公开(公告)号：US09133600B2

公开(公告)日：2015-09-15

申请号：US14346076

申请日：2011-09-23

Applicant: Torbjörn Martinsson ,  Martin Magnusson

Inventor： Torbjörn Martinsson ,  Martin Magnusson

IPC: G06F7/70 ,  E02F3/43 ,  E02F9/20 ,  E02F3/30 ,  B25J9/16 ,  G05D1/02 ,  E02F9/26

CPC classification number: E02F3/431 ,  B25J9/1607 ,  E02F3/304 ,  E02F3/434 ,  E02F3/437 ,  E02F3/439 ,  E02F9/2029 ,  E02F9/262 ,  E02F9/264 ,  G05D1/0274

Abstract: A method for selecting an attack pose, when loading piled materials, for a working machine having a bucket includes acquiring three dimensional pile data, generating a set of attack poses, generating a bucket trajectory through the pile for each attack pose, for each attack pose in the set of attack poses, calculating a measure of a convexity of the pile surface for an area of the pile surface delimited by a bucket width and a vertical projection of the bucket trajectory, and selecting an attack pose based on the measure of convexity.

Abstract translation: 一种用于选择攻击姿势的装载方法，用于对具有铲斗的作业机器进行装载时，包括采集三维桩数据，产生一组攻击姿态，为每个攻击姿势产生一堆铲斗轨迹， 在一组攻击姿态中，计算由铲斗宽度和铲斗轨迹的垂直投影界定的桩表面区域的桩表面的凸度的度量，以及基于凸度的度量来选择攻击姿势。

公开(公告)号：US20140365082A1

公开(公告)日：2014-12-11

申请号：US14321511

申请日：2014-07-01

Applicant: HARNISCHFEGER TECHNOLOGIES, INC.

Inventor： Wesley P. Taylor ,  Michael J. Linstroth

IPC: E02F3/43 ,  E02F9/20

CPC classification number: E02F9/264 ,  E02F3/308 ,  E02F3/435 ,  E02F3/437 ,  E02F3/439 ,  E02F3/46 ,  E02F3/54 ,  E02F7/026 ,  E02F7/04 ,  E02F7/06 ,  E02F9/2033 ,  E02F9/2045

Abstract: A system and method for various levels of automation of a swing-to-hopper motion for a rope shovel. An operator controls a rope shovel during a dig operation to load a dipper with materials. A controller receives position data, either via operator input or sensor data, for the dipper and a hopper where the materials are to be dumped. The controller then calculates an ideal path for the dipper to travel to be positioned above the hopper to dump the contents of the dipper. In some embodiments, the controller outputs operator feedback to assist the operator in traveling along the ideal path to the hopper. In some embodiments, the controller restricts the dipper motion such that the operator is not able to deviate beyond certain limits of the ideal path. In some embodiments, the controller automatically controls the movement of the dipper to reach the hopper.

Abstract translation: 用于钢丝绳铲的各种水平的摆动到料斗运动的系统和方法。 在挖掘操作期间，操作者控制绳铲，以装载用料的铲斗。 控制器通过操作员输入或传感器数据接收位置数据，用于铲斗和物料将要倾倒的料斗。 然后，控制器计算出一个理想的路径，以便铲斗移动到位于料斗上方以倾倒铲斗的内容物。 在一些实施例中，控制器输出操作者反馈以帮助操作者沿着理想路径行进到料斗。 在一些实施例中，控制器限制铲斗运动，使得操作者不能偏离超过理想路径的某些限制。 在一些实施例中，控制器自动控制铲斗到达料斗的运动。

公开(公告)号：US20130045071A1

公开(公告)日：2013-02-21

申请号：US13210653

申请日：2011-08-16

Applicant: David C. Atkinson

Inventor： David C. Atkinson

IPC: E02F3/28 ,  E02F3/36 ,  G06F19/00 ,  E02F1/00

CPC classification number: E02F3/434 ,  E02F3/439 ,  E02F9/2041 ,  E02F9/2217

Abstract: A machine includes a frame having ground engaging propulsion elements coupled therewith, and a hydraulically actuated implement system having a linkage, an implement coupled with the linkage, and a hydraulic actuator coupled with the linkage. The machine further includes a control system having an electronic control unit configured to receive an implement down force control command, and responsively adjust a pressure of hydraulic fluid in the hydraulic actuator such that the implement rests with controlled down force upon a substrate below the machine. The controlled down force may be less than a quiescent down force of the hydraulically actuated implement system. Related methodology is also disclosed.

Abstract translation: 机器包括具有与其连接的地面接合推进元件的框架，以及具有连杆机构的液压致动工具系统，与联动装置联接的工具以及与连杆机构联接的液压致动器。 该机器还包括具有电子控制单元的控制系统，该电子控制单元被配置为接收实施器下压力控制命令，并且响应地调节液压致动器中的液压流体的压力，使得所述工具以受控的向下的力抵靠在机器下方的基板上。 受控的下压力可能小于液压致动器具系统的静止下压力。 还公开了相关方法。

公开(公告)号：US07752779B2

公开(公告)日：2010-07-13

申请号：US11778825

申请日：2007-07-17

Applicant: Dennis Eric Schoenmaker ,  Mark Peter Sahlin ,  Jason Meredith ,  Jerry Anthony Samuelson ,  David August Johnson ,  Eric Richard Anderson

Inventor： Dennis Eric Schoenmaker ,  Mark Peter Sahlin ,  Jason Meredith ,  Jerry Anthony Samuelson ,  David August Johnson ,  Eric Richard Anderson

IPC: E02F5/02 ,  G05D1/04

CPC classification number: E02F3/439 ,  E02F9/264

Abstract: A first hydraulic cylinder is associated with a boom. A first sensor detects a boom angle of a boom with respect to a support (or a vehicle). An attachment is coupled to one end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment position of attachment based on a second linear position of a second movable member of the second hydraulic cylinder. An accelerometer detects an acceleration or deceleration of the boom. A switch is arranged to accept a command to move to a preset position from another position. A controller is capable of controlling the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the preset position in response to the command in conformity with at least one of a desired boom motion curve and a desired attachment motion curve.

Abstract translation: 第一液压缸与吊杆相关联。 第一传感器检测吊杆相对于支撑件（或车辆）的吊臂角度。 附件联接到吊杆的一端。 第二液压缸与附件相关联。 第二传感器基于第二液压缸的第二可动构件的第二线性位置检测附接的附接位置。 加速度计检测吊杆的加速或减速。 开关被设置为接受从另一位置移动到预设位置的命令。 控制器能够控制第一液压缸以达到目标悬臂位置，并且用于控制第二气缸，以响应于与所希望的动臂运动曲线中的至少一个相一致的命令来获得与预设位置相关联的目标安装位置 和所需的附着运动曲线。

公开(公告)号：US20080263909A1

公开(公告)日：2008-10-30

申请号：US11778812

申请日：2007-07-17

Applicant: Dennis Eric Schoenmaker ,  Mark Peter Sahlin ,  Jason Meredith ,  Jerry Anthony Samuelson ,  David August Johnson ,  Eric Richard Anderson

Inventor： Dennis Eric Schoenmaker ,  Mark Peter Sahlin ,  Jason Meredith ,  Jerry Anthony Samuelson ,  David August Johnson ,  Eric Richard Anderson

IPC: E02F5/02 ,  G06F13/00

CPC classification number: E02F3/439 ,  E02F9/264

Abstract: A method and system for automated operation of a work vehicle comprises a boom having a first end and a second end opposite the first end. A first hydraulic cylinder is associated with the boom. A first sensor detects a boom position based on a first linear position of a first movable member associated with the first hydraulic cylinder. An attachment is coupled to the second end of the boom. A second hydraulic cylinder is associated with the attachment. A second sensor detects an attachment position based on a second linear position of a second movable member associated with the second hydraulic cylinder. A switch accepts a command to move to or enter a preset position state from another position state. A controller controls the first hydraulic cylinder to attain a target boom position and for controlling the second cylinder to attain a target attachment position associated with the preset position state in response to the command.

Abstract translation: 一种用于工作车辆的自动操作的方法和系统包括具有第一端和与第一端相对的第二端的吊杆。 第一液压缸与起重臂相连。 第一传感器基于与第一液压缸相关联的第一可动构件的第一线性位置检测起重臂位置。 附件联接到动臂的第二端。 第二液压缸与附件相关联。 第二传感器基于与第二液压缸相关联的第二可动构件的第二线性位置来检测安装位置。 开关接受从另一个位置状态移动或进入预设位置状态的命令。 控制器控制第一液压缸以获得目标吊杆位置，并且用于根据该命令控制第二缸以达到与预设位置状态相关联的目标附着位置。

公开(公告)号：US06618967B2

公开(公告)日：2003-09-16

申请号：US10025782

申请日：2001-12-26

Applicant: Ronald L. Satzler ,  Michael I. Cline

Inventor： Ronald L. Satzler ,  Michael I. Cline

IPC: E02F502

CPC classification number: E02F3/439 ,  E02F3/438 ,  E02F9/264

Abstract: A method and system for controlling a work implement having a ground engaging tool is provided. A swing command is supplied to a swing assembly to move the ground engaging tool in an arcuate path about a vertical axis. A crowd command is determined based on the velocity of the swing assembly and is calculated to generate a resulting net movement of the ground engaging tool toward a predetermined end point. The crowd command is supplied to a crowd mechanism to move the ground engaging tool towards the predetermined end point.

Abstract translation: 提供一种用于控制具有地面接合工具的作业工具的方法和系统。 摆动指令被提供给摆动组件以使地面接合工具围绕垂直轴线的弧形路径移动。 基于摆动组件的速度确定人群指令，并且被计算为产生地面接合工具的预期终点的净运动。 人群指令被提供给人群机构以将地面接合工具移动到预定的终点。

公开(公告)号：US20020073833A1

公开(公告)日：2002-06-20

申请号：US09739411

申请日：2000-12-18

Inventor： Edwin G. Coombs ,  Andy Redeker ,  Charles M. Crowell JR. ,  Joanne B. Schiernecker ,  Zach E. Kelsall

IPC: F15B021/02

CPC classification number: E02F3/439 ,  E02F3/434 ,  E02F3/438 ,  E02F9/2041 ,  F15B15/24 ,  F15B15/2807

Abstract: A return to dig system for a work machine having at least one implement is actuated by a hydraulic cylinder using a switch, such as with a push button, to control a valve and solenoid to move the implement from a remote position to a preselected position, usually the starting position. The preselected position is determined by a sensor and a detectable element, such as a magnet. The location of the detectable element may be adjusted to provide a plurality of preselected positions. When the detectable element is sensed, the solenoid is repositioned to stop movement of the implement. The push button is located on a device that controls the movement of the implement and various other functions of the work machine. The actuation of the return to dig system by the push button does not affect any other unrelated function of the work machine controlled by the device.

Abstract translation: 用于具有至少一个工具的作业机器的返回挖掘系统由液压缸致动，所述液压缸使用诸如用按钮的开关来控制阀和螺线管以将工具从远程位置移动到预选位置， 通常是起始位置。 预选位置由传感器和可检测元件例如磁体确定。 可调节可检测元件的位置以提供多个预选位置。 当检测到可检测元件时，重新定位螺线管以停止工具的移动。 按钮位于控制工具运动和工作机械的各种其他功能的设备上。 通过按钮对挖掘系统的返回动作不影响由设备控制的作业机械的任何其他无关功能。

公开(公告)号：US06253160B1

公开(公告)日：2001-06-26

申请号：US09232432

申请日：1999-01-15

Applicant: Anthony Hanseder

Inventor： Anthony Hanseder

IPC: G01S502

CPC classification number: E02F3/439 ,  E02F3/435 ,  G01S19/43

Abstract: A method and apparatus for calibrating sensors of a tool positioning mechanism on a mobile machine are provided. The mobile machine includes a tool, a tool positioning mechanism having a plurality of sensors for providing signals indicative of the physical configuration of the mechanism, a satellite positioning system, and a plurality of positioning system antennas. One of the antennas is detachably mounted on the tool while an other antenna is mounted to a location on the machine other than on the tool. With the positioning mechanism configured so that the tool is at its maximum height, the satellite positioning system is operated to acquire real-time kinematic (RTK) data from the antennas and to process the RTK data to precisely determine the position of the tool. The sensors are then calibrated based on the precisely determined position of the tool.

Abstract translation: 提供了一种用于校准移动机器上的工具定位机构的传感器的方法和装置。 移动机器包括工具，具有多个传感器的工具定位机构，用于提供指示机构的物理结构的信号，卫星定位系统和多个定位系统天线。 其中一个天线可拆卸地安装在工具上，而另一个天线安装到机器上除了工具上的位置。 利用定位机构配置使得工具处于其最大高度，卫星定位系统被操作以从天线获取实时运动学（RTK）数据，并处理RTK数据以精确地确定工具的位置。 然后基于精确确定的工具位置校准传感器。

公开(公告)号：US5682312A

公开(公告)日：1997-10-28

申请号：US618079

申请日：1996-03-18

Applicant: David J. Rocke

Inventor： David J. Rocke

IPC: E02F9/20 ,  E02F3/43 ,  F15B21/00 ,  G06F19/00

CPC classification number: E02F3/439 ,  E02F3/437

Abstract: A control system for automatically controlling a work implement of an excavating machine through a machine work cycle in disclosed. The work implement including a boom, stick and bucket, each being controllably actuated by at least one respective hydraulic cylinder. A plurality of command signal magnitudes associated with at least one hydraulic cylinder are stored. The command signal magnitudes are represented by a plurality of control curves, where each control curve is responsive to a material condition setting that is representative of a predetermined condition of the excavating material. A microprocessor selects one of the plurality of control curves and responsively produces a command signal having a magnitude dictated by the selected control curve. A electrohydraulic system receives the command signal and controllably actuates predetermined ones of the hydraulic cylinders to perform the work cycle.

Abstract translation: 一种用于通过机器工作循环自动控制挖掘机的作业工具的控制系统。 工作装置包括一个悬臂，一个斗杆和一个铲斗，每个都由至少一个相应的液压缸可控制地驱动。 存储与至少一个液压缸相关联的多个命令信号量值。 命令信号幅度由多个控制曲线表示，其中每个控制曲线响应于代表挖掘材料的预定条件的材料条件设置。 微处理器选择多个控制曲线中的一个并且响应地产生具有由所选择的控制曲线指示的幅度的指令信号。 电动液压系统接收指令信号并且可控制地致动预定的液压缸以执行工作循环。

公开(公告)号：US4015729A

公开(公告)日：1977-04-05

申请号：US646035

申请日：1976-01-02

Applicant: Donald J. Parquet ,  Carl O. Pedersen ,  Robert M. Barton

Inventor： Donald J. Parquet ,  Carl O. Pedersen ,  Robert M. Barton

IPC: E02F3/43 ,  E02F9/26 ,  E02F3/32

CPC classification number: E02F3/439 ,  E02F9/26

Abstract: An automatic control system for a backhoe utilizing a bucket at the end of a rigid boom is disclosed herein. The automatic control system includes an actuator cooperating with a control valve that controls the flow of fluid to hydraulic rams that pivot the boom. The control system also includes position indicating means between the boom and the frame and a manually settable control element both of which produce output signals that are combined and activate the actuator so that the implement is moved at a rate which corresponds to the differences between the respective signals.

Abstract translation: 本文公开了一种用于在刚性起重臂的端部利用铲斗的反铲的自动控制系统。 自动控制系统包括与控制阀配合的致动器，该控制阀控制流体流动以枢转吊杆的液压柱塞。 控制系统还包括在动臂和框架之间的位置指示装置和可手动设置的控制元件，两者都产生组合并激活致动器的输出信号，使得工具以对应于相应 信号。