System, apparatus, method, and computer program product to determine work tool dimensions

Abstract

A method for determining one or more dimensions of work tool 7 coupled to a linkage of a work machine. For example, the dimensions of a bucket of an excavator. The method comprises: setting a first pl

Description

Technical Field

[0001] The present disclosure relates to systems, apparatuses, methods, and computer program products for determining one or more work tool dimensions. Background

[0002] Use of grade control on machines has become more prevalent. Grade control set up, for instance, for a new work tool, can be somewhat time consuming and may require more than one person for the bucket measuring process. Oftentimes a physical tape measure is used to measure bucket dimensions, for instance, in order to provide the machine with certain measurements of the work tool. However, manual measurement of work tool dimensions may be problematic, for instance, because such measurements may be imprecise and / or require multiple persons.

[0003] U.S. Patent Publication No. 2019 / 0203443 (“the ‘443 publication”) describes a work vehicle and method for controlling a work vehicle. The work vehicle is described as including a vehicular body, a work implement, and a controller. The controller calculates a direction of a cutting edge of the bucket and determines a direction in which the cutting edge travels to the side of an open side of the bucket such that the calculated direction of the cutting edge of the bucket and the direction in which the cutting edge travels to the side on the open side of the bucket form an excavation angle of a predetermined angle. According to the ‘443 publication, the controller thus causes an operation of the work implement to be performed in the direction in which the cutting edge travels. Summary

[0004] According to one or more aspects, systems, apparatuses, methods, computer program products, and work machines can electronically determine one or more work tool dimensions of a work machine with a work tool coupled to a linkage of the work machine. The electronically determining of the one or more dimensions can involve moving the work tool such that different portions of the work tool make specific contact. The specific contact can be relative to a contact surface, a virtual surface, and / or an object at a known location, such as a portion of the work machine. Brief Description of Drawings

[0005] FIGs. 1-7 are operational representations associated with performing a method according to one or more embodiments of the present disclosure, where FIG. 7 shows a visual representation of a calculated line of best fit from created planes.

[0006] FIG. 8 may be regarded as being representative of an operation to determine a width of a work tool, according to one or more embodiments of the present disclosure.

[0007] FIG. 9 is a block diagram of a control system according to one or more embodiments of the present disclosure. Detailed Description

[0008] One or more embodiments of the present disclosure are directed to systems, apparatuses, methods, and computer program products for determining one or more work tool dimensions. Additionally or alternatively, one or more embodiments of the present disclosure can be regarded as being directed to grade controls used in work machines, including systems, apparatuses, methods, and computer program products thereof.

[0009] Turning now to FIG. 1, this figure shows a work machine 1 according to one or more embodiments of the present disclosure. Here, the work machine 1 is a hydraulic excavator, though embodiments of the present disclosure are not so limited. For instance, the work machine 1 can be mobile or non-mobile and may include, but is not limited to, machines (e.g., vehicles, manned or unmanned) that perform some type of operation associated with a particular industry, such as mining, construction, farming, transportation, forestry, etc. and operate between or within work environments, e.g., construction sites, mine sites, forests, power plants, on-highway applications, marine applications, demolition applications (e.g., grabbing and dumping or demolishing vehicles), etc.

[0010] The work machine 1 can include a lower traveling body 2, which may be a crawler- or track-type traveling body; an upper swiveling body 3, which can be operatively coupled to the lower traveling body 2 and configured to swivel relative to the lower traveling body 2; and a front linkage 4, which may be regarded as an articulated working member or machine, having a first end operatively coupled to the upper swiveling body 3.

[0011] The lower traveling body 2 can include a drive system, which may include a transmission and ground propelling devices (in a case where the work machine 1 is mobile). The transmission may include any device or group of devices that can transfer force between the power system and the ground propelling devices. The transmission may include one or more of a mechanical transmission, gearing, belts, pulleys, discs, chains, pumps, motors, clutches, brakes, torque converters, fluid couplings, etc. According to one or more embodiments, the propelling device can include tracks. In alternative embodiments the propelling devices may additionally or alternatively include wheels.

[0012] According to one or more embodiments of the present disclosure, the front linkage 4 can include a boom 5, a stick 6, and a work implement or tool 7, in this example, a bucket. However, embodiments of the present disclosure are not limited to the front linkage 4 configuration shown in FIG. 1 and may include additional or alternative components, such as a foreboom, an offset boom, a quick coupler, a coupler, tilt rotator, etc. For instance, FIG. 1 shows a coupler 13, which may be regarded as a quick coupler, between the work tool 7 and the stick 6. Such coupler 13, which may be regarded as a quick coupler, may facilitate removal and replacement of the work tool 7 with another work tool (e.g., a new and non-worn work tool 7 in the form of a bucket or another type of work tool, such another type of ground engaging tool (GET), such as a ripper on the linkage on the back of a bulldozer). More generally, the front linkage 4, according to embodiments of the present disclosure, can include all components from the boom 5 to the work tool 7 (inclusive of both ends). Optionally, the work machine 1 can have more than one work tool at the same time.

[0013] The boom 5 may define or form the first end of the front linkage 4, and may be rotatably coupled to the upper swiveling body 3. The work tool 7 can form a second end of the front linkage 4 opposite the first end at the upper swiveling body 3. The stick 6 can be rotatably coupled to the boom 5 and can be driven in-side (direction coming close to upper swiveling body 3) and out-side (direction going away from upper swiveling body 3) with respect to the supporting part as a fulcrum. The work tool 7 can be rotatably coupled to the stick 6.

[0014] The work machine 1 can comprise a traveling motor to move the lower traveling body 2, a swiveling motor for swiveling the upper swiveling body 3, and various hydraulic actuators such as a boom cylinder 8, a stick cylinder 9, and a bucket cylinder 10 for driving the boom 5, the stick 6, and work tool 7, respectively. Note that a pair of boom cylinders 8 may be associated with the boom 5, one on each side of the boom 5 (FIG. 1 shows a boom cylinder 8 on the left side of the boom 5).

[0015] A cab 11 as an operating room for an operator and engine room 12 storing various types of equipment such as an engine can be mounted on the upper swiveling body 3. The cab 11 may be regarded as an operator station. A hydraulic system for driving various hydraulic actuators of the work machine 1 can be implemented in the upper swiveling body 3. The engine, which may be an internal combustion engine, may be part of a power system. Additionally or alternatively, the power system may include additional or other power sources, such as electric motors, fuel cells, batteries, ultra-capacitors, electric generators, etc.

[0016] In the case of manned operation, the cab 11 can include therein an operator’s seat for an operator of the work machine 1, various manipulators for traveling, swiveling, operating the boom 5, the stick 6, and the work tool 7, and a monitor for various displays and settings can be provided in the cab 11. For example, the cab 11 can include an operator interface and a manual control device or devices to control the work machine 1. The operator interface and the manual control device(s) can be operatively coupled to a control system, which may be or include a controller 25. Optionally, one or both of the operator interface and the manual control device(s) may be considered part of the control system. Optionally, the work machine 1 may be remotely controlled from outside the cab 11 or the cab 11 or portion thereof may not be provided for remote control of the work machine 1. Additionally or alternatively, the work machine 1 can operate autonomously or semi-autonomously.

[0017] FIG. 9 shows a block diagram illustrating a configuration of an information processing system 50 of the work machine 1 according to one or more embodiments of the disclosed subject matter. The information processing system 50 can include an input unit 52, a communication unit 53, a storage unit 54, a display unit 55, an audio unit 56, a sensor unit 57, and the controller 25. Controller 25, as used herein, can include only one controller or multiple controllers.

[0018] In an exemplary implementation, information processing system 50 of the work machine 1, or portions thereof, can be implemented using circuitry or processing circuitry that can include general purpose processors, special purpose processors, integrated circuits, ASICs (“Application Specific Integrated Circuits”), CPU (a Central Processing Unit), a micro processing unit (MPU), conventional circuitry and / or combinations thereof which are configured or programmed to perform the disclosed functionality. Processors can be considered processing circuitry or circuitry as they include transistors and other circuitry therein. The processor may be a programmed processor which executes a program stored in a memory. In the disclosure, the circuitry, units, or means can be hardware that carry out or are programmed to perform the recited functionality. The hardware may be any hardware disclosed herein or otherwise known which is programmed or configured to carry out the recited functionality. When the hardware is a processor which may be considered a type of circuitry, the circuitry, means, or units can be a combination of hardware and software, the software being used to configure the hardware and / or processor.

[0019] The input unit 52 can have a function of receiving an input (or inputs) of operation information from a user of the information processing system 50, which can be the operator of the work machine 1. In this embodiment, for example, the input unit 52, which can be implemented in or using circuitry, can be implemented as or representative of an operator interface, the manual control, a touch panel of the display unit 55, and / or one or more foot pedals in the cab 11. In general, the input unit 52 can receive the input(s) and provide output to the controller 25 based on or using the input(s). An example of an input from the operator can be a command, for instance, input to the operator interface, to position the front linkage 4 to determine one or more dimensions of the work tool 7. Additionally or alternatively, the input can be a single- or multi-activation procedure (e.g., actuating an active icon on the touch panel) to initiate and complete the determining of the one or more dimensions of the work tool 7 automatically, without further input(s) from the operator. Other examples of inputs can be or include input commands to control movement of the work machine 1, or portion thereof, such as the front linkage 4, or portion thereof, such as the work tool 7.

[0020] The communication unit 53 can have a communication interface that has a function as a transmitter and a receiver performing communication with an external apparatus (e.g., a back office system, another machine, etc.), for instance, based on the control from the controller 25. In this embodiment, the communication unit 53 can be configured using a communication device such as a local CAN, a wired or wireless LAN, a communication card for Bluetooth, a router for communication, and a modem for communication.

[0021] The storage unit 54 can have a function of storing a variety of information used by the controller 25 and / or processed (e.g., generated) by or using the controller 25. For example, the storage unit 54 can store data regarding work tool planes (e.g., bucket planes) determined according to one or more embodiments of the present disclosure. The storage unit 54 may also store a line of best fit of the determined work tool planes, for instance, calculated by or using the controller 25. The storge unit 54 may also store characteristics of the work tool 7, such as weight, type, manufacturer, and / or one or more dimensions not calculated or determined according to one or more embodiments of the present disclosure. The foregoing data in the storage unit 54 can be accessed by the controller 25. The storage unit 54 can be configured using a storage device such as a magnetic storage device, a semiconductor storage device, and an optical storage device.

[0022] The display unit 55 can have a function of displaying a variety of information based on control from the controller 25. For example, the display unit 55 can display instructions for the operator for moving the front linkage 4 (or portion thereof, such as the work tool 7) in order to determine one or more dimensions of the work tool 7. Additionally or alternatively, the display unit 55 can show status of the various operations for determining one or more dimensions of the work tool 7, such as one or more of whether the portion of the front linkage 4 is properly positioned for a particularly work tool plane calculation (under operator control or under automatic control), output of work tool plane calculation data, output of one or more work tool dimension calculations, etc. The display unit 55 can be configured using a display device such as a liquid crystal display, a plasma display, and an organic EL display. The display unit 55 can be implemented as a monitor or display, for instance, as part of the operator interface, and can be equipped with a touch panel to input information to the controller 25. Optionally, offboard systems, such as a back office system, may provide information or data for output on the display unit 55.

[0023] The audio unit 56 can have a function of outputting sound based on control from the controller 25. In this embodiment, the audio unit 56 can be implemented as a horn or a speaker of the work machine 1. In this embodiment, optionally, the audio unit 56 can output sound that may include or be part of instruction to the operator of the work machine 1, for instance, regarding operations to be performed and / or being performed for determining one or more dimensions of the work tool 7. Such sound output can also include sound corresponding to proper movement of the work tool 7 to determine one or more dimensions thereof and / or improper movement of the work tool 7 in determining the one or more dimensions of the work tool 7.

[0024] The sensor unit 57 can be implemented as or representative of one, some, or all sensors of the work machine 1 for determining one or more dimensions of the work tool 7. Thus, the sensor unit 57 can be representative of one, some, or all sensors that may be used to detect positioning and / or movement of the work machine 1 or portion(s) thereof, such as detecting positioning and / or movement of one or more portions of the front linkage 4, ultimately to determine one or more dimensions of the work tool 7. Accordingly, the sensor(s) can output data regarding positioning and / or movement of a corresponding portion or portions of the work machine 1, such the boom 5, the stick 6, the coupler 13, any interconnecting portions (e.g., two links respectively coupling the bucket cylinder 10 to the coupler 13 and to the stick 6) and / or positioning relative to one or more other portions of the front linkage 4 (e.g., one or more pin spreads associated with the two links respectively coupling the bucket cylinder 10 to the coupler 13 and to the stick 6). Thus, the sensor unit 57 can include one or more sensors positioned at various portions of the work machine 1, such as at various portions of the front linkage 4, to detect positioning and / or movement of the various portions of the work machine 1. Such sensed data can be sent to and processed by the controller 25 either directly or indirectly.

[0025] The above-discussed sensor(s) can be position sensor(s) to detect positioning associated with movement and arrangement of corresponding portions of the work machine 1. Further, such position sensor(s) can include one or more pressure sensors associated with the boom cylinder 8, the stick cylinder 9, and / or the bucket cylinder 10 and / or one or more anisotropic magneto resistance (AMR) sensors associated with the boom 5, the stick 6, the coupler 13, and / or any interconnecting portions (e.g., two links respectively coupling the bucket cylinder 10 to the coupler 13 and to the stick 6). Specific examples of sensors can include a pressure sensor (e.g., for the cylinders, as noted above), a triaxial acceleration sensor (including an acceleration sensor, a gravity detection sensor, and a fall detection sensor), a triaxial gyro sensor (including an angular velocity sensor, and a geomagnetic sensor), and / or an anisotropic magneto resistance (AMR) sensor.

[0026] The controller 25 can have a function of controlling some or all of the information processing system 50. For example, the controller 25 can control the operation of the work machine 1 based on information from the input unit 52, information from the storage unit 54, and / or information from the sensor unit 57.

[0027] The controller 25, generally speaking, can also control movement of portions of the front linkage 4, based on control input from the operator or automatically upon an input from the operator (e.g., without further operator input after initialization) to determine one or more dimensions of the work tool 7. FIGs. 1-7 are operational representations associated with performing a method according to one or more embodiments of the present disclosure, for instance, using or under control of the controller 25. According to one or more embodiments, the operations can be regarded as a method or process to determine one or more dimensions of a work tool, such as the work tool 7. Such dimensions can include a profile of a bottom portion of the work tool, a length of the work tool, a height of the work tool, and / or a width of the work tool.

[0028] More detail regarding determining one or more dimensions of a work tool according to one or more embodiments of the present disclosure will now be described with respect to the work tool 7 shown in FIGs. 1-7, i.e., a bucket. Some or all of the operations shown in FIGs. 1-7 (or portions thereof) and otherwise described herein can be performed manually by an operator in the cab 11 (or outside the cab 11). Additionally or alternatively, as the case may apply, some or all of the operations shown in FIGs. 1-7 (or portions thereof) and otherwise described herein can be performed automatically or autonomously, for instance, after receiving an initial command to commence the determining of the one or more dimensions of a work tool. Optionally, a series of prompts, instructions, and / or information can be provided to the operator to move the work tool 7 in order to perform the operations to determine one or more dimensions of the work tool 7. Such prompts, instructions, and / or information can be output on the display unit 55 and / or via the audio unit 56.

[0029] One assumption that may be implemented prior to initiating the operations to determine one or more dimensions of the work tool 7 can be that the work machine 1, particularly the controller 25, can already know, for instance, by accessing the storage unit 54, certain physical characteristics and / or physical connections of portions of the work machine 1 other than the work tool 7 (e.g., the front linkage 4 or portion(s) thereof such as the two links respectively coupling the bucket cylinder 10 to the coupler 13 and to the stick 6). Such physical characteristics and / or physical connections can include dimension(s), pin spread(s), positioning, angle measurement(s), etc. And in the case of a subsequent running of the operations to determine one or more dimensions of the work tool 7, i.e., performing an update or recalibration after a first running to determine the dimension(s), for instance, after a certain period of time or amount of use of the work tool 7 (and the corresponding likely wear of the work tool 7), the controller 25 may have potentially outdated dimension data associated with the work tool 7 and may need to update the dimension data with one or more current dimensions of the work tool 7. According to one or more embodiments, one or more digital models of the work machine 1 excluding the work tool 7, and / or at least a current digital model of the work tool 7 (which may be outdated), can be stored in the storage unit 54 and accessed by the controller 25. Such digital model(s) may be used to positioning and / or movement of various portions of the work machine 1, including the positioning of the front linkage 4 or portion(s) thereof, such as the boom 5, the stick 6, the coupler 13, etc., for use in the determination of one or more dimensions of the work tool 7.

[0030] The operations to determine one or more dimensions of the work tool 7, according to one or more embodiments of the present disclosure, can be performed on a relatively flat and relatively hard surface 20, such as a concrete or asphalt surface, for instance, on a dealer’s paved lot prior to going out to a worksite. The surface 20 can be a surface upon which one or more portions of the front linkage 4 (including the work tool 7) can be placed to determine planes and / or points for determining the one or more dimensions of the work tool 7. Optionally, the surface 20 can have a geometry and / or include a pad configured to instruct placement in a particular area of the surface 20 for determining the one or more dimensions of the work tool 7. Alternatively, the surface 20 may be a virtual reference surface instead of a physical surface. For example, the virtual surface can be formed by the laser beam from a laser 16. The laser 16 can be part of or otherwise coupled to the work machine 1 or provided offboard the work machine 1.

[0031] FIG. 1 can be regarded as being representative of a first or initial operation to determine one or more dimensions of the work tool 7. As noted above, the operation shown in FIG. 1 can be initiated by the operator pushing a button on a control panel inside or outside the cab 11 to initiate the process whether the process is performed entirely manually, entirely automatically, or some manually and some automatically. Here, the controller 25 can receive a command to commence the operations to determine one or more dimensions of the work tool 7. In this regard, the operations can commence with the front linkage 4 positioned as shown in FIG. 1 or prior to the front linkage 4 being positioned as shown in FIG. 1.

[0032] At the beginning of the operations, the work machine 1 may electronically “see” only the front linkage 4 portions excluding the work tool 7 coupled to the front linkage 4. Thus, the work machine 1, particularly the controller 25, may not have any idea what type, configuration, etc. of work tool 7 is coupled to the front linkage 4. Incidentally, in FIGs. 2-7 the right image can be representative of what the work machine 1 (i.e., the controller 25) can electronically “see” in terms of the positioning of portions of the front linkage 4, notably excluding the work tool 7, and also the determined planes.

[0033] As shown in FIG. 1, the end of the stick 6, which can be regarded as a stick pin 14, can be positioned at the surface 20. In that the coupler 13 is implemented in this embodiment, an end of the coupler 13 coupled to the stick 6 may also be positioned at the surface 20. In this example, since the coupler 13 has a greater diameter than the stick 6 at the stick pin 14, the coupler 13 may contact the surface 20 with the end of the stick 6 being just above the surface 20. Alternatively, the end of the stick 6 can contact the surface 20 in the case where the radius of the end of the stick pin 14 is the same or greater than the radius of the coupler 13. And in the case where no coupler 13 is implemented, the end of the stick 6 and / or a coupling portion of the work tool (e.g., work tool 7 or some other type of work tool) can contact the surface 20, depending upon the relative radiuses of the end of the stick 6 and the coupling portion of the work tool 7.

[0034] The work tool 7 can be curled or retracted such that the top, open portion of the work tool 7 faces the surface 20, such as shown in FIG. 1. The work tool 7 may not be fully retracted in the state shown in FIG. 1; rather, the work tool 7 may be retracted at least enough so the tip of the work tool 7, in this case, the teeth of the bucket, are at least even with the surface 20 and preferably above the surface 20, i.e., not touching the surface 20. According to one or more embodiments, the work machine 1 may prompt the operator to move the front linkage 4 (including the work tool 7) such that the end of the stick 6 touches the surface 20 with the tip of the work tool 7 at or above the surface 20, such as shown in FIG. 1. For example, the controller 25 can control output of, either on the display unit 55 and / or via the audio unit 56, an instruction to the operator to “touch the stick end to the surface” or the like. Thus, the front linkage 4 (including the work tool 7) can be controlled to be positioned with the end of the stick 6 touching the surface 20 and the tip of the work tool 7 at or above the surface 20, such as shown in FIG. 1.

[0035] Referring now to FIG. 2, the work tool 7 can be controlled, for instance, from the position shown in FIG. 1 to the positioning shown in FIG. 2, such that the tip of the work tool 7 moves toward and contacts the surface 20. Thus, the work tool 7 can be curled or extended to move counterclockwise (in the view shown in FIG. 2) such that the tip of the work tool 7 contacts the surface 20. That is, the work tool 7 can be controlled to touch the surface 20 at the tip of the work tool 7 while the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool as discussed above) remains touching the surface 20. The work machine 1 may prompt the operator to move the front linkage 4 (including the work tool 7) such that the tip of the work tool 7 touches the surface 20, such as shown in FIG. 2. As an example, the prompt may indicate “curl the work tool so front tip touches the surface” or the like.

[0036] With the tip of the work tool 7 touching the surface 20 and with the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool) also touching the surface 20, the controller 25 can set a first plane point PPI where the stick 6 (or the coupler 13 or the coupling portion of the work tool) touches the surface 20. Here, the work machine 1, particularly the controller 25 thereof, can determine the first plane point PPI because such point is located directly under the stick pin 14.

[0037] With the tip of the work tool 7 touching the surface 20 and with the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool) also touching the surface 20, the controller 25 can also determine or set a plane Pl, which may be regarded as a first plane. The plane Pl can be defined as a plane that goes through plane point PPI and the tip of the tool at a second plane point PP2. Note, however, that at this stage the work machine 1 may not know the exact position of where the second plane point PP2 is located. However, the work machine 1 can know the plane point PPI, since the work machine 1 knows how far the plane point PPI is from the center of the stick pin 14, i.e., pin point 15, based on a radius RI in the from the center of the pin point 15 to the end of the stick 6 (or the coupler 13 of the coupling portion of the work tool 7), more particularly, to where the end of the stick 6 touches the surface 20, and further knows that the plane point PPI is located directly at the intersection between the plane Pl and a plane perpendicular to the plane Pl that passes through the center axis of the stick pin 14 at the pin point 15 (and that can include the radius RI). With the tip of the work tool 7 and the end of the stick 6 (or the coupler 13 of the coupling portion of the work tool 7) touching the surface 20, the controller 25 can use the surface 20 as a reference. Therefore, the controller 25 can know that plane Pl goes through point PPI and at the current moment Pl is parallel to surface 20. The work machine 1 may be provided with the radius RI in advance, for instance, in the storage unit 54, or the controller 25 can calculate the radius RI since the controller 25 already knows the location of the pin point 15. The work machine 1, particularly the controller 25 thereof, can log the work machine’s current linkage positioning readings of corresponding portions of the front linkage 4, for instance, the bucket linkage angle measurement, so the work machine 1 can be able to keep track of how the plane Pl moves with the linkage.

[0038] The plane Pl determined according to the positioning shown in FIG. 2 can correspond to the surface 20 and can extend through the first plane point PPI and the second plane point PP2. The plane Pl may be regarded as a plane tangent the portion of the stick 6 touching the surface 20, for instance, the radius of the end of the stick 6 where the plane Pl passes can be tangent to the plane Pl, such as shown in FIG. 2. Optionally, the controller 25 may also identify a first angle 01 corresponding to a bucket linkage angle or more generally a work tool linkage angle in the case where the work tool is not a bucket. The first angle 01 can be acute.

[0039] Data regarding the plane point PPI, the plane Pl, and / or the first angle 01 according to the positioning shown in FIG. 2 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7. With at least the first angle 01 determined the controller 25 can keep track of the plane Pl as the work tool 7 is controlled to rotate as discussed m more detail below.

[0040] Referring now to FIG. 3, the tip of the work tool 7, i.e., plane point PP2, can now be determined or defined. Here, the front linkage 4 can be controlled such that the tip of the work tool 7 remains contacting the surface 20 while the end of the stick 6 is raised. According to one or more embodiments, the front linkage 4 can be controlled such that the tip of the work tool 7 is vertical or as close to vertical as possible, such as shown in FIG. 3. With the tip of the work tool 7 touching the surface 20, with the tip of the work tool 7 vertical or as close to vertical as possible, and with the end of the stick 6 raised from the surface 20, the controller 25 can determine or set the plane point PP2. The plane Pl can now extend from the plane point PP2 to the plane point PPI at a third angle 03 relative to the surface 20 and / or the first position of the plane Pl in FIG. 2, with the plane point PP2 as the vertex. Effectively, the plane Pl may be regarded as having been rotated from the position shown in FIG. 2 to the position shown in FIG. 3, according to the rotation of the work tool 7.

[0041] To determine the plane point PP2, the controller 25 can determine the change in height or vertical distance of the pin point 15 (which may be regarded as change in stick height) relative to the surface 20 and / or the first position of the plane Pl in FIG. 2. Such determination can be based on the controller 25 knowing certain physical characteristics and / or physical connections of the font linkage 4 (excluding the work tool 7), including dimension(s), pin spread(s), positioning, and / or angle measurement(s), such as the radius RI, since such data can be saved in the storage unit 54 and accessed by the controller 25. The controller 25 can also determine the change in the bucket linkage angle (or more generally a work tool linkage angle in the case where the work tool is not a bucket) from the first angle 01 to a second angle 02. The second angle 02 can be acute and can be greater than the first angle 01 for the positioning shown in FIG. 2, and here, the controller 25 can take the current reading for bucket linkage angle 02 of FIG. 3 and subtract such second angle 02 from the bucket linkage angle 01 of FIG. 2. The controller 25 can then determine via calculation (e.g., trigonometry) the exact point of the tip of the work tool 7 as the plane point PP2, keeping in mind that the third angle 03 can be the same as the change in the bucket linkage angle from the first angle 01 to the second angle 02. The foregoing is but one example of determining the point of the tip of the work tool at the plane point PP2, however, embodiments of the present disclosure are not limited to the foregoing way of determining the point of the tip of the work tool at the plane point PP2.

[0042] Data regarding the plane points PPI and PP2, the angle 02, the angle 03, and / or the current position of the plane Pl according to the positioning shown in FIG. 3 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7.

[0043] Turning now to FIGs. 4-6, these figures each show establishment of additional planes of the work tool 7. The planes established in FIGs. 4-6 can be regarded as profile planes, as these planes can be used to determine a side profile of the work tool 7 (discussed in more detail below). That is, FIGs. 4-6 show defining the shape of the profile of the work tool 7 by defining one or more planes in addition to those defined as set forth in FIG. 2 and FIG. 3. Data regarding the plane points and / or the planes determined for each of FIGs. 4-6 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7.

[0044] According to FIG. 4, the work tool 7 can be controlled to extend or curl to an extended or curled state of the work tool 7. According to one or more embodiments, the extended or curled state of the work tool 7 can be a fully extended or curled state. Thus, this state may define a rotational range of motion limit for the work tool 7. A bottom portion of the work tool 7 can be controlled to touch the surface 20.

[0045] With the work tool 7 in the position shown in FIG. 4, the controller 25 can determine the current positioning of the plane Pl when the work tool 7 is positioned as shown in FIG. 4. Since the work machine 1 knows that the work tool 7 is touching the surface 20, knows where the surface 20 is, knows the distance of the pin point 15 from the surface 20, and knows the current bucket linkage angle (i.e., moved from second angle 02), the controller 25 can also determine or set a plane P2, which may be regarded as a second plane, at the surface 20, somewhat similar to initially setting the plane Pl at the surface 20 according to the positioning shown in FIG. 2. The plane P2 can be defined as a plane that goes through the bottom portion of the work tool 7 touching the surface 20. According to one or more embodiments, the plane P2 determined for the positioning of the work tool 7 as shown in FIG. 4, no matter whether the work tool 7 is fully extended or not, can define an end-most plane of the plurality of determined planes in the extended direction of the work tool 7 for determining the one or more dimensions of the work tool 7.

[0046] Referring now to FIG. 5, the front linkage 4 can be moved such that a different bottom portion of the work tool 7 contacts the surface 20. Note that though FIG. 5 can be regarded as the work tool 7 being moved from the positioning shown in FIG. 4, embodiments of the present disclosure are not so limited. Rather, the bottom of the work tool 7 may be positioned to contact the surface 20 at any position between the positioning shown in FIG. 4 and the positioning shown in FIG. 3 in any sequence. In general, each placement of the work tool 7 in contact with the surface 20 can define or set an additional plane where the particular bottom portion of the work tool contacts the surface 20. More specifically, the plane Pl and the plane P2 have been rotated to the positioning shown in FIG. 5, and a plane P3, which may be regarded as a third plane, can be set or defined.

[0047] The process described above for FIG. 5 can be repeated zero, one, or more than one additional times, with different bottom portions contacting the surface 20. FIG. 6 shows an example of the operations associated with FIG. 4 and FIG. 5 having been repeated. Here, FIG. 6 shows a plane P4, a plane P5, and a plane P6 being set or defined for different bottom portions of the work tool 7 being in contact with the surface 20, in addition to the previously set or defined planes Pl, P2, and P3. As an example range, placement of the work tool 7 against the surface 20 to determine corresponding planes can be performed three to twelve times. Accordingly, embodiments of the present disclosure can implement any of the operations of FIGs. 1-4 and not the operations associated with FIG. 5 and FIG. 6, the operations of FIGs. 1-5 and not the operation of FIG. 6, the operations of FIGs. 1-6, or the operations of FIGs. 1-6 plus additional one or more operations to determine corresponding planes. In this regard, measurement accuracy may be based on how many planes are defined, with more accuracy corresponding to more defined planes. Further, the number of defined planes may be based on the type or shape of the work tool. For instance, a work tool in the form of a relatively long narrow shank may implement relatively less defined planes than the work tool 7 in the form of a bucket.

[0048] As noted above, instead of the surface 20 one or more embodiments of the present disclosure can implement a virtual surface, for instance, formed by a laser beam of a laser (e.g., the laser 16). For example, instead of the work machine 1 probing against a physical surface (e.g., surface 20) the work machine 1 can perform the probing against the virtual surface in the form of a laser beam. The work machine 1 can probe against the virtual surface in a similar manner to the solid surface 20. The laser beam may, in some cases, be more accurate depending upon the flatness of the surface 20.

[0049] Turning now to FIG. 7, this figure shows a visual representation of a calculated line of best fit LBF that goes through all of the created planes from FIGs. 1 -6 above. Such line of best fit LBF can be calculated or determined by or using the controller 25 and can be representative of a profile of the bottom portion of work tool 7. Here, one end point of the equation for the line of best fit LBF can start at the plane point PP2 at the tip of the work tool 7, in this case at the teeth of the bucket, and the other end point of the equation can correspond to the opposite side of the profile as defined by the work tool 7 in the most extended or uncurled state of the last touching operation of the bottom of the work tool 7 to the surface 20, in this particular example the work tool 7 positioned as shown m FIG. 6.

[0050] Additionally or alternatively with respect to FIGs. 1-7, it may be desirable to obtain a width of the work tool, such as the work tool 7. The width of the work tool 7, at least in the context of the work tool 7 in the form of the bucket shown in FIGs. 1-6, can be defined as being from respective outsides of end-most teeth. As an example range, the width of the work tool 7 may be from two feet to four feet.

[0051] According to one or more embodiments, the controller 25 may know the width of the work tool 7 based on manual entry by the operator within the work machine 1 or a party remote from the work machine 1, such as a back office system. The value for such manual entry may be obtained by physically measuring the width of the work tool 7 using, for instance, a tape measurer, according to one or more embodiments of the present disclosure. Alternatively, the width of the work tool 7 may be known from the manufacturer of the work tool 7.

[0052] Alternative to manually measuring the width of the work tool 7, the controller 25 can determine the width of the work tool 7 based on movement of the work tool with respect to an object having a known position. For instance, according to one or more embodiments, the object can be one or more known portions of the work machine 1, such as a known portion of the undercarriage of the work machine 1, for instance, as shown in FIG. 8. Alternatively, the object can be an external object such as a stake or piece of rebar with a position known to the work machine 1.

[0053] Thus, according to one or more embodiments, the controller 25 can control the front linkage 4, under control by the operator or automatically, to contact the work tool 7 relative to known fixed points of the work machine 1, for instance, with the work machine 1 stationary. More specifically, the controller 25 can know the swing angle of the front linkage 4 relative to the tracks of the lower traveling body 2. The front linkage 4 can thus be controlled such that a first side or edge of the work tool 7 contacts a known fixed point of the work machine 1, such as the undercarriage of the work machine 1 as shown in FIG. 8.

[0054] Since the controller 25 knows the positioning and geometry of the front linkage 4 and that the side or edge of the work tool 7 is contacting the known fixed point, the controller 25 can thus calculate the width of the work tool 7. Here, an assumption can be that the work tool 7 is symmetrical in the width direction relative to the attachment placement of the work tool to the stick 6. Optionally, in the case of a non-symmetrical work tool (in the width direction relative to the stick 6), the front linkage 4 can be rotated about a rotational axis of the work machine 1 such that the other side or edge of the work tool 7 (in the width direction of the work tool 7) contacts another known fixed point of the work machine 1 (e.g., another portion of the undercarriage). The controller 25 can thus calculate the width of the work tool 7 based on the contact of both sides / edges of the work tool 7 to the known fixed points . As an example, one of the contact points can be to an inside portion of the track and the other of the contact points can be to an outer portion of the track. Alternatively, the front linkage 4 can be controlled such that each side of the work tool 7 individually contacts the external object having the position known to the work machine 1. Industrial Applicability

[0055] Embodiments of the present disclosure can be regarded as being directed to systems, apparatuses, methods, and computer program products for determining one or more work tool dimensions. Additionally or alternatively, one or more embodiments of the present disclosure can be regarded as being directed to grade controls used in work machines, including systems, apparatuses, methods, and computer program products thereof. As examples, the one or more work tool dimensions can be or include a side profile of a bottom portion of a work tool and / or a width of the work tool.

[0056] It may not be particularly easy to set up a work tool upon installation to a front linkage of a work machine. For instance, it may be desirable to know dimensions of the work tool for accurate operation of the work machine (e.g., accurate digging, operating the work tool within a defined electronic fence (e-fence), etc.). However, measuring dimensions of the work tool manually may be undesirable, for instance, because the process may be less accurate and / or require multiple persons to conduct the measurements. As such, a method where the work machine can figure out one or more work tool dimensions electronically may be desirable. According to one or more embodiments, the work machine may be a fully autonomous work machine that works in an inaccessible or dangerous environment where getting a physical human being may be difficult or impossible.

[0057] In this regard, one or more embodiments of the present disclosure can involve or implement a method whereby the work machine can calculate one or more dimensions of the work tool (e.g., a bucket) itself. Generally, by moving the work machine’s linkage (e.g., front and / or rear linkage) throughout different motions and using as a reference plane such as “a solid flat surface” or “a virtual reference line,” the work machine can use a certain methodology and trigonometry to calculate the one or more dimensions of the work tool. According to one or more embodiments, the work machine can calculate one or more measurements of the work tool and establish a profile of the work tool based on the reference plane. The foregoing can be based on the premise that the work machine initially knows the configuration, positioning, etc. of the front linkage except for the work tool.

[0058] FIGs. 1-7 can be representative of a method, including a flow chart or operations of a corresponding algorithm implemented by one or more processors of the controller 25, to determine one or more dimensions of a work tool, such as work tool 7. Such dimensions may correspond to a side profile of a bottom portion of the work tool 7. FIG. 8 can be representative of a method, including a flow chart or operations of a corresponding algorithm implemented by one or more processors of the controller 25, to determine a dimension of the work tool 7, in this case, a width of the work tool 7. FIG. 8 may be performed before or after the operations of FIGs. 1-7 or without performing the operations of FIGs. 1-7. Likewise, the operations of FIGs. 1-7 can be performed without performing the operation(s) of FIG. 8, for instance, in the case where the width of the work tool 7 is already known or manually entered based on manual measurement of the with. Some or all of the methodology for FIGs. 1-7 and / or FIG. 8 can be performed via a non-transitory computer-readable storage medium (or media) having stored thereon instructions that, when executed by one or more processors of the controller 25, causes the one or more processors to perform some or all of the method. According to one or more embodiments, the method(s) may be referred to or characterized as a method for determining one or more dimensions of a work tool. Optionally, the method(s) may be regarded as a method for performing grade control or, more generally, work tool control based on the determined dimension(s) of the work tool.

[0059] One assumption that may be implemented prior to initiating the operations to determine one or more dimensions of the work tool 7 can be that the work machine 1, particularly the controller 25, can already know, for instance, by accessing the storage unit 54, certain physical characteristics and / or physical connections of portions of the work machine 1 other than the work tool 7 (e.g., the front linkage 4 or portion(s) thereof such as the two links respectively coupling the bucket cylinder 10 to the coupler 13 and to the stick 6). Such physical characteristics and / or physical connections can include dimension(s), pin spread(s), positioning, angle measurement(s), etc. In the case of a subsequent running of the operations to determine one or more dimensions of the work tool 7, i.e., performing an update or recalibration after a first running to determine the dimension(s), for instance, after a certain period of time or amount of use of the work tool 7 (and the corresponding likely wear of the work tool 7), the controller 25 may have potentially outdated dimension data associated with the work tool 7 and may need to update the dimension data with one or more current dimensions of the work tool 7.

[0060] At the beginning of the operations, the work machine 1 may electronically “see” only the front linkage 4 portions excluding the work tool 7 coupled to the front linkage 4. Thus, the work machine 1 may not have any idea what type, configuration, etc. of work tool 7 is coupled to the front linkage 4. Alternatively, the work machine 1 may have outdated dimension information for the work tool 7, in the case where the work tool 7 has not been changed but rather may have been subject to wear sufficient enough to change one or more of the dimensions of the work tool 7.

[0061] The operations to determine one or more dimensions of the work tool 7, according to one or more embodiments of the present disclosure, can be performed on a relatively flat and relatively hard surface 20, such as a concrete or asphalt surface, for instance, on a dealer’s paved lot prior to going out to a worksite. The surface 20 can be a surface upon which one or more portions of the front linkage 4 (including the work tool 7) can be placed to determine planes and / or points for determining the one or more dimensions of the work tool 7. Optionally, the surface 20 can have a geometry and / or include a pad configured to instruct placement in a particular area of the surface 20 for determining the one or more dimensions of the work tool 7. Alternatively, the surface 20 may be a virtual reference surface instead of a physical surface. For example, the virtual surface can be formed by the laser beam from a laser 16.

[0062] As shown in FIG. 1, the end of the stick 6, which can be regarded as a stick pin 14, can be positioned at the surface 20. The work tool 7 can be curled or retracted such that the top, open portion of the work tool 7 faces the surface 20, such as shown in FIG. 1. The work tool 7 may not be fully retracted in the state shown in FIG. 1; rather, the work tool 7 may be retracted at least enough so the tip of the work tool 7, in this case, the teeth of the bucket, are at least even with the surface 20 and preferably above the surface 20, i.e., not touching the surface 20. Thus, the front linkage 4 (including the work tool 7) can be controlled to be positioned with the end of the stick 6 touching the surface 20 and the tip of the work tool 7 at or above the surface 20, such as shown in FIG. 1.

[0063] The work tool 7 can be controlled, for instance, from the position shown in FIG. 1 to the positioning shown in FIG. 2, such that the tip of the work tool 7 moves toward and contacts the surface 20. Thus, the work tool 7 can be curled or extended to move counterclockwise (in the view shown in FIG. 2) such that the tip of the work tool 7 contacts the surface 20. That is, the work tool 7 can be controlled to touch the surface 20 at the tip of the work tool 7 while the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool as discussed above) remains touching the surface 20.

[0064] With the tip of the work tool 7 touching the surface 20 and with the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool) also touching the surface 20, the controller 25 can set a first plane point PPI where the stick 6 (or the coupler 13 or the coupling portion of the work tool) touches the surface 20. Here, the work machine 1, particularly the controller 25 thereof, can determine the first plane point PPI because such point is located directly under the stick pin 14.

[0065] With the tip of the work tool 7 touching the surface 20 and with the end of the stick 6 (or the coupler 13 or the coupling portion of the work tool) also touching the surface 20, the controller 25 can determine or set the plane Pl. Note, however, that at this stage the work machine 1 may not know the exact position of where the second plane point PP2 is located. However, the work machine 1 can know the plane point PPI, since the work machine 1 knows how far the plane point PPI is from the center of the stick pin 14, i.e.. pin point 15, based on a radius RI in the from the center of the pin point 15 to the end of the stick 6 (or the coupler 13 of the coupling portion of the work tool 7), more particularly, to where the end of the stick 6 touches the surface 20, and further knows that the plane point PPI is located directly at the intersection between the plane Pl and a plane perpendicular to the plane Pl that passes through the center axis of the stick pin 14 at the pin point 15 (and that can include the radius RI). With the tip of the work tool 7 and the end of the stick 6 (or the coupler 13 of the coupling portion of the work tool 7) touching the surface 20, the controller 25 can use the surface 20 as a reference. Therefore, the controller 25 can know that plane Pl goes through point PPI and at the current moment Pl is parallel to surface 20. The work machine 1 may be provided with the radius RI in advance, for instance, in the storage unit 54, or the controller 25 can calculate the radius RI since the controller 25 already knows the location of the pin point 15. The controller 25 can log the work machine’s current linkage positioning readings of corresponding portions of the front linkage 4, for instance, the bucket linkage angle measurement, so the work machine 1 can be able to keep track of how the plane Pl moves with the linkage.

[0066] The plane Pl determined according to the positioning shown in FIG. 2 can correspond to the surface 20 and can extend through the first plane point PPI and the second plane point PP2. The plane Pl may be regarded as a plane tangent the portion of the stick 6 touching the surface 20, for instance, the radius of the end of the stick 6 where the plane Pl passes can be tangent to the plane Pl, such as shown in FIG. 2. Optionally, the controller 25 may also identify the first angle 01 corresponding to the bucket linkage angle or more generally a work tool linkage angle in the case where the work tool is not a bucket.

[0067] Data regarding the plane point PPI, the plane Pl, and / or the first angle 01 according to the positioning shown in FIG. 2 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7.

[0068] The tip of the work tool 7, i.e., plane point PP2, can now be determined or defined. Here, the front linkage 4 can be controlled such that the tip of the work tool 7 remains contacting the surface 20 while the end of the stick 6 is raised. According to one or more embodiments, the front linkage 4 can be controlled such that the tip of the work tool 7 is vertical or as close to vertical as possible, such as shown in FIG. 3. With the tip of the work tool 7 touching the surface 20, with the tip of the work tool 7 vertical or as close to vertical as possible, and with the end of the stick 6 raised from the surface 20, the controller 25 can determine or set the plane point PP2. The plane Pl can now extend from the plane point PP2 to the plane point PPI at the third angle 03 relative to the surface 20 and / or the first position of the plane Pl in FIG. 2, with the plane point PP2 as the vertex. Effectively, the plane Pl may be regarded as having been rotated from the position shown in FIG. 2 to the position shown in FIG. 3, according to the rotation of the work tool 7.

[0069] To determine the plane point PP2, the controller 25 can determine the change in height or vertical distance of the pin point 15 (which may be regarded as change in stick height) relative to the surface 20 and / or the first position of the plane Pl in FIG. 2. Such determination can be based on the controller 25 knowing certain physical characteristics and / or physical connections of the font linkage 4 (excluding the work tool 7), including dimension(s), pin spread(s), positioning, and / or angle measurement(s), such as the radius RI, since such data can be saved in the storage unit 54 and accessed by the controller 25. The controller 25 can also determine the change in the bucket linkage angle (or more generally a work tool linkage angle in the case where the work tool is not a bucket) from the first angle 01 to the second angle 02. The second angle 02 can be acute and can be greater than the first angle 01 for the positioning shown in FIG. 2, and here, the controller 25 can take the current reading for bucket linkage angle 02 of FIG. 3 and subtract such second angle 02 from the bucket linkage angle 01 of FIG. 2. The controller 25 can then determine via calculation (e.g., trigonometry) the exact point of the tip of the work tool 7 as the plane point PP2, keeping in mind that the third angle 03 can be the same as the change in the bucket linkage angle from the first angle 01 to the second angle 02. The foregoing is but one example of determining the point of the tip of the work tool at the plane point PP2, however, embodiments of the present disclosure are not limited to the foregoing way of determining the point of the tip of the work tool at the plane point PP2.

[0070] Data regarding the plane points PPI and PP2, the angle 92, the angle 93, and / or the current position of the plane Pl according to the positioning shown in FIG. 3 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7.

[0071] Turning now to FIGs. 4-6, these figures each show establishment of additional planes of the work tool 7. Incidentally, as noted earlier, one or more of the additional planes can be regarded as the plane Pl having been rotated relative to one or more prior determinations of the plane Pl, such as the determination corresponding to FIG. 2 and / or the determination corresponding to FIG. 3. Further, the planes established in FIGs. 2-6 can be regarded as profile planes, as these planes can be used to determine a side profile of the work tool 7 (discussed in more detail below). Data regarding the plane points and / or the planes determined for each of FIGs. 4-6 can be stored in the storage unit 54 for later retrieval and processing by the controller 25 to determine one or more dimensions of the work tool 7.

[0072] According to FIG. 4, the work tool 7 can be controlled to extend or curl to an extended or curled state of the work tool 7, where the extended or curled state of the work tool 7 can be a fully extended or curled state. A bottom portion of the work tool 7 can be controlled to touch the surface 20.

[0073] With the work tool 7 in the position shown in FIG. 4, the controller 25 can determine the current positioning of the plane Pl when the work tool 7 is positioned as shown in FIG. 4. Since the work machine 1 knows that the work tool 7 is touching the surface 20, knows where the surface 20 is, knows the distance of the pin point 15 from the surface 20, and knows the current bucket linkage angle (i.e., moved from second angle 02), the controller 25 can also determine or set a plane P2, which may be regarded as a second plane, at the surface 20, somewhat similar to initially setting the plane Pl at the surface 20 according to the positioning shown in FIG. 2. The plane P2 can be defined as a plane that goes through the bottom portion of the work tool 7 touching the surface 20.

[0074] Referring now to FIG. 5, the front linkage 4 can be moved such that a different bottom portion of the work tool 7 contacts the surface 20. Note that though FIG. 5 can be regarded as the work tool 7 being moved from the positioning shown in FIG. 4, embodiments of the present disclosure are not so limited. Rather, the bottom of the work tool 7 may be positioned to contact the surface 20 at any position between the positioning shown in FIG. 4 and the positioning shown in FIG. 3 in any sequence. In general, each placement of the work tool 7 in contact with the surface 20 can define or set an additional plane where the particular bottom portion of the work tool contacts the surface 20. More specifically, the plane Pl and the plane P2 have been rotated to the positioning shown in FIG. 5, and a plane P3, which may be regarded as a third plane, can be set or defined.

[0075] The process described above for FIG. 5 can be repeated zero, one, or more than one additional times, with different bottom portions contacting the surface 20. FIG. 6 shows an example of the operations associated with FIG. 4 and FIG. 5 having been repeated. Here, FIG. 6 shows a plane P4, a plane P5, and a plane P6 being set or defined for different bottom portions of the work tool 7 being in contact with the surface 20, in addition to the previously set or defined planes Pl, P2, and P3.

[0076] Turning now to FIG. 7, this figure shows a visual representation of a calculated line of best fit LBF that goes through all of the created planes from FIGs. 1-6 above. Such line of best fit LBF can be calculated or determined by or using the controller 25 and can be representative of a profile of the bottom portion of work tool 7. Here, one end point of the equation for the line of best fit LBF can start at the plane point PP2 at the tip of the work tool 7, in this case at the teeth of the bucket, and the other end point of the equation can correspond to the opposite side of the profile as defined by the work tool 7 in the most extended or uncurled state of the last touching operation of the bottom of the work tool 7 to the surface 20, in this particular example the work tool 7 positioned as shown in FIG. 6.

[0077] According to one or more embodiments of the present disclosure, the width of the work tool 7 can be determined based on movement of the work tool 7 with respect to an object having a known location, such as a known portion of the undercarriage of the work machine 1, for instance, as shown in FIG. 8. That is, work machine 1 can be controlled such that the work tool 7 contacts one or more known fixed points of the work machine 1 or external to the work machine 1. More specifically, the controller 25 can know the swing angle of the front linkage 4 relative to the tracks of the lower traveling body 2. The front linkage 4 can thus be controlled such that a first side or edge of the work tool 7 contacts a known fixed point 1, such as the undercarriage of the work machine 1 as shown in FIG. 8 or an external object such as a state or rebar. Since the controller 25 knows the positioning and geometry of the front linkage 4 and that the side or edge of the work tool 7 is contacting the known fixed point of the work machine 1, the controller 25 can thus calculate the width of the work tool 7. Here, an assumption can be that the work tool 7 is symmetrical in the width direction relative to the attachment placement of the work tool to the stick 6. Optionally, in the case of a non-symmetrical work tool (in the width direction relative to the stick 6), the front linkage 4 can be rotated about a rotational axis of the work machine 1 such that the other side or edge of the work tool 7 (in the width direction of the work tool 7) contacts another known fixed point of the work machine 1 (e.g., another portion of the undercarriage). The controller 25 can thus calculate the width of the work tool 7 based on the contact of both sides / edges of the work tool 7 to the known fixed points.

[0078] Optionally, the methodology according to one or more embodiments of the present disclosure can involve performing working and / or traveling operations using the work 7 with the one or more dimensions now known to the work machine 1. For instance, based on a computergenerated 2D or 3D representation of a digging profile (e.g., virtual model with depth, length, etc.) the controller 25 can more easily replicate the created digging profile since one or more dimensions of the work tool 7 are now known. For instance, since the profile of the work tool 7 has been determined, operation of the work tool 7 can be controlled to more closely replicate the digging profile. Such operation can thus prevent the work tool 7 from being moved too far away from or into the ground. Additionally or alternatively, the methodology according to one or more embodiments of the present disclosure can set one or more electronic fences (e-fences) to prevent the work tool 7 from being moved to outside such electronic fence(s). Examples of electronic fences according to embodiments of the present disclosure can include setting one or more of a floor and / or a ceiling for a digging operation, a maximum height to which the work tool 7 can be raised, a maximum length of a digging operation (e.g., a trench), etc.

[0079] As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

[0080] The functionality of the elements disclosed herein may be implemented using circuitry or processing circuitry which includes general purpose processors, special purpose processors, integrated circuits, ASICs (“Application Specific Integrated Circuits”), conventional circuitry and / or combinations thereof which are configured or programmed to perform the disclosed functionality. Processors are considered processing circuitry or circuitry as they include transistors and other circuitry therein. The processor may be a programmed processor which executes a program stored in a memory. In the disclosure, the circuitry, units, or means are hardware that carry out or are programmed to perform the recited functionality. The hardware may be any hardware disclosed herein or otherwise known which is programmed or configured to carry out the recited functionality. When the hardware is a processor which may be considered a type of circuitry, the circuitry, means, or units are a combination of hardware and software, the software being used to configure the hardware and / or processor.

[0081] Further, as used herein, the term “circuitry” can refer to any or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and / or digital circuitry); (b) to combinations of circuits and software (and / or firmware), such as (as applicable): (i) a combination of processor(s) or (ii) portions of processor(s) / software (including digital signal processor(s)), software and memory(ies) that work together to cause an apparatus, such as a mobile phone or server, to perform various functions); and (c) to circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. This definition of “circuitry” can apply to all uses of this term in this application, including in any claims. As a further example, as used in this application, the term “circuitry” can also cover an implementation of merely a processor (or multiple processors) or portion of a processor and its (or their) accompanying software and / or firmware.

[0082] Use of the terms “data,” “content,” “information” and similar terms may be used interchangeably, according to some example embodiments of the present disclosure, to refer to data capable of being transmitted, received, operated on, and / or stored. The term “network” may refer to a group of interconnected computers or other computing devices. Within a network, these computers or other computing devices may be interconnected directly or indirectly by various means including via one or more switches, routers, gateways, access points or the like.

[0083] Aspects of the present disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. In this regard, the flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. For instance, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0084] It also will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0085] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks. The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0086] Embodiments of the disclosed subject matter can also be as set forth according to the following parentheticals.

[0087] (1) A system for determining one or more dimensions of a work tool of a work machine, comprising: a non-transitory computer-readable storage medium; and circuitry operatively coupled with the non-transitory computer-readable storage medium and configured to, with the work tool coupled to a linkage of the work machine: define a first plane based on movement of the linkage relative to a reference surface external to the work machine, the movement of the linkage including a bottom portion of the linkage being at a first point at on reference surface and an end tip of the work tool being at a second point on the reference surface, define the end tip of the work tool based on movement of the work tool relative to the first plane, the movement of the work tool relative to the first plane including, the end tip of the work tool being at the reference surface, and raising the bottom portion of the linkage vertically away from the reference surface such that the bottom portion of the linkage is no longer at with the reference surface, define one or more distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool is at the reference surface without either the end tip of the work tool or the bottom portion of the linkage being at the reference surface, determine a line of best fit based on the defined first plane, the defined end tip, and the defined one or more distinct profile planes, the line of best fit representing a bottom portion of the work tool, and control a working operation of the work tool using the determined line of best fit.

[0088] (2) The system according to (1), wherein the circuitry is configured to electronically determine a width of the work tool based on movement of the work tool such that a side of the work tool contacts a known object of the work machine or external to the work machine.

[0089] (3) The system according to (1) or (2), wherein the circuitry is configured to set one or more electronic fences using the determined line of best fit and / or the electronically determined width of the work tool.

[0090] (4) The system according to any one of (1) to (3), wherein the raising the bottom portion of the linkage vertically away from the reference surface is such that the end tip of the work tool at the reference surface is vertical.

[0091] (5) The system according to any one of (1) to (4), wherein the reference surface is one of a contact surface or a virtual contact surface, and wherein the defining of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

[0092] (6) The system according to any one of (1) to (5), wherein the working operation of the work tool includes digging a trench in a ground surface different from the reference surface.

[0093] (7) The system according to any one of (1) to (6), wherein the defined one or more distinct profile planes include a plurality of distinct profile planes, wherein at least one of the defined distinct profile planes runs through the end tip of the work tool and the bottom portion of the linkage, and wherein at least one of the defined distinct profile planes extends tangentially at the respective bottom portion of the work tool.

[0094] (8) The system according to any one of (1) to (7), wherein the work tool is a bucket.

[0095] (9) A method regarding a work tool coupled to a linkage of a work machine comprising: setting a first plane based on movement of the linkage relative to a reference surface external to the work machine, said setting the first plane including moving the linkage and the work took such that a bottom portion of the linkage is at the reference surface and such that a tip of the work tool is in contact with the reference surface; defining the tip of the work tool based on movement of the work tool relative to the first plane, said defining the tip of the work tool including moving the linkage away from the reference surface with the tip of the work tool remaining at the reference surface; setting a plurality of distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool is at the reference surface, at least one of the defined distinct profile planes running through the tip of the work tool and the bottom portion of the linkage, and at least one of the defined distinct profile planes extending tangentially at the respective bottom portion of the work tool; determining a line of best fit based on the set first plane, the defined tip, and the set distinct profile planes, the line of best fit representing a bottom portion of the work tool; and controlling a working operation of the work tool using the determined line of best fit.

[0096] (10) The method according to (9), further comprising setting one or more electronic fences for operation of the work machine using the determined line of best fit.

[0097] (11) The method according to (9) or (10), further comprising electronically determining a width of the work tool based on movement of the work tool such that a side of the work tool contacts a piece of equipment at a known location of the work machine or external to the work machine.

[0098] (12) The method according to any one of (9) to (11), further comprising setting one or more electronic fences for operation of the work machine using the electronically determined width of the work tool.

[0099] (13) The method according to any one of (9) to (12), wherein said setting of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

[0100] (14) The method according to any one of (9) to (13), wherein the reference surface is a physical contact surface, wherein the work tool is a bucket, and wherein the working operation of the work tool includes digging a trench in a ground surface different from the contact surface.

[0101] (15) A non-transitory computer-readable storage medium having stored thereon instructions that, when executed by one or more processors, causes the one or more processors to perform a method regarding a work tool coupled to a linkage of a work machine, the method comprising: setting a first plane based on movement of the linkage relative to a contact surface external to the work machine, said setting the first plane including moving the linkage and the work took such that a bottom portion of the linkage is in contact with the contact surface and such that a tip of the work tool is in contact with the contact surface; defining the tip of the work tool based on movement of the work tool relative to the first plane, said defining the tip of the work tool including moving the linkage away from the contact surface with the tip of the work tool remaining in contact with the contact surface; defining a plurality of distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool contacts the contact surface, at least one of the defined distinct profile planes running through the tip of the work tool and the bottom portion of the linkage, and at least one of the defined distinct profile planes extending tangentially at the respective bottom portion of the work tool; and determining a line of best fit based on the set first plane, the defined tip, and the defined distinct profile planes.

[0102] (16) The non-transitory computer-readable storage medium according to (15), further comprising electronically determining a width of the work tool based on movement of the work tool to contact a known location of the work machine.

[0103] (17) The non-transitory computer-readable storage medium according to (15) or (16), further comprising controlling a working operation of the work tool using the determined line of best fit.

[0104] (18) The non-transitory computer-readable storage medium according to any one of (15) to (17), further comprising setting one or more electronic fences for operation of the work machine using the determined line of best fit

[0105] (19) The non-transitory computer-readable storage medium according to any one of (15) to (18), wherein said defining of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

[0106] (20) The non-transitory computer-readable storage medium according to any one of (19) to (17), wherein the work tool is a bucket, and wherein said defining the tip of the work tool by moving the linkage away from the contact surface with the tip of the work tool remaining in contact with the contact surface includes raising the bottom portion of the linkage vertically away from the contact surface such that the tip of the work tool touching the contact surface is vertical.

[0107] It must be noted that, as used in the specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise. That is, unless clearly specified otherwise, as used herein the words “a” and “an” and the like carry the meaning of “one or more.” The use of the term “at least one” followed by a list of one or more items (for example, “at least one of A and B” or one or more of A and B”) is to be construed to mean one item selected from the listed items (A or B) or any combination of two or more of the listed items (A and B; A, A and B; A, B and B), unless otherwise indicated herein or clearly contradicted by context. Similarly, as used herein, the word "or" refers to any possible permutation of a set of items. For example, the phrase "A, B, or C" refers to at least one of A, B, C, or any combination thereof, such as any of: A; B; C; A and B; A and C; B and C; A, B, and C; or multiple of any item such as A and A; B, B, and C; A, A, B, C, and C; etc.

[0108] Additionally, it is to be understood that terms such as “left,” “right,” “top,” “bottom,” “front,” “rear,” “side,” “height,” “length,” “width,” “upper,” “lower,” “interior,” “exterior,” “inner,” “outer,” and the like that may be used herein, merely describe points of reference and do not necessarily limit embodiments of the disclosed subject matter to any particular orientation or configuration. Furthermore, terms such as “first,” “second,” “third,” etc., merely identify one of a number of portions, components, points of reference, operations and / or functions as described herein, and likewise do not necessarily limit embodiments of the disclosed subject matter to any particular configuration or orientation.

[0109] While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, assemblies, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof. List of Elements Title: SYSTEM, APPARATUS, METHOD, AND COMPUTER PROGRAM PRODUCT TO DETERMINE WORK TOOL DIMENSIONS 23-0271GB work machine lower traveling body upper swiveling body front linkage boom stick work tool or implement boom cylinder stick cylinder bucket cylinder cab engine room coupler stick pin pin point laser surface controller information processing system input unit communication unit storage unit display unit audio unit sensor unit plane / first plane plane / second plane plane / third plane plane / fourth plane plane / fifth plane plane / sixth plane plane point / first plane point plane point / second plane point line of best fit first angle second angle third angle radius

Claims

1. A system for determining one or more dimensions of a work tool of a work machine, comprising:a non-transitory computer-readable storage medium; andcircuitry operatively coupled with the non-transitory computer-readable storage medium and configured to, with the work tool coupled to a linkage of the work machine:define a first plane based on movement of the linkage relative to a reference surface external to the work machine, the movement of the linkage including a bottom portion of the linkage being at a first point at on reference surface and an end tip of the work tool being at a second point on the reference surface,define the end tip of the work tool based on movement of the work tool relative to the first plane, the movement of the work tool relative to the first plane including, the end tip of the work tool being at the reference surface, and raising the bottom portion of the linkage vertically away from the reference surface such that the bottom portion of the linkage is no longer at with the reference surface,define one or more distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool is at the reference surface without either the end tip of the work tool or the bottom portion of the linkage being at the reference surface,determine a line of best fit based on the defined first plane, the defined end tip, and the defined one or more distinct profile planes, the line of best fit representing a bottom portion of the work tool, andcontrol a working operation of the work tool using the determined line of best fit.

2. The system according to Claim 1, wherein the circuitry is configured to electronically determine a width of the work tool based on movement of the work tool such that a side of the work tool contacts a known object of the work machine or external to the work machine.

3. The system according to Claim 2, wherein the circuitry is configured to set one or more electronic fences using the determined line of best fit and / or the electronically determined width of the work tool.

4. The system according to Claim 1, wherein the raising the bottom portion of the linkage vertically away from the reference surface is such that the end tip of the work tool at the reference surface is vertical.

5. The system according to Claim 1,wherein the reference surface is one of a contact surface or a virtual contact surface, andwherein the defining of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

6. The system according to Claim 1, wherein the working operation of the work tool includes digging a trench in a ground surface different from the reference surface.

7. The system according to Claim 1,wherein the defined one or more distinct profile planes include a plurality of distinct profile planes,wherein at least one of the defined distinct profile planes runs through the end tip of the work tool and the bottom portion of the linkage, andwherein at least one of the defined distinct profile planes extends tangentially at the respective bottom portion of the work tool.

8. The system according to Claim 1, wherein the work tool is a bucket.

9. A method regarding a work tool coupled to a linkage of a work machine comprising:setting a first plane based on movement of the linkage relative to a reference surface external to the work machine, said setting the first plane including moving the linkage and the work took such that a bottom portion of thelinkage is at the reference surface and such that a tip of the work tool is in contact with the reference surface;defining the tip of the work tool based on movement of the work tool relative to the first plane, said defining the tip of the work tool including moving the linkage away from the reference surface with the tip of the work tool remaining at the reference surface;setting a plurality of distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool is at the reference surface, at least one of the defined distinct profile planes running through the tip of the work tool and the bottom portion of the linkage, and at least one of the defined distinct profile planes extending tangentially at the respective bottom portion of the work tool;determining a line of best fit based on the set first plane, the defined tip, and the set distinct profile planes, the line of best fit representing a bottom portion of the work tool; andcontrolling a working operation of the work tool using the determined line of best fit.

10. The method according to Claim 9, further comprising setting one or more electronic fences for operation of the work machine using the determined line of best fit.

11. The method according to Claim 9, further comprising electronically determining a width of the work tool based on movement of the work tool such that a side of the work tool contacts a piece of equipment at a known location of the work machine or external to the work machine.

12. The method according to Claim 11, further comprising setting one or more electronic fences for operation of the work machine using the electronically determined width of the work tool.

13. The method according to Claim 9, wherein said setting of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

14. The method according to Claim 9,wherein the reference surface is a physical contact surface,wherein the work tool is a bucket, andwherein the working operation of the work tool includes digging a trench in a ground surface different from the contact surface.

15. A non-transitory computer-readable storage medium having stored thereon instructions that, when executed by one or more processors, causes the one or more processors to perform a method regarding a work tool coupled to a linkage of a work machine, the method comprising:setting a first plane based on movement of the linkage relative to a contact surface external to the work machine, said setting the first plane including moving the linkage and the work took such that a bottom portion of the linkage is in contact with the contact surface and such that a tip of the work tool is in contact with the contact surface;defining the tip of the work tool based on movement of the work tool relative to the first plane, said defining the tip of the work tool including moving the linkage away from the contact surface with the tip of the work tool remaining in contact with the contact surface;defining a plurality of distinct profile planes of the work tool by moving the work tool such that a respective different bottom portion of the work tool contacts the contact surface, at least one of the defined distinct profile planes running through the tip of the work tool and the bottom portion of the linkage, and at least one of the defined distinct profile planes extending tangentially at the respective bottom portion of the work tool; anddetermining a line of best fit based on the set first plane, the defined tip, and the defined distinct profile planes.

16. The non-transitory computer-readable storage medium according to Claim 15, further comprising electronically determining a width of the work tool based on movement of the work tool to contact a known location of the work machine.

17. The non-transitory computer-readable storage medium according to Claim 15, further comprising controlling a working operation of the work tool using the determined line of best fit.

18. The non-transitory computer-readable storage medium according to Claim 15, further comprising setting one or more electronic fences for operation of the work machine using the determined line of best fit.

19. The non-transitory computer-readable storage medium according to Claim 15, wherein said defining of the distinct profile planes of the work tool is performed three to twelve times to determine the line of best fit.

20. The non-transitory computer-readable storage medium according to Claim 15,wherein the work tool is a bucket, andwherein said defining the tip of the work tool by moving the linkage away from the contact surface with the tip of the work tool remaining in contact with the contact surface includes raising the bottom portion of the linkage vertically away from the contact surface such that the tip of the work tool touching the contact surface is vertical.51

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