Abstract: An excavator calibration framework comprises an excavator, a laser distance meter (LDM), and a plurality of laser reflectors. The excavator comprises a chassis, linkage assembly (LA), implement, and control architecture. The LA comprises a boom, stick, the implement, and a four-bar linkage including nodes, with a laser reflector at each node. The control architecture comprises a controller programmed to execute an iterative process at n linkage assembly positions to determine a position of an nth calibration node of the plurality of nodes of the four-bar linkage to determine triangular angles and side lengths of an external triangle formed between the nth calibration node and two other nodes having identified positions. The iterative process is repeated n times until triangular angles and side lengths of three external triangles are determined that form an internal triangle. Angles of the internal triangle are determined to generate an implement angle.

Abstract: A framework comprises a laser distance meter (LDM), first and second laser reflectors at respective nodes, and an excavator including a chassis, a linkage assembly (LA) including a boom and stick, an implement including the nodes and tilting about axis TA, an implement sensor generating signal ?tilt, and architecture. The LDM generates LDM distance signals DLDM and LDM angle of inclination signals ?INC between the LDM and the laser reflectors. The architecture comprises LA actuators and a controller programmed to determine the TA relative to horizontal based on ?tilt and execute an iterative process to curl the excavating implement and create bucket angles, align the LDM and the first node to determine a set of rotated IDV, align the LDM and the second node to determine a set of rotated IPV, and determine implement dimensions between the nodes based on the set of rotated IDV and IPV.

Abstract: A framework comprises a laser distance meter (LDM), first and second laser reflectors at respective nodes, and an excavator including a chassis, a linkage assembly (LA) including a boom and stick, an implement including the nodes and tilting about axis TA, an implement sensor generating signal ?tilt, and architecture. The LDM generates LDM distance signals DLDM and LDM angle of inclination signals ?INC between the LDM and the laser reflectors. The architecture comprises LA actuators and a controller programmed to determine the TA relative to horizontal based on ?tilt and execute an iterative process to curl the excavating implement and create bucket angles, align the LDM and the first node to determine a set of rotated IDV, align the LDM and the second node to determine a set of rotated IPV, and determine implement dimensions between the nodes based on the set of rotated IDV and IPV.

Abstract: A framework comprises a laser distance meter (LDM), reflector, and excavator comprising a chassis, linkage assembly (LA), boom and stick sensors, implement, and control architecture. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a DLDM and ?INC between the LDM and the reflector at a node, and the control architecture comprises actuator(s) and a controller programmed to execute at successive LA positions an iterative process (comprises generating ?B, generating ?S, and calculating a height H and a distance D between the node and the LDM based on DLDM and ?INC), build a set of H, D measurements and a corresponding set of ?B, ?S for n LA positions, and execute a linear least squares optimization process based on the H, D set and corresponding set of ?B, ?S to determine and operate the excavator using LB, LS, ?BBias, and ?SBias.

Abstract: A framework comprises a laser distance meter (LDM), reflector, and excavator comprising a chassis, linkage assembly (LA), boom and stick sensors, implement, and control architecture. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a DLDM and ?INC between the LDM and the reflector at a node, and the control architecture comprises actuator(s) and a controller programmed to execute at successive LA positions an iterative process (comprises generating ?B, generating ?S, and calculating a height H and a distance D between the node and the LDM based on DLDM and ?INC), build a set of H, D measurements and a corresponding set of ?B, ?S for n LA positions, and execute a linear least squares optimization process based on the H, D set and corresponding set of ?B, ?S to determine and operate the excavator using LB, LS, ?BBias, and ?SBias.

Abstract: An excavator comprises a chassis, an implement, and an assembly comprising a boom, a stick, and a coupling. The assembly is configured to define a heading {circumflex over (N)} and to swing with, or relative to, the chassis about a swing axis S. The stick is configured to curl relative to the boom about a curl axis C. The implement is coupled to a stick terminal point G via the coupling and is configured to rotate about a rotary axis R such that a leading edge of the implement defines a heading Î. An excavator control architecture comprises sensors and machine readable instructions to generate signals representative of {circumflex over (N)}, an assembly swing rate ?S about S, and a stick curl rate ?C about C, generate a signal representing a terminal point heading ? based on {circumflex over (N)}, ?S, and ?C, and rotate the implement about R such that Î approximates ?.

Abstract: An excavator includes a chassis, an implement, control architecture, and an assembly to swing with, or relative to, the chassis and including a boom, stick to curl relative to the boom, and coupling between the implement and stick. The implement rotates about an axis R such that a leading edge LE defines a heading Î. The control architecture comprises sensors, actuators, and controllers to utilize sensor signals to generate a LE position relative to a reference based on reference data and map information, utilize sensor implement edge signals and the excavator position relative to the reference and map information to generate a nearest implement edge (NIE) signal indicative of a LE NIE position relative to the reference, and utilize the actuators for divertive implement rotation about R to adjust Î to account for divertive rotation away from an actual or projected overlap of the NIE and reference.

Abstract: A control system for controlling the movement of a machine element of a construction machine may include a camera support, a plurality of video cameras, a processor responsive to the cameras, and a control for providing control signals. The camera support is adapted for attachment to a movable construction machine. The plurality of video cameras are mounted in a row on the camera support, with the cameras being directed downward to define overlapping fields of view beneath the row. The processor determines the relative position of a point of interest on a surface in the overlapping fields of view of at least two adjacent cameras. The control provides control signals for controlling the movement of the construction machine in dependence upon the relative position of the point of interest.

Abstract: Yaw and center-of-rotation of a platform are determined using a single Global Navigation Satellite System (GNSS) device and an inertial measurement unit (IMU). A measurement center of the GNSS device is disposed on the platform away from the center-of-rotation and arranged in a known spatial relationship with the center-of-rotation. The platform is rotated about the center-of-rotation between a first orientation and a second orientation. The IMU is used to determine a change in pitch, roll, and yaw of the platform between the first orientation and the second orientation. The GNSS device is used to determine a change in position of the measurement center of the GNSS device between the first orientation and the second orientation. The yaw of the platform is determined at the second orientation and the position of the center-of-rotation of the platform is determined in a global coordinate frame.

Abstract: An excavator comprises a control architecture having one or more linkage assembly actuators and one or more controllers. The one or more controllers are programmed to execute instructions. The instructions determine if there is a request to operate the excavator boom and the excavating implement in automatics mode. The instructions also receive target design surface data representing a target design surface of an excavating operation. The instructions further receive an implement position representing a position of the excavating implement relative to the target design surface. The instructions still further receive an implement angle representing an operating angle of the excavating implement relative to the target design surface. The instructions also determine whether the implement position is within an automatics region of the target design surface, wherein the automatics region represents a region on one or both sides of the target design surface.

Abstract: An excavator includes a chassis, an implement, control architecture, and an assembly to swing with, or relative to, the chassis and including a boom, stick to curl relative to the boom, and coupling between the implement and stick. The implement rotates about an axis R such that a leading edge LE defines a heading Î. The control architecture comprises sensors, actuators, and controllers to utilize sensor signals to generate a LE position relative to a reference based on reference data and map information, utilize sensor implement edge signals and the excavator position relative to the reference and map information to generate a nearest implement edge (NIE) signal indicative of a LE NIE position relative to the reference, and utilize the actuators for divertive implement rotation about R to adjust Î to account for divertive rotation away from an actual or projected overlap of the NIE and reference.

Abstract: An excavator comprises a chassis, an implement, and an assembly comprising a boom, a stick, and a coupling. The assembly is configured to define a heading {circumflex over (N)} and to swing with, or relative to, the chassis about a swing axis S. The stick is configured to curl relative to the boom about a curl axis C. The implement is coupled to a stick terminal point G via the coupling and is configured to rotate about a rotary axis R such that a leading edge of the implement defines a heading Î. An excavator control architecture comprises sensors and machine readable instructions to generate signals representative of {circumflex over (N)}, an assembly swing rate ?S about S, and a stick curl rate ?C about C, generate a signal representing a terminal point heading ? based on {circumflex over (N)}, ?S, and ?C, and rotate the implement about R such that Î approximates ?.

Abstract: Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.

Abstract: An excavator comprises a chassis, an implement, and an assembly comprising a boom, a stick, and a coupling. The assembly is configured to define a heading {circumflex over (N)} and to swing with, or relative to, the chassis about a swing axis S. The stick is configured to curl relative to the boom about a curl axis C. The implement is coupled to a stick terminal point G via the coupling and is configured to rotate about a rotary axis R such that a leading edge of the implement defines a heading Î. An excavator control architecture comprises sensors and machine readable instructions to generate signals representative of {circumflex over (N)}, an assembly swing rate ?S about S, and a stick curl rate ?C about C, generate a signal representing a terminal point heading ? based on {circumflex over (N)}, ?S, and ?C, and rotate the implement about R such that Î approximates ?.

Abstract: An excavator comprises a chassis, an implement, and an assembly comprising a boom, a stick, and a coupling. The assembly is configured to define a heading {circumflex over (N)} and to swing with, or relative to, the chassis about a swing axis S. The stick is configured to curl relative to the boom about a curl axis C. The implement is coupled to a stick terminal point G via the coupling and is configured to rotate about a rotary axis R such that a leading edge of the implement defines a heading Î. An excavator control architecture comprises sensors and machine readable instructions to generate signals representative of {circumflex over (N)}, an assembly swing rate ?S about S, and a stick curl rate ?C about C, generate a signal representing a terminal point heading ? based on {circumflex over (N)}, ?S, and ?C, and rotate the implement about R such that Î approximates ?.

Abstract: An earthmoving machine comprises a sensor, an implement, and control architecture comprising a controller and configured to facilitate movement in response to a signal indicative of a measured implement position and an implement control value comprising a gain value associated with implement speed. The controller is programmed to execute machine readable instructions to generate a noise value that is based on an error between the signal and a target signal, determine whether the noise value is acceptable to lock the gain value, adjust the gain value to control the implement speed when the noise value is unacceptable until the noise value is acceptable, and operate the machine based on the locked gain value.

Abstract: Embodiments of the present invention are directed to systems for performing non-contact based determination of the position of an implement. In one embodiment, a non-contact based measurement system is used to determine the relative position of an implement coupled with a mobile machine. The geographic position of the mobile machine is determined and the geographic position of said implement based upon the geographic position of the mobile machine and the position of the implement relative to the mobile machine.

Abstract: An earthmoving machine comprises a sensor, an implement, and control architecture comprising a controller and configured to facilitate movement in response to a signal indicative of a measured implement position and an implement control value comprising a gain value associated with implement speed. The controller is programmed to execute machine readable instructions to generate a surface-based cost function (SBCF) value based on the signal, determine whether the SBCF value is acceptable to lock the gain value, and generate a noise value that is based on an error between the signal and a target signal when the SBCF value is unacceptable, determine whether the noise value is acceptable to lock the gain value, adjust the gain value to control the implement speed when the noise value is unacceptable until the SBCF value or the noise value is acceptable, and operate the machine based on the locked gain value.

Abstract: Terrain-based machines are provided comprising a translational chassis movement indicator, a terrain-based implement, an implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the terrain-based implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the terrain-based implement is rotating in one or more degrees of rotational freedom.

Abstract: Embodiments of the present invention are directed to a method for performing non-contact based determination of the position of an implement. In one embodiment, the method includes using a non-contact based measurement system to determine a first measurement comprising the position of the implement relative to a mobile machine coupled with the implement, determining a second measurement comprising the geographic position of the mobile machine and determining the geographic position of the implement using the first measurement and the second measurement.