A shovel includes a lower traveling body, an upper turning body mounted on the lower traveling body, an excavation attachment attached to the upper turning body, a posture detecting device configured to detect the posture of the excavation attachment, an instability detecting device configured to detect information on the instability of the upper turning body due to an excavation load, and a processor configured to correct the posture of the excavation attachment. The processor is configured to open an arm or a bucket of the excavation attachment in response to determining, based on the outputs of the posture detecting device and the instability detecting device, that the excavation load during deep excavation is more than or equal to a predetermined value.

Systems, methods, and apparatuses can accurately determine proper payload transfer from a working implement of a working machine. Such systems, methods, and apparatuses can identify occurrence of a payload discharge event for the working implement; determine whether a position of the working implement at a time of the identification of the occurrence of the payload discharge event is in a preset working area or a preset discharge area; omit the payload discharge event from registration for a tally of discharge material payload amount under a first case where the position of the working implement is determined to be in the working area; and register the payload discharge event for the tally under a second case where the position of the work implement is determined to be in the discharge area. The tally of the discharge material payload amount may be increased by a load amount associated with the load discharge event.

The disclosure relates to a method for monitoring and/or performing a movement of an item of machinery wherein the item of machinery comprises a movement device with a tool for picking up material, which comprises at least two components, each of which is movable via at least one actuator, and a control system by means of which the actuators of the movement device can be actuated by way of open-loop and/or closed-loop control. The method according to the disclosure comprises (i) detecting status information of at least two components, (ii) calculating torques that are applied to components, (iii) detecting torques actually applied to components, (iv) comparing the calculated and detected torques and determining a force vector actually applied, and (v) executing an action depending on the calculated force vector. The disclosure also relates to an item of machinery and a computer program product for executing the method.

This description provides an autonomous or semi-autonomous excavation vehicle that is capable of navigating through a dig site and carrying out an excavation routine using a system of sensors physically mounted to the excavation vehicle. The sensors collects any one or more of spatial, imaging, measurement, and location data representing the status of the excavation vehicle and its surrounding environment. Based on the collected data, the excavation vehicle executes instructions to carry out an excavation routine. The excavation vehicle is also able to carry out numerous other tasks, such as checking the volume of excavated earth in an excavation tool, and helping prepare a digital terrain model of the site as part of a process for creating the excavation routine.

In a method of controlling construction machinery, a bucket of a working device is moved along a first excavation trajectory to perform an excavation operation on the ground of a work area. A digging force exerted on the bucket during the excavation operation is calculated. A new second excavation trajectory is generated based on the calculated digging force. The bucket is moved along the second excavation trajectory.

In embodiments, a work vehicle magnetorheological fluid (MRF) joystick system includes a joystick device, an MRF joystick resistance mechanism, and a controller architecture. The joystick device includes, in turn, a base housing, a joystick movably mounted to the base housing, and a joystick position sensor configured to monitor movement of the joystick relative to the base housing. The MRF joystick resistance mechanism is controllable to vary a first joystick stiffness resisting movement of the joystick relative to the base housing in at least one degree of freedom. The controller architecture is configured to: (i) detect when unintended joystick motion conditions occur during operation of the work vehicle; and (ii) when detecting unintended joystick motion conditions, command the MRF joystick resistance mechanism to increase the first joystick stiffness in a manner reducing susceptibility of the joystick device to unintended joystick motions.

When an EMV performs an action comprising moving a tool of the EMV through soil or other material, the EMV can measure a current speed of the tool through the material and a current kinematic pressure exerted on the tool by the material. Using the measured current speed and kinematic pressure, the EMV system can use a machine learned model to determine one or more soil parameters of the material. The EMV can then make decisions based on the soil parameters, such as by selecting a tool speed for the EMV based on the determined soil parameters.

A technique is directed to methods and systems of an implement lock-out on lever-controlled machines. A lock-out system can monitor the position of an implement and lock-out the implement control(s) when the implement is within a threshold distance to parts of the machine. The lock-out system can generate an implement lock-out to slow, stop, or reduce the force of a hydraulic valve(s) controlling the implement. The lock-out system can use inputs such as electronic fence blade position system data, articulation angles, wheel lean angles, steering angles, ripper positions, mode selection or similar data to determine to generate the implement lock-out. The lock-out system can generate the implement lock-out by a flow supply shutoff to the implement while maintaining pressure to the steering valve. The lock-out system can send visual or audible notifications to alert the operator of the implement's proximity to the machine or of an implement lock-out.

A work vehicle includes a work implement. A control system for the work vehicle includes an operating device that outputs an operation signal indicative of an operation by an operator, and a controller that communicates with the operating device and controls the work implement. The controller determines a target design topography indicative of a target topography. The controller generates a command signal to operate the work implement in accordance with the target design topography. When a tilt angle of the work implement is changed with an operation of the operating device, the controller corrects the tilt angle of the work implement in accordance with the changed tilt angle.

A controller determines whether or not a work device is in a ground contact state, by using detection data of a pressure sensor and at least one balance relation between forces or moments acting on the work device, and generate partial shape data of a work object formed by the work device, on the basis of a movement locus of a monitoring point set to the work device and an external shape of the work device in a ground contact period in which the work device is determined to be in the ground contact state, and update the present-condition shape data of the work object on the basis of the partial shape data.