	US 12,291,840 B2
	System and method of automated setting of elevation reference for continuous grade control
Alex R. Vandegrift, Davenport, IA (US); Bryan D. Sulzer, Dubuque, IA (US); and Bryan J. Rausch, Durango, IA (US)
Assigned to Deere &Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Jan. 25, 2023, as Appl. No. 18/159,517.
Prior Publication US 2024/0247462 A1, Jul. 25, 2024
Int. Cl. E02F 3/43 (2006.01); E02F 3/32 (2006.01); E02F 9/26 (2006.01)

CPC E02F 3/439 (2013.01) [E02F 9/262 (2013.01); E02F 3/32 (2013.01)]

14 Claims

1. A method of operating a work machine comprising a machine frame and at least one implement for working a terrain, the method comprising:

specifying at least a target surface mainfall and a target cross-slope for at least a portion of the terrain to be worked;

actuating movements of the at least one implement relative to the machine frame based at least in part on user inputs via a first user interface tool;

switching between a manual control mode and an automatic control mode based at least in part on user inputs via a second user interface tool;

detecting a specified work state for the work machine based on a comparison of received user inputs via the first interface tool with respect to stored combinations and/or sequences of user inputs via the first interface tool and classified into different predetermined work states;

responsive to a predetermined user input via at least one of the first and the second user interface tool and the detected work state, further automatically specifying a target elevation based on a current elevation of at least one component of the at least one implement corresponding to the predetermined user input; and

during the automatic control mode, controlling movement of at least the at least one implement for working the terrain based at least in part on the specified target mainfall, the specified target cross-slope, and the specified target elevation.

6. A work machine comprising:

a machine frame;

at least one implement supported from the machine frame and controllable in movement with respect thereto for working a terrain;

at least a first user interface tool configured to generate signals representative of user engagement thereof as user inputs commanding movements of the at least one implement relative to the machine frame;

a second user interface tool configured to generate signals representative of user engagement thereof as user inputs switching between a manual control mode and an automatic control mode; and

a controller functionally linked to each of the at least first user interface tool, the second interface tool, and one or more actuators relating to the commanded movements of the at least one implement relative to the machine frame, the controller configured to:

detect a specified work state for the work machine based on a comparison of received user inputs via the first interface tool with respect to stored combinations and/or sequences of user inputs via the first interface tool and classified into different predetermined work states;

specify at least a target surface mainfall and a target cross-slope for at least a portion of the terrain to be worked;

responsive to the a predetermined user input via at least one of the first and the second user interface tool, further automatically specify a target elevation based on the detected work state and a current elevation of at least one component of the at least one implement corresponding to the further user input; and

during the automatic control mode, control movement of at least the at least one implement for working the terrain based at least in part on the specified target mainfall, the specified target cross-slope, and the specified target elevation.

11. A method of operating a work machine comprising a machine frame and at least one implement for working a terrain, the method comprising:

specifying at least a target surface mainfall and a target cross-slope for at least a portion of the terrain to be worked;

actuating movements of the at least one implement relative to the machine frame based at least in part on user inputs via a first user interface tool;

switching between a manual control mode and an automatic control mode based at least in part on user inputs via a second user interface tool;

detecting a specified work state for the work machine based on a comparison of a received sequence of user inputs via the first interface tool and input signals from one or more onboard sensors with respect to stored sequences of user inputs and input data associated with the one or more onboard sensors and classified into different predetermined work states;