Patent Publication Number: US-10781575-B2

Title: Attachment calibration control system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     N/A 
     FIELD OF THE DISCLOSURE 
     The present disclosure relates to a method and system for calibrating an attachment for a work machine. 
     BACKGROUND 
     Work machines, such as loaders, loader-backhoes, and excavators, may be outfitted by a myriad of attachments based on the desired function and use of the work machine. These attachments may be provided by either the original manufacturer of the work machine, or an aftermarket supplier. One of the problems with aftermarket attachments are varying geometric parameters (e.g. bucket depths for wheel loaders may range from two feet to four feet). The current absence of methods for coupling an aftermarket attachment to a control system of an original equipment manufacturer limits its function whereby the work machine is unable to adapt the attachment to automated features such as “return to level” mode and “truck clearance mode”. Performing such functions are limited to manual control by the operator and the operator&#39;s expertise in controlling the work machine. Furthermore, precision control of the attachment is thereby affected because control system of the work machine fails to adequately recognize the attachment. 
     SUMMARY 
     In accordance with one embodiment, an attachment calibration control system for a work machine is disclosed. The calibration control system may include a boom having a first portion and second portion. The first portion is pivotally coupled to the frame about a boom pivot. An attachment may be pivotally coupled to the second portion of the boom. The attachment may have a tip. Moreover, a boom actuator may be coupled to the boom, wherein the boom actuator is configured to controllably move the boom about the boom pivot in response to a boom control signal. An attachment actuator may be coupled to the attachment, wherein the attachment actuator is configured to controllably move the attachment about the attachment pivot in response to an attachment control signal. Additionally, a boom position sensor may be coupled to the boom actuator, wherein the boom position sensor is configured to sense a boom position and send a boom position signal. An attachment position sensor may be coupled to the attachment actuator, where the attachment position sensor is configured to sense an attachment position and send an attachment position signal. The system may further comprise a machine control module having a receiving unit, a calculation unit, and a calibration unit. The receiving unit is configured to receive a plurality of boom position signals and a plurality of attachment position signals. The plurality of boom position signals and the plurality of attachment position signals correlate to a plurality of sequential attachment positions. The calculation unit is configured to calculate geometric parameters of the attachment based on these plurality of attachment position signals and the plurality of boom position signals. The calibration unit may be communicatively coupled to the boom actuator and the attachment actuator. The calibration unit is configured to adjust the parameter of at least one of the boom position and the attachment position based on the geometric parameters of the attachment. 
     In accordance with another embodiment, a method of calibrating an attachment pivotally coupled to a work machine is disclosed. The method may include coupling an attachment to the work machine such that the attachment is pivotally coupled about an attachment pivot to a second portion of the boom of the work machine. The method may further include positioning the attachment in a first position, and creating a first boom position signal using a boom position sensor and a first attachment position signal using an attachment position sensor based on the first position. Additionally, the method may include sending the first boom position signal and the first attachment position signal to a machine control module located on the frame of the work machine. The method may further include positioning the attachment in a second position, and creating a second boom position signal using the boom position sensor and a second attachment position signal using the attachment position sensor based on the second position. This may include sending the second boom position signal and the second attachment position signal to the machine control module. Additionally, the method may include calculating geometric parameters of the attachment based on the first and second boom position signals, and the first and second attachment position signals when the signals are received by the machine control module. As a result, the method may include calculating geometric parameters of the attachment based on the first and second boom position signals, and the first and second attachment position signals when the signals are received by the machine control module. Moreover, the method may include calibrating a default parameter of at least one of the boom position and the attachment position based on the geometric parameters of the attachment in the machine control module. 
     In accordance with yet another embodiment, a work machine including an attachment calibration control system is disclosed. The work machine may include a frame configured to house a power source and the frame is supported by ground engaging supports to support the frame on a geographic surface. An operator cab may be mounted on the frame and the operator cab may have an operator input device. The work machine may further include a boom having a first portion and a second portion, wherein the first portion is pivotally coupled to the frame about a boom pivot. Additionally, the work machine may include an attachment pivotally coupled to the second portion of the boom about an attachment pivot, wherein the attachment has a tip. The work machine may include a boom actuator coupled to the boom wherein the boom actuator is configured to controllably move the boom about the boom pivot in response to a boom control signal. Moreover, the work machine may include an attachment actuator coupled to the attachment wherein the attachment actuator is configured to controllably move the attachment about the attachment pivot in response to an attachment control signal. A boom position sensor may be coupled to the boom actuator wherein the boom position sensor is configured to sense a boom position and send a boom position signal. An attachment position sensor may be coupled to the attachment actuator wherein the attachment position sensor is configured to sense an attachment position and send an attachment position signal. Additionally, the work machine may include a machine control module. The machine control module may include a receiving unit, a calculation unit, and a calibration unit. The receiving unit may be configured to receive a plurality of boom position signals and a plurality of attachment position signals. The plurality of boom position signals and the plurality of attachment position signals may correlate to a plurality of sequential attachment positions. The plurality of sequential attachment positions may have the attachment tip pivot about a point where the attachment engages a geographic surface. The calculation unit may be configured to calculate geometric parameters of the attachment based on the plurality of attachment position signals and the plurality of boom position signals correlating to the plurality of sequential attachment positions. The calibration unit may be communicatively coupled to the boom actuator and the attachment actuator. The calibration unit may be configured to adjust a default parameter of at least one of the boom position and the attachment position based on the geometric parameters of the attachment. 
     These and other aspects and features of the present disclosure will be more readily understood upon reading the following detailed description in conjunction with the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The detailed description of the drawings refers to the accompanying figures in which: 
         FIG. 1  is a perspective side view of a work machine in accordance with an embodiment of the present disclosure. 
         FIG. 2  is a schematic diagram of an attachment calibration control system for a work machine, in accordance with an embodiment of the present disclosure. 
         FIG. 3A  is a first position of a plurality of sequential attachment positions, in accordance with an embodiment of the present disclosure. 
         FIG. 3B  is a second position of a plurality of sequential attachment positions, in accordance with an embodiment of the present disclosure. 
         FIG. 3C  is a third position of a plurality of sequential attachment positions, in accordance with an embodiment of the present disclosure. 
         FIG. 4A  illustrates an example view of a work machine performing a dumping operation in accordance with aspects of the present disclosure. 
         FIG. 4B  illustrates an example view of a work machine performing a leveling operation in accordance with aspects of the present disclosure. 
         FIG. 4C  illustrates an example view of a work machine demonstrating a predetermined threshold in accordance with aspects of the present disclosure. 
         FIG. 4D  illustrates an example view of a work machine with a lowering operation in accordance with aspects of the present disclosure. 
         FIG. 5  is a flow chart of a method executed by the attachment calibration control system of  FIG. 2 . 
     
    
    
     DETAILED DESCRIPTION 
     The embodiments disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the disclosure to these embodiments. Rather, there are several variations and modifications which may be made without departing from the scope of the present disclosure. 
     Referring now to the drawings and with specific reference to  FIG. 1  and  FIG. 2 , a work machine  100  is shown, in accordance with certain embodiments of the present disclosure. As depicted in the FIGURES, the forward portion or direction of the work machine  100  is generally to the left and the rearward portion or direction of the work machine  100  is generally to the right. While one non-limiting example of the work machine  100  is illustrated as a loader, it will be understood that the work machine  100  may include other types of machines such as but not limited to a skid steer, front-end loader, a construction machine, a forestry machine, an agricultural machine, or an industrial mining machine. The work machine  100  may include a frame  110  configured to support a power source  120 , ground engaging supports  130  to support the frame  110  on a geographic surface  140 , and an operator station  150  mounted on the frame  110 . In some embodiments, the power source  120  may be a power generating source such as but not limited to, a diesel combustion engine, a gasoline combustion engine, an electric motor, and any other known power generating source or combination thereof. The operator station  150  can house an operator and includes operator input devices  160  for controlling the components, including the attachment  170  of the work machine  100 . 
     Moreover, the work machine  100  may include a machine control module  180  configured to monitor and execute various operational commands and other such functions of the work machine  100 , such as the various hydraulic components of the work machine  100 . The machine control module  180  may be communicatively coupled to one or more operator input device(s)  160 . In some embodiments, the machine control module  180  may be communicably coupled to operator input devices  160  such as but not limited to, a steering input device (not shown), a throttle control (not shown), an attachment control (shown as an operator input device  160 ), and other such operational controls. Furthermore, the machine control module  180  may be communicably coupled to a display device (not shown) which displays or otherwise outputs instructions or other operational commands to the operator of the work machine  100 . As a result, the machine control module  180  may receive and send input signals, output signals and other such data communicated between the various operational controls (not shown) of the work machine  100 . The ground engaging supports  130  may be driven by the power source  120  to propel the work machine  100  in a direction of travel on a geographic surface  140 . Moreover, the ground engaging supports  130  may be operably coupled to the steering input device (not shown), the throttle control (not shown), and other such operational controls configured to steer and maneuver the work machine  100 . It should be appreciated that the machine control module  180  may correspond to an existing machine control module  180  of the work machine or the machine control module  180  may correspond to a separate processing device. For instance, in one embodiment, the machine control module may form all or part of a separate plug-in module that may be installed within the work machine to allow for the disclosed system and method to be implemented without requiring additional software to be uploaded onto existing control devices of the work machine  100 . 
     Additionally, the work machine  100  may be coupled to at least one attachment  170  operably attached to the frame  110  or other portion of the work machine  100 . For example, the attachment  170  may be detachable from the boom  190 . Several attachments may be interchangeable on a single work machine  100 . 
     In one non-limiting example, the attachment for a work machine  100  such as the loader shown, may include original equipment manufacturer parts such as multi-purpose buckets, rock buckets, side-discharge buckets, rollout buckets, pallet forks, snow pushers, and the like. Alternatively, the attachment for a work machine  100  may include but is not limited to aftermarket components such as ejector buckets, backfills blades, plows, car body forks, gravel scoops, and alternate manufacturers for above-mentioned attachments. Each attachment may be coupled to the frame  110  with a boom  190  comprising one or more attachment arms or linkages, and one or more actuators. The actuator can be a hydraulic or pneumatic actuator or cylinder, a linear actuator, or other types of actuators. The actuators can have extended and retracted conditions or positions. That is, the actuators can extend or lengthen and retract or shorten. The actuators can also have a plurality of intermediate positions between a fully extended position and a fully retracted position. A position sensor can detect or sense one or more of the position, direction, and speed of the actuator. 
     In the non-limiting example shown in  FIG. 1 , the work machine  100  comprises a boom actuator  215  and an attachment actuator  220  that may be configured to raise/lower and/or pivot the boom  190  and attachment  170  relative to the geographic surface  140  of the work machine  100 . For example, the boom actuator  215  may be extended and retracted to pivot the boom  190  upwards and downwards relative to the boom pivot  225 , thereby at least partially controlling the vertical positioning of the attachment  170  relative to the geographic surface  140 . Similarly, the attachment actuator  220  may be extended and retracted to pivot the attachment  170  relative to the boom  190  about the attachment pivot  230 , thereby controlling the tilt angle and orientation of the attachment  170  relative to the geographic surface  140 . As will be described below, such control of the positioning and/or orientation of the various components of the work machine  100  may allow the boom  190  and the attachment  170  to be automatically moved to one or more pre-defined positions during operation of the work machine  100 . For example, when the work machine  100  is being utilized to perform a material moving operation, such as moving material from a pile and dumping it back into the bin of a dump truck  385  (shown in  FIG. 4A-4D ), the boom  190  and attachment  170  may be automatically moved between a digging and loading position and a dumping or unloading position (shown in  FIG. 4A-4D ). Additionally, utilizing automated features such as “return to level” and “object clearance” mode improves the overall efficiency of the work machine  100  when performing the material moving operation. Moving the attachment  170  with such precision in manual mode and/or utilizing the automated features requires the machine control module  180  to recognize the geometric parameters  240  (exemplary embodiment of geometric parameters or present disclosure shown in  FIG. 3A-3C ) of the attachment  170 . In other words, the attachment  170  must be calibrated for use by the work machine  100  such that the machine control module  180  adjusts the signal representing the default parameters  245  (shown in  FIG. 2 ) of the work machine  100  to reflect the geometric parameters  240  of the attachment  170  and therefore optimize use of the attachment  170 . 
     To address the aforementioned issues, referring now to  FIG. 2  and  FIG. 3A-3C , with continued reference to  FIG. 1 , a schematic of an attachment calibration control system  250  for the work machine  100  is illustrated. The attachment calibration control system  250  advantageously allows for the operator to calibrate the work machine  100  when coupling an attachment  170  from the operator station  150  with ease, wherein the default parameters  245  of the machine control module  180  are modified to reflect the geometric parameters  240  of the attachment  170 . Furthermore, the attachment calibration control system  250  calibrates without the use of any extraneous components, and takes advantage of existing linkage kinematics. 
     The work machine  100  may comprise a boom  190  having a first portion  255  and a second portion  260  wherein the first portion  255  is pivotally coupled to the frame  110  of the work machine  100  about a boom pivot  225 . The work machine  100  may further comprise an attachment  170  pivotally coupled to the second portion  260  of the boom  190  about an attachment pivot  230 , wherein the attachment  170  has a tip  265 , or also described as a front most edge. In this exemplary embodiment, the tip  265  may be the front edge of the attachment  170  (e.g. the cutting edge of the bucket). Identification of the tip&#39;s position relative to the frame  110  of the work machine  100  most accurately identifies the depth of the attachment, and thereby the “working volume” or “working depth” of the attachment, in the example of a loader with a bucket as an attachment. In other attachments, such as forks sized to move car bodies, the “working depth” may be the relevant calculation. Furthermore, knowledge of the position of the tip  265  relative to the frame  110  through linkage kinematics advantageously allows the operator to avoid inadvertent collisions when working with the attachments, thereby increasing operator safety and confidence. 
     An attachment actuator  220  may be coupled to the attachment  170  and communicably coupled to the machine control module  180 , wherein the attachment actuator  220  is configured to controllably move the attachment  170  about the attachment pivot  230  in response to an attachment control signal  270  from the machine control module  180  located on the work machine  100 . Commands for the attachment control signal  270  may originate from either an operator input device  160 , or an automated program from the machine control module  180 . Similarly, the boom actuator  215  may be coupled to the boom  190  and communicably coupled to the machine control module  180 , wherein the boom actuator  215  is configured to controllably move the boom  190  about the boom pivot  225  in response to a boom control signal  275 . Similar to the attachment control signal  270 , commands for the boom control signal  275  may originate from either an operator input device  160 , or an automated program from the machine control module  180 . 
     During operation, the machine control module  180  may be configured to control the operation of each actuator ( 215 ,  220 ). In the non-limiting example shown, the actuators ( 215 ,  220 ) are valves in a hydraulic system wherein the machine control module  180  may be configured to control the flow of hydraulic fluid supplied to each of the cylinders. For instance, the machine control module  180  may be configured to send suitable control commands to the boom valves to regulate the flow of hydraulic fluid supplied to each cylinder, thereby controlling the stroke length of the piston rod associated with each cylinder. Any movement of the piston rod along its axis translates to a proportional movement of the relative linkage along the same axis, thereby considered synchronized. Similar commands may be transmitted from the machine control module  180  to the attachment valves to control a stroke length of the attachment cylinders. Additionally, the machine control module  180  may be configured to store information associated with pre-defined position settings for the boom  190  and/or attachment  170 . For example, pre-defined loading and unloading positions may be stored within the machine control module&#39;s memory that correspond to pre-programmed factory settings and/or operator directed position settings. 
     A boom position sensor  280  may be coupled to the boom actuator  215  wherein the boom position sensor  280  is configured to sense a boom position and send a boom position signal  285  to the machine control module  180 . The boom position sensor  280  may sense a net force, pressure in the associated hydraulic circuit, stroke length of the cylinder, flow volume or any other means capable of sensing the position of an actuator or a hydraulic cylinder. Similarly, an attachment position sensor  287  may be coupled to the attachment actuator  220  wherein the attachment position sensor  285  is configured to sense an attachment position and send an attachment position signal  290 . Because the boom actuator  215  and the attachment actuator  220  can extend or lengthen, and retract or shorten, the actuators can have a plurality of intermediate positions between a fully extended position and a fully retracted position. The boom position sensor  280  and attachment position sensor  287  can detect or sense one or more of the position, direction, and speed of their respective actuators. 
     The machine control module  180 , located on the work machine, may comprise a receiving unit  300 , a calculation unit  305 , and a calibration unit  310 . 
     The receiving unit  300  may be configured to receive a plurality of boom position signals  285  and a plurality of attachment position signals  290  based on the operator&#39;s input from an operator input device  160 . The plurality of boom position signals  285  and the plurality of attachment position signals  290  may correlate to a plurality of sequential attachment positions  315 .  FIGS. 3A, 3B, and 3C  demonstrate one embodiment of a plurality of sequential attachment positions. The plurality of sequential attachment positions  315  comprises the attachment pivoting about a point where the attachment tip  265  engages a level surface  320 . The level surface  320  is either a geographic surface or a man-made surface. For example, the level surface  320  may comprise a substantially flat dirt surface, a paved road, a gravel bed, the flatbed of a truck, or a garage floor, to name a few. 
     In one exemplary embodiment,  FIG. 3A  demonstrates a first position  325  of the plurality of sequential attachment positions  315 , wherein the first position  325  comprises a bottom surface  327  of the attachment  170  including the attachment tip  265  engaging the level surface  320 . The operator may utilize an operator input device  160  to record the boom position signal  285  and the attachment position signal  290  in this first position  325 . The operator may then move the attachment  170  to a subsequent position, for example as shown in  FIG. 3B . 
       FIG. 3B  demonstrates a second position  330  of the plurality of sequential attachment positions  315 , wherein the second position  330  comprises the attachment  170  rotated a first arbitrary angle  341  (α 1 ) about a point where the attachment tip  265  engages the level surface  320 . Again, the operator may utilize the operator input device  160  to record the boom position signal  285  and the attachment position signal  290  at the second position  330 . Although obtaining position signals ( 285 ,  290 ) from two positions may be sufficient to calculate the geometric parameters  240  of the attachment  170 , position signals may be acquired from another subsequent position, for example as shown in  FIG. 3C , to improve the accuracy of the calculations. 
       FIG. 3C  demonstrates a third position  335  of the plurality of sequential attachment positions  315 , wherein the third position  335  comprises the attachment  170  rotated a second arbitrary angle  342  (α 2 ) about a point where the attachment tip  265  engages the level surface  320 . 
     Now returning to  FIG. 2 , the receiving unit  300  on the machine control module  180  receives the plurality of sequential attachment position signals  315  from positions  325  ( FIG. 3A ),  330  ( FIG. 3B ), and possibly  335  ( FIG. 3C ). The calculation unit  305  on the machine control module  180  may be configured to calculate geometric parameters  240  of the attachment  170  based on the plurality of attachment position signals  290  and the plurality of boom position signals  285  correlating to the plurality of sequential attachment positions  315 . The geometric parameters  240  may comprise of an angular position data  340  (also shown as β) of the attachment pivot  230  relative to the attachment tip  265  and the bottom surface  327 , a vertical position data  345  of the attachment pivot  230  relative to the bottom surface  327 , a horizontal position data  350  of the attachment pivot  230  relative to the attachment tip  265 , and a linear distance of the attachment pivot relative to the attachment tip  343 . These geometric parameters  240  are sufficient to determine a depth of the attachment  170 , or an approximate “working volume” or “working depth”. The geometric parameter  240  most relevant to “working depth” is the horizontal position data  350 . 
     It is possible to calculate geometrically and trigonometrically the position of the attachment tip  265  relative to the frame  110  of the work machine  100  when the angular relationship between the elements (e.g. the linkage geometry of the boom  190 ) are known.  FIGS. 3A-3C  demonstrate a non-limiting example of sequential attachment positions. 
     In  FIG. 3A , where the bottom surface  327  of the attachment  170  is lying on the level surface  320  (which may be a geographic surface  140 ), the following relationship may be used to determine the geometric parameters  240  along with the linkage geometry of the boom  190 .
 
sin β(340)=345/343
 
     In  FIG. 3B , where the attachment  170  is rotated a first arbitrary angle  341  (α 1 ) about a point where the attachment tip  265  engages the level surface  320 , the following relationship may be used to determine the geometric parameters  240  along with the linkage geometry of the boom  190 .
 
sin(α1+β)=(345+346)/343
 
     In  FIG. 3C , where the attachment  170  is rotated a second arbitrary angle  342  (α 1 ) about a point where the attachment tip  265  engages the level surface  320 , the following relationship may be used to determine the geometric parameters  240  along with the linkage geometry of the boom  190 .
 
sin(α1+β)=(345+346)/343
 
     The calibration unit  310  may be communicatively coupled to the boom actuator  215  and the attachment actuator  220 . The calibration unit  310  may be configured to adjust a default parameter  245  of either the boom position or the attachment position based on the geometric parameters  240  of the attachment  170 . For example, the relative positions of the boom actuator  215  and the attachment actuator  220  for a “level position” as shown in  FIG. 4B  will vary based on the geometric parameters  240  of the attachment  170 . 
     The machine control module  180  may further comprise a float unit  355 . The float unit  355  may be communicatively coupled to the boom actuator  215  and the attachment actuator  220 . The float unit  355  is configured to activate and de-activate a float mode  360  based on a float signal  365  from the operator input device  265  (i.e. the operator may press a switch or move a joystick, or any other suitable method). In one embodiment, the boom actuator  215  and the attachment actuator  220  depressurize in float mode  360  such that it places a net zero downward pressure on the attachment  170  contacting a level surface  320 . In the exemplary embodiment of the present disclosure, float mode  360  is activated only for the first position  325  in the plurality of sequential attachment positions, as shown in  FIG. 3A . The float mode  360  allows the attachment to “float” on the geographic surface  140  as the work machine  100  may be stationary, without receiving any additional downward pressure other than the weight of the boom  190 . Next, the float unit  355  calculates the net force or pressure acting on the boom actuator  215  and attachment actuator  220 . Alternatively, the float unit  355  may calculate the stroke length of the actuators ( 215 ,  220 ). In another embodiment, the float unit  355  may measure the flow volume through a valve and the hydraulic circuit for the boom actuator  215  and the attachment actuator  220 . In other words, the float unit  355  may record the positions of the actuators ( 215 ,  220 ) and possibly the relative linkages of the boom  190 . The calibration unit  310  subsequently recognizes the boom actuator  215  and the attachment actuator  220  as reference point zero when the attachment  170  is in this first position  325  shown in  FIG. 3A , wherein zero is defined as the attachment  170  resting on a level surface  320 . Upon identifying the reference point zero, the operator de-activates the float mode  360 , thereby re-engaging the actuators ( 215 ,  220 ) in normal mode and positions the boom  190  and attachment  170  in a next plurality of sequential attachment positions  315  (e.g. the second position  330  and the third position  335 ). The float mode  360  advantageously simplifies the calculations required by the machine control module  180  in addition to creating an easily identifiable reference point zero for the operator. Alternatively, the calibration unit may recognize reference point zero during or after the operator de-actives the float mode. 
     Now turning to  FIGS. 4A-4D  with continued reference to  FIG. 2 , the machine control module  180  may further comprise an object clearance unit  370 , wherein the object clearance unit  370  may be communicatively coupled to the boom actuator  215  and the attachment actuator  220 . The object clearance unit  370  may be configured to activate and de-activate an object clearance mode  375  based on an object clearance signal  380  from the operator input device  160 . Alternatively, the object clearance mode  375  may be automated as part of a dumping cycle pre-programmed on the machine control module  180 . When dumping material into a bin  385 , it is not uncommon for an operator to slightly misjudge the placement of the attachment  170  relative to the bin  385  of a dump truck. This slight misjudgment can result in unwanted contact between the attachment  170  and the bin  385 . For example, if the work machine  100  were to move rearwardly with the attachment positioned as shown in  FIG. 4A , the bottom surface  327  of the attachment would interfere with the bin  385 . This erroneous positioning is further aggravated by use of aftermarket components where the machine control module  180  does not recognize the attachment  170 , or the geometric parameters  240  of the attachment  170 . The object clearance unit  370  in combination with the aforementioned units (i.e. the receiving unit  300 , the calculation unit  305 , the calibration unit  310  of the attachment calibration control system  250 ) addresses this issue. The object clearance mode  375  restricts the sequential movement of the attachment  170  after a dumping position  390  (shown in  FIG. 4A ) to a leveling position  395  (shown in  FIG. 4B ) and subsequently to a lowering position  400  (shown in  FIG. 4D ). The lowering position  400  (shown in  FIG. 4D ) is restricted until a rearward movement (designated by arrow in  FIG. 4C ) of the work machine  100  exceeds a predetermined threshold. The predetermined threshold may comprise a first horizontal position data  350  of the attachment pivot  230  relative to the attachment tip  265  (acquired during the steps of the attachment calibration control system  250 ), and a second horizontal position data  410  of the attachment pivot  230  relative to the ground engaging supports  130  which is a known value as this is based on the linkage geometry and kinematics of the boom  190 . That is, the distance the work machine  100  moves rearwardly is based on a first horizontal positional data  350  from the attachment pivot  230  relative to the attachment tip  265  derived from the calculations of the geometric parameters  240  from one or more steps from the attachment calibration control system  250 , and the second horizontal position data  410  of the attachment pivot  230  relative to the ground engaging supports  130  may be calculated from the known linkage geometry of the boom. In one exemplary embodiment, the second horizontal position data may be based on a fixed known distance from the boom pivot  225  to the ground engaging supports  130  (e.g. the axis of the wheel  297  or a front surface of wheel based on a known diameter) and the linkage geometry from the attachment pivot  230  to the ground engaging supports  130 . Rearward movement of the work machine (as shown by the arrow in  FIG. 4C ) may be calculated from several different methods. In one instance, rearward movement of the work machine  100  may be measured from an IMU sensor. Alternatively, the distance may be measured based on the number of rotations a ground-engaging support  130  rotates and the ground-engaging support&#39;s diameter. The aforementioned approach advantageously allows the operator to be certain the attachment clears the bin of the dump truck  385  prior to lowering the attachment  170  to avoid any collision. It further eliminates operator error during dumping cycles when using aftermarket attachments and allows the operator to use pre-programmed software offered by the original manufacturer of the work machine  100 . 
     Now referring to  FIG. 5 , with continued reference to  FIGS. 1-4 , a method of calibrating an attachment pivotally coupled to a work machine, is shown. In a first block  420  of the method, the attachment is coupled to the work machine such that the attachment is pivotally coupled about an attachment pivot to a second portion of the boom of the work machine. 
     In a next block  425 , the operator positions the attachment in a first position using a user input device. 
     In a next block  430 , the operator may activate float in the machine control module using a user input device. 
     In a next block  435 , the boom position sensor creates a first boom position signal and the attachment position sensor creates first attachment position signal based on the first position. 
     In a next block  440 , the boom position sensor and the attachment position sensor sends the first boom position signal and the first attachment position signal to the machine control module. 
     In a next block  445 , the operator may de-activate the float mode in the machine control module using a user input device. 
     In a next block  450 , the operator positions the attachment in a second position using a user input device. 
     In a next block  455 , the boom position sensor creates a second boom position signal and the attachment position sensor creates a second attachment position signal based on the second position. 
     In a next block  460 , the boom position sensor and the attachment position sensor sends the second boom position signal and the second attachment position signal to the machine control module. 
     In a next block  465 , the machine control module calculates geometric parameters of the attachment based on the first and the second boom position signals, and the first and the second attachment position signals wherein the signals are received by the machine control module. 
     In a next block  470 , the machine control module calibrates a default parameter of at least one of the boom position and the attachment position based on the geometric parameters of the attachment in the machine control module. 
     Once the operator calibrates the default parameters, the operator may activate object clearance mode during a dump cycle by initiating an object clearance signal from the operator input device to an object clearance unit wherein the object clearance mode restricts sequential movement of the attachment after a dumping position to a leveling position and subsequently to a lowering position. 
     One or more of the steps or operations in any of the methods, processes, or systems discussed herein may be omitted, repeated, or re-ordered and are within the scope of the present disclosure. 
     While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.