Detection accuracy of a device for obtaining a position of a blade is improved. A motor grader includes an antenna for reception of a satellite position determination signal arranged in a roof portion of a cab, a first IMU mounted on the cab, a second IMU mounted on a draw bar, a rotation angle sensor that detects an angle of rotation of a swing circle with respect to the draw bar, an inclination angle sensor that detects an angle of inclination of a blade with respect to the swing circle, and a controller. The controller obtains the position of the blade in a global coordinate system based on the satellite position determination signal received by the antenna and results of detection by the first IMU, the second IMU, the rotation angle sensor, and the inclination angle sensor.

A control device receives, from an engine load sensor device, a value of an engine load of an engine of an equipment operating in an operating environment. The control device compares the value of the engine load to a target engine load range defined by a minimum target engine load value and a maximum target engine load value. Responsive to determining that the value of the engine load is less than the minimum target engine load value, the control device lowers a cutting blade of the equipment to increase an engagement of the cutting blade with a surface or subsurface. Responsive to determining that the engine load is greater than the maximum target engine load value, the control device raises the cutting blade of the equipment to decrease the engagement of the cutting blade with the surface or subsurface.

A system, method, and apparatus includes measuring wear of a cutting edge of a blade of a work vehicle. Blade position or calibration measurements are made with or without a cutting edge. A wear condition of the cutting edge is acceptable when the blade position measurement less an acceptable wear to the cutting edge amount is less than a blade calibration measurement. A wear condition of the cutting edge is unacceptable when the blade position measurement less an acceptable wear to the cutting edge amount is greater than a blade calibration measurement. Alternatively, a wear condition of the cutting edge is unacceptable when a blade calibration measurement plus a tolerance margin is greater than the blade position measurement. The wear condition of the cutting edge is acceptable when the blade calibration measurement plus a tolerance margin is less than the blade position measurement.

A work machine is provided with grade control capability using an imaging system, e.g., rather than GPS. The work machine includes at least one work implement for working at least part of a terrain, and first sensors (e.g., cylinder sensors) generate signals corresponding to positions of the work implement. Second sensors (e.g., stereo cameras) generate signals corresponding to positions of representative features of the terrain (e.g., curbs) in a field of view. A controller receives the signals and determines in a local reference system independent of a global reference system: first position information corresponding to the work implement; and second position information corresponding to the representative features. According to a selected control mode, target parameters for the work implement are determined based on the second position information corresponding to the representative features, and output signals are generated corresponding to a difference between the first position information and the target parameters.

A hydraulic system for a machine is disclosed. The hydraulic system may have a tank configured to hold a supply of fluid, a pump configured to draw fluid from the tank and pressurize the fluid, a first cylinder operatively connected between a first side of a work tool and an undercarriage of the machine, and a second cylinder operatively connected between a second side of the work tool and the undercarriage of the machine. The hydraulic system may also have a first electro-hydraulic valve associated with the first cylinder and configured to selectively regulate a flow of pressurized fluid to the first cylinder independently of the second cylinder, and a second electro-hydraulic valve associated with the second cylinder and configured to selectively regulate a flow of pressurized fluid to the second cylinder independently of the first cylinder.

The present disclosure relates to a grader and a blade control method. The grader includes: a blade mechanism including a blade; a blade adjusting mechanism including a plurality of adjusting means respectively corresponding to at least two degrees of freedom of the blade, and configured to adjust a spatial position and/or angle of the blade; a blade position detecting mechanism configured to detect a slope parameter for characterizing a spatial position of the blade; a motion trajectory library configured to store motion functions of the plurality of adjusting means respectively when different operation conditions and/or different grades are switched; a controller configured to call a corresponding motion function in the motion trajectory library according to a set operation condition and a required slope, and control at least one of the plurality of adjusting means according to a position parameter of the blade and the motion function.

A work vehicle includes a work implement. A control system for the work vehicle includes a controller. The controller obtains actual topography data indicative of an actual topography of a work site. The controller determines a target depth. The controller obtains positions of a plurality of division points positioned on the actual topography based on the actual topography data. The controller determines a plurality of reference points by displacing the plurality of division points in a vertical direction by the target depth. The controller determines a target design topography based on the plurality of reference points. The controller generates a command signal to operate the work implement in accordance with the target design topography.

A closed loop feedback circle drive system utilized onboard a motor grader includes an operator input device, a blade, and a multi-speed hydraulic motor having a motor output shaft. The motor output shaft is mechanically linked to blade such that motor output shaft rotation drives rotation of the blade about a blade rotation axis. A controller is operably coupled to the operator input device and to the multi-speed hydraulic motor. The controller is configured to: (i) receive blade rotation commands via the operator input device to rotate the blade about the rotation axis in a commanded manner; and (ii) control the multi-speed hydraulic motor to implement the blade rotation commands, while repeatedly adjusting the rotational speed of the motor output shaft to reduce variations in a rotational velocity of the blade due to changes in blade loading conditions occurring during motor grader operation.

Graders and methods of operation thereof are disclosed herein. A grader includes a chassis, a saddle linkage, and a motion measurement system. The saddle linkage is supported for movement relative to the chassis and includes a mount movably coupled to the chassis, first and second arms each movably coupled to the mount, and a crossbar movably coupled to each of the first and second arms. The mount has a lock pin aperture, each of the first and second arms has a locking hole, and the crossbar has a plurality of locking holes. The lock pin aperture may be aligned with one locking hole of the first arm, the second arm, or the crossbar to position the saddle linkage in use of the grader. The motion measurement system is coupled to the saddle linkage and configured to measure movement or position of one or more components of the grader in use thereof.

Systems and methods for adjusting a height of an implement mounted on a body of a vehicle as the vehicle travels over a terrain are provided. Sensor data is received from a set of sensors disposed on the vehicle. A trajectory associated with the vehicle is determined based on the received sensor data. A profile of the terrain is estimated based on the determined trajectory associated with the vehicle. A ditch is detected in the terrain and compensation values for adjusting the height of the implement are determined based on the estimated profile of the terrain to compensate for the detected ditch. One or more control signals are transmitted to one or more actuators for adjusting the height of the implement based on the determined compensation values.