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1. 发明公开

EP3158134A4 ESTIMATION WITH GYROS OF THE RELATIVE ATTITUDE BETWEEN A VEHICLE BODY AND AN IMPLEMENT OPERABLY COUPLED TO THE VEHICLE BODY 有权转让
公开(公告)号：EP3158134A4
公开(公告)日：2018-02-28
申请号：EP14895694
申请日：2014-06-23
申请人： LLC TOPCON POSITIONING SYSTEMS
发明人： KOSAREV ALEXEY ANDREEVICH
IPC分类号： E02F3/84 , G01C19/5776
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.

2. 发明公开

EP3126785A4 AUTOMATIC IDENTIFICATION OF SENSORS 有权转让
公开(公告)号：EP3126785A4
公开(公告)日：2017-11-29
申请号：EP14887729
申请日：2014-03-31
申请人： LLC TOPCON POSITIONING SYSTEMS
发明人： ZABEGAEV ANDREY NIKOLAEVICH
IPC分类号： G01D21/02
CPC分类号： G01D21/02 , E02F3/845 , G01C19/56 , G01P15/00 , G01P15/02 , G01P21/00
摘要： Disclosed is a method for mapping network identifiers to a set of sensor modules that measure a three-dimensional action vector and that are sensitive to orientation in three-dimensional space. Each sensor module is mounted at a different position on a machine such that the orientation of each sensor module is different. The method includes one or two stages. In the first stage, the machine is placed in a stationary state, and measurements of a static action vector from a sensor module identified by a network identifier are correlated with expected measurements from a sensor module having a corresponding orientation and corresponding position. In the second stage, the machine is placed in a dynamic state, and measurements of a dynamic action vector from a sensor module identified by a network identifier are correlated with expected measurements from a sensor module having a corresponding orientation and corresponding position.

3. 发明公开

EP3158134A1 ESTIMATION WITH GYROS OF THE RELATIVE ATTITUDE BETWEEN A VEHICLE BODY AND AN IMPLEMENT OPERABLY COUPLED TO THE VEHICLE BODY 有权转让
标题翻译：之间具有车辆和主体相对位置ROTORS为使用车体耦合ATTACHMENT估计
公开(公告)号：EP3158134A1
公开(公告)日：2017-04-26
申请号：EP14895694.9
申请日：2014-06-23
申请人： LLC "Topcon Positioning Systems"
发明人： KOSAREV, Alexey Andreevich
IPC分类号： E02F3/84 , G01C19/5776
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.
摘要翻译：之间和车身的相对姿势来实现的估计值是从本体角速度测量计算从至少一个主体陀螺接收安装在车体上并从以实现从至少一个接收到的角速度测量执行安装在所述陀螺仪实现。第一系统的状态向量估计对应于第一时刻包括第一相对姿势估计的表示。更新的系统状态向量被计算至少基于在所述第一系统的状态向量估计，主体角速度矢量测量部分，和所述实施角速度矢量测量。第二系统的状态向量估计对应于第二时刻是基于至少部分地基于已更新的系统状态向量和与时间有关的模型系统的一部分的预测。所述第二系统的状态向量估计包括第二相对姿态估计的表示。

4. 发明公开

EP2722445A1 Dispositif de compensation électrique et électronique pour outil multifonction de nivélement et compactage 审中-公开
标题翻译： Elektronische und elektrische KompensationsvorrichtungfürMultifunktionswerkzeug zum Einebnen und Kompaktieren
公开(公告)号：EP2722445A1
公开(公告)日：2014-04-23
申请号：EP13189181.4
申请日：2013-10-17
申请人： Blandin, Yves
发明人： Blandin, Yves
IPC分类号： E02F3/815 , E02F3/96
CPC分类号： E02F3/7631 , E01C19/15 , E01C19/288 , E01C19/405 , E02F3/8155 , E02F3/845 , E02F3/847 , E02F3/962 , E02F3/967
摘要： L'invention concerne les machines de travaux publics comprenant un outil multifonction 6, une poignée 12 commandant les mouvements des divers moyens hydrauliques et électriques, un afficheur 19 des fonctions commandées et des patins vibrants 32 portés par un châssis 37.
Elle a pour objet de fournir des moyens de compensation électrique et électronique améliorant le contrôle d'une opération de nivellement et celui d'une opération de compactage effectuées simultanément avec une seule machine.
A cette fin, la lame de nivellement 22 porte, en hauteur, une cellule 15 de captage d'un rayon laser 16 définissant un plan de nivellement, et, en partie basse, le châssis porte patins 37, ce châssis porte patins 37 portant, avec des vibrateurs 39, un capteur de vibrations 40. Ce capteur est relié à un calculateur 9, également relié à la cellule 15 de captage du rayon laser, à l'afficheur 19, à la poignée multifonction 12 et à des capteurs de course, afin que pouvoir contrôler les opérations de nivellement et de compactage.
摘要翻译：该装置具有包括液压单元（31）的建筑机械（1）和具有承载用于收集激光束（16）的单元（15））的调平叶片（22）的框架。另一个框架（6）通过钩连接到机器上。连杆（21）通过枢轴（23）连接到前框架，并通过球窝接头连接到后框架。前一框架使调平刀片在下部位置和打开位置之间移动，并且后者框架使调平刀片在升高位置和调平和压实位置之间移动。

5. 发明公开

EP2422018A1 MOBILE ARBEITSMASCHINE MIT EINER POSITIONSREGELEINRICHTUNG EINES ARBEITSARMS UND VERFAHREN ZUR POSITIONSREGELUNG EINES ARBEITSARMS EINER MOBILEN ARBEITSMASCHINE 有权
标题翻译：随着对移动机械的作业臂的工作臂位置控制的位置控制装置及方法移动式作业机械
公开(公告)号：EP2422018A1
公开(公告)日：2012-02-29
申请号：EP10713836.4
申请日：2010-04-07
申请人： Robert Bosch GmbH
发明人： GLITZA, Oliver
IPC分类号： E02F3/43 , A01B63/111 , B66F9/20 , G01C19/00
CPC分类号： E02F3/435 , E02F3/844 , E02F3/845 , E02F9/2037 , E02F9/264 , G01C9/00 , G01C9/06
摘要： The invention relates to a mobile working machine (1) comprising a working arm (6) which is mounted in an articulated manner, by a first end, on a revolving superstructure (3) of the working machine (1), and a tool (9) which is mounted in a displaceable manner on a second end of the working arm (6), and said mobile working machine comprises a position control device of a working arm (6). At least one inclination sensor is arranged on the revolving superstructure (3) and at last one inclination sensor is arranged on the working arm (6). Also, at least one rotation rate sensor is arranged on the working arm (6). Said working machine (1) further comprises a calculation unit (17) 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.

6. 发明公开

EP1914352A3 Control and method of control for an earthmoving system 审中-公开
标题翻译：用于Erdbausystem控制和控制方法
公开(公告)号：EP1914352A3
公开(公告)日：2009-07-08
申请号：EP07253870.5
申请日：2007-09-28
申请人： Caterpillar Trimble Control Technologies LLC
发明人： Piekutowski, Richard
IPC分类号： E02F3/84
CPC分类号： E02F3/845 , E02F3/847
摘要： An earthmoving system (100) includes a laser transmitter (102) for transmitting a reference beam of laser light, and a bulldozer (106) having a laser receiver (126) mounted on the bulldozer for sensing the laser light. The earthmoving system further includes a frame (108) and a cutting blade (110) supported by a blade support (112) extending from the frame. The blade support has a pair of hydraulic cylinders (114.114) for raising and lowering the blade in relation to the frame. A gyroscopic position sensor (136) senses rotation of the frame about an axis generally transverse to the bulldozer and passing through the center of gravity (134) of the bulldozer. The control (140) is responsive to the laser receiver and to the gyroscopic orientation sensor, and controls the operation of the cylinders and the position of the cutting blade.

7. 发明公开

EP1264939A1 Sicherheitsabschaltung für tiltbares Räumschild 有权
标题翻译： SicherheitsabschaltungfürtiltbaresRäumschild
公开(公告)号：EP1264939A1
公开(公告)日：2002-12-11
申请号：EP02009401.7
申请日：2002-04-25
申请人： Rheinmetall Landsysteme GmbH
发明人： Wintjen, Jan
IPC分类号： E02F3/76 , E02F3/80 , E02F3/84
CPC分类号： F41H7/02 , E02F3/7618 , E02F3/80 , E02F3/845
摘要： Vorgeschlagen wird eine Sicherheitsabschaltung für die Tilteinrichtung einer Räumschaufelanlage (1) an einem Kettenfahrzeug (17). Der auslösende Wegsensor (13) wird in ein Gelenklager (4) der Räumschaufel geschützt und platzsparend integriert und verhindert mittels Schalterbetätigung, die auf die Steuerung der Hydraulikzylinder einwirkt, das Überschreiten eines maximalen Tiltwinkels (X), der verschieden eingestellt werden kann.
摘要翻译：用作在装甲车辆的鼻子上驱动前刀片的安全装置的装置包括扫描在倾斜轴承（4）的球（10）上延伸的凹槽（11）的路径传感器（13），并且确定当槽在相对于传感器的位置旋转时可能的旋转。传感器启动根据凹槽扫描关闭刀片驱动器的开关。优选特点：倾斜轴承的球体固定在形成前刀片轴承的轴承螺栓（8）上，并且球体径向延伸到螺栓轴线上。

8. 发明公开

EP4431873A1 SENSOR CHAIN FUSION ALGORITHM 审中-公开
公开(公告)号：EP4431873A1
公开(公告)日：2024-09-18
申请号：EP23161566.7
申请日：2023-03-13
申请人： Leica Geosystems Technology A/S
发明人： KEAN, Michael Goulet
IPC分类号： G01C21/16 , E02F3/84 , E02F9/20 , E02F9/26
CPC分类号： G01C21/16 , E02F3/845 , E02F9/264 , E02F9/267
摘要： The invention relates to a computer program product for deriving a heading (512) of an implement (2) of a work vehicle (1). The work vehicle (1) comprises, as independently tracked components, the implement (2), a chassis (4) and an arm (3) connecting the two. For each of the independently tracked components, a respective IMU (52-57) is correspondingly associated, wherein the IMU provides an IMU reference frame of the component representing a measured pose of said component. The computer program product derives, on the basis of the IMU reference frames, internal and external constraints consistent component reference frames. The heading (512) of the implement is derived utilizing the consistent component reference frames.

9. 发明公开

EP2841874A1 ESTIMATION OF THE RELATIVE ATTITUDE AND POSITION BETWEEN A VEHICLE BODY AND AN IMPLEMENT OPERABLY COUPLED TO THE VEHICLE BODY 有权
标题翻译：评估相对方向和位置之间的车辆和身体车身耦合工作器件的制造
公开(公告)号：EP2841874A1
公开(公告)日：2015-03-04
申请号：EP12867757.2
申请日：2012-02-10
申请人： Topcon Positioning Systems, Inc.
发明人： Kosarev, Alexej Andreevich , Zhdanov, Alexej Vladislavovich
IPC分类号： G01B5/24 , E02F3/84
CPC分类号： E02F9/264 , E02F3/845 , G01P15/00 , G05D1/0891
摘要： An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.

10. 发明公开

EP2542726A1 AN APPARATUS AND A METHOD FOR HEIGHT CONTROL FOR A DOZER BLADE 有权转让
标题翻译： VORRICHTUNG UND VERFAHREN ZURHÖHENREGELUNGEINER BAGGERSCHAUFEL
公开(公告)号：EP2542726A1
公开(公告)日：2013-01-09
申请号：EP11750214.6
申请日：2011-03-05
申请人： Mikrofyn A/S
发明人： JØRGENSEN, Claus , KJAEGAARD, Lars
IPC分类号： E02F3/84
CPC分类号： E02F3/845 , E02F3/7609 , E02F3/847 , E02F9/265
摘要： Known systems for automatic height control of a dozer blade (302), which rotates about a line through pivot points (304) for supporting arms (303) when it changes its height use feedback and a reference from an absolute blade height measuring system (306). This only permits a slow operation. According to the invention the input from the slow absolute height sensor (306) is combined with an input from a fast gyroscope (307 or 308) that measures the instant rotation and recalculates it into a vertical height change using the length (309) of the supporting arms as the basis. The combination obtains the accuracy of the infrequent 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 improved height feedback 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 (307 or 308) with one degree of freedom to compensate for the inevitable drawbacks of the absolute height sensor (306) in use 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.
摘要翻译：推土铲刀片的自动高度控制，来自慢绝对高度传感器的输入与来自陀螺仪的输入相结合，该陀螺仪测量瞬间旋转，并使用支撑臂的长度将其重新计算成垂直高度变化。该组合获得绝对高度信息的精度和增加的测量速度，导致输入到反馈类型的液压控制系统的补偿高度估计。即使液压系统具有与之相关的未知线性度和延迟，这也使得能够进行更积极的控制。陀螺传感器形成具有一个自由度的IMU，以补偿绝对高度传感器关于延迟，噪声和更新速率的缺点，以通过计算获得具有降低的噪声水平的频繁的，时间正确的高度位置基于两种类型的传感器输出。

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