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公开(公告)号：US09435101B2
公开(公告)日：2016-09-06
申请号：US14260646
申请日：2014-04-24
发明人： Alexey Vladislavovich Zhdanov , Stanislav Georgievich Saul , Alexey Andreevich Kosarev , Ivan Giovanni di Federico , Anton Gennadievich Golovanov
摘要： On a dozer, a semi-automatic system automatically translates a joystick to control blade elevation and provides an indicator display to guide manual control of blade slope angle. A mechanical linkage operably couples the joystick to an electrical motor. A computational system receives measurements from measurement units mounted on the dozer; calculates estimated values of elevation and slope angle; compares the estimated values to reference values; and calculates error and control signals. Drivers generate a motor drive signal and a display drive signal. In response to the motor drive signal, the electrical motor translates the joystick to control elevation. In response to the display drive signal, the indicator display generates a graphical representation of the status of slope angle. When the operator needs to take manual control, a proximity sensor detects the presence of at least a portion of the operator's hand, wrist, or forearm and disengages automatic control of elevation.
摘要翻译： 在推土机上，半自动系统自动翻转操纵杆以控制叶片高度，并提供指示器显示以指导手动控制叶片倾斜角度。 机械连杆将操纵杆可操作地连接到电动马达。 计算系统从安装在推土机上的测量单元接收测量值; 计算高程和倾斜角的估计值; 将估计值与参考值进行比较; 并计算误差和控制信号。 驱动器产生电机驱动信号和显示驱动信号。 响应于电机驱动信号，电动机将操纵杆转换为控制高程。 响应于显示驱动信号，指示器显示器产生倾斜角状态的图形表示。 当操作者需要进行手动控制时，接近传感器检测到操作者的手，腕部或前臂的至少一部分的存在，并且脱离高度的自动控制。
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公开(公告)号：US10648530B2
公开(公告)日：2020-05-12
申请号：US16497871
申请日：2018-02-08
发明人： Alexey Vladislavovich Zhdanov , Alexander Vladimirovich Osipov , Anton Gennadievich Golovanov , Kirill Valerievich Isaev , Sergey Vlktorovich Rogachkov
摘要： A wedge three-axis inertial sensor damper suspension apparatus prevents shock and vibration impacts on a construction machine from being transferred to inertial sensors used by an automatic control system of the construction machine. The inertial sensor suspension apparatus includes a pocket, a lid, a core disposed in the pocket and covered by the lid, one or more inertial sensors attached to the core, a plurality of elastomer insertions attached to the core and forming an upper wedge between the core and the lid and a lower wedge between the core and the pocket, and a coupler that provides controlled connection of the pocket and the lid to compress the plurality of elastomer insertions using a force corresponding to a target resonance frequency for the inertial sensor suspension apparatus.
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公开(公告)号：US20130261902A1
公开(公告)日：2013-10-03
申请号：US13780315
申请日：2013-02-28
发明人： Alexey Vladislavovich Zhdanov , Alexey Andreevich Kosarev , Arseny Alexeevich Chugunkin , Ivan Giovanni di Federico , Pavel Stanislavovich Yanchelik , Stanislav Georgievich Saul , Anton Sergeevich Tumanov
IPC分类号： E02F3/84
CPC分类号： E02F3/844 , E02F3/7613 , E02F3/7618 , E02F9/2004 , G05G9/047
摘要： Dozers outfitted with manual or electric valves can be retrofitted with a control system for automatically controlling the elevation and orientation of the blade. No modification of the existing hydraulic drive system or existing hydraulic control system is needed. An arm is operably coupled to the existing joystick, whose translation controls the elevation and orientation of the blade. The arm is driven by an electrical motor assembly. Measurement units mounted on the dozer body or blade provide measurements corresponding to the elevation or orientation of the blade. A computational system receives the measurements, compares them to target reference values, and generates control signals. Drivers convert the control signals to electrical drive signals. In response to the electrical drive signals, the electrical motor assembly translates the arm, which, in turn, translates the joystick. If necessary, an operator can override the automatic control system by manually operating the joystick.
摘要翻译： 配有手动或电动阀的推土机可以改装一个控制系统，用于自动控制叶片的高程和方位。 不需要修改现有的液压驱动系统或现有的液压控制系统。 臂可操作地联接到现有的操纵杆，其翻译控制叶片的高度和方位。 臂由电动机组件驱动。 安装在推土机主体或叶片上的测量单元提供对应于叶片的高度或取向的测量。 计算系统接收测量值，将其与目标参考值进行比较，并产生控制信号。 驱动器将控制信号转换为电气驱动信号。 响应于电驱动信号，电动马达组件平移臂，其又使操纵杆平移。 如果需要，操作员可以通过手动操作操纵杆来覆盖自动控制系统。
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公开(公告)号：US11846091B2
公开(公告)日：2023-12-19
申请号：US16976480
申请日：2020-01-28
发明人： Mikhail Yurievich Vorobiev , Alexey Vladislavovich Zhdanov , Ivan Alexandrovich Bogdanyuk , Nikolay Nikolaevich Vasilyuk
IPC分类号： E02F9/26 , E02F3/76 , E02F9/02 , G01S19/52 , G01S19/47 , G06T7/70 , H04N13/254 , G06T7/20 , G06T7/50 , E02F3/80 , H04N13/00
CPC分类号： E02F9/264 , E02F3/7609 , E02F3/80 , E02F9/02 , E02F9/26 , G01S19/47 , G01S19/52 , G06T7/20 , G06T7/50 , G06T7/70 , H04N13/254 , G06T2207/10012 , G06T2207/10048 , G06T2207/30204 , G06T2207/30252 , H04N2013/0085
摘要： A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.
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公开(公告)号：US08924098B2
公开(公告)日：2014-12-30
申请号：US13780315
申请日：2013-02-28
发明人： Alexey Vladislavovich Zhdanov , Alexey Andreevich Kosarev , Arseny Alexeevich Chugunkin , Ivan Giovanni di Federico , Pavel Stanislavovich Yanchelik , Stanislav Georgievich Saul , Anton Sergeevich Tumanov
CPC分类号： E02F3/844 , E02F3/7613 , E02F3/7618 , E02F9/2004 , G05G9/047
摘要： Dozers outfitted with manual or electric valves can be retrofitted with a control system for automatically controlling the elevation and orientation of the blade. No modification of the existing hydraulic drive system or existing hydraulic control system is needed. An arm is operably coupled to the existing joystick, whose translation controls the elevation and orientation of the blade. The arm is driven by an electrical motor assembly. Measurement units mounted on the dozer body or blade provide measurements corresponding to the elevation or orientation of the blade. A computational system receives the measurements, compares them to target reference values, and generates control signals. Drivers convert the control signals to electrical drive signals. In response to the electrical drive signals, the electrical motor assembly translates the arm, which, in turn, translates the joystick. If necessary, an operator can override the automatic control system by manually operating the joystick.
摘要翻译： 配有手动或电动阀的推土机可以改装一个控制系统，用于自动控制叶片的高程和方位。 不需要修改现有的液压驱动系统或现有的液压控制系统。 臂可操作地联接到现有的操纵杆，其翻译控制叶片的高度和方位。 臂由电动机组件驱动。 安装在推土机主体或叶片上的测量单元提供对应于叶片的高度或取向的测量。 计算系统接收测量值，将其与目标参考值进行比较，并产生控制信号。 驱动器将控制信号转换为电气驱动信号。 响应于电驱动信号，电动马达组件平移臂，其又使操纵杆平移。 如果需要，操作员可以通过手动操作操纵杆来覆盖自动控制系统。
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公开(公告)号：US10428493B2
公开(公告)日：2019-10-01
申请号：US15523543
申请日：2015-10-06
摘要： Disclosed is a method for automatically controlling a blade of a motor grader. At least one global navigation satellite system (GNSS) antenna and at least one inertial measurement unit (IMU) are mounted on the motor grader. No GNSS antenna is mounted on the blade; and no pole is used for mounting. With each GNSS antenna, GNSS navigation signals are received, and a position of each GNSS antenna is computed. With each IMU, three orthogonal accelerations and three orthogonal angular rotation rates are measured. With at least one processor, a blade position and a blade orientation are computed, based at least in part on the GNSS and IMU measurements. The blade elevation and the blade slope angle (and, in some embodiments, the blade side shift) are automatically controlled, based at least in part on the computed blade position, the computed blade orientation, and a digital job site model.
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公开(公告)号：US20150308074A1
公开(公告)日：2015-10-29
申请号：US14260646
申请日：2014-04-24
发明人： Alexey Vladislavovich Zhdanov , Stanislav Georgievich Saul , Alexey Andreevich Kosarev , Ivan Giovanni di Federico , Anton Gennadievich Golovanov
IPC分类号： E02F3/84
摘要： On a dozer, a semi-automatic system automatically translates a joystick to control blade elevation and provides an indicator display to guide manual control of blade slope angle. A mechanical linkage operably couples the joystick to an electrical motor. A computational system receives measurements from measurement units mounted on the dozer; calculates estimated values of elevation and slope angle; compares the estimated values to reference values; and calculates error and control signals. Drivers generate a motor drive signal and a display drive signal. In response to the motor drive signal, the electrical motor translates the joystick to control elevation. In response to the display drive signal, the indicator display generates a graphical representation of the status of slope angle. When the operator needs to take manual control, a proximity sensor detects the presence of at least a portion of the operator's hand, wrist, or forearm and disengages automatic control of elevation.
摘要翻译： 在推土机上，半自动系统自动翻转操纵杆以控制叶片高度，并提供指示器显示以指导手动控制叶片倾斜角度。 机械连杆将操纵杆可操作地连接到电动马达。 计算系统从安装在推土机上的测量单元接收测量值; 计算高程和倾斜角的估计值; 将估计值与参考值进行比较; 并计算误差和控制信号。 驱动器产生电机驱动信号和显示驱动信号。 响应于电机驱动信号，电动机将操纵杆转换为控制高程。 响应于显示驱动信号，指示器显示器产生倾斜角状态的图形表示。 当操作者需要进行手动控制时，接近传感器检测到操作者的手，腕部或前臂的至少一部分的存在，并且脱离高度的自动控制。
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