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公开(公告)号：US20230349131A1
公开(公告)日：2023-11-02
申请号：US17730673
申请日：2022-04-27
发明人： Brady Dorr Lewis
CPC分类号： E02F9/2221 , E02F3/845 , E02F9/2246 , E02F9/2267
摘要： An arm load control system for a work vehicle including a controller comprising a memory and a processor. The controller is configured to determine whether a lift arm is in a maximum load configuration based on a position of the lift arm relative to a chassis of the work vehicle and output a control signal to a propulsion assembly of the work vehicle indicative of instructions to adjust a tractive effort of the work vehicle based on whether the lift arm is in the maximum load configuration.
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公开(公告)号：US20180119384A1
公开(公告)日：2018-05-03
申请号：US15509249
申请日：2016-10-28
申请人： Komatsu Ltd.
CPC分类号： E02F3/439 , E02F3/3417 , E02F3/432 , E02F3/845 , E02F9/0875 , E02F9/2029 , E02F9/265
摘要： A loader control system includes: a boom position calculation unit configured to calculate a position of a boom rotatably supported by a vehicle body of a loader; a bucket attitude calculation unit configured to calculate an attitude of a bucket rotatably supported by the boom; a determination unit configured to determine whether the attitude satisfies a predetermined condition on the basis of the attitude and a reference attitude of the bucket in dumping movement; and a work machine control unit configured to cause the bucket to carry out the dumping movement, and output a control signal to cause the boom to carry out lifting movement when the attitude is determined to satisfy the predetermined condition.
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3.发明申请公开(公告)号：US20170114528A1
公开(公告)日：2017-04-27
申请号：US15311081
申请日：2014-06-23
CPC分类号： E02F9/265 , E02F3/7618 , E02F3/845 , G01C21/165
摘要： An estimate of the relative attitude between an implement and a vehicle body is computed from a body angular velocity measurement received from at least one body gyro mounted on the vehicle body and from an implement angular velocity measurement received from at least one implement gyro mounted on the implement. A first system state vector estimate corresponding to a first time instant includes a representation of a first relative attitude estimate. An updated system state vector is computed based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement. A second system state vector estimate corresponding to a second time instant is predicted based at least in part on the updated system state vector and a time-dependent system model. The second system state vector estimate includes a representation of a second relative attitude estimate.
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公开(公告)号：US09598844B1
公开(公告)日：2017-03-21
申请号：US14978628
申请日：2015-12-22
发明人： Yanchai Zhang , Francisco R. Green , Albert A. Wray , Insu Chang
CPC分类号： E02F9/2041 , E02F1/00 , E02F3/32 , E02F3/435 , E02F3/7609 , E02F3/844 , E02F3/845 , E02F3/847 , E02F9/262 , G07C5/02
摘要： An earthmoving machine comprises a sensor, an implement, and control architecture comprising a controller and configured to facilitate movement in response to a signal indicative of a measured implement position and an implement control value comprising a gain value associated with implement speed. The controller is programmed to execute machine readable instructions to generate a surface-based cost function (SBCF) value based on the signal, determine whether the SBCF value is acceptable to lock the gain value, and generate a noise value that is based on an error between the signal and a target signal when the SBCF value is unacceptable, determine whether the noise value is acceptable to lock the gain value, adjust the gain value to control the implement speed when the noise value is unacceptable until the SBCF value or the noise value is acceptable, and operate the machine based on the locked gain value.
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公开(公告)号：US09458600B2
公开(公告)日：2016-10-04
申请号：US13907070
申请日：2013-05-31
申请人： DEERE & COMPANY
CPC分类号： E02F3/845
摘要： A method or system for controlling a vehicle comprises entering a programming mode or a guidance mode based on user input to a switch. The user can enter a guidance program in accordance with a predetermined sequence of inputs of the switch by the user, where readiness for each successive input is indicated by a light source. A guidance mode is managed for controlling an implement height in accordance with the entered guidance program. A height sensor can sense an observed height or elevation of an implement of the vehicle (e.g., relative to the absolute target height of the implement above the ground). The observed height is controlled in accordance with the guidance program (e.g., the target height) if the system or the data processor is operating in a guidance mode.
摘要翻译： 用于控制车辆的方法或系统包括基于用户对交换机的输入来输入编程模式或引导模式。 用户可以根据用户的切换输入的预定顺序输入指导程序，其中每个连续输入的准备状态由光源指示。 管理引导模式以根据输入的引导程序控制工具高度。 高度传感器可以感测车辆工具的观察高度或高度（例如，相对于地面上的工具的绝对目标高度）。 如果系统或数据处理器在引导模式下操作，则根据引导程序（例如，目标高度）来控制观察到的高度。
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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：US20160230366A1
公开(公告)日：2016-08-11
申请号：US14614632
申请日：2015-02-05
申请人： Deere & Company
CPC分类号： E02F3/844 , E02F3/7618 , E02F3/7627 , E02F3/7631 , E02F3/845 , E02F9/265
摘要： A work vehicle may include a chassis, a ground-engaging blade, a sensor, and a controller. The ground-engaging blade may be movably connected to the chassis via a linkage configured to allow the blade to be raised or lowered relative to the chassis. The sensor may be connected to the chassis at a fixed relative position to the chassis and configured to provide a pitch signal indicative of a rotational velocity in a pitch direction. The controller may be configured to receive the pitch signal and send a command to raise or lower the blade, the command based on a first gain and the pitch signal when the pitch signal indicates a rotational velocity in a first direction and based on a second gain and the pitch signal when the pitch signal indicates a rotational velocity in a second direction.
摘要翻译： 工作车辆可以包括底盘，接地叶片，传感器和控制器。 地面接合叶片可以经由构造成允许叶片相对于底盘升高或降低的连杆可移动地连接到底盘。 传感器可以在与底盘的固定相对位置处连接到机架，并且被配置为提供指示俯仰方向上的旋转速度的俯仰信号。 控制器可以被配置为接收音调信号并且发送命令以提升或降低叶片，该命令基于第一增益和音调信号，当音调信号指示第一方向上的旋转速度并且基于第二增益 以及当音调信号指示在第二方向上的旋转速度时的音调信号。
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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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9.发明授权Mobile working machine comprising a position control device of a working arm, and method for controlling the position of a working arm of a mobile working machine 有权包括工作臂的位置控制装置的移动式工作机以及用于控制移动式作业机械的作业臂的位置的方法公开(公告)号：US09151013B2
公开(公告)日：2015-10-06
申请号：US13265278
申请日：2010-04-07
申请人： Oliver Glitza
发明人： Oliver Glitza
摘要： A mobile working machine includes a working arm which is mounted in an articulated manner, by a first end, on a revolving superstructure of the working machine, and a tool which is mounted in a displaceable manner on a second end of the working arm. The mobile working machine includes a position control device of a working arm. At least one inclination sensor is arranged on the revolving superstructure and at least one inclination sensor is arranged on the working arm. Also, at least one rotation rate sensor is arranged on the working arm. The working machine further includes a calculation unit for processing the signals of the at least one inclination sensor, of at least one additional inclination sensor, and of at least one rotational rate sensor.
摘要翻译： 移动式加工机械包括工作臂，其通过第一端以铰接方式安装在工作机械的旋转上部结构上，以及以可位移方式安装在工作臂的第二端上的工具。 移动式作业机械包括工作臂的位置控制装置。 至少一个倾斜传感器布置在旋转上部结构上，并且至少一个倾斜传感器布置在工作臂上。 此外，工作臂上设置有至少一个旋转速率传感器。 所述工作机还包括用于处理所述至少一个倾斜传感器，至少一个附加倾斜传感器和至少一个转速传感器的信号的计算单元。
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公开(公告)号：US20150165856A1
公开(公告)日：2015-06-18
申请号：US14133043
申请日：2013-12-18
申请人： DEERE & COMPANY
IPC分类号： B60G17/00
CPC分类号： B60G17/00 , B60G1/02 , B60G17/0162 , B60G17/0165 , B60G21/007 , B60G2200/322 , B60G2200/44 , B60G2200/46 , B60G2202/413 , B60G2204/62 , B60G2204/82 , B60G2204/8304 , B60G2300/09 , B60G2400/302 , B60G2400/64 , B60G2400/82 , B60G2500/40 , B60G2600/18 , B60G2600/20 , B60G2800/0192 , E02F3/845
摘要： A work vehicle includes one or more leanable wheels, in which the lean angle of each leanable wheel is automatically controlled according to one or more external factors. Factors influencing the lean angle of each leanable wheel may include: draft load arising from externally imposed forces, such as forces arising from moving earthen materials with a vehicle-mounted moldboard; the rotational position of such a moldboard with respect to direction of travel; turning radius of the vehicle during a turning maneuver; engine speed and/or transmission gear; and the angle of the vehicle itself with respect to vertical (i.e., whether the vehicle is on sloped ground). A control system may automatically adjust wheel-lean depending on inputs indicative of any combination of the above-mentioned external factors.
摘要翻译： 工作车辆包括一个或多个倾斜轮，其中每个倾斜轮的倾斜角度根据一个或多个外部因素被自动控制。 影响每个倾斜轮的倾斜角度的因素可以包括：由外部施加的力产生的牵引载荷，例如由带有车载摩擦板的移动的土工材料产生的力; 这种移动板相对于行进方向的旋转位置; 在转弯机动过程中车辆的转弯半径; 发动机转速和/或传动装置; 和车辆本身相对于垂直方向的角度（即车辆是否在倾斜的地面上）。 控制系统可以根据表示上述外部因素的任何组合的输入来自动调节轮偏向。
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