公开(公告)号：US09982399B1

公开(公告)日：2018-05-29

申请号：US15604026

申请日：2017-05-24

Applicant: GOMACO Corporation

Inventor： Chad Schaeding ,  Mark W. Brenner ,  Raymond J. Bumann, III

IPC: E01C19/22

CPC classification number: E01C19/22 ,  E01C19/42

Abstract: An apparatus and method for finishing or texturing a paved surface including one or more transition curves includes a finishing machine with a transverse frame including a series of flexibly connected frame members and one or more power transition adjusters. As the finishing machine proceeds through the transition curve, the control system and sensors of the finishing machine determine its position and the transverse curvature of the paved surface corresponding to its position. The control system may then adjust the position of accessories mounted to the transverse frame via a combination of raising or lowering the accessories relative to the paved surface and articulating the one or more power transition adjusters to adjust the shape of the transverse frame to conform to the transverse curvature of the paved surface.

公开(公告)号：US10822029B2

公开(公告)日：2020-11-03

申请号：US15873206

申请日：2018-01-17

Applicant: GOMACO Corporation

Inventor： Thomas C. Farr ,  Raymond J. Bumann, III ,  Chad Schaeding

IPC: B62D11/00 ,  E01C19/00 ,  B62D55/065 ,  B62D11/20 ,  E01C19/48

Abstract: A smart steering control system a paving or texturing machine receives path elements corresponding to current and future positions of the machine. By comparing the current and future elements, an expected completion time is derived for exiting the current position and entering the future position; the smart steering control system synchronizes adjustments of the machine's steerable tracks from the current path to the future path. The smart steering control system functions as a virtual tie rod, preventing damage, enhancing the traction control and pulling power of the machine, and preserving the operating life of its components.

公开(公告)号：US09458581B1

公开(公告)日：2016-10-04

申请号：US14927257

申请日：2015-10-29

Applicant: GOMACO Corporation

Inventor： Chad Schaeding

IPC: G06F7/70 ,  E01C23/01 ,  H04B7/04

CPC classification number: E02F9/2029 ,  E01C19/004 ,  E01C19/18 ,  E01C19/48 ,  E01C23/01 ,  E02F9/2041 ,  E02F9/2045

Abstract: A multiple-input multiple-output (MIMO) computer control system in a heavy equipment machine is in communication with multiple sensors in order to measure deviations from a path to be followed. Sensor corrections are applied to return the heavy equipment machine to a path to be followed or to restrain the machine from deviating from the path to be followed. Sensor corrections affect a controlled variable, such as cross-slope. Sensor corrections may account for false positives and false negatives. Sensor corrections are applied to the heavy equipment machine using a gain matrix (G). The multiple vectors of gain values comprising the gain matrix (G) are utilized by the MIMO computer control system to simultaneously and proportionally actuate each drive leg of the machine to obtain a desired grade including a compensated slope and/or elevation.

Abstract translation: 重型设备机器中的多输入多输出（MIMO）计算机控制系统与多个传感器通信，以便测量要跟随的路径的偏差。 应用传感器校正将重型设备机器返回到要遵循的路径，或者限制机器偏离要遵循的路径。 传感器校正影响受控变量，如横向斜率。 传感器校正可能会导致误报和假阴性。 使用增益矩阵（G）将传感器校正应用于重型设备机器。 包括增益矩阵（G）的增益值的多个向量由MIMO计算机控制系统利用以同时且成比例地致动机器的每个驱动腿，以获得包括补偿斜率和/或高程的期望等级。

公开(公告)号：US20170121939A1

公开(公告)日：2017-05-04

申请号：US15235300

申请日：2016-08-12

Applicant: GOMACO Corporation

Inventor： Chad Schaeding

IPC: E02F9/20

CPC classification number: E02F9/2029 ,  E01C19/004 ,  E01C19/18 ,  E01C19/48 ,  E01C23/01 ,  E02F9/2041 ,  E02F9/2045

Abstract: A multiple-input multiple-output (MIMO) computer control system in a heavy equipment machine is in communication with multiple sensors in order to measure deviations from a path to be followed. Sensor corrections are applied to return the heavy equipment machine to a path to be followed or to restrain the machine from deviating from the path to be followed. Sensor corrections affect a controlled variable, such as cross-slope. Sensor corrections may account for false positives and false negatives. Sensor corrections are applied to the heavy equipment machine using a gain matrix (G). The multiple vectors of gain values comprising the gain matrix (G) are utilized by the MIMO computer control system to simultaneously and proportionally actuate each drive leg of the machine to obtain a desired grade including a compensated slope and/or elevation.

公开(公告)号：US09624626B1

公开(公告)日：2017-04-18

申请号：US14515222

申请日：2014-10-15

Applicant: GOMACO Corporation

Inventor： Chad Schaeding

IPC: E01C19/00

CPC classification number: E01C19/00 ,  E01C19/004 ,  E01C19/006 ,  E01C19/42 ,  E01C2301/00

Abstract: A computer control system in a paving machine determines a location, long slope (pitch), cross-slope (roll), and elevation (with respect to reference surface) of the machine with reference to a plurality of sensors. The long slope, cross slope and elevation are compared to values from a design surface (horizontal alignment, vertical profile, and cross sections) using the location of the machine to query the design data. Deviations from measured orientation and elevation to the design (desired values) are determined for each elevation cylinder of the paving machine based on the sensor data using constrained geometric control algorithms that predict future deviations. Corrections are applied to bring the actual location, long slope, cross-slope and elevation to within acceptable tolerances of the desired values. Sensors are associated with specific legs, with some sensors associated with more than one leg, such that sensor values may be averaged to reduce error.

公开(公告)号：US20180208240A1

公开(公告)日：2018-07-26

申请号：US15873206

申请日：2018-01-17

Applicant: GOMACO Corporation

Inventor： Thomas C. Farr ,  Raymond J. Bumann, III ,  Chad Schaeding

IPC: B62D11/00 ,  B62D11/20 ,  B62D55/065 ,  E01C19/00

Abstract: A smart steering control system a paving or texturing machine receives path elements corresponding to current and future positions of the machine. By comparing the current and future elements, an expected completion time is derived for exiting the current position and entering the future position; the smart steering control system synchronizes adjustments of the machine's steerable tracks from the current path to the future path. The smart steering control system functions as a virtual tie rod, preventing damage, enhancing the traction control and pulling power of the machine, and preserving the operating life of its components.

公开(公告)号：US09670627B1

公开(公告)日：2017-06-06

申请号：US14806308

申请日：2015-07-22

Applicant: GOMACO Corporation

Inventor： Chad Schaeding ,  Mark W. Brenner ,  Raymond J. Bumann, III

IPC: E01C19/22

CPC classification number: E01C19/22 ,  E01C19/42

Abstract: An apparatus and method for finishing or texturing a paved surface including one or more transition curves includes a finishing machine with a transverse frame including a series of flexibly connected frame members and one or more power transition adjusters. As the finishing machine proceeds through the transition curve, the control system and sensors of the finishing machine determine its position and the transverse curvature of the paved surface corresponding to its position. The control system may then adjust the position of accessories mounted to the transverse frame via a combination of raising or lowering the accessories relative to the paved surface and articulating the one or more power transition adjusters to adjust the shape of the transverse frame to conform to the transverse curvature of the paved surface.