Abstract: Grade control systems and methods for an earthmoving machine and control architecture to generate a continuous differential surface associated with a rear curved surface of an earthmoving implement, project the continuous differential surface onto a two-dimensional (2D) plane associated with the earthmoving implement, determine a piecewise-derivative continuous curve based on the continuous differential surface projected on to the 2D plane, determine a derivative of the piecewise-derivative continuous curve, project a design plane normal n* of a ground surface for smoothing onto the 2D plane associated with the earthmoving implement, determine a point of perpendicular intersection between the derivative of the piecewise-derivative continuous curve and the design plane normal n* of the ground surface projected onto the 2D plane, and operate the earthmoving machine using one or more linkage assembly actuators and the point of perpendicular intersection to smooth the ground surface.

Abstract: Yaw estimation systems and methods for an earthmoving machine and control architecture to receive roll and pitch input from an engine end frame (EEF) inertial motion unite (IMU) and from a non-engine end frame (NEEF) IMU, estimate a yaw articulation angle of the NEEF relative to the EEF by at least two different estimation methods based on the received roll and pitch input, fuse the at least two different estimation methods to generate an updated yaw articulation angle, calculate a yaw articulation rate based on the received roll and pitch input, integrate as an integration the updated yaw articulation angle and the yaw articulation rate, generate a real-time yaw articulation angle estimate of the NEEF relative to the EEF based on the integration, and operate the earthmoving machine based on the real-time yaw articulation angle estimate.

Abstract: Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

Abstract: Described herein are systems, methods, and other techniques for controlling a velocity of a construction machine operating within a construction site. Sensor data is captured using one or more sensors of the construction machine while the construction machine is moving at the velocity in a forward or a backward direction. An actual surface of the construction site is estimated based on the sensor data. A deviation between a target surface and the actual surface is calculated. An actual performance metric is calculated based on the deviation. The actual performance metric is compared to a target performance metric to determine a velocity adjustment. The velocity of the construction machine is adjusted by the velocity adjustment.

Abstract: Described herein are systems, methods, and other techniques for controlling a velocity of a construction machine operating within a construction site. Sensor data is captured using one or more sensors of the construction machine while the construction machine is moving at the velocity in a forward or a backward direction. An actual surface of the construction site is estimated based on the sensor data. A deviation between a target surface and the actual surface is calculated. An actual performance metric is calculated based on the deviation. The actual performance metric is compared to a target performance metric to determine a velocity adjustment. The velocity of the construction machine is adjusted by the velocity adjustment.

Abstract: Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

Abstract: Described herein are systems, methods, and other techniques for determining a period during which an implement of a construction machine is interacting with a ground surface. A vibration signal that is indicative of a movement of the implement is captured. One or more features are extracted from the vibration signal. The one or more features are provided to a machine-learning model to generate a model output. An implement-on-ground (IOG) start time and an IOG end time are predicted based on the model output, the IOG start time and the IOG end time forming the period.

Abstract: Techniques for generating earthmoving flow vectors for assisting control of a construction machine are disclosed. A design elevation map of an earthmoving site may be obtained. The design elevation map may include a plurality of design elevation points of the earthmoving site. An actual elevation map of the earthmoving site may be obtained. The actual elevation map may include a plurality of actual elevation points of the earthmoving site. A dual-layer input graph may be formed based on the design elevation map and the actual elevation map. The dual-layer input graph may include a plurality of nodes related through a plurality of connections. A flow graph may be generated by solving the dual-layer input graph. The flow graph may include a set of flow vectors indicating movement of the earth within the earthmoving site.

Abstract: Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

Abstract: Systems and methods for controlling a construction machine, such as an asphalt paver, having a tractor, an implement coupled to the tractor via at least one tow arm, and a mast. A position sensor mounted to the mast may detect a geospatial position of the mast. An angle sensor may detect at least one angle associated with the mast. A control point may be calculated based on the geospatial position and the at least one angle. The control point may be spatially offset from a vector formed by a lengthwise extension of the mast. The at least one tow arm may be moved based on a comparison between the control point and a target point.

Abstract: In accordance with one embodiment of the present disclosure, a material moving machine comprises a pilot hydraulic switching system. The pilot hydraulic switching system comprises a control unit, a first directional valve, and a second directional valve. The control unit is configured to operate the first and second directional valves to shift a variable position actuator valve between a static state, a retract state, and an extend state. The actuator valve comprises a first and second control element. In the retract and extend states, the first and second directional valves control fluid flow to the variable position actuator valve with a positive net pressure on either the first or second control elements and a negative net pressure on the other control element to move the material moving implement. In the static state, the first and second directional valves control fluid flow equally on the first and second control elements.

Abstract: Techniques for position-based cross slope control of a construction machine are disclosed. A site design that includes a set of target cross slopes for a construction site is obtained, with each of the set of target cross slopes associated with a 2D location within the construction site. Sensor data is captured using at least one sensor mounted to the construction machine. A geospatial position and a direction of travel of the construction machine are determined based on the sensor data. A target cross slope for the construction machine is generated by querying the site design using the geospatial position and the direction of travel.

Abstract: Systems and methods for receiving GNSS and corrections signals by a GNSS rover. The GNSS rover may include a radome enclosing a GNSS antenna and a GNSS front end. The GNSS rover may also include a corrections antenna attached to a connection housing and configured to receive corrections signals from a base station. The connection housing may be configured to removably attach to the radome. The GNSS rover may further include a corrections front end enclosed within the radome and electrically coupled to the corrections antenna via capacitive coupling when the connection housing is removably attached to the radome. The GNSS rover may further include a first capacitor plate enclosed within the radome and positioned substantially parallel to an outer wall of the radome and a second capacitor plate enclosed within the connection housing and positioned substantially parallel to an outer wall of the connection housing.

Abstract: Systems and methods for providing grade control on a motor grader without the use of masts attached to the blade. Embodiments include a body angle sensor configured to detect movement of a construction machine's body, a front 3D positioning device configured to detect a geospatial position of the construction machine's body within a world space, a drawbar angle sensor configured to detect movement of the construction machine's drawbar, and a blade angle sensor configured to detect movement of the construction machine's blade. Two positions on the blade may be calculated first within a machine space and subsequently within the world space. Movement of at least one articulating connection may be caused based on the blade positions within the world space.

Abstract: A machine is disclosed including a sensor on a limb, an implement, an architecture, and a linkage assembly (LA) including a boom and a stick. The architecture comprises one or more LA actuators and a controller that generates a sensor location and offset angle ? and is programmed to: pivot the limb (either the boom or stick) about a pivot point and generate a set of sensor signals. The controller is programmed to repeatedly execute an iterative process n times until exceeding a threshold, which process comprises determining a sensor location estimate n (a distance between the sensor and the pivot point) and an offset angle estimate ?n defined relative to a limb axis. A utilized optimization model includes the set of sensor signals and error terms.

Abstract: A system may include a first transportation device of a milling machine, a controller, and an inclination control system. The controller can control a construction machine including the first transportation device, which can move the construction machine over an operating surface. The inclination control system includes a first sensor coupled to the first transportation device to sense an orientation of the first transportation device relative to the frame of the milling machine. The controller controls the milling machine based on inclination information received from the inclination control system.

Abstract: An earthmoving machine comprises an implement. The implement defines a variable implement angle ?Bucket(t) indicative of a current position of the implement relative to horizontal as a function of time t. The implement comprises teeth extending a tooth height h and defining an active raking ratio r. Controllers are programmed to execute an implement teeth grading offset determination process that comprises determining a variable implement offset angle ?Delta(t) at least partially based on a difference between an original target design angle ?Tgt(t) and the variable implement angle ?Bucket(t), determining an implement offset IO based on h, r, and ?Delta(t), and determining a new target design elevation ElvTgt,New(t) based on IO and an original target design elevation ElvTgt,Orig(t).

Abstract: An earthmoving system includes a blade, a controller, and a blade control system configured to control the positioning of the blade. While grading, the earthmoving system is configured to simultaneously position the blade according to each of a fixed slope grading mode, a design driven control grading mode, and an fixed load grading mode.

Abstract: Methods and systems are described for estimating yaw of an implement relative to a machine. The yaw is estimated using gyro signals. The gyro signals may be provided by gyro sensors such as IMUs that are coupled to the implement and machine.

Abstract: Systems and methods for implementing a machine control system within a construction machine. The machine control system may include a chassis orientation sensor configured to be mounted to a chassis of the construction machine for detecting a chassis pitch angle. The machine control system may also include an implement orientation sensor configured to be mounted to an implement of the construction machine for detecting an implement pitch angle. The machine control system may further include one or more processors configured to perform operations including receiving, from the chassis orientation sensor, the chassis pitch angle, receiving, from the implement orientation sensor, the implement pitch angle, determining a target pitch angle of the implement based on the chassis pitch angle and the implement pitch angle, and causing movement of one or more implement arms so as to set a pitch angle of the implement to the target pitch angle.