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71. 发明授权

US12110778B2 Civil engineering underground equipment and method for operating civil engineering underground equipment 有权
公开(公告)号：US12110778B2
公开(公告)日：2024-10-08
申请号：US16833911
申请日：2020-03-30
申请人： BAUER Maschinen GmbH
发明人： Thomas Elsner , Paul Mager , Andreas Ziegler
IPC分类号： E21B44/00 , E02D7/00 , E02F5/02 , E02F9/20 , E21B7/02 , E21B15/00 , G05B19/04
CPC分类号： E21B44/00 , E02D7/00 , E02F5/02 , E02F9/20 , E21B7/022 , E21B15/00 , G05B19/04 , G05B2219/45012
摘要： The invention relates to civil engineering underground equipment comprising at least one work element for ground work, at least two actuation units, at least one measuring device for determining at least one current actuation parameter for each actuation unit, and a controller which is designed for controlling the actuation units, wherein the controller is connected to the measuring devices and, in order to prevent a tipping of the civil engineering underground equipment, is designed to limit a further actuation of the actuation unit or to display to an operator that the limit actuation parameter has been reached and/or the limit actuation parameter, on the basis of previously calculated limit actuation parameters for the actuation units which define exactly one permissible operating range, when a limit actuation parameter of at least one actuation unit is reached. It is intended for at least two different individual operating ranges to be stored in the controller, wherein each individual operating range comprises a different set of limit actuation parameters for the actuation units, and for the controller to be able to determine a combined permissible operating range.

72. 发明申请

US20170114519A1 Control System and Method for Operating a Machine 有权
公开(公告)号：US20170114519A1
公开(公告)日：2017-04-27
申请号：US14919127
申请日：2015-10-21
申请人： Caterpillar Inc.
发明人： Michael Evan Hague
IPC分类号： E02F3/43
CPC分类号： E02F3/434 , E02F3/438 , E02F9/205 , E02F9/264 , E02F9/265 , G05B19/402 , G05B2219/45012
摘要： A system for setting a dump height of a work implement includes a linkage assembly and a linkage position sensor. In one embodiment, a controller stores an identifying code corresponding to the dump body, stores a desired dump height, associates the desired dump height with the identifying code, and subsequently receives the identifying code. In another embodiment, the controller stores a plurality of linkage positions corresponding to a plurality of desired dump heights, receives data indicative of a minimum lifting height of the dump body, and determines a desired dump height at which the linkage assembly is to be positioned. In both embodiments, the controller generates a command to position the linkage assembly at the desired dump height and generates a command to dump material within the material engaging work implement into the dump body.

73. 发明授权

US09624647B2 Slewing-type working machine 有权
公开(公告)号：US09624647B2
公开(公告)日：2017-04-18
申请号：US14115282
申请日：2012-05-11
申请人： Koji Yamashita , Masayuki Komiyama , Kazushige Koiwai , Koji Ueda , Kengo Maeda
发明人： Koji Yamashita , Masayuki Komiyama , Kazushige Koiwai , Koji Ueda , Kengo Maeda
IPC分类号： F16D31/02 , E02F9/22 , E02F9/12 , G05B11/14 , F15B9/03 , F15B9/14
CPC分类号： E02F9/2296 , E02F9/123 , E02F9/2235 , E02F9/2285 , F15B9/03 , F15B9/14 , G05B11/14 , G05B2219/45012 , Y10T137/86027
摘要： A slewing-type working machine includes: a slewing motor which is a hydraulic motor for slewing; a variable-displacement hydraulic pump; a slewing operation device including an operation member; a control valve controlling the slewing motor based on an operation signal thereof; a pump regulator; a relief valve letting excess fluid to a tank; operation detectors detecting an operation direction and amount of the operation member; a motor rotational speed detector; and a controller controlling a discharge flow rate of the hydraulic pump. The controller obtains a deviation between a target rotational speed of the slewing motor obtained from a slewing operation amount and an actual rotational speed detected by the motor rotational speed detector, and controls the discharge flow rate to make the deviation closer to 0.

74. 发明申请

US20160116906A1 WORKTOOL CONFIGURATOR FOR MACHINE 审中-公开
标题翻译：机器配置器
公开(公告)号：US20160116906A1
公开(公告)日：2016-04-28
申请号：US14979597
申请日：2015-12-28
申请人： Caterpillar Inc.
发明人： Tazio S. Grivetti
IPC分类号： G05B19/4093
CPC分类号： G05B19/40938 , G05B2219/32128 , G05B2219/33111 , G05B2219/36136 , G05B2219/36137 , G05B2219/45012
摘要： A method of configuring a work tool with a machine is provided. The method includes receiving at least one operational parameter of the work tool by an off board system. The method also includes matching the operational parameter of the work tool with a specification of the machine using a back office system. The method also includes configuring at least one control element of the machine to control at least one function of the work tool. The method includes identifying the work tool connected to the machine by the sensing module. The method also includes retrieving the operational parameters and a pre-defined instruction set stored in the control module corresponding to the identified work tool. The method further includes displaying at least one graphical representation on a display device for each function of the work tool. The method includes controlling the work tool using the at least one control element.
摘要翻译：提供了一种使用机器配置工作工具的方法。该方法包括通过脱板系统接收工作工具的至少一个操作参数。该方法还包括使用后台系统将工作工具的操作参数与机器的规格进行匹配。该方法还包括配置机器的至少一个控制元件以控制作业工具的至少一个功能。该方法包括识别通过感测模块连接到机器的工作工具。该方法还包括检索与所识别的工作工具相对应的操作参数和存储在控制模块中的预定义指令集。该方法还包括在显示设备上显示用于工作工具的每个功能的至少一个图形表示。该方法包括使用至少一个控制元件来控制工作工具。

75. 发明授权

US09304501B2 Coordinated joint motion control system with position error correction 有权
标题翻译：具有位置误差校正的协调关节运动控制系统
公开(公告)号：US09304501B2
公开(公告)日：2016-04-05
申请号：US14798254
申请日：2015-07-13
申请人： Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno
发明人： George L. Danko
IPC分类号： G05B19/00 , G05B13/02 , G05B13/04 , B25J9/16 , E02F9/20
CPC分类号： G05B13/021 , B25J9/1628 , E02F9/2004 , E02F9/2029 , G05B13/041 , G05B2219/40495 , G05B2219/41273 , G05B2219/45012
摘要： Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
摘要翻译：公开了一种铰接式液压机的支撑，控制系统及其控制方法。铰接式液压机具有用于执行有用工作的端部执行器。控制系统能够控制末端执行器沿着预先选定的轨迹进行自动移动。控制系统具有位置误差校正系统，以校正实际末端执行器轨迹与期望的末端执行器轨迹之间的差异。校正系统可以采用由一个或多个可移动机器元件支撑的一个或多个加速度传感器提供的一个或多个绝对位置信号。可以获得良好的轨迹定位和重复性。启用两个操纵杆控制器系统，这在某些情况下可以方便操作人员的任务，并提高其工作质量和生产率。

76. 发明申请

US20150354174A1 METHOD FOR CONTROLLING DRIVING SPEED OF CONSTRUCTION MACHINERY 审中-公开
标题翻译：控制建筑机械驱动速度的方法
公开(公告)号：US20150354174A1
公开(公告)日：2015-12-10
申请号：US14762315
申请日：2013-01-23
申请人： Chun-Han LEE , VOLVO CONSTRUCTION EQUIPMENT AB
发明人： Chun-Han LEE
IPC分类号： E02F9/22
CPC分类号： E02F9/2253 , G05B2219/45012
摘要： Disclosed is a method for controlling a driving speed of construction machinery for preventing a sudden change in the driving speed during a combined operation for operating a work device while driving an excavator. The method for controlling the driving speed of the construction machinery, according to one embodiment of the present invention, relates to the method for controlling the driving speed of the construction machinery comprising a lower driving body, a turning device for turning an upper turning body with respect to the lower driving body, a driving device, the work device, an electronic proportional valve for controlling the discharge flow rate of a hydraulic pump, and a controller. The method comprises: a first step of detecting the amount of operation of the driving device, the work device, and the turning device according to the operation of same; a second step of calculating a required working oil flow rate corresponding to the amount of operation of the driving device, the work device, and the turning device; a third step of reducing the required working oil flow rate of the driving device calculated in the second step, according to a ratio set by a driver, so that an independent maximum driving speed of the driving device can be reduced by the setting by the driver; and a fourth step of combining the required working oil flow rates calculated in the second step and the third step, and outputting a control signal to the electronic proportional valve so that the combined flow rate is discharged from the hydraulic pump.
摘要翻译：公开了一种用于在驱动挖掘机的同时操作工作装置的组合操作期间控制工程机械的行驶速度的方法，以防止驱动速度的突然变化。根据本发明的一个实施例的用于控制工程机械的驱动速度的方法涉及用于控制工程机械的驱动速度的方法，该方法包括下驱动体，用于转动上转体的转动装置，相对于下驱动体，驱动装置，作业装置，用于控制液压泵的排出流量的电子比例阀和控制器。该方法包括：根据其操作来检测驱动装置，作业装置和车削装置的操作量的第一步骤; 计算对应于驱动装置，作业装置和转向装置的操作量的所需工作油流量的第二步骤; 第三步骤，根据由驾驶员设定的比例，减少在第二步骤中计算出的驱动装置的所需工作油流量，从而可以通过驾驶员的设定来减小驱动装置的独立最大驾驶速度 ; 以及组合在第二步骤和第三步骤中计算的所需工作油流量的第四步骤，并将控制信号输出到电子比例阀，使得组合流量从液压泵排出。

77. 发明授权

US08594895B2 Method of operating an apparatus 有权
标题翻译：操作装置的方法
公开(公告)号：US08594895B2
公开(公告)日：2013-11-26
申请号：US12504449
申请日：2009-07-16
申请人： Michael McKee
发明人： Michael McKee
IPC分类号： G06F19/00 , G06G7/02
CPC分类号： G05B19/409 , E02F3/964 , E02F9/166 , E02F9/2012 , E02F9/26 , E02F9/264 , G05B2219/45012
摘要： A method is described of operating an apparatus which has at least two alternative operational modes, and a plurality of controllable operating devices and a controller to which demand signals to operate the controllable operating devices are input by the operator from a main operating control structure, and from which command signals are issued to the controllable operating device, to change the operating states of the devices, and the apparatus further including a warning device, and an auxiliary control structure for the operator to input an auxiliary signal to the controller, the auxiliary control structure being operationally separate from the main operating control structure, at least one of the operating devices having an expected operating state appropriate for an operational mode, the method including determining the selected operational mode in which the apparatus is being operated or is about to be operated, and determining the operating state of the at least one operating device, comparing the determined operating state with the expected operating state and where the determined operating state is not the expected operating state, the controller providing an indication to the operator by the advisory device, and being responsive to the operator changing the operating state of the at least one operating device to the expected operating state using the auxiliary control structure.
摘要翻译：描述了一种操作具有至少两种替代操作模式的装置的方法，以及多个可控操作装置和控制器，操作者从主操作控制结构向其输入操作可控操作装置的需求信号，以及从其发出命令信号到可控制操作装置，以改变装置的操作状态，并且该装置进一步包括报警装置和辅助控制结构，用于操作者向控制器输入辅助信号，辅助控制结构在操作上与主操作控制结构分离，所述操作装置中的至少一个具有适合于操作模式的预期操作状态，所述方法包括确定所述设备正在操作或即将被操作的所选操作模式，以及确定所述至少一个操作d的操作状态所述控制器将所确定的操作状态与所述预期操作状态进行比较，并且所确定的操作状态不是预期操作状态，所述控制器由所述咨询设备向操作者提供指示，并响应于操作者改变操作状态使用辅助控制结构将至少一个操作装置运行到预期的操作状态。

78. 发明申请

US20100183416A1 DOUBLE-ARM WORKING MACHINE 有权
标题翻译：双臂工作机
公开(公告)号：US20100183416A1
公开(公告)日：2010-07-22
申请号：US11909782
申请日：2007-01-11
申请人： Akinori Ishii , Kazuo Fujishima , Kunitsugu Tomita
发明人： Akinori Ishii , Kazuo Fujishima , Kunitsugu Tomita
IPC分类号： B66C23/62 , B66F19/00 , G06F19/00 , G05D3/00 , E02F9/00
CPC分类号： E02F3/384 , B25J9/0087 , E02F9/2004 , E02F9/2033 , E02F9/24 , G05B2219/39083 , G05B2219/43202 , G05B2219/45012
摘要： A double-arm working machine has an upper swing structure, an operator cabin, left swing post and right swing post provided in front of the upper swing structure, and a left work front A and right work front B provided on the left swing post and the right swing post, respectively, such that the work fronts A, B each sway vertically. An interference prevention controller generates an output signal to swing the swing posts 7a, 7b pursuant to a differential angle between the left and right work fronts A, B and to a command signal from an operating device. A differential angle range in which the left and right work fronts A, B are likely to come into contact with each other is defined as an interference danger area (N), and an assigned differential-angle range contiguous to the interference danger area is defined as a semi-interference danger area.
摘要翻译：双臂工作机具有设置在上摆动结构前方的上摆动结构，操作员舱，左摆杆和右摆动杆以及设置在左摆动柱上的左作业前A和右工作前B;以及右摆杆分别使工作面A，B各自垂直摆动。干扰防止控制器根据左右工作面A，B之间的差角产生输出信号以使摆动臂7a，7b摆动，并与来自操作装置的指令信号相对应。将左右工作面A，B彼此接触的差角范围定义为干扰危险区域（N），并且定义与干扰危险区域相邻的分配的差角范围作为半干扰危险区域。

79. 发明申请

US20100049410A1 Method of Operating an Apparatus 有权
标题翻译：操作设备的方法
公开(公告)号：US20100049410A1
公开(公告)日：2010-02-25
申请号：US12504449
申请日：2009-07-16
申请人： Michael McKee
发明人： Michael McKee
IPC分类号： G06F19/00
CPC分类号： G05B19/409 , E02F3/964 , E02F9/166 , E02F9/2012 , E02F9/26 , E02F9/264 , G05B2219/45012
摘要： A method is described of operating an apparatus which has at least two alternative operational modes, and a plurality of controllable operating devices and a controller to which demand signals to operate the controllable operating devices are input by the operator from a main operating control structure, and from which command signals are issued to the controllable operating device, to change the operating states of the devices, and the apparatus further including a warning device, and an auxiliary control structure for the operator to input an auxiliary signal to the controller, the auxiliary control structure being operationally separate from the main operating control structure, at least one of the operating devices having an expected operating state appropriate for an operational mode, the method including determining the selected operational mode in which the apparatus is being operated or is about to be operated, and determining the operating state of the at least one operating device, comparing the determined operating state with the expected operating state and where the determined operating state is not the expected operating state, the controller providing an indication to the operator by the advisory device, and being responsive to the operator changing the operating state of the at least one operating device to the expected operating state using the auxiliary control structure.
摘要翻译：描述了一种操作具有至少两种替代操作模式的装置的方法，以及多个可控操作装置和控制器，操作者从主操作控制结构向其输入操作可控操作装置的需求信号，以及从其发出命令信号到可控制操作装置，以改变装置的操作状态，并且该装置进一步包括报警装置和辅助控制结构，用于操作者向控制器输入辅助信号，辅助控制结构在操作上与主操作控制结构分离，所述操作装置中的至少一个具有适合于操作模式的预期操作状态，所述方法包括确定所述设备正在操作或即将被操作的所选操作模式，以及确定所述至少一个操作d的操作状态所述控制器将所确定的操作状态与所述预期操作状态进行比较，并且所确定的操作状态不是预期操作状态，所述控制器由所述咨询设备向操作者提供指示，并响应于操作者改变操作状态使用辅助控制结构将至少一个操作装置运行到预期的操作状态。

80. 发明申请

US20090112410A1 Tool control system based on anticipated terrain 有权
标题翻译：基于预期地形的工具控制系统
公开(公告)号：US20090112410A1
公开(公告)日：2009-04-30
申请号：US11976397
申请日：2007-10-24
申请人： Andrew G. Shull
发明人： Andrew G. Shull
IPC分类号： G06G7/06
CPC分类号： B25J9/1664 , G05B2219/40512 , G05B2219/45012
摘要： A tool control system for controlling a tool of a machine is disclosed. The tool control system includes a tool configured to shape a surface of a worksite. The tool control system also includes a positioning system configured to determine a worksite position of a machine supporting the tool. The tool control system also includes a controller configured to receive a site map containing a profile of the surface, receive the worksite position of the machine, and determine a contour of the surface not yet traversed by the machine. The controller also being configured to anticipate an effect on the contour caused by the tool when the machine traverses the contour, and to move the tool and accommodate the affect before the machine traverses the contour.
摘要翻译：公开了一种用于控制机器的工具的工具控制系统。工具控制系统包括被配置为成形工地表面的工具。工具控制系统还包括配置成确定支撑工具的机器的工地位置的定位系统。所述工具控制系统还包括控制器，所述控制器被配置为接收包含所述表面轮廓的站点地图，接收所述机器的工地位置，以及确定所述机器尚未穿过的所述表面的轮廓。控制器还被配置为在机器横穿轮廓时预测由工具引起的轮廓的影响，并且在机器穿过轮廓之前移动工具并适应影响。

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