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11. 发明公开

EP0988426A1 CROSS-SLOPE LEVEL CONTROL FOR MOBILE MACHINERY 失效
标题翻译：检查短边有移动机器倾斜
公开(公告)号：EP0988426A1
公开(公告)日：2000-03-29
申请号：EP98925115.2
申请日：1998-06-02
申请人： Guntert and Zimmermann Const. Div. Inc.
发明人： DAHLINGER, Gerald, Lee , MALLORY, Scott, Michael
IPC分类号： E02F3/76 , E01C19/48
CPC分类号： E02F9/2257 , E01C19/008 , E02F3/844 , E02F3/845 , Y10S37/907
摘要： At least two crawler tracks (T1-T4) or four wheels or rail bogies are provided for transporting and elevating the frame of a mobile machine having a reference side (R) and a cross slope side (Cs). Two jacking points (C1-C2) are located on the reference side and two jacking points (C3-C4) are located on the cross slope side. The reference side (R) tracks a reference in elevation (W) and adapts a desired reference attitude. An attitude sensor (AR) on the reference side measures the actual attitude of the reference side relative to gravity. Likewise, an attitude sensor (ACS) on the cross slope side measures the actual attitude of the cross slope side relative to gravity. The attitude of the cross slope side is adjusted to match the attitude of the reference side. Finally, a single cross slope sensor (ABC) varies the elevation of the cross slope side relative to the reference side.

12. 发明公开

EP0405725A3 Method and apparatus for controlling motorgrader cross slope cut 失效
标题翻译：用于控制电机横截面切割的方法和装置
公开(公告)号：EP0405725A3
公开(公告)日：1991-11-27
申请号：EP90304714.0
申请日：1990-05-01
申请人： SPECTRA-PHYSICS LASERPLANE, INC.
发明人： Davidson, James Byron , Kidwell, Michael Harvey , Kaz, Peter Norman , Zachman, Mark Eugene
IPC分类号： E02F3/84 , E02F9/20 , E02F3/85
CPC分类号： E02F9/2037 , E02F3/845 , E02F9/0841 , Y10S37/907
摘要： A method and apparatus are disclosed for controlling the cross slope angle cut by the blade (114) of an articulated frame motorgrader (100) operated in the crabbed steering mode wherein the articulation angle (A) of the motorgrader frame is sensed and used to calculate the blade angle relative to horizontal required to maintain a desired cross slope angle. The blade angle is sensed and controlled such that the sensed blade angle is maintained substantially equal to the calculated blade angle. The blade angle calculation is performed using the equation: tan B = (sin (A+R))(tan L) + (cos (A+R))(tan C) where B is the required blade slope angle of the blade (114) relative to horizontal; A is the sensed angle of rotation of a steering unit (106) relative to a drive unit (102), the steering unit (106) and drive unit (102) making up the motorgrader (100) articulated frame; R is the sensed angle of rotation of the blade (114) relative to the steering unit (106); L is the sensed direction of travel slope angle of the motorgrader (100); and, C is the desired cross slope angle which is entered by an operator of the motorgrader (100).

13. 发明公开

EP0405725A2 Method and apparatus for controlling motorgrader cross slope cut 失效
标题翻译：用于控制由一个机动平地机斜截面挖掘方法和装置。
公开(公告)号：EP0405725A2
公开(公告)日：1991-01-02
申请号：EP90304714.0
申请日：1990-05-01
申请人： SPECTRA-PHYSICS LASERPLANE, INC.
发明人： Davidson, James Byron , Kidwell, Michael Harvey , Kaz, Peter Norman , Zachman, Mark Eugene
IPC分类号： E02F3/84 , E02F9/20 , E02F3/85
CPC分类号： E02F9/2037 , E02F3/845 , E02F9/0841 , Y10S37/907
摘要： A method and apparatus are disclosed for controlling the cross slope angle cut by the blade (114) of an articulated frame motorgrader (100) operated in the crabbed steering mode wherein the articulation angle (A) of the motorgrader frame is sensed and used to calculate the blade angle relative to horizontal required to maintain a desired cross slope angle. The blade angle is sensed and controlled such that the sensed blade angle is maintained substantially equal to the calculated blade angle. The blade angle calculation is performed using the equation: tan B = (sin (A+R))(tan L) + (cos (A+R))(tan C) where B is the required blade slope angle of the blade (114) relative to horizontal; A is the sensed angle of rotation of a steering unit (106) relative to a drive unit (102), the steering unit (106) and drive unit (102) making up the motorgrader (100) articulated frame; R is the sensed angle of rotation of the blade (114) relative to the steering unit (106); L is the sensed direction of travel slope angle of the motorgrader (100); and, C is the desired cross slope angle which is entered by an operator of the motorgrader (100).
摘要翻译：在艰涩转向模式的方法和装置被盘游离缺失用于控制由铰接框架机动平地机（100）的叶片（114）切断的截面的倾斜角操作worin机动平地机框架的铰接角（A）被感测并用于计算到所需的水平叶片角度相对于以保持所需的横倾角。叶片角度被感测和控制的搜索没有感测到的叶片角度被保持基本上等于计算的叶片角度。叶片角度计算是利用等式来执行：黄褐色B =（SIN（A + R））（褐色L）+（cos（A + R））（褐色C），其中B是叶片的需要叶片倾斜角（ 114）相对于水平方向; A是一个转向单元（106）相对于一个驱动单元（102），所述转向单元（106）和驱动单元（102）构成所述机动平地机（100）铰接框架的旋转所感测的角度; R为所述叶片（114）相对于转向单元（106）的旋转的感测到的角; L是机动平地机的行进斜坡角度的感测方向（100）; 并且，C是所期望的横倾角所有这一切是通过在机动平地机（100）的操作者输入。

14. 发明公开

EP0123549A2 Motor grader broom 失效
标题翻译： BesenfürPlanierfahrzeuge。
公开(公告)号：EP0123549A2
公开(公告)日：1984-10-31
申请号：EP84302735.0
申请日：1984-04-24
申请人： Long, George E.
发明人： Long, George E.
IPC分类号： E02F3/76 , E01H1/05
CPC分类号： E02F3/765 , E01H1/056 , E02F3/7604 , E02F3/8155 , E02F3/845
摘要： A rotary broom attachment (2) (Figure 1), for a motor graderwhich has a mold board (4) and means (8)to adjust the mold board for vertical elevation, side shift, and rotary position about vertical and horizontal axes, is mounted behind and parallel to the mold board and has independent adjustment and control means (28, 29) for side shift and vertical positioning of the broom relative to the mold board. Sensors are used to signal automatic shifting of the broom vertically or in side shift to avoid interference with the motor grader structure as well as obstacles in the path of the broom. The downward pressure of the broom is controlled by the proportional lift applied thereto by a hydraulic lift means.
摘要翻译：用于具有模板（4）的马达平地机的旋转扫帚附件（2）和用于调整垂直和垂直轴线的垂直高度，侧移和旋转位置的模板的装置（8），并且平行于模板，并具有用于扫帚相对于模板的侧移和垂直定位的独立调节和控制装置（28,29）。传感器用于信号自动移动扫帚垂直或侧向移动，以避免与自动平地机结构的干扰以及笤帚路径中的障碍物。扫帚的向下压力由通过液压提升装置施加到其上的比例升力来控制。

15. 发明授权

EP3214227B1 CONTROL SYSTEM FOR LOADING MACHINE AND CONTROL METHOD FOR LOADING MACHINE 有权
公开(公告)号：EP3214227B1
公开(公告)日：2018-12-12
申请号：EP16840286.5
申请日：2016-10-28
申请人： Komatsu Ltd.
发明人： IMAIZUMI, Masaaki , HIRABAYASHI, Ken , KOUSUGE, Satoshi
IPC分类号： E02F3/43 , E02F9/26 , E02F3/34 , E02F3/84 , E02F9/08 , E02F9/20
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.

16. 发明公开

EP2542726A4 AN APPARATUS AND A METHOD FOR HEIGHT CONTROL FOR A DOZER BLADE 有权转让
标题翻译：装置和方法用于挖掘机铲高度控制
公开(公告)号：EP2542726A4
公开(公告)日：2017-03-22
申请号：EP11750214
申请日：2011-03-05
申请人： MIKROFYN AS
发明人： JØRGENSEN CLAUS , KJAEGAARD LARS
IPC分类号： E02F3/84 , E02F9/26 , G01C19/02 , G05B11/42 , G05B13/02
CPC分类号： E02F3/845 , E02F3/7609 , E02F3/847 , E02F9/265
摘要： Automatic height control of a dozer blade, the input from the slow absolute height sensor is combined with an input from a gyroscope that measures the instant rotation and recalculates it into a vertical height change using the length of the supporting arms. The combination obtains the accuracy of the absolute height information and an increased speed of measurement resulting in a compensated height estimate that is input to a hydraulic control system of the feedback type. This enables much more aggressive control even though the hydraulic system has an unknown linearity and delay associated with it. The gyroscopic sensor forms an IMU with one degree of freedom to compensate for drawbacks of the absolute height sensor with regard to delay, noise and update rate to obtain a frequent, time-correct height position with a reduced level of noise by means of a calculation based on both types of sensor output.

17. 发明公开

EP2686491A1 AUTOMATIC BLADE SLOPE CONTROL SYSTEM FOR AN EARTH MOVING MACHINE 有权
标题翻译：自动桨距控制系统及土方
公开(公告)号：EP2686491A1
公开(公告)日：2014-01-22
申请号：EP11746053.5
申请日：2011-08-12
申请人： Topcon Positioning Systems, Inc.
发明人： KONNO, Hiroyuki , BRABEC, Vernon, Joseph , GRAHAM, Renard, Tomas
IPC分类号： E02F3/84 , E01C19/00
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.

18. 发明公开

EP2612167A1 AUTOMATIC BLADE CONTROL SYSTEM DURING A PERIOD OF A GLOBAL NAVIGATION SATELLITE SYSTEM REAL-TIME KINEMATIC MODE SYSTEM OUTAGE 审中-公开
标题翻译：自动控制系统停机时间全球导航卫星系统的实时动态模式时
公开(公告)号：EP2612167A1
公开(公告)日：2013-07-10
申请号：EP11763766.0
申请日：2011-08-16
申请人： Topcon Positioning Systems, Inc.
发明人： OMELCHENKO, Alexander, N. , ZHDANOV, Alexey, V.
IPC分类号： G01S19/25 , G01C21/16
CPC分类号： G01S19/55 , E02F3/845 , E02F3/847 , G01C21/165 , G01S19/14 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0202
摘要： For precision grading of terrain by a dozer, the dozer blade can be automatically controlled based on measurements from a combination of a global navigation satellite system real-time kinematic mode (GNSS RTK) system and inertial sensors. At least one GNSS sensor and at least one inertial sensor are mounted on the dozer. Control algorithms are based on blade elevation and blade slope angle. During a period of GNSS RTK system outage, control of blade elevation is not available. Blade control is maintained by switching to control algorithms based on blade slope angle and blade pitch angle. Blade slope angle and blade pitch angle are controlled based on extrapolated target values of blade slope angle and blade pitch angle. The extrapolated target values of the angles are extrapolated from target values of the angles prior to the GNSS RTK system outage with the use of a distance travelled by the dozer.
摘要翻译：对于由推土机地形的精确分级，推土铲可以是基于从全球导航卫星系统的实时动态模式（GNSS RTK）系统和惯性传感器的组合测量自动控制。至少一个GNSS传感器和至少一个惯性传感器被安装在推土机。控制算法是基于叶片高度和叶片倾斜角。期间GNSS RTK系统停运，叶片高度的控制是不可用的。叶片控制通过切换基于叶片倾斜角和叶片桨距角控制算法保持。叶片的倾斜角和叶片桨距角是基于叶片倾斜角和叶片桨距角的外推目标值控制。的角度的外推目标值是从角的目标值之前的GNSS RTK系统中断与使用由推土机行进的距离的外推。

19. 发明公开

EP2578754A2 Dual cylinders for effecting tilt and pitch functions of a dozer blade 审中-公开
标题翻译： Doppelzylinder zur Bewirkung der Neigungs- und Spitzenfunktionen einer Baggerschaufel
公开(公告)号：EP2578754A2
公开(公告)日：2013-04-10
申请号：EP12187472.1
申请日：2012-10-05
申请人： DEERE & COMPANY
发明人： Sulzer, Bryan D
IPC分类号： E02F3/76 , E02F3/84
CPC分类号： E02F3/845 , E02F3/7618
摘要： A blade 50 of a work vehicle 10 is coupled to the forward ends of right and left push-beams 32, 34 of a push frame 30 for having the blade pitch adjusted about a transverse axis 66 defined by pivotal connections of the blade 50 with the push-beams 32, 34; and right and left push-beam cylinders 68, 70 are provided between the push-beams 32, 34 and blade 50 for effecting pitch adjustments and for effecting tilt adjustments of the blade 50 about a longitudinal axis 80 located midway between the push-beams 32, 34. The push frame 30 is mounted for pivoting vertically about a second transverse axis 40 so as to adjust the height of the blade 50, with a pair of lift cylinders 82 being coupled between the work vehicle 10 and the blade 50 for effecting this adjustment. An electro-hydraulic control system 100 including an electronic controller 130 is provided for effecting individual or simultaneous control of the push-beam cylinders 68, 70 for effecting blade tilt and pitch adjustments in accordance with operator inputs, with position feedback being provided by cylinder position sensors 140, 142, 144, 146.
摘要翻译：工作车辆10的叶片50联接到推框30的左右推梁32,34的前端，用于使叶片间距围绕由叶片50的枢轴连接限定的横轴66调节，推梁32,34; 并且在推梁32,34和叶片50之间设置有左右推杆气缸68,70，用于进行俯仰调节，并且用于实现叶片50围绕位于推梁32之间的纵向轴线80的倾斜调节推动框架30安装成围绕第二横向轴线40垂直地枢转，以便调整叶片50的高度，一对提升缸82联接在作业车辆10和叶片50之间，以实现该作用调整。提供了包括电子控制器130的电动液压控制系统100，用于实现单独或同时控制推动梁气缸68,70，以根据操作员输入进行叶片倾斜和俯仰调整，其中位置反馈由气缸位置传感器140,142,144,146。

20. 发明公开

EP2539516A2 SYSTEM AND METHOD FOR DETERMINING A POSITION ON AN IMPLEMENT RELATIVE TO A REFERENCE POSITION ON A MACHINE 审中-公开
标题翻译： SYSTEM AND METHOD FOR确定工具的位置相对于一个参考点上的机
公开(公告)号：EP2539516A2
公开(公告)日：2013-01-02
申请号：EP11747917.0
申请日：2011-02-22
申请人： Caterpillar, Inc.
发明人： KINGDON, Ryan, A. , DISHMAN, Eric, J. , KRAUSE, Steven, R.
IPC分类号： E02F9/20 , E02F9/02
CPC分类号： E02F3/845 , E02F3/431 , E02F3/435 , E02F3/847
摘要： The disclosure describes, in one aspect, a method for determining a position on a machine relative to a reference position on the machine. The method includes determining the reference position in a coordinate system, determining a first desired position on the machine in the coordinate system, and determining the first desired position relative to the reference position. The method further includes updating a control system using the first relative desired position.

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