System for controlling an earthworking implement

Abstract

A method for controlling an earthworking implement of an earthworking machine is disclosed. The method includes determining a first depth of cut of the earthworking implement at least partially based on a power capability of the earthworking implement. The method also includes determining a second depth of cut of the earthworking implement at least partially based on a desired grade of a work site. The method further includes moving the earthworking implement in response to at least one of the first depth of cut and the second depth of cut.

1 . A method for controlling an earthworking implement of an earthworking machine comprising: 
 determining a first depth of cut of the earthworking implement at least partially based on a power capability of the earthworking implement;    determining a second depth of cut of the earthworking implement at least partially based on a desired grade of a work site; and    moving the earthworking implement in response to at least one of the first depth of cut and the second depth of cut.    
   
   
       2 . The method of  claim 1 , further including moving the earthworking implement to the determined first depth of cut when the magnitude of the determined first depth of cut is less than the magnitude of the determined second depth of cut.  
   
   
       3 . The method of  claim 1 , further including moving the earthworking implement to the determined second depth of cut when the magnitude of the determined second depth of cut is less than the magnitude of the determined first depth of cut.  
   
   
       4 . The method of  claim 1 , wherein moving the earthworking implement includes selectively moving the earthworking implement to the one of the determined first depth of cut and the determined second depth of cut having a smaller magnitude and subsequently selectively moving the earthworking implement to the other of the determined first depth of cut and the determined second depth of cut.  
   
   
       5 . The method of  claim 1 , further including 
 producing a first depth of cut signal at least partially based on the determined first depth of cut;    producing a second depth of cut signal at least partially based on the determined second depth of cut; and    monitoring the first depth of cut signal and the second depth of cut signal.    
   
   
       6 . The method of  claim 5 , further including: 
 producing a command signal at least partially based on one of the first depth of cut signal and the second depth of cut signal; and    moving the earthworking implement in response to the command signal.    
   
   
       7 . The method of  claim 5 , wherein: 
 producing the first depth of cut signal includes determining a desired productive depth of cut, determining an actual depth of cut of the earthworking implement, and determining a difference between the desired productive depth of cut and the actual depth of cut of the earthworking implement.    
   
   
       8 . The method of  claim 7 , further including: 
 prohibiting the first depth of cut signal from affecting movement of the earthworking implement when the magnitude of the second depth of cut is less than the magnitude of the first depth of cut.    
   
   
       9 . The method of  claim 8 , wherein prohibiting the first depth of cut signal includes selectively overriding the calculated difference.  
   
   
       10 . The method of  claim 5 , wherein: 
 producing the second depth of cut signal includes comparing an actual geographic model of a work site with a desired geographic model of the work site and determining a location of an earthworking machine and the earthworking implement with respect to the actual and desired geographic models of the work site.    
   
   
       11 . The method of  claim 10 , further including: 
 prohibiting the second depth of cut signal from affecting movement of the earthworking implement when the magnitude of the first depth of cut is less than the magnitude of the second depth of cut.    
   
   
       12 . The method of  claim 11 , wherein prohibiting the second depth of cut signal includes selectively suspending the output of the second depth of cut signal.  
   
   
       13 . A method of moving an earthworking implement of an earthworking machine comprising: 
 moving the earthworking implement toward a first depth of cut wherein the first depth of cut is at least partially based on a desired grade; and    automatically moving the earthworking implement toward a second depth of cut wherein the second depth of cut is different than the first depth of cut and the second depth of cut is at least partially based on a power capability of the earthworking implement.    
   
   
       14 . The method of  claim 13 , wherein the second depth of cut is shallower than the first depth of cut, the method further including automatically moving the earthworking implement toward a third depth of cut wherein the third depth of cut is at least partially based on a desired grade.  
   
   
       15 . The method of  claim 13 , wherein the second depth of cut is shallower than the first depth of cut, the method further including automatically moving the earthworking implement toward a third depth of cut wherein the third depth of cut is shallower than the second depth of cut.  
   
   
       16 . The method of  claim 13 , wherein the second depth of cut is deeper than the first depth of cut, the method further including automatically moving the earthworking implement toward a third depth of cut wherein the third depth of cut is shallower than the second depth of cut.  
   
   
       17 . The method of  claim 16 , wherein the third depth of cut is at least partially based on the power capability of the earthworking implement.  
   
   
       18 . The method of  claim 13 , further including: 
 controlling the earthworking implement with a control system; and    dynamically outputting a command signal from the control system to automatically move the earthworking implement to one of the first and second depths of cut.    
   
   
       19 . The method of  claim 13 , further including: 
 moving the earthworking implement to the first depth of cut wherein the first depth of cut is the desired grade; and    removing a first layer of material from a work site to achieve the desired grade.    
   
   
       20 . An earthworking machine comprising: 
 a frame;    a traction device;    a earthworking implement;    a controller operably connected to the earthworking implement and configured to compare a first depth of cut signal indicative of a productive depth of cut and a second depth of cut signal indicative of a contour depth of cut and further configured to selectively move the earthworking implement to a working depth of cut in response to at least one of the first depth of cut signal and the second depth of cut signal.    
   
   
       21 . The earthworking machine of  claim 20 , wherein the controller is configured to selectively move the earthworking implement in response to the first depth of cut when the magnitude of the first depth of cut is less than the magnitude of the second depth of cut.  
   
   
       22 . The earthworking machine of  claim 20 , wherein the controller is configured to selectively move the earthworking implement in response to the second depth of cut when the magnitude of the second depth of cut is less than the magnitude of the first depth of cut.  
   
   
       23 . The earthworking machine of  claim 20 , wherein determining a productive depth of cut includes sensing one or more of the following: 
 the speed of the earthworking machine,    the slope of a work site in which the earthworking machine is located,    the slip of the of the traction device, and    the tilt of the earthworking implement.    
   
   
       24 . The earthworking machine of  claim 20 , wherein determining a contour depth of cut includes: 
 comparing a desired geographic model of a work site with an actual geographic model of a work site;    sensing the position of the earthworking machine relative to the desired and actual geographic models of the work site; and    sensing the position of the earthworking implement relative to the earthworking machine.