Method of operating a machine comprising an implement

• Main Authors: Roulston, John F, Globinsky, Ronen, Conway, Simon, Segal, Shai
• Format: Patent
• Language: English
• Published: 10.08.2021
• Subjects: CONTROLLING; DREDGING; FIXED CONSTRUCTIONS; FOUNDATIONS; GYROSCOPIC INSTRUMENTS; HYDRAULIC ENGINEERING; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION,OR SHOCK; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SOIL SHIFTING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

The present disclosure relates to a method of operating a machine comprising an implement and a machine for performing such a method. The implement is configured for motion in at least three degrees of freedom. In response to an input, movement of the implement from first to second positions is constrained to a first motion in a first plane or a second motion in a second plane. Sensor data received from an IMU attached to the implement is indicative of the movement of the implement. A first or second estimation mode is selected based upon a determination that the movement is the first or second motion. The first or second estimation mode is implemented to estimate the trajectory of the implement and the second position based upon the sensor data.