Implement control system for a machine

Abstract

A system for automated movement of a ground engaging blade of a machine includes an acceleration sensor and a roll rate sensor on the blade to indicate a cross slope angular position of the blade. A controller stores a target cross slope and compares the target cross slope to the cross slope angular position. Movement of the ground engaging blade is at least in part based upon a difference between the target cross slope and the cross slope angular position to maintain the ground engaging blade at the target cross slope.

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 about an axis to define a cross slope of the ground engaging blade, comprising:
 a first sensor disposed on the ground engaging blade configured to provide a measured cross slope signal indicative of a measured cross slope of the ground engaging blade;   a second sensor disposed on the ground engaging blade configured to provide a roll rate signal indicative of a roll rate of the ground engaging blade; and   a controller configured to:   store a target cross slope signal indicative of a target cross slope of the ground engaging blade;   determine the cross slope angular position based upon the measured cross slope signal and the roll rate signal;   compare the target cross slope to the cross slope angular position;   generate a command signal at least in part based upon a difference between the target cross slope and the cross slope angular position; and   transmit the command signal to maintain the ground engaging blade at the target cross slope.   
     
     
         2 . The control system of  claim 1 , wherein the controller is further configured to receive an operator command signal, override the command signal with the operator command signal and transmit the operator command signal to control movement of the ground engaging blade. 
     
     
         3 . The control system of  claim 2 , wherein the controller is further configured to return the ground engaging blade to the target cross slope upon termination of the operator command signal. 
     
     
         4 . The control system of  claim 1 , wherein the cross slope angular position is a measurement of the ground engaging blade relative to a gravity reference. 
     
     
         5 . The control system of  claim 1 , wherein the controller initially generates the command signal primarily based upon the roll rate signal. 
     
     
         6 . The control system of  claim 5 , wherein the controller subsequently generates the command signal primarily based upon the measured cross slope signal. 
     
     
         7 . The control system of  claim 5 , wherein the first sensor is an accelerometer. 
     
     
         8 . The control system of  claim 6 , wherein the second sensor is a gyroscope. 
     
     
         9 . The control system of  claim 1 , wherein the controller is further configured to compare the target cross slope to a maximum cross slope, and generate a modified command signal to prevent movement of the ground engaging blade past a predetermined maximum displacement. 
     
     
         10 . The control system of  claim 1 , wherein the first sensor is an accelerometer. 
     
     
         11 . 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. 
     
     
         12 . A controller implemented method of adjusting a ground engaging blade of a machine, the ground engaging blade having a first sensor configured to provide a measured cross slope signal indicative of a measured cross slope of the ground engaging blade, and a second sensor disposed on the ground engaging blade configured to provide a roll rate signal indicative of a roll rate of the ground engaging blade, comprising:
 storing within a controller a target cross slope signal indicative of a target cross slope of the ground engaging blade;   determining a cross slope angular position based upon the measured cross slope signal and the roll rate signal;   comparing the target cross slope to the cross slope angular position;   generating a command signal within the controller at least in part based upon a difference between the target cross slope and the cross slope angular position; and   transmitting the command signal from the controller to a control system to maintain the ground engaging blade at the target cross slope.   
     
     
         13 . The controller implemented method of  claim 12 , further including receiving an operator command signal within the controller, overriding the command signal with the operator command signal and transmitting the operator command signal from the controller to control movement of the ground engaging blade. 
     
     
         14 . The controller implemented method of  claim 13 , further including returning the ground engaging blade to the target cross slope upon termination of the operator command signal. 
     
     
         15 . The controller implemented method of  claim 12 , further including measuring cross slope as a measurement of the ground engaging blade relative to a gravity reference. 
     
     
         16 . The controller implemented method of  claim 12 , further including initially generating the command signal primarily based upon the roll rate signal and subsequently generating the command signal primarily based upon the measured cross slope signal. 
     
     
         17 . The controller implemented method of  claim 12 , further including comparing the target cross slope to a maximum displacement cross slope, and generating within the controller a modified command signal to prevent movement of the ground engaging blade past a predetermined maximum displacement. 
     
     
         18 . A machine comprising:
 a ground engaging blade;   a first sensor on the ground engaging blade configured to provide a measured cross slope signal indicative of a measured cross slope of the ground engaging blade;   a second sensor disposed on the ground engaging blade configured to provide a roll rate signal indicative of a roll rate of the ground engaging blade; and   a controller configured to:   store a target cross slope signal indicative of a target cross slope of the ground engaging blade;   determine a cross slope angular position based upon the measured cross slope signal and the roll rate signal;   compare the target cross slope to the cross slope angular position;   generate a command signal at least in part based upon a difference between the target cross slope and the cross slope angular position; and   transmit the command signal to maintain the ground engaging blade at the target cross slope.   
     
     
         19 . The machine of  claim 18 , wherein the controller initially generates the command signal primarily based upon the roll rate signal. 
     
     
         20 . The machine of  claim 19 , wherein the first sensor is an accelerometer and the second sensor is a gyroscope.