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公开(公告)号：US09026319B2
公开(公告)日：2015-05-05
申请号：US14113605
申请日：2012-11-20
申请人： Komatsu Ltd.
发明人： Kazuhiko Hayashi , Kenjiro Shimada , Kenji Okamoto
CPC分类号： E02F3/844 , E02F3/7609 , E02F3/845
摘要： When a blade load is reduced from a value greater than or equal to a first set load value to a value less than the first set load value, a blade control device is configured to set a virtual designed surface to be closer to a blade than a designed surface is, and is configured to allow the blade to pivot above the virtual designed surface.
摘要翻译： 当刀片负载从大于或等于第一设定负载值的值减小到小于第一设定负载值的值时，刀片控制装置被配置为将虚拟设计表面设置为比虚拟设计的表面更靠近刀片 并且被配置为允许刀片在虚拟设计表面上方枢转。
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公开(公告)号：US09020776B2
公开(公告)日：2015-04-28
申请号：US13247679
申请日：2011-09-28
申请人： Paul Russell Friend
发明人： Paul Russell Friend
CPC分类号： G05D1/0891 , E02F3/845 , G01C9/08 , G05D2201/0202
摘要： An inclination angle compensation system for determining an inclination angle of a machine is disclosed. The inclination angle compensation system may have a non-gravitational acceleration estimator configured to estimate a non-gravitational acceleration of a machine based on an estimated inclination angle and an acceleration output from a forward acceleration sensor. The inclination angle compensation system may also have an inclination angle sensor corrector configured to receive an inclination angle output from an inclination angle sensor, determine an inclination angle sensor acceleration based on the inclination angle output, and calculate a corrected inclination angle of the machine based on the non-gravitational acceleration and the inclination angle sensor acceleration.
摘要翻译： 公开了一种用于确定机器的倾斜角度的倾斜角补偿系统。 倾斜角补偿系统可以具有非重力加速度估计器，其被配置为基于估计的倾斜角度和来自正向加速度传感器的加速度输出来估计机器的非重力加速度。 倾斜角补偿系统还可以具有倾斜角度传感器校正器，其被配置为接收从倾斜角度传感器输出的倾斜角度，基于倾斜角度输出来确定倾斜角传感器加速度，并且基于 非重力加速度和倾角传感器加速度。
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公开(公告)号：US20150019086A1
公开(公告)日：2015-01-15
申请号：US14113605
申请日：2012-11-20
申请人： KOMATSU LTD.
发明人： Kazuhiko Hayashi , Kenjiro Shimada , Kenji Okamoto
CPC分类号： E02F3/844 , E02F3/7609 , E02F3/845
摘要： When a blade load is reduced from a value greater than or equal to a first set load value to a value less than the first set load value, a blade control device is configured to set a virtual designed surface to be closer to a blade than a designed surface is, and is configured to allow the blade to pivot above the virtual designed surface.
摘要翻译： 当刀片负载从大于或等于第一设定负载值的值减小到小于第一设定负载值的值时，刀片控制装置被配置为将虚拟设计表面设置为比虚拟设计的表面更靠近刀片 并且被配置为允许刀片在虚拟设计表面上方枢转。
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公开(公告)号：US20140343800A1
公开(公告)日：2014-11-20
申请号：US13907070
申请日：2013-05-31
申请人： DEERE & COMPANY
IPC分类号： E02F9/20
CPC分类号： E02F3/845
摘要： A method or system for controlling a vehicle comprises entering a programming mode or a guidance mode based on user input to a switch. The user can enter a guidance program in accordance with a predetermined sequence of inputs of the switch by the user, where readiness for each successive input is indicated by a light source. A guidance mode is managed for controlling an implement height in accordance with the entered guidance program. A height sensor can sense an observed height or elevation of an implement of the vehicle (e.g., relative to the absolute target height of the implement above the ground). The observed height is controlled in accordance with the guidance program (e.g., the target height) if the system or the data processor is operating in a guidance mode.
摘要翻译： 用于控制车辆的方法或系统包括基于用户对交换机的输入来输入编程模式或引导模式。 用户可以根据用户的切换输入的预定顺序输入指导程序，其中每个连续输入的准备状态由光源指示。 管理引导模式以根据输入的引导程序控制工具高度。 高度传感器可以感测车辆工具的观察高度或高度（例如，相对于地面上的工具的绝对目标高度）。 如果系统或数据处理器在引导模式下操作，则根据引导程序（例如，目标高度）来控制观察到的高度。
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公开(公告)号：US08738242B2
公开(公告)日：2014-05-27
申请号：US13187831
申请日：2011-07-21
IPC分类号： E02F3/84
CPC分类号： E02F3/845 , E01C19/004
摘要： The slope angle of a blade on an earthmoving machine is automatically controlled based on measurements from a three-axis gyroscope, a blade slope angle tilt sensor, and a blade tip angle tilt sensor mounted on the blade. A three-axis gyroscope has high dynamic response and high resistance to mechanical disturbances but is subject to potentially unbounded errors. A tilt sensor has bounded errors but has a slow dynamic response and a high sensitivity to mechanical disturbances. The combination of a three-axis gyroscope and two tilt sensors provides an advantageous measurement system. Algorithms for performing proper fusion of the measurements account for the lack of synchronization between the three-axis gyroscope and the tilt sensors and also screen out invalid measurements from the tilt sensors. The blade slope angle is controlled based on a reference blade slope angle and an estimate of the blade slope angle computed from properly fused measurements.
摘要翻译： 基于三轴陀螺仪，叶片倾斜角度倾斜传感器和安装在叶片上的叶片倾角传感器的测量值，自动控制土方机上的叶片的倾斜角度。 三轴陀螺仪具有高动态响应和高抗机械扰动，但会受到潜在的无界误差。 倾斜传感器具有有界误差，但具有较慢的动态响应和对机械扰动的高灵敏度。 三轴陀螺仪和两个倾斜传感器的组合提供了有利的测量系统。 用于执行测量的适当融合的算法考虑到三轴陀螺仪和倾斜传感器之间缺乏同步，并且还从倾斜传感器屏蔽无效测量。 叶片倾斜角度基于参考叶片倾斜角度和从适当融合的测量计算的叶片倾斜角度的估计来控制。
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公开(公告)号：US08634991B2
公开(公告)日：2014-01-21
申请号：US12828645
申请日：2010-07-01
申请人： Frank Beard Douglas
发明人： Frank Beard Douglas
IPC分类号： E02F3/76
摘要： An earthmoving system including a bulldozer has a pair of GPS receivers mounted on the cutting blade of the bulldozer. The cutting blade is supported by a blade support extending from the frame. The blade support includes a pair of hydraulic cylinders for raising and lowering the blade in relation to the frame and a blade tilt cylinder for controlling the lateral tilt of the cutting blade. Sensors, including gyroscopic sensors and an accelerometer, sense rotation of the frame about three orthogonal axes and vertical movement of the bulldozer frame that would affect the position of the blade. A control is responsive to the pair of GPS receivers and to the gyroscopic sensors, for controlling the operation of the hydraulic cylinders and thereby the position of the cutting blade. The control monitors the position of the cutting blade with repeated calculations based on the outputs of the GPS receivers and with low-latency feed-forward correction of these repeated calculations, based on the outputs of the gyroscopic sensors and the accelerometer.
摘要翻译： 包括推土机的移土系统具有安装在推土机的切割刀片上的一对GPS接收器。 切割刀片由从框架延伸的刀片支撑件支撑。 叶片支撑件包括一对用于相对于框架升高和降低叶片的液压缸和用于控制切割刀片的横向倾斜的叶片倾斜缸。 包括陀螺仪传感器和加速度计在内的传感器检测框架围绕三个正交轴的旋转和推土机框架的垂直运动，这将影响叶片的位置。 控制器响应于一对GPS接收器和陀螺传感器，用于控制液压缸的操作，从而控制切割刀片的位置。 基于陀螺仪传感器和加速度计的输出，该控制器基于GPS接收器的输出重复计算并以这些重复计算的低延迟前馈校正来监测切割刀片的位置。
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公开(公告)号：US20130161033A1
公开(公告)日：2013-06-27
申请号：US13773572
申请日：2013-02-21
申请人： Caterpillar Inc.
发明人： Todd R. FARMER , Charles W. Grant , Gregory A. Epplin , Michael J. Chadwick , Joshua D. Callaway
CPC分类号： E02F9/2025 , E02F3/845 , E02F9/265
摘要： This disclosure relates to a control system for a machine. The control system includes a sensor configured to provide an implement measurement signal indicative of a velocity of a machine implement, and a controller. The controller is configured to receive the implement measurement signal, determine whether a main threshold condition is met, and determine an adjusted implement command based at least in part on the implement measurement signal.
摘要翻译： 本公开涉及一种用于机器的控制系统。 控制系统包括被配置为提供表示机器工具的速度的工具测量信号的传感器和控制器。 所述控制器被配置为接收所述工具测量信号，确定是否满足主阈值条件，并且至少部分地基于所述实现测量信号来确定调整后的实施命令。
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公开(公告)号：US08141650B2
公开(公告)日：2012-03-27
申请号：US12145253
申请日：2008-06-24
IPC分类号： E02F3/76
CPC分类号： E02F3/7672 , E02F3/845
摘要： A vehicle includes a blade, a lifting mechanism configured to raise and lower the blade, and a pitching mechanism configured to pitch the blade forward and backward. A control system of the vehicle is configured to automatically maintain at least one of a depth of the blade during pitching of the blade and a pitch of the blade during lifting of the blade.
摘要翻译： 车辆包括叶片，构造成升高和降低叶片的提升机构，以及构造成向前和向后推动叶片的俯仰机构。 车辆的控制系统被配置为在叶片升高期间自动保持叶片的俯仰期间叶片的深度和叶片的间距中的至少一个。
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公开(公告)号：US07942208B2
公开(公告)日：2011-05-17
申请号：US12613100
申请日：2009-11-05
申请人： Edward C. Hughes, IV , Christopher Alan Williamson , Joshua D. Zimmerman , Monika Marianne Ivantysynova
发明人： Edward C. Hughes, IV , Christopher Alan Williamson , Joshua D. Zimmerman , Monika Marianne Ivantysynova
IPC分类号： E02F3/76
CPC分类号： E02F9/2235 , E02F3/845
摘要： A system for automatically controlling the position and level of an earthmoving implement on an earthmoving machine. The system includes at least one hydraulic actuator adapted to raise and lower the earthmoving implement, a device for delivering a pressurized fluid to and receiving pressurized fluid from the actuator, and an electronic control circuit that includes electronic sensors for sensing the absolute orientation of the machine and the position of the actuator, and a controller for receiving outputs of the sensors, calculating an amount of the pressurized fluid that must be delivered to or received from the actuator to achieve a desired position for the earthmoving implement, and control the delivering-receiving device to deliver or receive the amount of the pressurized fluid to achieve the desired position for the earthmoving implement.
摘要翻译： 一种用于自动控制土方机械上的移土工具的位置和水平的系统。 该系统包括至少一个液压致动器，其适于升高和降低土方工具，用于将加压流体输送到来自致动器并接收加压流体的装置，以及包括用于感测机器的绝对定向的电子传感器的电子控制电路 以及致动器的位置以及用于接收传感器的输出的控制器，计算必须输送到或从致动器接收的加压流体的量以实现用于移土工具的期望位置，以及控制输送接收 用于输送或接收加压流体的量以实现土方工具的期望位置的装置。
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公开(公告)号：US5875854A
公开(公告)日：1999-03-02
申请号：US76004
申请日：1998-05-12
申请人： Shigeru Yamamoto , Hidekazu Nagase
发明人： Shigeru Yamamoto , Hidekazu Nagase
CPC分类号： E02F9/2292 , E02F3/432 , E02F3/845 , E02F9/2029 , E02F9/2285
摘要： A dozing system for use in a bulldozer, which is capable of performing an automatic dozing operation, according to working conditions and soil properties in the field. In this system, data on the relationships of the actual traveling distance of the bulldozer with actual tractive force exerted on the blade, with the position of the cutting edge of the blade relative to the ground, with the ratio of the amount of excavated soil loaded on the front surface of the blade to the loading capacity of the front surface of the blade, and with the pitch angle of the blade are stored, and based on the stored data, the blade is controlled so as to assume the desired position.
摘要翻译： 一种用于推土机的推土系统，其能够根据现场的工作条件和土壤性质进行自动打瞌睡操作。 在该系统中，推土机的实际行驶距离与施加在叶片上的实际牵引力之间的关系的数据与叶片的切割边缘相对于地面的位置相关联，其中挖掘的土壤的装载量 在叶片的前表面上与叶片的前表面的承载能力以及叶片的桨距角被存储，并且基于所存储的数据，控制叶片以便呈现期望的位置。
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