Systems and methods of performing implement leveling operations with a power machine

Abstract

Automated operation methods and systems are provided for power machines. One system includes an electronic processor configured to determine, based on the operational data, a current lift position associated with a power machine. The electronic processor may also be configured to determine, based on the current lift position, a target tilt position associated with a work element of the power machine and control an electric tilt actuator based on the target tilt position.

What is claimed is: 
     
         1 . A system for controlling an electric power machine, the system comprising:
 one or more electronic processors in electrical communication with an electric tilt actuator and an electric lift actuator that manipulate a workgroup of the electric power machine and configured to:
 receive operational data for the electric power machine; 
 determine, based on the operational data, a current lift position of the electric lift actuator; 
 determine, based on the current lift position, a target tilt position for the electric tilt actuator; and 
 control the electric tilt actuator based on the target tilt position. 
   
     
     
         2 . The system of  claim 1 , wherein the one or more electronic processors are configured to:
 determine a current tilt position of the electric tilt actuator;   determine a difference between the current tilt position of the electric tilt actuator and the target tilt position for the electric tilt actuator;   when the difference exceeds a threshold, adjust the current tilt position of the electric tilt actuator based on the difference; and   when the difference does not exceed the threshold, prevent adjustment of the current tilt position of the electric tilt actuator based on the difference.   
     
     
         3 . The system of  claim 1 , wherein the one or more electronic processors are configured to:
 after controlling the electric tilt actuator based on the target tilt position,
 determine an adjusted tilt position for the electric tilt actuator, wherein the adjusted tilt position is a tilt position of the electric tilt actuator after the electric tilt actuator is controlled based on the target tilt position; 
 determine an error term between the target tilt position and the adjusted tilt position; and 
 when the error term satisfies an error threshold, detect a fault condition. 
   
     
     
         4 . The system of  claim 3 , wherein the one or more electronic processors are configured to:
 when the fault condition is detected, generate and transmit a fault warning to an operator of the electric power machine.   
     
     
         5 . The system of  claim 3 , wherein the one or more electronic processors are configured to:
 when the fault condition is detected, prevent adjustment of the electric tilt actuator based on the target tilt position.   
     
     
         6 . The system of  claim 3 , wherein the one or more electronic processors are configured to determine the error term based on an angular offset value from a default horizontal plane defined by a default orientation of a work element on a distal end of the workgroup. 
     
     
         7 . The system of  claim 3 , wherein the one or more electronic processors are configured to determine the error term based on a gravity scalar value. 
     
     
         8 . The system of  claim 1 , wherein the one or more electronic processors are configured to:
 determine an angular offset value with respect to a default horizontal plane defined by a default orientation of a work element at a distal end of the workgroup,   wherein the electric tilt actuator is controlled based on the angular offset value.   
     
     
         9 . The system of  claim 1 , wherein the one or more electronic processors are configured to:
 determine an angular deviation of a frame of the electric power machine from a reference orientation;   wherein the target tilt position is determined based on the angular deviation.   
     
     
         10 . The system of  claim 1 , wherein the target tilt position is determined relative to gravity. 
     
     
         11 . The system of  claim 1 , wherein the one or more electronic processors are configured to:
 determine the target tilt position using a predetermined mapping that includes a plurality of lift positions and a plurality of tilt positions, wherein each lift position of the plurality of lift positions is associated with a corresponding tilt position of the plurality of tilt positions.   
     
     
         12 . The system of  claim 1 , wherein the target tilt position is further determined based on a reference orientation of the electric power machine. 
     
     
         13 . The system of  claim 12 , wherein the one or more electronic processors are configured to:
 determine an angular deviation of a frame of the electric power machine from the reference orientation of the electric power machine;   wherein the target tilt position is determined based on the angular deviation.   
     
     
         14 . The system of  claim 1 , wherein the operational data includes position data from at least one of the electric lift actuator or the electric tilt actuator. 
     
     
         15 . A method for controlling an electric power machine, the method comprising, with one or more electronic processors:
 receiving operational data for the electric power machine;   determining, based on the operational data, a current lift position of a lift arm assembly of the electric power machine;   determining, based on the current lift position, a target tilt position of a tilt assembly of the electric power machine, the tilt assembly including an electric tilt actuator that is configured to adjust a tilt position of the tilt assembly; and   controlling the electric tilt actuator, based on the target tilt position, to adjust a current tilt position of the tilt assembly.   
     
     
         16 . The method of  claim 15 , wherein determining the current lift position of the lift arm assembly includes determining a current lift position of an electric lift actuator included in the lift arm assembly. 
     
     
         17 . The method of  claim 15 , wherein determining the target tilt position of the tilt assembly includes determining a target tilt position of the electric tilt actuator. 
     
     
         18 . An electric power machine, the electric power machine comprising:
 a power machine frame;   a plurality of electric actuators supported by the power machine frame, wherein the plurality of electric actuators includes an electric lift actuator and an electric tilt actuator;   a lift arm structure that includes:
 a lift arm coupled to the power machine frame and configured to be moved relative to the power machine frame by the electric lift actuator; and 
 a work element supported by the lift arm and configured to be moved relative to the lift arm by the electric tilt actuator; 
   an electric power source configured to power the plurality of electric actuators; and   one or more electronic processors in communication with the plurality of electric actuators, the one or more electronic processors configured to, during operation of the electric power machine in a work element leveling mode:
 monitor a current lift position of the electric lift actuator; 
 determine, based on the current lift position, a target tilt position for the electric tilt actuator; 
 control the electric tilt actuator based on the target tilt position; and 
 responsive to a change in the current lift position:
 determine, based on the change in the current lift position, an adjusted target tilt position for the electric tilt actuator; and 
 control the electric tilt actuator based on the adjusted target tilt position. 
 
   
     
     
         19 . The electric power machine of  claim 18 , wherein the work element leveling mode is activated responsive to receipt of an operator input.