Grade control system and method for a work vehicle
A work vehicle may include a chassis, a ground-engaging blade, a first sensor, a second sensor, and a controller. The blade may be movably connected to the chassis via a linkage assembly configured to allow the blade to be raised and lowered and moved in a roll direction. The first sensor may be configured to provide a chassis inclination signal indicative of a main fall angle, a chassis roll signal indicative of a cross slope angle, and a chassis heading signal. The second sensor may be configured to provide a blade inclination signal and a blade roll signal. The controller may be configured to receive the signals, determine a target grade, determine a distance error based on the signals indicative of a distance between the blade and the target grade, and send a command to move the blade toward the target grade based on the distance error.
1. A work vehicle comprising:
a chassis;
a ground-engaging blade movably connected to the chassis via a linkage assembly configured to allow the blade to be raised and lowered relative to the chassis and moved in a roll direction relative to the chassis;
a first sensor configured to provide a chassis inclination signal indicative of a main fall angle of the chassis relative to a direction of gravity, a chassis roll signal indicative of a cross slope angle of the chassis relative to a direction of gravity, and a chassis heading signal indicative of a heading angle of a change from an initial heading to an updated heading;
a second sensor configured to provide a blade inclination signal indicative of an angle of the blade relative to one of the chassis and the direction of gravity and a blade roll signal indicative of an angle of the blade in the roll direction relative to one of the chassis and the direction of gravity; and
a controller configured to:
receive the chassis inclination signal, the chassis roll signal, and the chassis heading signal;
receive the blade inclination signal and the blade roll signal;
determine a target grade from an operator input and the chassis heading signal without localization;
determine an inclination distance error based on the chassis inclination signal and the blade inclination signal, the inclination distance error indicative of a distance between the blade and the target grade;
determine a roll distance error based on the chassis roll signal and the blade roll signal, the roll distance error indicative of a distance between the blade and the target grade;
send a command to move the blade toward the target grade based on the inclination distance error and the roll distance error; and
update the target grade according to the updated heading without localization.
2. The work vehicle of claim 1 , wherein the first sensor and the second sensor comprise at least one accelerometer and at least one gyroscope.
3. The work vehicle of claim 1 , wherein the first sensor and the second sensor comprise an IMU.
4. The work vehicle of claim 1 , wherein the linkage assembly is configured to allow the blade to be moved in the yaw direction.
5. The work vehicle of claim 4 , wherein the second sensor is configured to provide a blade yaw signal indicative of an angle of the blade in the yaw direction relative to the chassis, the controller is configured to receive the blade yaw signal and determine a yaw distance error based on the chassis heading signal and the blade yaw signal, the yaw distance error indicative of a distance between the blade and the target grade, the controller further configured to send a command to move the blade toward the target grade based on the yaw distance error.
6. The work vehicle of claim 1 , wherein the work vehicle is a crawler.
7. The work vehicle of claim 1 , wherein the first sensor is coupled to the chassis.
8. The work vehicle of claim 1 , wherein the second sensor is coupled to the blade.
9. A method of controlling a ground-engaging blade of a work vehicle comprising:
receiving a chassis inclination signal indicative of a main fall angle of a chassis of the work vehicle relative to the direction of gravity;
receiving a blade inclination signal indicative of an angle of the blade relative to one of the chassis and the direction of gravity;
receiving a chassis roll signal indicative of a cross slope angle of the chassis relative to a direction of gravity;
receiving a blade roll signal indicative of an angle of the blade in the roll direction relative to one of the chassis and the direction of gravity;
receiving a chassis heading signal indicative of a heading angle of a change from an initial heading to an updated heading;
determining a target grade from the chassis heading signal without localization;
determining a distance error indicative of a distance between the blade and the target grade based on the chassis inclination signal, the blade inclination signal, the chassis roll signal, and the blade roll signal;
determining a command signal to direct movement of the blade toward the target grade based on the distance error;
moving the blade toward the target grade; and
updating the target grade according to the updated heading without localization.
10. The method of claim 9 , further comprising receiving a blade yaw signal indicative of an angle of the blade in the yaw direction relative to the chassis and determining a distance error indicative of a distance between the blade and the target grade based on the blade yaw signal and the chassis heading signal.
11. The method of claim 9 , wherein the work vehicle is a crawler.
12. A crawler comprising:
a chassis;
a ground-engaging blade movably connected to the chassis by a linkage assembly configured to allow the blade to be raised and lowered relative to the chassis and moved in a roll direction relative to the chassis;
a hydraulic cylinder;
an electrohydraulic valve assembly configured to move the blade by directing hydraulic fluid to the hydraulic cylinder;
a first sensor coupled to the chassis, the first sensor configured to provide a chassis inclination signal indicative of a main fall angle of the chassis relative to a direction of gravity, a chassis roll signal indicative of a cross slope angle of the chassis relative to a direction of gravity, and a chassis heading signal indicative of a heading angle of a change from an initial heading to an updated heading;
a second sensor coupled to the blade, the second sensor configured to provide a blade inclination signal indicative of an angle of the blade relative to one of the chassis and the direction of gravity and a blade roll signal indicative of an angle of the blade in the roll direction relative to one of the chassis and the direction of gravity; and
a controller configured to:
receive the chassis inclination signal, the chassis roll signal, and the chassis heading signal;
receive the blade inclination signal and the blade roll signal;
determine a target grade from an operator input and the chassis heading signal without localization;
determine a distance error based on the chassis inclination signal, the blade inclination signal, the chassis roll signal, and the blade roll signal, the distance error indicative of a distance between the blade and the target grade;
determine a command signal directing movement of the blade toward the target grade based on the distance error and the chassis heading signal;
send the command signal to the electrohydraulic valve assembly; and
update the target grade according to the updated heading without localization.
13. The crawler of claim 12 , wherein the first sensor and the second sensor comprise at least one accelerometer and at least one gyroscope.
14. The crawler of claim 12 , wherein the first sensor and the second sensor comprise an IMU.
15. The crawler of claim 12 , wherein the linkage assembly is configured to allow the blade to be moved in the yaw direction.
16. The crawler of claim 12 , wherein the second sensor is configured to provide a blade yaw signal indicative of an angle of the blade in the yaw direction relative to the chassis, the controller is configured to receive the blade yaw signal and determine a yaw distance error based on the chassis heading signal and the blade yaw signal, the yaw distance error indicative of a distance between the blade and the target grade, the controller further configured to send a command to move the blade toward the target grade based on the yaw distance error.