illustrates example rotational movements of a construction machine 300 based on computed rotation angles, in accordance with some embodiments of the present disclosure. In the illustrated example, construction machine 300 includes an undercarriage 306, a platform 304, a boom 302, a stick 308, and an implement 310 (e.g., a bucket). While operating within a construction site, construction machine 300 may set a guidance line 330 along which earth is to be removed. Guidance line 330 may be set relative to the position and orientation of construction machine 300.

In some examples, an operator of construction machine 300 may move boom 302, stick 308, and implement 310 so that a guidance point 332 on implement 310 is aligned with guidance line 330. In some examples, the operator may do so while the horizontal boom angle θ_Babout an axis of rotation 326 and/or the horizontal platform angle θ_Pabout an axis of rotation 324 are approximately equal to zero. Next, the operator may operate a user input device mounted to construction machine 300 to perform a retraction operation, causing an extension distance d_Ebetween guidance point 332 and axis of rotation 326 to decrease. This may include raising boom 302, lowering stick 308, and/or lowering implement 310. By operating the user input device, an input signal is sent to the control unit, which generates control signals that are sent to the corresponding actuators (e.g., boom cylinder, stick cylinder, and/or implement cylinder).

While the retraction operation is being performed, the control unit may automatically monitor the change in extension distance d_Eto compute the needed horizontal boom angle θ_Band/or horizontal platform angle θ_Pthat allow guidance point 332 to continue to be aligned with guidance line 330, thereby allowing an alignment operation to be performed concurrently with performing the retraction operation. After computing one or both of angles θ_Band θ_P, the control unit may generate control signals that are sent to the corresponding actuators (e.g., boom swing cylinder, platform rotation actuator) to cause horizontal rotations of boom 302 about axis of rotation 326 and platform 304 about axis of rotation 324 to achieve the computed angle(s). Steps of computing angle(s) and generating control signal(s) may be repeated each time a new extension distance d_Eis detected.

Angles θ_Band θ_Pmay be computed based on the extension distance d_Eand an offset angle θ_Ousing trigonometric functions. The offset angle θ_Omay be the angle formed between guidance line 330 and the orientation of undercarriage 306 (alternatively referred to as the orientation of construction machine 300). The computation of angles θ_Band θ_Pmay further take into account the physical dimensions of construction machine 300. For example, the distance between axis of rotations 324 and guidance point 332 and/or the distance between axis of rotations 324 and 326 can affect the computation. In some examples, a two-dimensional (2D) lookup table (LUT) 334 may be employed to compute one or both of angles θ_Band θ_P. In some examples, LUT 334 may be indexed by extension distance d_Eand offset angle θ_Osuch that, for a given pair of extension distance d_Eand offset angle θ_O, a pair of angles θ_Band θ_Pmay be obtained. In some embodiments in which undercarriage 306 remains stationary and therefore offset angle θ_Ois constant, a row from LUT 334 may be retrieved at the beginning of the retraction operation corresponding to the offset angle θ_Oto form a one-dimensional (1D) LUT that can be repeatedly accessed using the changing extension distance d_E. In some examples, LUT 334 may further indicate which angles correspond to clockwise rotations or counterclockwise rotations.

FIG. 4 illustrates an example of a construction machine 400 performing an alignment operation concurrently with a retraction operation by horizontally rotating the boom, in accordance with some embodiments of the present disclosure. The retraction operation refers to the process of pulling the machine's arm (boom 402 and stick 408) back toward the machine after extending it outward to dig or move materials. This action is typically performed using hydraulic cylinders that control the movement of boom 402 and stick 408, allowing the operator to retract the arm and bring implement 410 closer to construction machine 400. In the example of FIG. 4, the alignment operation includes automatically horizontally rotating boom 402 with respect to platform 404 about axis of rotation 426 such that implement 410 remains aligned with a guidance line 430 during the entire retraction operation, without horizontally rotating platform 404 with respect to undercarriage 406 about axis of rotation 424.

At time T1, the control unit of construction machine 400 detects a first decrease in the extension distance and computes a first horizontal boom angle θ_B1to which boom 402 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause boom 402 to horizontally rotate to the first horizontal boom angle θ_B1. Similarly, at time T2, the control unit detects a second decrease in the extension distance and computes a second horizontal boom angle θ_B2to which boom 402 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause boom 402 to horizontally rotate to the second horizontal boom angle θ_B2. Similarly, at time T3, the control unit detects a third decrease in the extension distance and computes a third horizontal boom angle θ_B3to which boom 402 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause boom 402 to horizontally rotate to the third horizontal boom angle θ_B3.

FIG. 5 illustrates an example of a construction machine 500 performing an alignment operation concurrently with a retraction operation by horizontally rotating the platform, in accordance with some embodiments of the present disclosure. Similar to FIG. 4, the retraction operation refers to the process of pulling the machine's arm (boom 502 and stick 508) back toward the machine after extending it outward to dig or move materials. This action is typically performed using hydraulic cylinders that control the movement of boom 502 and stick 508, allowing the operator to retract the arm and bring implement 510 closer to construction machine 500. In the example of FIG. 5, the alignment operation includes automatically horizontally rotating platform 504 with respect to undercarriage 506 about axis of rotation 524 such that implement 510 remains aligned with a guidance line 530 during the entire retraction operation, without horizontally rotating boom 502 with respect to platform 504 about axis of rotation 526.

At time T1, the control unit of construction machine 500 detects a first decrease in the extension distance and computes a first horizontal platform angle θ_P1to which platform 504 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause platform 504 to horizontally rotate to the first horizontal platform angle θ_P1. Similarly, at time T2, the control unit detects a second decrease in the extension distance and computes a second horizontal platform angle θ_P2to which platform 504 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause platform 504 to horizontally rotate to the second horizontal platform angle θ_P2. Similarly, at time T3, the control unit detects a third decrease in the extension distance and computes a third horizontal platform angle θ_P3to which platform 504 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause platform 504 to horizontally rotate to the third horizontal platform angle θ_P3.

FIG. 6 illustrates an example of a construction machine 600 performing an alignment operation concurrently with a retraction operation by horizontally rotating both the boom and the platform, in accordance with some embodiments of the present disclosure. Similar to FIGS. 4 and 5, the retraction operation refers to the process of pulling the machine's arm (boom 602 and stick 608) back toward the machine after extending it outward to dig or move materials. This action is typically performed using hydraulic cylinders that control the movement of boom 602 and stick 608, allowing the operator to retract the arm and bring implement 610 closer to construction machine 600. In the example of FIG. 6, the alignment operation includes automatically horizontally rotating boom 602 with respect to platform 604 about axis of rotation 626 and horizontally rotating platform 604 with respect to undercarriage 606 about axis of rotation 624 such that implement 610 remains aligned with a guidance line 630 during the entire retraction operation.

At time T1, the control unit of construction machine 600 detects a first decrease in the extension distance and computes a first horizontal platform angle θ_P1to which platform 604 is to be horizontally rotated based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause platform 604 to horizontally rotate to the first horizontal platform angle θ_P1. At time T2, the control unit detects a second decrease in the extension distance and computes a first horizontal boom angle θ_B1to which boom 602 is to be horizontally rotated (in a clockwise direction) and a second horizontal platform angle θ_P2to which platform 604 is to be horizontally rotated (in a counterclockwise direction) based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause boom 602 to horizontally rotate to the first horizontal boom angle θ_B1and platform 604 to horizontally rotate to the second horizontal platform angle θ_P2.

Similarly, at time T3, the control unit detects a third decrease in the extension distance and computes a second horizontal boom angle θ_B2to which boom 602 is to be horizontally rotated (in a clockwise direction) and a third horizontal platform angle θ_P3to which platform 604 is to be horizontally rotated (in a counterclockwise direction) based on the offset angle θ_Oand the extension distance. The control unit then generates control signals to cause boom 602 to horizontally rotate to the second horizontal boom angle θ_B2and platform 604 to horizontally rotate to the third horizontal platform angle θ_P3. Accordingly, in some embodiments, boom 602 and platform 604 are caused to rotate in opposite horizontal directions, i.e., clockwise and counterclockwise directions.

In some examples, the control unit may attempt to align implement 610 with guidance line 630 using only horizontal platform angle θ_P(such as at time T1) and, if it is not possible to align implement 610 with guidance line 630 using only horizontal platform angle θ_P, the control unit may use both horizontal platform angle θ_Pand horizontal boom angle θ_B(such as at times T2 and T3). In other examples, the control unit may attempt to align implement 610 with guidance line 630 using only horizontal boom angle θ_Band, if it is not possible to align implement 610 with guidance line 630 using only horizontal boom angle θ_B, the control unit may use both horizontal platform angle θ_Pand horizontal boom angle θ_B.

FIG. 7 illustrates an example machine control system 750, in accordance with some embodiments of the present disclosure. Machine control system 750 may include various input devices 752, sensors 754, actuators 756, and computing devices for allowing one or more operators of the construction machine to complete a work-related task. The components of machine control system 750 may be mounted to or integrated with the components of the construction machine such that the construction machine may include machine control system 750. The components of machine control system 750 may be communicatively coupled to each other via one or more wired and/or wireless connections.

Machine control system 750 may include a control unit 760 that receives data from the various sensors and inputs and generates commands that are sent to the various actuators and output devices. In the illustrated example, control unit 760 receives an input signal 753 from input device(s) 752 and sensor data 755 from sensor(s) 754, and generates control signal(s) 757 which are sent to actuator(s) 756. Control unit 760 may include one or more processors and an associated memory. In some embodiments, control unit 760 may be communicatively coupled to an external computing system 762 located external to machine control system 750 and the construction machine. External computing system 762 may send instructions to control unit 760 of the details of a work-related task. External computing system 762 may also send alerts and other general information to control unit 760, such as traffic conditions, weather conditions, the locations and status of material transfer vehicles, and the like.

An operator can use input device(s) 752 to produce input signal 753 that indicates a desired movement of the vehicle, a desired movement of the implement, a desired extension distance of the implement, a desired height of the implement, an activation of one or more mechanisms on the implement (e.g., sprayers, cutters, etc.), and the like. Input device(s) 752 can include a keyboard, a touchscreen, a touchpad, a switch, a lever, a button, a steering wheel, an acceleration pedal, a brake pedal, and the like. Input device(s) 752 can be mounted to any physical part of the vehicle, such as within the cab of the vehicle, or may include one or more wearable or handheld devices.

Sensor(s) 754 can include one or more position sensor(s) 758 and/or inertial sensor(s) 765. Position sensor(s) 758 can be a combination of GNSS receivers, which determine position using wireless signals received from satellites, and total stations, which determine position by combining distance, vertical angle, and horizontal angle measurements. Inertial sensor(s) 765 can include one or more sensors that detect movement of the components of the construction machine to which they are rigidly attached. For example, inertial sensor(s) 765 can include one or more gyroscopes for detecting angular acceleration, angular rate and/or angular position, one or more accelerometers for detecting linear acceleration, linear velocity, and/or linear position, one or more inertial measurement units (IMUs) which may each include one or more accelerometers, one or more gyroscopes, and/or one or more magnetometers for detecting the above-listed types of data, among other possibilities.

Inertial sensor(s) 765 can directly detect angular rate and integrate to obtain angular position, or alternatively, an inertial sensor can directly measure angular position and determine a change in angular position (e.g., compute the derivative) to obtain angular rate. In many instances, inertial sensor(s) 765 can be used to determine the yaw angle (rotation angle with respect to a vertical axis), the pitch angle (rotation angle with respect to a transverse axis), and/or the roll angle (rotation angle with respect to a longitudinal axis) of the construction machine.

Control unit 760 may include various controllers and modules to assist in the generation of control signal(s) 757. Each of the controllers and modules may include dedicated hardware and/or may be performed using the main processor and/or memory of control unit 760. Control signal(s) 757 may include direct current (DC) or alternating current (AC) voltage signals, DC or AC current signals, and/or information-containing signals. An example of an information-containing signal may be controller area network (CAN) message that may be sent along a CAN bus or other communication medium. In some instances, control signal(s) 757 include a pneumatic or hydraulic pressure. Upon receiving control signal(s) 757, actuator(s) 756 may be caused to move in a specified manner, such as by extending, retracting, rotating, lifting, or lowering by a specified amount. Actuator(s) 756 may use various forms of power to provide movement to the components of the construction machine. For example, actuator(s) 756 may be electric, hydraulic, pneumatic, mechanical, or thermal, among other possibilities. Actuator(s) 756 may include a boom cylinder, a stick cylinder, an implement cylinder, a boom swing cylinder, among other possibilities.

FIG. 8 illustrates a method 800 of controlling a construction machine, in accordance with some embodiments of the present disclosure. Steps of method 800 may be performed in any order and/or in parallel, and one or more steps of method 800 may be optionally performed. One or more steps of method 800 may be performed by one or more processors, such as those included in a control unit. Method 800 may be implemented as a computer-readable medium or computer program product comprising instructions which, when the program is executed by one or more processors, cause the one or more processors to carry out the steps of method 800.

At step 802, a control unit (e.g., control units 160, 760) sets a guidance line (e.g., guidance lines 330, 430, 530, 630) for guiding an implement (e.g., implements 110, 210, 310, 410, 510, 610) of a construction machine (e.g., construction machines 100, 200, 300, 400, 500, 600). The construction machine may further include a boom (e.g., booms 102, 202, 302, 402, 502, 602), a platform (e.g., platforms 104, 204, 304, 404, 504, 604), and an undercarriage (e.g., undercarriages 106, 206, 306, 406, 506, 606). The guidance line may have a linear or non-linear path relative to the position and orientation of the construction machine. The guidance line may be defined by two or more 2D or 3D positions (e.g., a first position defining one end of the guidance line and a second position defining the opposite end of the guidance line, or a plurality of positions defining points along the guidance line, etc.). The positions of the guidance line may be determined based on a site plan. For example, the site plan may indicate that a ditch needs to be created between two positions. The control unit may set the guidance line after the construction machine has positioned itself near where the guidance line is to be set or the construction machine may navigate to the position of the guidance line.

At step 804, the control unit receives, via a user input device (e.g., input device 752), an input signal (e.g., input signal 753) for moving the construction machine to reduce an extension distance (e.g., extension distance d_E). The extension distance may be calculated as the distance between the platform of the construction machine and the implement. The input signal may be generated by an operator of the construction machine pulling a lever that brings the implement closer to the platform by raising the boom and decreasing the angle between the boom and a stick (e.g., sticks 108, 208, 308, 408, 508, 608) of the construction machine. In some examples, the extension distance may be calculated as the distance between an axis of rotation (e.g., axis of rotations 126, 226, 326, 426, 526, 626) of the boom with respect to the platform and the implement. More accurately, in some examples, the extension distance may be calculated from the implement's edge, such as the bucket's teeth of an excavator.

At step 806, the control unit generates a first control signal (e.g., control signal 757) to cause a movement of the construction machine to reduce the extension distance. For example, the first control signal may be generated in response to the control unit receiving the input signal. The first control signal may be sent to actuators (e.g., actuators 756) of the construction machine that control the raising the of boom (such as boom cylinder 114) and the decreasing of the angle between the boom and the stick (such as stick cylinder 116).

At step 808, optionally, the control unit computes a horizontal boom angle (e.g., horizontal boom angle θ_B) to which to horizontally rotate the boom with respect to the platform. In some examples, the horizontal boom angle may be computed based on the extension distance. In some examples, the horizontal boom angle may be computed further based on an offset angle (e.g., offset angle θ_O) between an orientation of the construction machine and the guidance line. In some examples, step 808 may be repeatedly performed to update the horizontal boom angle as the extension distance decreases during the movement caused by the first control signal.

At step 810, during the movement of the construction machine caused by the first control signal, the control unit generates a second control signal (e.g., control signal 757) to cause the boom to horizontally rotate with respect to the platform to the horizontal boom angle. In some examples, the second control signal may be repeatedly updated as the horizontal boom angle is repeatedly updated. The movement of the construction machine caused by the second control signal, in combination with the movement of the construction machine caused by the first control signal, causes the implement to move along the guidance line and remain aligned with the guidance line while the boom horizontally rotates. In some examples, a guidance point (e.g., guidance point 332) may be set to a particular point on the implement. In such examples, the horizontal boom angle may be computed such that the guidance point moves along the guidance line and remains aligned with the guidance line while the boom horizontally rotates.

At step 812, optionally, the control unit computes a horizontal platform angle (e.g., horizontal platform angle θ_P) to which to horizontally rotate the platform with respect to the undercarriage. In some examples, the horizontal platform angle may be computed based on the extension distance. In some examples, the horizontal platform angle may be computed further based on the offset angle between the orientation of the construction machine and the guidance line. In some examples, step 812 may be repeatedly performed to update the horizontal platform angle as the extension distance decreases during the movement caused by the first control signal.

At step 814, optionally, during the movement of the construction machine caused by the first control signal, the control unit generates a third control signal (e.g., control signal 757) to cause the platform to horizontally rotate with respect to the undercarriage to the horizontal platform angle. In some examples, the third control signal may be repeatedly updated as the horizontal platform angle is repeatedly updated. The movement of the construction machine caused by the third control signal, in combination with the movement of the construction machine caused by the first control signal and the movement of the construction machine caused by the second control signal, causes the implement to move along the guidance line and remain aligned with the guidance line while the boom horizontally rotates. In some examples, the horizontal platform angle may be computed such that the guidance point moves along the guidance line and remains aligned with the guidance line while the platform horizontally rotates.

FIG. 9 illustrates an example computer system 900 comprising various hardware elements, in accordance with some embodiments of the present disclosure. Computer system 900 may be incorporated into or integrated with devices described herein and/or may be configured to perform some or all of the steps of the methods provided by various embodiments. For example, in various embodiments, computer system 900 may be incorporated into machine control system 750 and/or may be configured to perform method 800. It should be noted that FIG. 9 is meant only to provide a generalized illustration of various components, any or all of which may be utilized as appropriate. FIG. 9, therefore, broadly illustrates how individual system elements may be implemented in a relatively separated or relatively more integrated manner.

In the illustrated example, computer system 900 includes a communication medium 902, one or more processor(s) 904, one or more input device(s) 906, one or more output device(s) 908, a communications subsystem 910, and one or more memory device(s) 912. Computer system 900 may be implemented using various hardware implementations and embedded system technologies. For example, one or more elements of computer system 900 may be implemented within an integrated circuit (IC), an application-specific integrated circuit (ASIC), an application-specific standard product (ASSP), a field-programmable gate array (FPGA), such as those commercially available by XILINX®, INTEL®, or LATTICE SEMICONDUCTOR®, a system-on-a-chip (SoC), a microcontroller, a printed circuit board (PCB), and/or a hybrid device, such as an SoC FPGA, among other possibilities.

The various hardware elements of computer system 900 may be communicatively coupled via communication medium 902. While communication medium 902 is illustrated as a single connection for purposes of clarity, it should be understood that communication medium 902 may include various numbers and types of communication media for transferring data between hardware elements. For example, communication medium 902 may include one or more wires (e.g., conductive traces, paths, or leads on a PCB or integrated circuit (IC), microstrips, striplines, coaxial cables), one or more optical waveguides (e.g., optical fibers, strip waveguides), and/or one or more wireless connections or links (e.g., infrared wireless communication, radio communication, microwave wireless communication), among other possibilities.

In some embodiments, communication medium 902 may include one or more buses that connect the pins of the hardware elements of computer system 900. For example, communication medium 902 may include a bus that connects processor(s) 904 with main memory 914, referred to as a system bus, and a bus that connects main memory 914 with input device(s) 906 or output device(s) 908, referred to as an expansion bus. The system bus may itself consist of several buses, including an address bus, a data bus, and a control bus. The address bus may carry a memory address from processor(s) 904 to the address bus circuitry associated with main memory 914 in order for the data bus to access and carry the data contained at the memory address back to processor(s) 904. The control bus may carry commands from processor(s) 904 and return status signals from main memory 914. Each bus may include multiple wires for carrying multiple bits of information and each bus may support serial or parallel transmission of data.

Processor(s) 904 may include one or more central processing units (CPUs), graphics processing units (GPUs), neural network processors or accelerators, digital signal processors (DSPs), and/or other general-purpose or special-purpose processors capable of executing instructions. A CPU may take the form of a microprocessor, which may be fabricated on a single IC chip of metal-oxide-semiconductor field-effect transistor (MOSFET) construction. Processor(s) 904 may include one or more multi-core processors, in which each core may read and execute program instructions concurrently with the other cores, increasing speed for programs that support multithreading.

Input device(s) 906 may include one or more of various user input devices such as a mouse, a keyboard, a microphone, as well as various sensor input devices, such as an image capture device, a temperature sensor (e.g., thermometer, thermocouple, thermistor), a pressure sensor (e.g., barometer, tactile sensor), a movement sensor (e.g., accelerometer, gyroscope, tilt sensor), a light sensor (e.g., photodiode, photodetector, charge-coupled device), and/or the like. Input device(s) 906 may also include devices for reading and/or receiving removable storage devices or other removable media. Such removable media may include optical discs (e.g., Blu-ray discs, DVDs, CDs), memory cards (e.g., CompactFlash card, Secure Digital (SD) card, Memory Stick), floppy disks, Universal Serial Bus (USB) flash drives, external hard disk drives (HDDs) or solid-state drives (SSDs), and/or the like.