Hook control system and method for geotechnical instruments

Abstract

Generate a continuous differential surface associated with the rear curved surface of the geotechnical implement, project the continuous differential surface onto a two-dimensional (2D) plane associated with the geotechnical implement, determine a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane, determine the derivative of the piecewise differential continuous curve, and the design plane normal n of the ground surface for smoothing * Project onto the 2D plane associated with the geotechnical implement, the derivative of the piecewise differential continuous curve and the design plane normal n of the ground surface projected onto the 2D plane * Determine the perpendicular intersection between and, and use one or more linkage assembly actuators and the perpendicular intersection to operate the earthmoving machine to smooth the ground surface. A gradient control system and method for an earthmoving machine and control architecture

Description

Cross - Reference to Related Applications

[0001] This application claims priority to U.S. Patent Application No. 17 / 880,864, filed on August 4, 2022, entitled "Grade Control Systems and Methods for Earthmoving Implements", the entire content of which is incorporated herein by reference in its entirety.

Technical Field

[0002] The present disclosure relates to earthmoving implements such as excavators, including an excavator boom and an excavator stick that receive swing and curl operations, and an excavating implement that is swing and curl controlled by the assistance of the excavator boom and the excavator stick or other similar components for performing swing and curl operations, for the purpose of defining and explaining the scope of the present application.

Background Art

[0003] An excavation tool, as an earthworking tool, can be used to smooth the ground surface with a steering control operation and to move soil and other ground components relative to the ground surface. For example, but not limited to this, many types of excavators are equipped with excavation tools controlled hydraulically, pneumatically, or electrically, and can be operated by controlling the swing function and curl function of the excavation linkage assembly of the excavator. Excavator technology is well represented, for example, by the disclosure of Patent Document 1, which discloses a method for sensor-based automatic control of an excavator, assigned to Caterpillar Trimble Control Technologies LLC; Patent Document 2, which discloses an excavator 3D laser system and a wireless positioning guidance system configured to guide the cutting edge of an excavator bucket with high vertical accuracy, assigned to Caterpillar Trimble Control Technologies LLC; and Patent Document 3, which discloses a method of an excavator control system for determining the orientation of an excavator parked on a slope, assigned to Caterpillar Trimble Control Technologies LLC.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

[0005] According to the subject matter of the present disclosure, a slope control system includes an earthmoving machine, the earthmoving machine comprising a machine chassis, a linkage assembly, an earthworking implement, and a control architecture. The control architecture includes one or more linkage assembly actuators and an architecture controller programmed to generate a continuous differential surface associated with a rear curved surface of the earthworking implement and project the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement. The architecture controller is further programmed to determine a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane and determine a derivative of the piecewise differential continuous curve. The architecture controller projects the design plane normal n * of the ground surface for smoothing onto the 2D plane associated with the earthworking implement, determines a perpendicular intersection between the derivative of the piecewise differential continuous curve and the design plane normal n * projected onto the 2D plane, and is further programmed to use the one or more linkage assembly actuators and the perpendicular intersection to operate the earthmoving machine to smooth the ground surface.

[0006] According to an embodiment of the present disclosure, a slope control system includes an earthmoving machine, the earthmoving machine comprising a machine chassis, a linkage assembly, an earthworking implement, and a control architecture, the linkage assembly of the earthworking implement comprising a boom link mechanism and a stick link mechanism each including a center line. The control architecture includes one or more linkage assembly actuators facilitating movement of the linkage assembly and an architecture controller. The architecture controller is programmed to generate a continuous differential surface associated with a rear curved surface of the earthworking implement and project the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement. The 2D plane associated with the earthworking implement passes through the center lines of the boom link mechanism and the stick link mechanism. The architecture controller determines a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane, determines a derivative of the piecewise differential continuous curve, and determines the design plane normal n *It is further programmed to project onto a 2D plane associated with the earthworking implement. The architecture controller determines a perpendicular intersection between the derivative of the piecewise differentiable continuous curve and the design plane normal n of the ground surface projected onto the 2D plane, and is further programmed to operate the earthmoving machine using one or more linkage assembly actuators and the perpendicular intersection to smooth the ground surface. * It is further programmed to operate the earthmoving machine using one or more linkage assembly actuators and the perpendicular intersection to smooth the ground surface.

[0007] According to another embodiment of the present disclosure, a method of operating a control system for an earthmoving machine, the earthmoving machine having a control architecture including a machine chassis, a linkage assembly, an earthworking implement, and one or more linkage assembly actuators and an architecture controller, the method including generating, via the architecture controller, a continuous differential surface associated with a rear curved surface of the earthworking implement. The method includes projecting the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement, determining a piecewise differentiable continuous curve based on the continuous differential surface projected onto the 2D plane, determining a derivative of the piecewise differentiable continuous curve, and projecting a design plane normal n of the ground surface for smoothing * onto a 2D plane associated with the earthworking implement. The method further includes determining, via the architecture controller, a perpendicular intersection between the derivative of the piecewise differentiable continuous curve and the design plane normal n of the ground surface projected onto the 2D plane, and further includes operating the earthmoving machine using the architecture controller, one or more linkage assembly actuators, and the perpendicular intersection to smooth the ground surface. * It further includes operating the earthmoving machine using the architecture controller, one or more linkage assembly actuators, and the perpendicular intersection to smooth the ground surface.

[0008] The concepts of the present disclosure are described herein mainly with reference to the excavator shown in FIG. 1, but this concept is considered applicable to any type of excavator regardless of the specific mechanical configuration. For example, without limitation, the present concept can be applied to a backhoe loader with a backhoe linkage mechanism, an excavator with a variable angle boom, a tilt-rotating attachment, or a similar earthmoving machine.

[0009] The following detailed description of specific embodiments of the present disclosure can be best understood when read in conjunction with the following drawings in which like structures are indicated by like reference numerals.

Brief Description of the Drawings

[0010]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0011] The present disclosure relates to earthmoving machinery, and more particularly to earthmoving machinery such as an excavator that includes components to be controlled. For example, but not limited to this, many types of excavators typically have hydraulically controlled earthworking implements that can be operated by a joystick or other means at the machine's operator control station and are partially or fully automatically controlled. The user of the machine can control the lift, tilt, angle, and pitch of the earthworking implement. In addition, one or more of these variables can be partially or fully automatically controlled based on information sensed or received by the machine's adaptive environmental sensors. In the embodiments described herein, the slope control system determines values such as the vertical intersection between the rear curve of the earthworking implement and the ground surface, and based on that vertical intersection, operates the earthmoving machinery to, for example, bring the ground surface into contact with and smooth the earthworking implement. The values thus determined can be utilized for architecture control to operate the earthmoving machinery.

[0012] Since the earthworking implement can be used in various orientations with respect to the connection via the ground surface and the link mechanism to the earthmoving machinery, the point where the earthworking implement contacts the ground surface is dynamic and changes with respect to the geometry of the link mechanism. The determined values can include determining a focus and a vertical guidance point for slope control based on a dynamically changing point on the earthworking implement determined by generating a vector that passes through the center point of the earthworking implement and is perpendicular (e.g., normal) to the ground surface (e.g., the design surface). Thus, using the determined values such as the focus and the vertical guidance point, the slope control system can maintain accurate guidance as the earthworking implement moves over the ground surface through the range of motion achieved by the link mechanism and the number of link mechanism positions.

[0013] Referring initially to FIG. 1, in an embodiment, the steering control system 107 includes an earthmoving machine 100 shown disposed on the ground surface 126. The earthmoving machine 100 includes a machine chassis 102, a linkage assembly 104, an earthmoving implement 114, and a control architecture 106. The linkage assembly 104 includes a boom link mechanism 108, a stick link mechanism 110, the earthmoving implement 114, and a four-bar link mechanism 112 that collectively defines a plurality of linkage assembly positions. The stick link mechanism 110 includes a terminal end and is mechanically coupled to the terminal pivot point of the boom link mechanism 108. The machine chassis 102 is mechanically coupled to the terminal pivot point on the opposite side of the boom link mechanism 108. Thus, the boom link mechanism 108 is coupled between the machine chassis 102 and the stick link mechanism 110, and the end of the stick link mechanism 110 is coupled to the earthmoving implement 114 via, for example, the four-bar link mechanism 112.

[0014] In an embodiment, the linkage assembly 104 is configured to swing with or relative to the machine chassis 102, and the stick link mechanism 110 is configured to curl relative to the boom link mechanism 108. Further, the earthmoving implement 114 and the stick link mechanism 110 are mechanically coupled to each other via, for example, the four-bar link mechanism 112. In an embodiment, the four-bar link mechanism 112 includes an implement link mechanism, a rear link mechanism, a dogbone link mechanism, and a front link.

[0015] The control architecture 106 includes one or more linkage assembly actuators and an architecture controller programmed to execute the control scheme 400 (FIG. 6) described herein. In an embodiment, the control architecture 106 includes a non-transitory computer-readable storage medium containing machine-readable instructions. The one or more linkage assembly actuators can facilitate the movement of the linkage assembly 104. The one or more linkage assembly actuators can include hydraulic cylinder actuators, pneumatic cylinder actuators, electric actuators, mechanical actuators, or combinations thereof. Blocks 402-408 of the control scheme 400 in FIG. 6 illustrate a process programmed to be executed by the architecture controller, which is described in further detail below.

[0016] Referring to FIG. 2, an enlarged view of the earthworking implement 114 is shown together with a plurality of superimposed points 122 that form the superimposed curve 116. The superimposed curve 116 represents a continuous differential surface associated with the rearwardly curved surface of the earthworking implement 114.

[0017] Referring to FIG. 3, an enlarged view of another embodiment of the earthworking implement 214 is shown together with one or more superimposed points 222 and the inner surface 218. The points 222 include a superimposed forward point 222A and a superimposed rearward point 222B that are disposed at the ends of the substantially linear lower surface 216 of the earthworking implement 214. The outer substantially linear lower surface 216 faces in a direction opposite to the inner surface 218 of the earthworking implement 214. Thus, the substantially linear lower surface 216 of the earthworking implement 214 exhibits a substantially non-circular implement surface. For the curvature points, the design plane normal n of the ground surface 126 (e.g., the ground surface 126 to be smoothed) perpendicular to a piecewise differential continuous curve (e.g., a simulated arc, etc.) is determined by a process 400 (FIG. 6) that is described in further detail below. *The intersection points are determined. As a non-limiting embodiment, in the section between the linear regions, a plurality of sample points can be added between adjacent segments to enable the generation of a piecewise continuous differential linear curve. In the linear region of the characteristic curve of the geotechnical instrument 214, by using the points at the front end or the rear end of the line segment (for example, the superimposed forward point 222A and / or the superimposed rearward point 222B) together with the hysteresis, bouncing back can be prevented, and the error between the focal points of the geotechnical instrument 214 used for determination in the process 400 can be reduced.

[0018] Referring to FIG. 4, an enlarged view of yet another embodiment of the earthworking implement 314 as a circular implement of the earthworking machine 300 is shown. The earthworking machine 300 is generally similar to the earthworking machine 100, except for the earthworking implement 314 and the linkage assembly 312 described herein. The earthworking implement 314 is connected to the stick linkage mechanism 110 at the end point G via the lower link mechanism of the linkage assembly 312. The linkage assembly 312 includes a lower link mechanism, an upper link mechanism connected to the stick linkage mechanism 110 above the end point G, and an intermediate link mechanism disposed at opposite ends of the lower link mechanism and the upper link mechanism. The intermediate link mechanism is connected to the lower link mechanism at a lower link mechanism connection point at the end of the lower link mechanism opposite the end point G. A distance C is defined between the end point G and the lower link mechanism connection point. The center point 328 of the earthworking implement 314 is separated from the lower link mechanism connection point by a distance B, and the center point 328 is separated from the end point G by a distance A. The distances A, B, and C can be measured and calibrated to determine the position of the axis of rotation of the center point 328 passing through the earthworking implement 314. Next, using the radius D from the center point 328 to the outer surface of the earthworking implement 314, as shown in FIG. 5 and described in further detail below, the position of the outer surface point 330 of the earthworking implement relative to the ground surface 126 can be determined such that the outer surface point 330 is perpendicular to the ground surface 126 along the vector 332 of the ground surface 126. The outer surface point 330 varies dynamically with respect to a point perpendicular to a selected portion of the ground surface 126. The determination of this dynamically varying point can be used to control and guide the earthworking implement 314 during smoothing, compressing, and / or other grading of the ground surface 126.

[0019] FIG. 5 shows a side view of a geotechnical instrument 314 that is in three separate positions 302, 304, 306 with respect to the ground surface 126 and is in contact with the ground surface 126. At position 302, the geotechnical instrument 314 is disposed with respect to the ground surface 126A that is inclined to the left at the outer surface point 330A such that the outer surface point 330A is perpendicular to the ground surface 126A along the vector 332A of the ground surface 126. Thus, the outer surface point 330A represents the perpendicular intersection between the curve of the geotechnical instrument 314 and the ground surface 126A along the vector 332A protruding from the ground surface 126A. The dynamic vector 332A is disposed at an angle α1 with respect to the axis 334 that is statically disposed between the end point G of the stick link mechanism 110 and the center point 328 of the geotechnical instrument 314.

[0020] At position 304, the geotechnical instrument 314 is disposed with respect to the ground surface 126C that is below at the outer surface point 330B such that the outer surface point 330B is perpendicular to the ground surface 126B along the vector 332B of the ground surface 126. Thus, the outer surface point 330B represents the perpendicular intersection between the curve of the geotechnical instrument 314 and the ground surface 126B along the vector 332B protruding from the ground surface 126B. The dynamic vector 332B is disposed at an angle α2 with respect to the static axis 334.

[0021] At position 306, the geotechnical instrument 314 is disposed with respect to the ground surface 126C that is inclined to the right at the outer surface point 330C such that the outer surface point 330C is perpendicular to the ground surface 126C along the vector 332C of the ground surface 126. Thus, the outer surface point 330C represents the perpendicular intersection between the curve of the geotechnical instrument 314 and the ground surface 126C along the vector 332C protruding from the ground surface 126C. The dynamic vector 332C is disposed at an angle α3 with respect to the static axis 334. In the non-limiting illustrated embodiment of FIG. 5, the angles α1, α2, and α3 are different from each other because the respective outer surface points 330A, B, C change dynamically and are determined with respect to the respective vectors 332A, B, C of the respective ground surfaces 126A, 126B, 126C.

[0022] Referring again to FIG. 6, blocks 402-408 of control scheme 400 illustrate a process that is programmed to be executed by the architecture controller of control architecture 106. The process is executed by the architecture controller to determine the vertical intersection between the excavation tools 114, 214, 314 described herein and the ground surface 126.

[0023] In block 402, the architecture controller is programmed to generate a continuous differential surface (e.g., overlapping curve 116 of FIG. 2) associated with the rear curved surface of the earthworking tools 114, 214, 314 and project the continuous differential surface onto a two-dimensional (2D) plane (such as an XY plane including the x-axis and y-axis) associated with the earthworking tools 114, 214, 314. As described herein with respect to FIGS. 1-2 and 4, the linkage assemblies 112, 312 of the earthworking tools 114, 214, 314 may each include a boom link mechanism 108 and a stick link mechanism 110 including a centerline. The 2D plane associated with the earthworking tools 114, 214, 314 may pass through the respective centerlines of the boom link mechanism 108 and the stick link mechanism 110. The boom link mechanism 108 can be connected between the machine chassis 102 and the stick link mechanism 110, and the end of the stick link mechanism 110 can be connected to the earthworking tools 114, 214, 314 via the linkage assemblies 112, 312.

[0024] In an embodiment, to generate a continuous differential surface associated with the rear curved surface of the geotechnical instrument 114 of FIG. 2, the architecture controller may identify a flat surface at the bottom of the geotechnical instrument 114, identify surface points of the ground surface 126 (FIG. 1), and position an initial curvature point (e.g., corresponding to point A) as one of one or more curvature points of the curvature of the geotechnical instrument 114 extending from the flat surface to the surface points of the ground surface 126. One or more linkage assembly actuators can be used to lift and curl the geotechnical instrument 114 to a subsequent curvature point (e.g., corresponding to point B) of the geotechnical instrument 114 and position the subsequent curvature point (e.g., corresponding to point B) on the ground surface point 126. The subsequent curvature point is one of one or more curvature points (e.g., corresponding to points A - F in FIG. 2). Further subsequent curvature points can be successively arranged and positioned on the curvature of the geotechnical instrument 114 on the ground surface point 126 as one of one or more curvature points respectively.

[0025] One or more points (e.g., points A - F) of the rear curved surface of the excavation instrument 114 can be mapped based on one or more curvature points arranged and positioned on the ground surface 126. Thereafter, one or more points (e.g., points A - F) mapping the rear curved surface of the geotechnical instrument 114 can be projected onto a 2D plane of the geotechnical instrument 114. A continuous differential surface (e.g., the superimposed curve 116 in FIG. 2) associated with the rear curved surface of the geotechnical instrument 114 can be generated based on one or more points projected onto the 2D plane (e.g., the superimposed points 122 associated with points A - F in FIG. 2). The y - axis of the 2D plane can be defined by a vector arranged between the initial curvature point of one or more curvature points and the last curvature point of one or more curvature points. One or more curvature points can include at least five curvature points (e.g., corresponding to points B - F), and the continuous differential surface can be mapped with a tangent starting from the flat surface at the bottom of the geotechnical instrument 114 (e.g., starting from point A).

[0026] In embodiments where one or more curvature points do not strictly monotonically increase, the geotechnical instrument 114 can be bisected to generate a bisecting lane. Next, two separate projections can be generated for one or more curvature points that are respectively below and above the bisecting lane. Based on one or more curvature points that are respectively below and above the bisecting lane, a continuous differential surface can be generated.

[0027] In one aspect, the architecture controller can be configured to project k measurement points associated with the rear curved surface of the geotechnical instruments 114, 214, 314 onto a 2D plane. Next, the y-axis of the 2D plane can be defined as progressing from the first point to the last point of the k measurement points, and the projected k measurement points can be x with respect to the x-axis k and f(x k ) and can be represented as.

[0028] In block 404, the architecture controller is programmed to determine a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane and to determine the derivative of the piecewise differential continuous curve. To determine the piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane, the architecture controller can be configured to determine a smooth piecewise cubic function p(x) ε C1[I] that is differentiable with a single continuous derivative characterizing one or more points x that define the continuous differential surface projected onto the 2D plane. For each subinterval I i [x i , x i+1 The smooth piecewise cubic function of is p(x)=f i H i (x)+f i+1 H2(x)+d i H3(x)+d i+1 H4(x) [where H i (x)=φ((x i+1 -x) / h i ), H2(x)=φ((x-x i ) / h i ), H3(x)=-h i ψ((x i+1 -x) / h i), H4(x)=h i ψ((xx i ) / h i ) and where h i =x i+1 -x i , φ(t)=3t 2 -2t 3 , and ψ(t)=t 3 -t 2 (Equation 1) is given by

[0029] To determine the derivative of the piecewise differential continuous curve, the architecture controller may be configured to differentiate the piecewise differential continuous curve to determine:

[0030]

number

[0031] In block 406, the architecture controller calculates the design plane normal n of the ground surface 126 for smoothing. * 4-5) on the 2D plane associated with the earthmoving implement 114, 214, 314. In block 408, the architecture controller calculates the derivative of the piecewise differential continuous curve and the design plane normal n of each ground surface 126 projected onto the 2D plane. * 4-5 ) between the earthmoving machine 100, 300 and the ground surface 126. In an embodiment, the architecture controller may be programmed to operate the earthmoving machine 100, 300 using one or more linkage assembly actuators and the determined and dynamically changing vertical intersection points to smooth the ground surface 126.

[0032] Derivatives of piecewise differential continuous curves and the design plane normal n of the ground surface projected onto a 2D plane *To determine the vertical intersection with, the architecture controller iterates over the region from i = 0 to i = n - 1 and the following derivative:

[0033] [Number]

[0034] and

[0035] [Number]

[0036] the design plane normal n defined in the case of * can be configured to find said vertical intersection between.

[0037] In an embodiment, if at least two or zero vertical intersections are found, the selected vertical intersection can be the point closest to the origin of the design plane normal n of the ground surface 126. If at least two points are equidistant from the origin, the selected vertical intersection can be the point furthest along the direction of movement of the geotechnical instrument among the equidistant points. * In embodiments, if at least two or zero vertical intersections are found, the selected vertical intersection can be the point closest to the origin of the design plane normal n of the ground surface 126. If at least two points are equidistant from the origin, the selected vertical intersection can be the point furthest along the direction of movement of the geotechnical instrument among the equidistant points.

[0038] Embodiments of the present disclosure enable a faster and more cost - effective way to determine values for assisting in slope control of the ground surface, and a way to minimize the risk of human error associated with the determination of such values, and a way to operate a geotechnical instrument based on such determined values. Further, the controller of the excavator or other control techniques are improved such that the processing system is improved and optimized with respect to speed, efficiency, and output.

[0039] A signal can be "generated" with the help of sensors or without help, by direct or indirect calculation or measurement.

[0040] For purposes of explaining and defining the present disclosure, it should be noted that references herein to a variable that is a "function" of a parameter or another variable are not intended to indicate that the variable is solely a function of the listed parameter or variables. Rather, references herein to a variable that is a "function" of the listed parameters are intended to be open-ended such that the variable can be a function of a single parameter or multiple parameters.

[0041] It should also be noted that the recitation herein of "at least one" of a component, element, etc. should not be used to create an inference that the alternative use of the articles "a" or "an" is necessarily limited to a single component, element, etc.

[0042] It should be noted that the recitation herein of components of the present disclosure that are "configured" or "programmed" in a particular way to embody a particular property or function is a structural recitation as opposed to a recitation of intended uses. More specifically, references herein to the way in which a component is "configured" or "programmed" should be interpreted as indicating the existing physical state of the component and, thus, as a clear description of the structural features of that component.

[0043] It should be noted that terms such as "preferably", "generally", and "typically" are not used herein to limit the scope of the claimed disclosure or to imply that a particular feature is critical, essential, or important to the structure or function of the claimed disclosure. Rather, these terms are merely intended to identify particular aspects of embodiments of the present disclosure or to highlight alternative or additional features that may or may not be used in particular embodiments of the present disclosure.

[0044] For the purposes of describing and defining the present disclosure, it should be noted that the terms "substantially" and "about" are used herein to represent the degree of inherent uncertainty that may result from any quantitative comparison, value, measurement, or other representation. The terms "substantially" and "about" are also used herein to represent the degree to which a quantitative expression may vary from the reference being described without causing a change in the basic function of the subject matter in question.

[0045] Although the subject matter of the present disclosure has been described in detail with reference to its specific embodiments, it should be noted that the various details disclosed herein should not be construed as suggesting that these details are essential components of the various embodiments described herein, even if a particular element is shown in each of the accompanying drawings herein. Furthermore, it will be apparent that modifications and changes are possible without departing from the scope of the present disclosure, which includes but is not limited to the embodiments defined in the appended claims. More specifically, although some aspects of the present disclosure are described herein as preferred or particularly advantageous, it is contemplated that the present disclosure is not necessarily limited to these aspects.

[0046] It should be noted that in one or more of the following claims, the term "herein" is used as a transitional phrase. For the purposes of defining the present disclosure, this term is introduced into the claim as an open-ended transitional phrase used to introduce a description of a series of characteristics of a structure, and it should be noted that it should be interpreted in the same manner as the more commonly used open-ended preamble term "comprising".

Description of Reference Numerals

[0047] 100, 300 Earthmoving Machinery 102 Machine Chassis 104, 312 Linkage Assembly 106 Control Architecture 107 Pitch Control System 108 Boom Link Mechanism 110 Stick link mechanism 112 Four-bar link mechanism 114, 214, 314 Earthwork implement 116 Overlapping curve 126 Ground surface 216 Bottom surface 218 Inner surface 328 Center point 330 Outer point 334 Axis

Claims

1. A traction control system including an earthworking machine, wherein the earthworking machine includes a machine chassis, a linkage assembly, an earthworking implement, and a control architecture, the control architecture includes one or more linkage assembly actuators and an architecture controller, and the architecture controller generates a continuous differential surface associated with a rear curved surface of the earthworking implement, projects the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement, determines a piecewise differential continuous curve based on the continuous differential surface projected on the 2D plane, determines a derivative of the piecewise differential continuous curve, Design plane normal n of the ground surface for smoothing ＊ projected onto the 2D plane associated with the geotechnical instrument, Determine the perpendicular intersection between the derivative of the piecewise differential continuous curve and the design plane normal n of the ground surface projected onto the 2D plane, and ＊ and and is programmed to operate the earthworking machine using the one or more linkage assembly actuators and the vertical intersection point to smooth the ground surface. A traction control system.

2. To generate the continuous differential surface associated with the rear curved surface of the earthworking implement, the architecture controller identifies a flat surface at the bottom of the earthworking implement, identifies ground surface points on the ground surface, positions an initial curvature point as one of one or more curvature points of the curvature of the earthworking implement extending from the flat surface to the ground surface points, lifts the earthworking implement using the one or more linkage assembly actuators and curls it to a subsequent curvature point, positions the subsequent curvature point on the ground surface point as one of the one or more curvature points, subsequently identifies and positions each subsequent curvature point on the ground surface point as one of the one or more curvature points on the curvature of the earthworking implement, maps one or more points on the rear curved surface of the earthworking implement based on the one or more curvature points, projects the one or more points mapping the rear curved surface of the earthworking implement onto the 2D plane of the earthworking implement, and generates the continuous differential surface associated with the rear curved surface of the earthworking implement based on the one or more points projected on the 2D plane. The traction control system according to Claim 1, configured as such.

3. The traction control system according to Claim 2, wherein the one or more curvature points include at least five curvature points, the continuous differential surface is mapped by a tangent line, and the tangent line starts from the flat surface at the bottom of the earthworking implement.

4. The control system according to claim 2, wherein the y-axis of the 2D plane is defined by a vector disposed between the initial curvature point of the one or more curvature points and the last curvature point of the one or more curvature points.

5. When the one or more curvature points do not increase strictly monotonically, the architecture controller divides the earthworking implement into two to generate two lanes, generates two separate projections of the one or more curvature points, one below and one above each of the two lanes, and generates the continuous differential surface based on the one or more curvature points, one below and one above each of the two lanes The control system according to claim 2, configured as follows.

6. The architecture controller If at least two or zero vertical intersections are found, select the point on the ground surface closest to the origin of the design plane normal n of the ground surface as the vertical intersection ＊ ​ The control system according to claim 1, configured as follows.

7. The architecture controller When at least two points are equidistant from the origin, selects the point furthest along the direction of movement of the earthworking implement among the points at equal distance as the perpendicular intersection point The control system according to claim 6, configured as follows.

8. The architecture controller, for determining the piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane, A single continuously differentiable smooth piecewise cubic function p(x) ε C that characterizes one or more points x defining the continuous differential surface projected onto the 2D plane １ Determine [I], and for each subinterval I ｉ [x ｉ , x ｉ＋１ , the smooth piecewise cubic function therein is p(x) = f ｉ H ｉ (x) + f ｉ＋１ H ２ (x) + d ｉ H ３ (x) + d ｉ＋１ H ４ (x) [where, H ｉ (x) = φ((x ｉ＋１ - x) / h ｉ ), H ２ (x) = φ((x - x ｉ ) / h ｉ ), H ３ (x) = -h ｉ ψ((x ｉ＋１ - x) / h ｉ ), H ４ (x) = h ｉ ψ((x - x ｉ ) / h ｉ ), and Here, h ｉ = x ｉ＋１ - x ｉ , φ(t) = 3t ２ - 2t ３ , and ψ(t) = t ３ - t ２ are as follows The control system according to claim 1, configured as provided by

9. The architecture controller, for determining the derivative of the piecewise differential continuous curve, differentiates the piecewise differential continuous curve, 【Number 1】 The control system according to claim 8, configured to determine

10. The derivative of the piecewise differential continuous curve and the design plane normal n of the ground surface projected onto the 2D plane ＊ To determine the perpendicular intersection point between the architecture controller and iterates over the region from i = 0 to i = n - 1, the derivative 【Number 2】 and [Number 3] the design plane normal n defined in the case of ＊ The tilt control system according to claim 8, configured to find the perpendicular intersection with

11. The control system according to claim 1, wherein the control architecture includes a non-transitory computer-readable storage medium containing machine-readable instructions.

12. The control system according to claim 1, wherein the one or more linkage assembly actuators facilitate movement of the linkage assembly.

13. The control system according to claim 12, wherein the one or more linkage assembly actuators include a hydraulic cylinder actuator, a pneumatic cylinder actuator, an electric actuator, a mechanical actuator, or a combination thereof.

14. The linkage assembly of the earthworking implement includes a boom link mechanism and a stick link mechanism each including a center line, and the 2D plane associated with the earthworking implement passes through the center lines of the boom link mechanism and the stick link mechanism. The hitch control system according to claim 1.

15. The boom link mechanism is connected between the machine chassis and the stick link mechanism, and an end of the stick link mechanism is connected to the earthworking implement. The hitch control system according to claim 14.

16. The link mechanism of the linkage assembly further includes an implement link mechanism, a rear link mechanism, a dogbone link mechanism, and a front link mechanism, and connects the end of the stick link mechanism to the earthworking implement. The hitch control system according to claim 15.

17. A hitch control system including an earthmoving machine, The earthmoving machine includes a machine chassis, a linkage assembly, an earthworking implement, and a control architecture, The linkage assembly of the earthworking implement includes a boom link mechanism and a stick link mechanism each including a center line, The control architecture includes one or more linkage assembly actuators facilitating movement of the linkage assembly and an architecture controller, and the architecture controller Generates a continuous differential surface associated with a rear curved surface of the earthworking implement, Projects the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement, and the 2D plane associated with the earthworking implement passes through the center lines of the boom link mechanism and the stick link mechanism, Determines a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane, Determines a derivative of the piecewise differential continuous curve, Design plane normal n of the ground surface for smoothing ＊ project it onto the 2D plane associated with the geotechnical instrument, Determine the perpendicular intersection between the derivative of the piecewise differential continuous curve and the design plane normal n of the ground surface projected onto the 2D plane, and ＊ and Is programmed to operate the earthmoving machine using the one or more linkage assembly actuators and the vertical intersection point to smooth the ground surface The hitch control system.

18. To generate the continuous differential surface associated with the rear curved surface of the earthworking implement, the architecture controller Identifies a flat surface at the bottom of the earthworking implement, Identifies a ground surface point on the ground surface, Positions an initial curvature point as one of one or more curvature points of the curvature of the earthworking implement extending from the flat surface to the ground surface point Lifting the earthworking implement using the one or more linkage assembly actuators and curling the earthworking implement to a subsequent curvature point, Positioning the subsequent curvature point on the ground surface point as one of the one or more curvature points, Subsequently, identifying and positioning a subsequent curvature point as one of the one or more curvature points on the curvature of the earthworking implement on the ground surface point, Mapping one or more points of the rear curved surface of the earthworking implement based on the one or more curvature points, Projecting the one or more points for mapping the rear curved surface of the earthworking implement onto the 2D plane of the earthworking implement, and Generating a continuous differential surface associated with the rear curved surface of the earthworking implement based on the one or more points projected onto the 2D plane The gradient control system according to claim 17, which is configured as described above.

19. A method of operating a gradient control system including an earthmoving machine, the earthmoving machine comprising a machine chassis, a linkage assembly, an earthworking implement, and a control architecture including one or more linkage assembly actuators and an architecture controller, the method comprising: Generating a continuous differential surface associated with the rear curved surface of the earthworking implement via the architecture controller; Projecting the continuous differential surface onto a two-dimensional (2D) plane associated with the earthworking implement; Determining a piecewise differential continuous curve based on the continuous differential surface projected onto the 2D plane; Determining a derivative of the piecewise differential continuous curve; Design plane normal n of the ground surface for smoothing ＊ Projecting onto the 2D plane associated with the geotechnical instrument Determining a perpendicular intersection between the derivative of the piecewise differential continuous curve and the design plane normal n of the ground surface projected onto the 2D plane via the architecture controller, and ＊ and Operating the earthmoving machine using the architecture controller, the one or more linkage assembly actuators, and the vertical intersection point to smooth the ground surface A method including the above steps.

20. Identifying a flat surface at the bottom of the earthworking implement; Identifying a ground surface point on the ground surface; Positioning an initial curvature point as one of the one or more curvature points of the curvature of the earthworking implement extending from the flat surface to the ground surface point; Lifting the earthworking implement using the one or more linkage assembly actuators and curling the earthworking implement to a subsequent curvature point; Positioning the subsequent curvature point on the ground surface point as one of the one or more curvature points; Subsequently, identifying and positioning each subsequent curvature point as one of the one or more curvature points on the curvature of the geotechnical implement on the ground surface point; Mapping one or more points of the rear curved surface of the geotechnical implement based on the one or more curvature points; Projecting the one or more points for mapping the rear curved surface of the geotechnical implement onto the 2D plane of the geotechnical implement; and Generating a continuous differential surface associated with the rear curved surface of the geotechnical implement based on the one or more points projected onto the 2D plane The method according to claim 19, further comprising.

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