Work tool alignment system for work vehicle
A work vehicle having an implement positioning system can include a frame supported above a ground surface by ground engaging units and a work tool pivotally attached to a distal end of a boom assembly. The boom assembly is coupled to the frame to pivot the work tool through an arc between an upper position and a lower position. The work tool rotates an implement about a tool axis which can be inclined relative to a target axis. A controller receives a boom position signal from a boom position sensor which is indicative of an arc position of the distal end and an inclinometer signal from a tool axis sensor which is indicative of a longitudinal inclination and a transverse inclination to the target axis. The controller is configured to display tool axis inclination information on the display and configured to operate the plurality of ground engaging units based on the inclinometer signal or the boom position signal.
1 . A work vehicle having an implement positioning system, the work vehicle comprising:
a frame;
a plurality ground engaging units configured to support the frame above a ground surface;
a boom assembly having a near end and a distal end, the boom assembly pivotably coupled to the frame at the near end and extending in a boom direction to the distal end, and having a boom position sensor configured to generate a boom position signal indicative of an arc position of the distal end;
a work tool pivotably attached to the distal end and coupled to the frame via the boom assembly, the work tool configured to rotate an implement about a tool axis, the tool axis having a longitudinal inclination to a target axis and a transverse inclination to the target axis relative to the boom direction, wherein the boom assembly is configured to pivot the work tool through an arc between an upper position and a lower position; and
a tool axis sensor configured to measure the longitudinal inclination and the transverse inclination of the tool axis, and to generate a corresponding an inclinometer signal in response;
a controller operatively coupled to a display and the plurality of ground engaging units and coupled to receive the inclinometer signal and the boom position signal, wherein the controller is configured to display tool axis inclination information on the display and configured to operate the plurality of ground engaging units at least in part in response to the inclinometer signal or the boom position signal.
2 . The work vehicle of claim 1 , wherein the target axis is a vertical axis.
3 . The work vehicle of claim 1 , wherein the inclinometer signal includes a longitudinal inclination signal and the transverse inclination signal and wherein the controller is configured to operate the plurality of ground engaging units to align the tool axis with the target axis based on the longitudinal inclination signal and the transverse inclination signal.
4 . The work vehicle of claim 3 , further comprising a receiver mounted on the vehicle, and a memory connected to the controller, the memory configured to store a target borehole location,
wherein the receiver is configured to receive from each of a plurality of remote wireless transmitters a corresponding position signal,
wherein the receiver is configured to determine a current vehicle position based on the received position signals, and
wherein the controller is communicatively coupled to receive the current vehicle position from the receiver and configured to determine when a separation distance between the target borehole location and the current vehicle location is below a threshold value.
5 . The work vehicle of claim 4 , further comprising a boom actuator coupled between the frame and the boom assembly, and actuatable to pivot the boom assembly relative to the frame,
wherein the controller is operatively coupled to actuate the boom actuator to pivot the work implement between the upper position and the lower position in response to receiving an operator command.
6 . The work vehicle of claim 5 , wherein the arc position of the distal end being indicative of a height measurement and a reach measurement,
wherein the work tool has a tool length which specifies a position of a tool tip relative to the distal end,
wherein the operator command includes the tool length, a target borehole depth, a target axis longitudinal inclination and a target axis transverse inclination, wherein the controller is configured to operate the work tool to rotate the implement, and
wherein the controller is configured to actuate the boom actuator until the tool tip reaches the target depth while operating the plurality of ground engaging units to maintain the tool axis aligned with the target axis.
7 . The work vehicle of claim 4 , wherein the memory is further configured to store a boundary line having a starting boundary point and an ending boundary point,
wherein the controller is configured to generate a plurality of candidate borehole points based on a desired operator spacing and to display the boundary line, the candidate borehole points, current vehicle location,
wherein the controller is configured to receive from an operator interface a command selecting a candidate borehole point as a target borehole location.
8 . The work vehicle of claim 1 , wherein the controller is configured to determine a reach distance of the distal end based on the boom position signal and configured to operate the plurality of ground engaging units based on the reach distance to maintain a target axis longitudinal inclination and a target axis transverse inclination.
9 . The work vehicle of claim 8 , wherein the controller configured to additionally operate the plurality of ground engaging units based on the received inclinometer signal to maintain the target axis longitudinal inclination and the target axis transverse inclination.
10 . A work vehicle having an implement alignment system, the work vehicle comprising:
a frame supported above a ground surface by a plurality ground engaging units, wherein the plurality of ground engaging units are operable to propel and steer work vehicle along the ground surface;
a boom assembly having a near end and a distal end, the boom assembly pivotably coupled to the frame at the near end and extending in a boom direction to the distal end, wherein the boom assembly is configured to pivot the distal end through an arc between an upper position and a lower position;
a work tool pivotably attached to the distal end and coupled to the frame via the boom assembly, the work tool configured to rotate an implement having an implement tip about a tool axis, wherein the work tool has a tool length indicative of the position of the implement tip relative to the distal end, the tool axis having a longitudinal inclination to a vertical axis and a transverse inclination to the vertical axis relative to the boom direction;
a tool axis sensor configured to measure the longitudinal inclination and the transverse inclination of the tool axis, and to generate an inclinometer signal in response;
a boom position sensor configured to measure a pivot position of the implement tip relative to the frame and to generate an arc position signal in response, wherein the arc position signal is indicative of a reach distance and a height of the implement tip relative to the frame;
a controller configured to receive an align command and to operate the ground engaging units to align the tool axis with the vertical at least in part in response to the arc position signal.
11 . The work vehicle of claim 10 , further comprising a display communicatively coupled to the controller, the controller configured to receive the inclinometer signal from the tool axis sensor and to display tool axis inclination information on the display.
12 . The work vehicle of claim 10 , further comprising a receiver mounted on the vehicle, and a memory connected to the controller, the memory configured to store a target borehole location,
wherein the receiver is configured to receive from each of a plurality of remote wireless transmitters a corresponding position signal,
wherein the receiver is configured to determine a current vehicle position based on the received position signals, and
wherein the controller is communicatively coupled to receive the current vehicle position from the receiver and configured to determine when a separation distance between the target borehole location and the current vehicle location is below a threshold value.
13 . The work vehicle of claim 12 , further comprising a boom actuator coupled between the frame and the boom assembly, and actuatable to pivot the boom assembly relative to the frame,
wherein the controller is operatively coupled to actuate the boom actuator to pivot the work implement between the upper position and the lower position in response to receiving an operator bore command,
wherein the operator bore command includes the tool length, a target borehole depth,
wherein the controller is configured to operate the work tool to rotate the implement, and
wherein the controller is configured to actuate the boom actuator until the tool tip reaches the target borehole depth while operating the plurality of ground engaging units to maintain the tool axis aligned with the vertical axis.
14 . The work vehicle of claim 13 , wherein the memory is further configured to store a boundary line having a starting boundary point and an ending boundary point,
wherein the controller is configured to generate a plurality of candidate borehole points based on a desired operator spacing and to display the boundary line, the candidate borehole points, and current vehicle location on the display,
wherein the controller is configured to receive from an operator interface a command selecting a candidate borehole point as a target location.
15 . The work vehicle of claim 10 , wherein in response to the align command the controller is configured to operate the ground engaging units to align the tool axis with the vertical axis based on the inclinometer signal and the arc position signal.