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公开(公告)号：US09222237B1
公开(公告)日：2015-12-29
申请号：US14463106
申请日：2014-08-19
摘要： Earthmoving machines are provided comprising a translational chassis movement indicator, an earthmoving implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the earthmoving implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the earthmoving implement is rotating in one or more degrees of rotational freedom. The implement state estimator generates an implement state estimate that is based at least partially on (i) implement position signals from an implement angular rate sensor and an implement accelerometer, (ii) signals from the translational chassis movement indicator and the implement inclinometer, and (iii) one or more weighting factors representative of noise in the signals from the translational chassis movement indicator and the implement inclinometer.
摘要翻译： 提供的土方机器包括平移底盘运动指示器，土方工具倾斜仪和工具状态估计器。 平移底盘移动指示器提供指示机器底盘在一个或多个平移自由度中的运动的测量。 工具倾斜仪包括（i）工具加速度计，其提供以一个或多个平移或旋转自由度表示挖土工具的加速度的测量值，以及（ii）工具角速度传感器，其提供 土方工具以一个或多个旋转自由度旋转。 实施状态估计器至少部分地基于（i）实现来自实现角速度传感器和实施加速度计的位置信号，（ii）来自平移底盘移动指示器和实施倾斜仪的信号，以及（ iii）代表来自平移底盘移动指示器和实施倾斜仪的信号中的噪声的一个或多个加权因子。
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公开(公告)号：US09580104B2
公开(公告)日：2017-02-28
申请号：US14942429
申请日：2015-11-16
CPC分类号： B62D11/001 , E02F3/845 , E02F9/265
摘要： Terrain-based machines are provided comprising a translational chassis movement indicator, a terrain-based implement, an implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the terrain-based implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the terrain-based implement is rotating in one or more degrees of rotational freedom. The implement state estimator generates an implement state estimate that is based at least partially on (i) implement position signals from an implement angular rate sensor and an implement accelerometer, and (ii) signals from the translational chassis movement indicator and the implement inclinometer.
摘要翻译： 提供了基于地形的机器，其包括平移底盘移动指示器，基于地形的工具，工具倾斜仪和实施状态估计器。 平移底盘移动指示器提供指示机器底盘在一个或多个平移自由度中的运动的测量。 工具倾斜仪包括（i）工具加速度计，其提供以一个或多个平移或旋转自由度表示基于地形的工具的加速度的测量值，以及（ii）实现角速度传感器，其提供 地形工具以一个或多个旋转自由度旋转的速度。 实现状态估计器至少部分地基于（i）实现来自实现角速度传感器和实施加速度计的位置信号，以及（ii）来自平移底盘移动指示器和实施倾斜仪的信号，来生成实现状态估计。
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公开(公告)号：US20160153167A1
公开(公告)日：2016-06-02
申请号：US14942429
申请日：2015-11-16
CPC分类号： B62D11/001 , E02F3/845 , E02F9/265
摘要： Terrain-based machines are provided comprising a translational chassis movement indicator, a terrain-based implement, an implement inclinometer, and an implement state estimator. The translational chassis movement indicator provides a measurement indicative of movement of the machine chassis in one or more translational degrees of freedom. The implement inclinometer comprises (i) an implement accelerometer, which provides a measurement indicative of acceleration of the terrain-based implement in one or more translational or rotational degrees of freedom and (ii) an implement angular rate sensor, which provides a measurement of a rate at which the terrain-based implement is rotating in one or more degrees of rotational freedom. The implement state estimator generates an implement state estimate that is based at least partially on (i) implement position signals from an implement angular rate sensor and an implement accelerometer, and (ii) signals from the translational chassis movement indicator and the implement inclinometer.
摘要翻译： 提供了基于地形的机器，其包括平移底盘移动指示器，基于地形的工具，工具倾斜仪和实施状态估计器。 平移底盘移动指示器提供指示机器底盘在一个或多个平移自由度中的运动的测量。 工具倾斜仪包括（i）工具加速度计，其提供以一个或多个平移或旋转自由度表示基于地形的工具的加速度的测量值，以及（ii）实现角速度传感器，其提供 地形工具以一个或多个旋转自由度旋转的速度。 实现状态估计器至少部分地基于（i）实现来自实现角速度传感器和实施加速度计的位置信号，以及（ii）来自平移底盘移动指示器和实施倾斜仪的信号，来生成实现状态估计。
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