System architecture

 

Theory of Operation

COMMAND is an electronic hardware system designed by T3RRA consisting of an Electronic Control Unit (ECU) along with a harnessing system to provide interfacing for different sensors and hydraulic systems.

Once all harnessing installed, the ECU acts as an interface between the PC running T3RRA implementation software andsoftware, the earthmoving machine.machine and sensors providing feedback on the position of the implement. T3RRA implementation software can then control the machine cutting heightimplement based on prescribed elevations calculated by the implementation software.

Manual Control Mode

In Manual Control Mode, and also when the system arming switch is deactivated, COMMAND is Disengaged and any prescribed elevations sent to the ECU will not result in activation of hydraulics. Hydraulic outputs can still be activated using a connected joystick and will function regardless of whether COMMAND Automatic Control is Disengaged or Engaged.

Automatic Control Mode

Once the operator has Armed the system, and successfully Engaged Automatic Control Mode, the ECU will activate hydraulic outputs based on a number of factors: Prescribed elevation, current elevation, calibration parameters, tracking sensitivity and tracking/acquire threshold. While Engaged in Automatic Control Mode, any movement of a connected joystick will result in an override of the automatic control output. The operator may choose between "Disengage", Disengaging Automatic Control Mode upon detection of joystick movement, or "Momentary Disengage", which will override upon joystick movement, but return to Automatic Control Mode once the joystick is no longer being moved.