公开(公告)号：WO2016028587A1

公开(公告)日：2016-02-25

申请号：PCT/US2015/044989

申请日：2015-08-13

Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

Inventor： GREEN, Francisco Roberto ,  WIEWEL, Bruce John

IPC: E02F3/76 ,  E02F9/20 ,  E02F3/43

CPC classification number: E02F3/845 ,  E02F9/265

Abstract: 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 implement position signals, signals from the translational chassis movement indicator and the implement inclinometer, and one or more weighting factors representative of signal noise.

Abstract translation: 提供的土方机器包括平移底盘运动指示器，移土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实施位置信号，来自平移底盘移动指示器和实施倾斜仪的信号以及表示信号噪声的一个或多个加权因子来生成实现状态估计。