公开(公告)号：US08924096B2

公开(公告)日：2014-12-30

申请号：US13665472

申请日：2012-10-31

Applicant: Caterpillar Inc.

Inventor： Drew Alan Fehr ,  Paul R. Friend

IPC: G06F7/70

CPC classification number: E02F9/265 ,  E02F3/842 ,  E02F9/205 ,  G01S19/49 ,  G01S19/52 ,  G01S19/53

Abstract: A system and method of controlling an earth moving implement of a machine is disclosed. The method may include receiving a pitch rate of the machine in a body reference frame and determining a roll of the machine. The method may further include determining a turning rate of the machine and calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine. The method may further include controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame.

Abstract translation: 公开了一种控制机器的移土工具的系统和方法。 该方法可以包括在身体参考框架中接收机器的俯仰速率并确定机器的滚动。 该方法可以进一步包括确定机器的转弯速度并且基于机体在机身参考框架中的俯仰速率，机器的滚动速度以及机器的转速来计算重力参考系中机器的俯仰速率 机器。 该方法还可以包括基于重力参考系中机器的俯仰速率来控制土方机器。

公开(公告)号：US20140121909A1

公开(公告)日：2014-05-01

申请号：US13665472

申请日：2012-10-31

Applicant: CATERPILLAR INC.

Inventor： Drew Alan Fehr ,  Paul R. Friend

IPC: G06F17/00

CPC classification number: E02F9/265 ,  E02F3/842 ,  E02F9/205 ,  G01S19/49 ,  G01S19/52 ,  G01S19/53

Abstract: A system and method of controlling an earth moving implement of a machine is disclosed. The method may include receiving a pitch rate of the machine in a body reference frame and determining a roll of the machine. The method may further include determining a turning rate of the machine and calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine. The method may further include controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame.

Abstract translation: 公开了一种控制机器的移土工具的系统和方法。 该方法可以包括在身体参考系中接收机器的俯仰速率并确定机器的卷筒。 该方法可以进一步包括确定机器的转弯速度并且基于机体在机身参考框架中的俯仰速率，机器的滚动速度以及机器的转速来计算重力参考系中机器的俯仰速率 机器。 该方法还可以包括基于重力参考系中机器的俯仰速率来控制土方机器。