公开(公告)号：US20120239258A1

公开(公告)日：2012-09-20

申请号：US13187831

申请日：2011-07-21

申请人： Hiroyuki Konno ,  Vernon Joseph Brabec ,  Renard Tomas Graham

发明人： Hiroyuki Konno ,  Vernon Joseph Brabec ,  Renard Tomas Graham

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。

公开(公告)号：US08738242B2

公开(公告)日：2014-05-27

申请号：US13187831

申请日：2011-07-21

申请人： Hiroyuki Konno ,  Vernon Joseph Brabec ,  Renard Tomas Graham

发明人： Hiroyuki Konno ,  Vernon Joseph Brabec ,  Renard Tomas Graham

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。