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公开(公告)号：US08103417B2
公开(公告)日：2012-01-24
申请号：US11896393
申请日：2007-08-31
申请人： Imed Gharsalli , Yongliang Zhu
发明人： Imed Gharsalli , Yongliang Zhu
IPC分类号： G05D1/00
CPC分类号： E02F3/844
摘要： A system is provided for positioning a work implement. The system has at least one actuator for actuating a movement of the work implement. In addition, the system has at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of an orientation and a position of the work implement. The system also has at least one ground inclination sensor configured to sense a parameter indicative of an inclination of a surface of the ground. Furthermore, the system has a controller configured to automatically adjust the orientation and position of the work implement in response to data received from the at least one sensor and the at least one ground inclination sensor.
摘要翻译： 提供了一种用于定位工作装置的系统。 该系统具有用于致动工作装置的运动的至少一个致动器。 另外，该系统具有与至少一个致动器相关联的至少一个传感器，并被配置为感测至少一个指示作业工具的取向和位置的参数。 该系统还具有至少一个地面倾斜传感器，该地面倾斜传感器被配置为感测指示地面的倾斜度的参数。 此外，该系统具有控制器，该控制器被配置为响应于从至少一个传感器和至少一个地面倾斜传感器接收的数据自动地调整作业工具的取向和位置。
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公开(公告)号：US20090056961A1
公开(公告)日：2009-03-05
申请号：US11896393
申请日：2007-08-31
申请人： Imed Gharsalli , Yongliang Zhu
发明人： Imed Gharsalli , Yongliang Zhu
IPC分类号： E02F3/84
CPC分类号： E02F3/844
摘要： A system is provided for positioning a work implement. The system has at least one actuator for actuating a movement of the work implement. In addition, the system has at least one sensor associated with the at least one actuator and configured to sense at least one parameter indicative of an orientation and a position of the work implement. The system also has at least one ground inclination sensor configured to sense a parameter indicative of an inclination of a surface of the ground. Furthermore, the system has a controller configured to automatically adjust the orientation and position of the work implement in response to data received from the at least one sensor and the at least one ground inclination sensor
摘要翻译： 提供了一种用于定位工作装置的系统。 该系统具有用于致动工作装置的运动的至少一个致动器。 另外，该系统具有与至少一个致动器相关联的至少一个传感器，并被配置为感测至少一个指示作业工具的取向和位置的参数。 该系统还具有至少一个地面倾斜传感器，该地面倾斜传感器被配置为感测指示地面的倾斜度的参数。 此外，该系统具有控制器，该控制器被配置为响应于从至少一个传感器接收的数据和至少一个地面倾斜传感器自动调整作业工具的取向和位置
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公开(公告)号：US08869908B2
公开(公告)日：2014-10-28
申请号：US13465875
申请日：2012-05-07
申请人： Yongliang Zhu , Phillip Newberry , Owen Kolstad , Michael Subrt , Sam M. Kherat
发明人： Yongliang Zhu , Phillip Newberry , Owen Kolstad , Michael Subrt , Sam M. Kherat
IPC分类号： E02F3/76
CPC分类号： E02F3/841 , E02F9/2025 , E02F9/265
摘要： A system for automated control of a motor grader includes a first sensor to indicate bounce of the motor grader and a speed sensor to indicate the ground speed. A controller determines a maximum amplitude of the bounce of the motor grader and controls the ground speed of the motor grader at least in part based upon the maximum amplitude of the bounce. A method is also provided.
摘要翻译： 一种用于自动平地机的自动控制的系统包括：第一传感器，用于指示电动平地机的反弹和用于指示地面速度的速度传感器。 控制器确定自动平地机的反弹的最大振幅，并且至少部分地基于反弹的最大幅度来控制平地机的地面速度。 还提供了一种方法。
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公开(公告)号：US20140041884A1
公开(公告)日：2014-02-13
申请号：US13568825
申请日：2012-08-07
申请人： Yongliang Zhu
发明人： Yongliang Zhu
CPC分类号： E02F3/764 , E02F3/7645 , E02F3/765 , E02F3/841 , E02F9/0841 , E02F9/2087
摘要： An apparatus and method are provided for assisting an operator of a motor grader to steer the motor grader in a crab steer mode. The method includes receiving an operator selection of an automatic crab steer mode, determining that a condition of the motor grader is such as to permit automatic crab steer, and receiving an operator steering command. The received operator steering command is converted to an articulation command to place the machine into a crab steer mode. The articulation command is executed and is also converted into a final steering command consistent with the articulation command, and the final steering command is then executed.
摘要翻译： 提供了一种装置和方法，用于辅助马达平地机的操作者以骑手转向模式转向马达分级机。 该方法包括接收操作员选择自动螃蟹操纵模式，确定自动分级机的状态允许自动螃蟹转向，以及接收操作者转向命令。 接收到的操作员转向命令被转换成一个关节运动命令，以使机器进入蟹转向模式。 执行关节指令，并且也被转换为与关节运动指令一致的最终转向指令，然后执行最终的转向指令。
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公开(公告)号：US20110035109A1
公开(公告)日：2011-02-10
申请号：US12535778
申请日：2009-08-05
CPC分类号： B62D12/00 , B62D9/00 , B62D53/045 , E02F9/0841 , E02F9/225 , E02F9/264
摘要： An articulated machine and method of operation, the articulated machine having a first frame with a first traction device and a steering apparatus that controls a steering angle thereof, the first frame pivotally coupled to a second frame at an articulation joint, the second frame having a second traction device, a steering sensor configured to provide a steering signal indicative of the steering angle, and an electronic controller configured to automatically control an articulation angle based on the steering signal.
摘要翻译： 一种铰接机器和操作方法，所述铰接机具有带有第一牵引装置的第一框架和控制其转向角的转向装置，所述第一框架在铰接接头处可枢转地联接到第二框架，所述第二框架具有 第二牵引装置，构造成提供指示转向角的转向信号的转向传感器，以及被配置为基于转向信号自动控制关节角度的电子控制器。
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公开(公告)号：US09103098B2
公开(公告)日：2015-08-11
申请号：US13568825
申请日：2012-08-07
申请人： Yongliang Zhu
发明人： Yongliang Zhu
CPC分类号： E02F3/764 , E02F3/7645 , E02F3/765 , E02F3/841 , E02F9/0841 , E02F9/2087
摘要： An apparatus and method are provided for assisting an operator of a motor grader to steer the motor grader in a crab steer mode. The method includes receiving an operator selection of an automatic crab steer mode, determining that a condition of the motor grader is such as to permit automatic crab steer, and receiving an operator steering command. The received operator steering command is converted to an articulation command to place the machine into a crab steer mode. The articulation command is executed and is also converted into a final steering command consistent with the articulation command, and the final steering command is then executed.
摘要翻译： 提供了一种装置和方法，用于辅助马达平地机的操作者以骑手转向模式转向马达分级机。 该方法包括接收操作员选择自动螃蟹操纵模式，确定自动分级机的状态允许自动螃蟹转向，以及接收操作者转向命令。 接收到的操作员转向命令被转换成一个关节运动命令，以使机器进入蟹转向模式。 执行关节指令，并且也被转换为与关节运动指令一致的最终转向指令，然后执行最终的转向指令。
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公开(公告)号：US20130255977A1
公开(公告)日：2013-10-03
申请号：US13431688
申请日：2012-03-27
申请人： Michael Braunstein , Yongliang Zhu
发明人： Michael Braunstein , Yongliang Zhu
CPC分类号： E02F3/764 , E02F3/7645 , E02F3/765 , E02F3/7654 , E02F3/842 , E02F3/847 , E02F9/262
摘要： A method is provided for controlling a motor grader having a blade, a blade shift actuator, a sensor to detect a distance to a curb, one or more steerable wheels, a steering actuator, an articulated frame, and an articulation actuator. In one aspect, an object sensor is located and configured to determine a gap between the blade and the curb, and to maintain the gap at a predetermined value in the absence of user intervention by automatically manipulating one or more of the blade shift actuator, steering actuator, and articulation actuator. The determination as to which one or more of the actuators to use in maintaining the blade gap may be made based on a mode selection by an operator of the motor grader.
摘要翻译： 提供了一种用于控制具有叶片，叶片换档致动器，用于检测到路缘石的距离的传感器，一个或多个可转向轮，转向致动器，铰接框架和铰接致动器的马达平地机的方法。 在一个方面，物体传感器被定位和配置成确定叶片和路缘石之间的间隙，并且通过自动地操纵叶片换档致动器，转向器中的一个或多个，在没有用户干预的情况下将间隙保持在预定值 致动器和关节运动执行器。 关于在维持叶片间隙中使用哪个一个或多个致动器的确定可以基于自动平地机的操作者的模式选择来进行。
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公开(公告)号：US20130292144A1
公开(公告)日：2013-11-07
申请号：US13465875
申请日：2012-05-07
申请人： Yongliang Zhu , Phillip Newberry , Owen Kolstad , Michael Subrt , Sam M. Kherat
发明人： Yongliang Zhu , Phillip Newberry , Owen Kolstad , Michael Subrt , Sam M. Kherat
CPC分类号： E02F3/841 , E02F9/2025 , E02F9/265
摘要： A system for automated control of a motor grader includes a first sensor to indicate bounce of the motor grader and a speed sensor to indicate the ground speed. A controller determines a maximum amplitude of the bounce of the motor grader and controls the ground speed of the motor grader at least in part based upon the maximum amplitude of the bounce. A method is also provided.
摘要翻译： 一种用于自动平地机的自动控制的系统包括：第一传感器，用于指示电动平地机的反弹;以及速度传感器，用于指示地面速度。 控制器确定自动平地机的反弹的最大振幅，并且至少部分地基于反弹的最大幅度来控制平地机的地面速度。 还提供了一种方法。
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公开(公告)号：US08807261B2
公开(公告)日：2014-08-19
申请号：US13362167
申请日：2012-01-31
申请人： Michael C. Subrt , Yongliang Zhu , Owen C. Kolstad
发明人： Michael C. Subrt , Yongliang Zhu , Owen C. Kolstad
IPC分类号： B60K17/34
摘要： An articulation control system is disclosed for use with a mobile machine having a traction device. The articulation control system may have a speed sensor configured to generate a first signal indicative of a travel speed of the mobile machine, a steering angle sensor configured to generate a second signal indicative of a steering angle of the traction device, and an articulation actuator configured to articulate a front frame of the mobile machine relative to a rear frame of the mobile machine. The articulation control system may also have a controller in communication with the speed sensor, the steering angle sensor, and the articulation actuator. The controller may be configured to track a travel path of the front frame based on the first and second signals, and to regulate operation of the articulation actuator to cause the rear frame to follow the travel path of the front frame.
摘要翻译： 公开了一种与具有牵引装置的移动机器一起使用的关节运动控制系统。 关节运动控制系统可以具有速度传感器，其被配置为产生指示移动机器的行进速度的第一信号;被配置为产生指示牵引装置的转向角的第二信号的转向角传感器，以及配置 以相对于移动机器的后框架来铰接移动机器的前框架。 关节运动控制系统还可以具有与速度传感器，转向角传感器和关节运动致动器通信的控制器。 控制器可以被配置为基于第一和第二信号跟踪前框架的行进路径，并且调节关节运动执行器的操作以使后框架跟随前框架的行进路径。
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公开(公告)号：US20130304331A1
公开(公告)日：2013-11-14
申请号：US13468630
申请日：2012-05-10
申请人： Michael Braunstein , Yongliang Zhu
发明人： Michael Braunstein , Yongliang Zhu
IPC分类号： E02F3/84
CPC分类号： E02F3/844 , E02F3/764 , E02F3/7645 , E02F3/765 , E02F3/7659 , E02F3/842 , E02F3/847 , E02F9/262
摘要： A method, controller and system in accordance with various aspects of the present disclosure provide display-based control of a motor grader for grading near a curb or other roadway marker. A blade image is displayed to the operator on a display screen showing a portion of the blade and a portion of the curb or marker, and input is received from the operator to move the blade such that a gap between the portion of the blade and the portion of the curb conforms to a target distance. The gap between the portion of the blade and the portion of the curb is monitored as the motor grader moves along the curb and the location of the blade relative to the curb is automatically adjusted such that the gap remains at the target distance. The blade image may be updated as the motor grader proceeds along the curb.
摘要翻译： 根据本公开的各个方面的方法，控制器和系统提供用于在路缘石或其它道路标记附近分级的自动平地机的基于显示器的控制。 刀片图像在显示屏幕上的显示屏幕上显示给操作者，显示屏幕的一部分和路边或标记的一部分，并且从操作者接收输入以移动刀片，使得刀片的该部分与 路边的一部分符合目标距离。 当马达分级机沿着路缘石移动时，监测叶片部分与路缘石部分之间的间隙，并自动调整叶片相对于路缘石的位置，使得间隙保持在目标距离处。 刀片图像可以随着平地机沿路边行进而更新。
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