| 主权项 |
1. A method for controlling an earthmoving machine and a work implement associated with the earthmoving machine during an earthmoving operation of a work plan, the work plan including a projected first pass to create a projected work surface and a projected second pass having a target depth, the projected work surface having an expected surface height, the earthmoving machine including a prime mover, a ground engaging-mechanism, and a machine weight, the method comprising:
performing an actual first pass and creating an actual work surface; receiving, with a controller, positioning signals from a positioning system associated with the earthmoving machine during the actual first pass, the positioning signals indicative of a topography of the actual work surface; determining, with the controller, a profile of the actual work surface based at least in part on the positioning signals; determining, with the controller, if the profile of the actual work surface includes a bump, the bump having a bump height, the bump height being greater than the expected surface height; determining, with the controller, a depth adjustment if the profile of the actual work surface includes the bump, the depth adjustment based, at least in part, on the bump height and performance characteristics of the earthmoving machine, the performance characteristics of the earth moving machine including at least one of a maximum power output of the prime mover, a traction characteristic of the ground engaging-mechanism, and the machine weight; and determining, with the controller, an adjusted projected second pass at least in part by adjusting the target depth based on the depth adjustment, if the profile of the actual work surface includes the bump. |
