Implement control system for a machine

Abstract

A system for automated movement of a ground engaging blade of a machine includes a sensor on the blade to indicate a measured roll rate of the ground engaging blade. A controller determines whether the operator roll rate command is within an expected range of the roll rate signal. Movement of the ground engaging blade is at least in part based upon the operator roll rate command.

What is claimed is: 
     
         1 . A control system for automated movement of a ground engaging blade of a machine, the ground engaging blade being configured for rotational movement, comprising:
 a sensor located on the ground engaging blade configured to provide a roll rate signal indicative of a measured roll rate of the ground engaging blade; and   a controller configured to:
 receive the roll rate signal; 
 receive an operator roll rate command signal; 
 determine whether the operator roll rate command is within an expected range of the roll rate signal; 
 generate a command signal based at least in part on the operator roll rate command signal; and 
 transmit the command signal to control movement of the ground engaging blade. 
   
     
     
         2 . The control system of  claim 1 , wherein the roll rate signal measures an angular velocity of the ground engaging blade about an attachment point of the ground engaging blade to the machine. 
     
     
         3 . The control system of  claim 1 , wherein the controller generates a command signal generally equal to the operator roll rate command signal if predetermined threshold conditions are not met. 
     
     
         4 . The control system of  claim 1 , wherein the controller generates the command signal to move the ground engaging blade in a direction generally identical to a direction commanded by the operator roll rate command signal. 
     
     
         5 . The control system of  claim 1 , wherein the controller generates the command signal to move the ground engaging blade in a direction generally opposite to a direction commanded by the operator roll rate command signal if the operator roll rate command is within the expected range. 
     
     
         6 . The control system of  claim 1 , wherein the command signal moves the ground engaging blade when an operator has not commanded a specific movement of the ground engaging blade. 
     
     
         7 . The control system of  claim 1 , wherein the controller generates a command signal generally equal to the operator roll rate command signal if the operator roll rate command is outside the expected range. 
     
     
         8 . The control system of  claim 7 , wherein the controller is further configured to attempt to maintain the roll rate signal generally equal to a velocity of 0 if the operator roll rate command is within the expected range. 
     
     
         9 . The control system of  claim 1 , wherein the controller generates a command signal based upon the operator roll rate command and the roll rate signal and further attempts to maintain the roll rate signal generally equal to a velocity of 0 if the operator roll rate command is within the expected range. 
     
     
         10 . The control system of  claim 1 , wherein the sensor is a gyroscope. 
     
     
         11 . A controller implemented method of adjusting a ground engaging blade of a machine, the ground engaging blade having a sensor configured to provide a roll rate signal indicative of a measured roll rate of the ground engaging blade, comprising:
 receiving the roll rate signal within a controller;   receiving an operator roll rate command signal within the controller;
 determining whether the operator roll rate command is within an expected range of the roll rate signal; 
   generating a command signal within the controller based at least in part on the roll rate signal and the operator roll rate command signal; and   transmitting the command signal from the controller to control movement of the ground engaging blade.   
     
     
         12 . The controller implemented method of  claim 11 , further including measuring an angular velocity of the ground engaging blade about an attachment point of the ground engaging blade to the machine. 
     
     
         13 . The controller implemented method of  claim 11 , further including generating a command signal generally equal to the operator roll rate command signal if predetermined threshold conditions are not met. 
     
     
         14 . The controller implemented method of  claim 11 , further including moving the ground engaging blade in a direction generally identical to a direction commanded by the operator roll rate command signal. 
     
     
         15 . The controller implemented method of  claim 11 , further including moving the ground engaging blade in a direction generally opposite to a direction commanded by the operator roll rate command signal if the operator roll rate command is within the expected range. 
     
     
         16 . The controller implemented method of  claim 11 , further including moving the ground engaging blade when an operator has not commanded a specific movement of the ground engaging blade. 
     
     
         17 . The controller implemented method of  claim 11 , further including the controller generating a command signal generally equal to the operator roll rate command signal if the operator roll rate command is outside the expected range. 
     
     
         18 . The controller implemented method of  claim 17 , further including attempting to maintain the roll rate signal generally equal to a velocity of 0 if the operator roll rate command is within the expected range. 
     
     
         19 . The controller implemented method of  claim 11 , further including attempting to maintain the roll rate signal generally equal to a velocity of 0 if the operator roll rate command is within the expected range. 
     
     
         20 . A machine comprising:
 a ground engaging blade;   a sensor located on the ground engaging blade configured to provide a roll rate signal indicative of a measured roll rate of the ground engaging blade; and   a controller configured to:
 receive the roll rate signal; 
 receive an operator roll rate command signal; 
 determine whether the operator roll rate command is within an expected range of the roll rate signal; 
 generate a command signal based at least in part on the roll rate signal and the operator roll rate command signal; and 
 transmit the command signal to an electro-hydraulic system to control movement of the ground engaging blade.