated by information related to the machine 100 stored in the memory of the controller 202). The controller 202 may perform a swath termination action based on detecting that the machine 100 has traveled the certain distance. For example, after the machine 100 has traveled the certain distance from the location of the machine 100 at the time of increasing the angle of the implement 120, the controller 202 may perform the swath termination action.

[0032] As represented by reference numeral 315, the controller 202 may cause the machine 100 to steer away from the windrow to perform the windrow termination action. For example, the controller 202 may cause the machine 100 to steer toward the leading edge of the implement 120. To cause the machine 100 to steer away from the windrow, the controller 202 may generate a control signal to cause actuation of the steering actuator(s) 230. Steering the machine 100 away from the windrow after the machine 100 has traveled the specified distance maintains a straight windrow and causes the material to be quickly diverted from the implement 120. Alternatively, the controller 202 may provide a warning indicating that the machine 100 should be steered away from the windrow to perform the windrow termination action.The warning may include activating an indicator light on the console 130, activating haptic feedback to an operator 132, displaying a message on a display on the console 130, or the like. After the windrow termination action is performed, the windrow may be terminated, as represented by reference number 320.

[0033] In some implementations, based on the performance of the swath termination action, the controller 202 may cause an adjustment of the pitch of the implement 120 to raise an edge (e.g., a cutting edge) of the implement 120 from a ground surface (e.g., by generating a control signal that causes the actuation of the pitch actuator 220). The adjustment of the pitch may be, for example, increasing a back pitch of the implement 120 (e.g., to move a top edge of the implement 120 toward the rear portion 104 of the machine 100). Raising the edge of the implement 120 from the ground surface lifts the implement 120 off the ground surface to interrupt additional grading.

[0034] The controller 202 may identify an end of the swath formed by the machine 100 in connection with the grading operation. The controller 202 may terminate the autonomous swath termination mode based on the identification of the end of the swath. To identify the end of the swath, the controller 202 may receive additional input indicating that the swath has terminated. The controller 202 may receive the additional input via the console 130, via the one or more controls 132, via another input device of the operator cab 128, and / or via a remote control device for the machine 100. For example, an operator of the machine 100 may press a button to complete the end-of-swath sequence for the machine 100 (e.g., the same button that initiated the end-of-swath sequence).Alternatively, the controller 202 may identify the end of the swath based on the data collected from one or more sensors 140 (e.g., using a machine learning model), in a manner similar to that described above.

[0035] The controller 202 may cause the implement 120 to be lifted from a ground surface based on identifying the end of the swath (e.g., by generating a control signal that causes the lift actuators 222, 224 to be actuated). Similarly to the above, raising the implement 120 from the ground surface lifts the implement 120 from the ground surface to interrupt additional grading. For example, adjusting the pitch of the implement 120 as described above may quickly lift the implement 120 from the ground surface, but only by a small amount, and raising the implement 120 from the ground surface may ensure that sufficient clearance exists between the bottom edge of the implement 120 and the ground surface.In some implementations, after lifting the implement 120 from the ground surface, even if the grade has been adjusted, the controller 202 may cause the grade of the implement 120 to be reset to a position used before the grade adjustment.

[0036] As stated above, Fig. 3 is provided as an example. Other examples may differ from what is stated in relation to Fig. 3 is described.

[0037] Fig. 4 is an illustration of an example 400 associated with the control of a machine for terminating a windrow.

[0038] Example 400 indicates a technique used by the controller 202 to determine an amount of rotation of the circle 118 (Y degrees, described above) for a given amount of articulation of the front section 102 with respect to the rear section 104 (X degrees, described above) to increase the angle of the implement 120 in connection with the end-of-swathe sequence, as described above. The upper illustration in Fig. 4 shows an exemplary operating state 405 of the machine 100 at a time when a windrow termination sequence is initiated. The middle illustration in Fig. 4 shows an exemplary operating state 410 of the machine 100 in connection with the articulation of the front section 102 relative to the rear section 104. The lower illustration of Fig. 4 shows an exemplary operating state 415 of the machine 100 in connection with the rotation of the circle 118.

[0039] In example 400, PA represents the location of a pin of the articulation 106. PCE represents an initial position of a cutting edge (e.g., a trailing edge) of the work tool 120, P'CE represents a position of the cutting edge after articulating the machine 100, and P''CE represents a position of the cutting edge after rotating the circle 118 (where, in the equations below, an "x" appended to one of the aforementioned variables indicates an x-coordinate of a location, and a "y" appended to one of the aforementioned variables indicates a y-coordinate of a location). PC represents an initial pivot point (COR) of the circle 118, and P'C represents a COR of the circle 118 after articulating the machine 100 (where an "x" appended to one of the aforementioned variables indicates an x-coordinate of a COR, and a "y" appended to one of the aforementioned variables indicates a y-coordinate of a COR).θFM represents an initial articulation angle of the machine 100, and θ'FM represents an articulation angle of the machine 100 after articulation of the machine 100. θB represents an initial angle of the implement 120. R represents a distance from the COR of the circle 118 to the cutting edge of the implement 120. D represents an initial distance from the cutting edge of the implement 120 to a center line (CL) of the machine 100, and D' represents a distance from the cutting edge of the implement 120 to the CL of the machine 100 after articulation of the machine 100.

[0040] The controller 202 can determine a position (e.g., x, y coordinates) to be used for the cutting edge of the implement 120 for a particular articulation angle using Equation 1 and Equation 2: PCEy''=PCEy PCEx''=PCx'±R2−(PCEy''−PCy')2

[0041] The controller 202 may, using Equation 3, determine an angle between P' CE and P'' CE determine: ΔθB=cos−1(PCEx''−PCx')(PCEx'−PCx')+(PCEy''−PCy')(PCEy'−PCy')(PCEx''−PCx')2+(PCEy''−PCy' )2(PCEx'−PCx')2+(PCEy'−PCy')2=cos−1(PCEx''−PCx')(PCEx'−PCx')+(PCEx''−PCy')(PCEy'−PCy')R2

[0042] The controller 202 can rotate the circle 118 by an angle Δθ B so that the position of the cutting edge P'' CEy equal to P CEy and is equal to D. That is, to increase an articulation of the front portion 102 relative to the rear portion 104 by an angle Δ{θ FM , θ' FMTo compensate for the angle of rotation (e.g., by 15 degrees), the controller 202 may cause the circle 118 to rotate so that the distance between the cutting edge of the implement 120 and the centerline of the machine 100 is the same as the original distance between the cutting edge of the implement 120 and the centerline without the increase in articulation. In this way, the articulation of the front section 102 relative to the rear section 104 and the rotation of the circle 118 combine to increase the angle of the implement 120 by pivoting the implement 120 about the cutting edge of the implement 120 (e.g., the cutting edge of the implement 120 translates along a straight line to maintain a straight line swath).

[0043] As stated above, Fig. 4 is provided as an example. Other examples may differ from what is stated in relation to Fig. 4 is described.

[0044] Fig. 5 is a flow diagram of an exemplary process 500 associated with the control of a machine for terminating a windrow. One or more process blocks of Fig. 5 can be carried out by a controller (e.g., controller 202). Additionally or alternatively, one or more process blocks from Fig. 5 may be performed by another device or group of devices separate from or including the controller, such as another device or component located inside or outside the machine 100. Process 500 may refer to terminating a swath formed by a work machine during a grading operation.

[0045] The process 500 may include receiving an input indicating that a swath formed in connection with a grading operation should be terminated. Alternatively, the process 500 may include obtaining data collected from one or more optical sensors or acoustic sensors of the work machine, the data indicating a configuration of one or more swaths, and determining, based on the data, that the work machine should perform the operation to terminate the swath. As in Fig. 5, process 500 may include increasing an angle of a ground-engaging implement of the work machine while maintaining a distance between a trailing edge of the ground-engaging implement and a centerline of the work machine (block 510). For example, the controller may cause an increase in an angle of a ground-engaging implement of the work machine, as described above. Causing an increase in the angle of the ground-engaging implement of the work machine may include articulating a forward portion of the work machine relative to a rearward portion of the work machine and rotating a circle of a linkage assembly of the forward portion.

[0046] Process 500 may include determining whether at least one of the articulation of the front portion relative to the rear portion or the rotation of the circle would result in a collision of the ground-engaging implement with the work machine, and causing the angle of the ground-engaging implement to increase may be based on determining that the articulation of the front portion relative to the rear portion and the rotation of the circle would not result in a collision of the ground-engaging implement with the work machine. Process 500 may include monitoring a position of the ground-engaging implement during the grading operation to identify the leading edge and the trailing edge of the ground-engaging implement.

[0047] As in Fig. 5, process 500 may include detecting that the work machine has traveled a certain distance from a work machine location at a time of increasing the angle of the ground-engaging implement (block 520). For example, the controller may detect that the work machine has traveled a certain distance, as described above. The certain distance may be at least half the length of the work machine.

[0048] As further stated in Fig. 5, process 500 may include causing the work machine to steer away from the swath based on detecting that the work machine has traveled the determined distance (block 530). For example, the controller may cause the work machine to steer away from the swath as described above. In some examples, process 500 may alternatively include causing an alert to be provided indicating that the work machine should be steered away from the swath. Process 500 may include causing, based on causing steer away from the swath, an adjustment of the pitch of the ground-engaging implement to raise an edge of the ground-engaging implement from a ground surface.Process 500 may include receiving additional input indicating that the swath has been completed and causing the ground-engaging implement to be raised from a ground surface. Process 500 may include causing a slope of the ground-engaging implement to be reset to a position used prior to the slope adjustment.

[0049] Even if Fig. 5 example blocks of process 500, process 500 may, in some implementations, contain additional blocks, fewer blocks, different blocks, or differently arranged blocks than those in Fig. 5. Additionally or alternatively, two or more of the blocks of method 500 may be performed in parallel. Industrial applicability

[0050] The control system described here can be used with any machine having a ground-engaging implement capable of grading a surface. For example, the control system can be used with a motor grader having a ground-engaging implement, such as a blade or ploughshare. Due to the implement's many degrees of freedom, a motor grader operator may have difficulty controlling the implement's position. Accordingly, a windrow formed by the motor grader (e.g., at the end of a pass) may end with a lack of precision, with one end of the windrow characterized by the material being spread over a large area rather than having a tight taper. Therefore, the windrow may not be completely cleared on a subsequent pass, leaving excess material behind.The excess material can create an uneven surface, prevent proper mixing of the material, and / or potentially require more frequent road maintenance. Furthermore, the excess material can wear out or damage the tires of motor graders or other equipment traversing the area. Furthermore, the excess material can become compacted, making removal and repair of the excess material time-consuming, requiring disproportionate machine hours, increasing machine wear, and / or increasing fuel consumption.

[0051] The control system described herein is useful for ending a swath in a straight, narrow taper. Specifically, based on the identification that a swath is to be ended, the control system can cause the angle of the implement to increase while maintaining a distance between a trailing edge of the implement and a centerline of the machine. This allows for faster discharge of material from the implement while maintaining swath linearity. Thus, the control system enables the ending of a swath without leaving excess material spread over a large area.Accordingly, the control system provides better surface quality, reduces wear or damage to the machine or other equipment that may be caused by driving over areas of excess material, and reduces the need to remove or repair excess material, thereby saving machine hours, reducing machine wear and saving fuel.

[0052] The above disclosure provides illustration and description, but is not intended to be exhaustive or to limit implementations to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure or learned from practice of implementations. Furthermore, any implementations described herein may be combined unless the above disclosure expressly provides a reason why one or more implementations may not be combined. Although particular combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the various implementations.Although each dependent claim listed below can only directly depend on one claim, the disclosure of the various implementations includes each dependent claim in combination with every other claim in the claim set.

[0053] As used herein, "a" and "a set" are intended to include one or more elements and may be used interchangeably with "one or more." Further, the article "the," as used herein, is intended to include one or more things referred to in conjunction with the article "the" and may be used interchangeably with "the one or more." Furthermore, the phrase "based on" is intended to mean "based at least in part on," unless explicitly stated otherwise. The term "or," as used herein, is intended to be inclusive even when used in a series and may be used interchangeably with "and / or" unless explicitly stated otherwise (e.g., when used in combination with "either of" or "only one of").

Claims

[1] Motor grader, comprising: a front section; a rear section; a joint between the front section and the rear section; a front section linkage assembly, the linkage assembly including a drawbar, a circle connected to the drawbar, and a ground-engaging implement connected to the circle, the implement being positionable at an angle defining a leading edge and a trailing edge of the ground-engaging implement; and a controller configured to: Receiving an input indicating that a swath formed by the motor grader in connection with a grading operation is to be terminated; Causing, based on the input, an increase in the angle of the ground engaging implement by articulating the front portion relative to the rear portion and rotating the circle; Detecting that the motor grader has traveled a certain distance from a location of the motor grader at a time of increasing the angle of the implement engaging the ground; and Performing a windrow termination action based on detecting that the motor grader has traveled the specified distance. [2] Motor grader according to claim 1, wherein the controller for performing the swath termination action is configured to: Cause a warning to be provided indicating that the motor grader should be steered away from the windrow. [3] Motor grader according to claim 1, wherein the controller for performing the swath termination action is configured to: Causing the motor grader to steer away from the swath. [4] Motor grader according to claim 1, wherein the controller is further configured to: Monitoring a position of the ground engaging implement during the grading operation to identify the leading edge and trailing edge of the ground engaging implement. [5] The motor grader of claim 1, wherein the controller is further configured to: Based on the performance of the swath termination action, initiate an adjustment of the inclination of the ground engaging implement to raise an edge of the ground engaging implement from the ground surface. [6] Motor grader according to claim 1, wherein the controller is further configured to: Receiving an additional input indicating that the swath has been terminated; and Causing the ground engaging implement to be lifted from a ground surface. [7] Motor grader according to claim 6, wherein the controller is further configured to: Causing the resetting of a ground engaging implement's slope to a position used before the slope adjustment. [8] A motor grader according to claim 1, wherein the ground engaging implement is a blade. [9] A control system for a work machine having a linkage arrangement including a drawbar, a circuit connected to the drawbar, and a ground-engaging implement connected to the circuit and positionable at an angle defining a leading edge and a trailing edge of the ground-engaging implement, the control system comprising: one or more sensors designed to detect a position of the implement engaging the ground; a circular rotary actuator designed to rotate the circle; an articulating actuator configured to articulate a front portion of the work machine relative to a rear portion of the work machine; and a controller configured to: Identifying that the work machine is to perform an operation to terminate a swath formed by the work machine in conjunction with a grading operation; Causing, based on the identification that the work machine is to perform the operation, an increase in the angle of the ground engaging implement by articulating the front portion relative to the rear portion and rotating the circle; Detecting that the work machine has travelled a certain distance from a location of the work machine at a time when the angle of the work tool engaging the ground is increased; and Performing a swath termination action based on detecting that the work machine has traveled the specified distance. [10] The control system of claim 9, wherein the controller for identifying that the work machine is to perform the swath termination operation is configured to: Receiving an input indicating that the implement should perform the swath end operation. [11] The control system of claim 9, wherein the controller for identifying that the work machine is to perform the swath termination operation is configured to: Obtaining data collected by one or more optical or acoustic sensors of the working machine, wherein the data indicate an arrangement of one or more swaths; and Determine, based on the data, that the implement should perform the swath termination action. [12] A control system according to claim 9, wherein the articulation of the front portion relative to the rear portion occurs simultaneously with the rotation of the circle. [13] A control system according to claim 9, wherein articulating the front section relative to the rear section serves to move the front section closer to the swath. [14] A control system according to claim 9, wherein the rotation of the circle serves to bring the leading edge of the ground engaging implement closer to the swath. [15] A control system according to claim 9, wherein the controller, for performing the swath termination action, is configured to: Arrange for a warning to be provided indicating that the implement should be steered away from the swath. [16] A control system according to claim 9, wherein the controller, for performing the swath termination action, is configured to: Cause the working machine to steer away from the swath. [17] A method for terminating a swath formed by a working machine, comprising: Causing, by a control of the work machine, an angle of a ground-engaging implement of the work machine to be increased while maintaining a distance between a rear edge of the ground-engaging implement and a center line of the work machine; Detecting that the work machine has travelled a certain distance from a location of the work machine at a time when the angle of the work tool engaging the ground is increased; and Causing the implement to steer away from the swath based on detecting that the implement has traveled the specified distance. [18] The method of claim 17, wherein causing the angle of the ground engaging implement of the work machine to increase comprises: Causing articulation of a forward portion of the work machine relative to a rearward portion of the work machine and rotation of a circle of a linkage assembly of the forward portion. [19] The method of claim 18, further comprising: Determine whether at least one of the articulation of the front section relative to the rear section or the rotation of the circle will result in a collision of the ground-engaging implement with the working machine, wherein causing the angle of the ground engaging implement to increase is based on a determination that the articulation of the front portion relative to the rear portion and the rotation of the circle will not result in a collision of the ground engaging implement with the work machine. [20] The method of claim 17, wherein the determined distance is at least half the length of the work machine.

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