Remote control of an implement of a machine
A controller may identify a reference heading for a mobile machine. The controller may receive, from a remote control device for the mobile machine, a command to actuate an implement of the mobile machine. The controller may cause actuation of the implement based on the command with respect to the reference heading for the mobile machine regardless of an actual heading of the mobile machine.
1 . A controller of a mobile machine having an implement, comprising:
one or more memories; and
one or more processors configured to:
receive, from a remote control device for the mobile machine, an indication to use a current heading of the mobile machine as a reference heading for the mobile machine;
receive, from the remote control device, a command to actuate an implement of the mobile machine,
the command to actuate the implement indicating a rotation of the implement;
detect an actual heading of the mobile machine that is different from the reference heading; and
cause actuation of the implement according to an inversion of the command, or according to the command without inversion, based on whether an angular difference between the actual heading and the reference heading is greater than a first threshold for inversion of commands or less than a second threshold for non-inversion of commands.
2 . The controller of claim 1 , wherein the reference heading and the actual heading are opposing headings, and
wherein the one or more processors, to cause actuation of the implement, are configured to:
cause actuation of the implement according to the inversion of the command based on the angular difference being greater than the first threshold.
3 . The controller of claim 1 , wherein the reference heading and the actual heading are non-opposing headings, and
wherein the one or more processors, to cause actuation of the implement, are configured to:
cause actuation of the implement according to the command without inversion based on the angular difference being less than the second threshold.
4 . The controller of claim 1 , wherein the one or more processors are further configured to:
detect a movement of the remote control device from a first location to a second location; and
adjust the reference heading based on the movement of the remote control device from the first location to the second location.
5 . The controller of claim 1 , wherein the one or more processors are further configured to:
detect the current heading of the mobile machine based on at least one of:
a compass heading of the mobile machine,
a global navigation satellite system heading of the mobile machine, or
an output of an inertial measurement unit of the mobile machine.
6 . The controller of claim 1 , wherein the command to actuate the implement is a blade angle command or a blade tilt command.
7 . The controller of claim 1 , wherein the mobile machine is a dozer, a motor grader, or an excavator.
8 . The controller of claim 1 , wherein the command further indicates to propel or steer the mobile machine, and
wherein the one or more processors, to cause actuation of the implement, are configured to:
cause actuation of the implement, and propelling or steering of the machine, according to the inversion of the command, or according to the command without inversion, based on whether the angular difference between the actual heading and the reference heading is greater than the first threshold for inversion of commands or less than the second threshold for non-inversion of commands.
9 . A method, comprising:
identifying, by a controller, a reference heading for a mobile machine;
receiving, by the controller from a remote control device for the mobile machine, a command to actuate an implement of the mobile machine; and
causing, by the controller, actuation of the implement based on the command with respect to the reference heading for the mobile machine regardless of an actual heading of the mobile machine.
10 . The method of claim 9 , wherein identifying the reference heading for the mobile machine comprises:
receiving, from the remote control device, an indication to use a current heading of the mobile machine as the reference heading for the mobile machine.
11 . The method of claim 9 , wherein identifying the reference heading for the mobile machine comprises:
mapping the reference heading to a particular cardinal direction.
12 . The method of claim 9 , wherein identifying the reference heading for the mobile machine comprises:
identifying a heading of the mobile machine used when steering of the mobile machine, via the remote control device, was last performed; and
using the heading as the reference heading.
13 . The method of claim 9 , wherein the reference heading and the actual heading are opposing headings, and
wherein causing actuation of the implement based on the command with respect to the reference heading comprises:
causing actuation of the implement according to an inversion of the command.
14 . The method of claim 9 , wherein causing actuation of the implement based on the command with respect to the reference heading comprises:
causing actuation of the implement according to the command without inversion based on an angular difference between the actual heading and the reference heading being less than an angle threshold.
15 . The method of claim 9 , wherein causing actuation of the implement based on the command with respect to the reference heading comprises:
causing actuation of the implement according to an inversion of the command based on an angular difference between the actual heading and the reference heading satisfying an angle threshold.
16 . The method of claim 9 , wherein causing actuation of the implement based on the command with respect to the reference heading comprises:
causing actuation of the implement according to an inversion of the command, or according to the command without inversion, based on whether an angular difference between the actual heading and the reference heading is greater than a first threshold for inversion of commands or less than a second threshold for non-inversion of commands.
17 . The method of claim 9 , wherein the command to actuate the implement indicates a rotation of the implement relative to a work surface or a translation of the implement relative to the work surface.
18 . A mobile machine, comprising:
an undercarriage configured to propel the mobile machine;
a frame supported on the undercarriage;
an implement movable with respect to the frame; and
a controller configured to:
receive, from a remote control device for the mobile machine, a command to actuate the implement; and
cause actuation of the implement based on the command with respect to a reference heading for the mobile machine regardless of an actual heading of the mobile machine.
19 . The mobile machine of claim 18 , wherein the reference heading and the actual heading are opposing headings, and
wherein the controller, to cause actuation of the implement based on the command with respect to the reference heading, is configured to:
cause actuation of the implement according to an inversion of the command.
20 . The mobile machine of claim 18 , wherein the controller, to cause actuation of the implement based on the command with respect to the reference heading, is configured to:
cause actuation of the implement according to an inversion of the command, or according to the command without inversion, based on whether an angular difference between the actual heading and the reference heading is greater than a first threshold for inversion of commands or less than a second threshold for non-inversion of commands.