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1. 发明授权

US6085130A Method and apparatus for selecting a transition scheme for use in transitioning a mobile machine from a first path to a second path 失效
标题翻译：用于选择用于将移动机器从第一路径转换到第二路径的转换方案的方法和装置
公开(公告)号：US6085130A
公开(公告)日：2000-07-04
申请号：US120758
申请日：1998-07-22
申请人： Everett G. Brandt , Robert J. McGee , Brian D. Rockwood
发明人： Everett G. Brandt , Robert J. McGee , Brian D. Rockwood
IPC分类号： G05D1/02 , G06F165/00
CPC分类号： G05D1/0278 , G05D2201/0202 , G05D2201/0208
摘要： In one embodiment of the present invention, a method for transitioning a mobile machine from a first path to a second path within a work area includes selecting from among one or more transition schemes, wherein the transitions schemes are composed of one or more interim paths between the first path and the second path. The desired transition scheme is chosen by evaluating one or more performance criteria including whether the interim paths overshoot the second path and whether the interim paths remain within a perimeter surrounding the work area. Additional performance criteria that may be evaluated include the number of interim paths the mobile machine must follow to transition from the end of the first path to the beginning of the second path, the number of heading changes required by the candidate transition scheme, and the amount of the first path and the second path that is traversed by the mobile machine as a result of the candidate transition scheme. A validity grade is determined based on the performance criteria, and the transition scheme having the optimum validity grade is selected. Determining the validity grade may also include using weighting factors on the performance criteria.
摘要翻译：在本发明的一个实施例中，一种用于将移动机器从工作区域内的第一路径转换到第二路径的方法包括从一个或多个转换方案中进行选择，其中转换方案由一个或多个中间路径组成，第一条路径和第二条路径。通过评估一个或多个性能标准来选择所需的转移方案，包括中间路径是否超过第二路径以及临时路径是否保持在工作区周围的周边内。可以评估的额外的性能标准包括移动机器必须遵循的从第一路径的结束到第二条路径的开始的过渡路径的数量，候选过渡方案所需的标题变化的数量以及数量由候选转移方案的结果由移动机器遍历的第一路径和第二路径。根据性能标准确定有效等级，并选择具有最佳有效等级的转换方案。确定有效性等级还可以包括对性能标准使用加权因子。

2. 发明授权

US6088644A Method and apparatus for determining a path to be traversed by a mobile machine 失效
标题翻译：用于确定由移动机器穿过的路径的方法和装置
公开(公告)号：US6088644A
公开(公告)日：2000-07-11
申请号：US133000
申请日：1998-08-12
申请人： Everett G. Brandt , Robert J. McGee , Brian D. Rockwood
发明人： Everett G. Brandt , Robert J. McGee , Brian D. Rockwood
IPC分类号： E01C19/00 , E01C19/26 , E02F3/84 , E02F9/20 , G01C21/00 , G05D1/02 , G06F19/00
CPC分类号： E02F9/2045 , E01C19/004 , E02F3/842 , E02F3/847 , G05D1/0278 , G05D1/0236 , G05D1/0257 , G05D1/027 , G05D2201/0202 , G05D2201/0208
摘要： In one embodiment of the present invention, an apparatus and method for determining a path or series of paths at a work site for a mobile machine capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's heading. The width of the rows is based on the width of the path worked by one or more of the machine's work implements. The work site is bounded by three or more corner points and the perimeter of the work site is defined by boundary lines connecting the corner points. A first line substantially perpendicular to the machine's heading is calculated starting at an initial corner point and ending at a terminal point along the line having a distance approximately equal to the width of the path. A second line parallel to the machine's heading and passing through the terminal point is determined. The points of intersection of the second line with the boundary lines are calculated and stored as end points of a first path. Endpoints of successive paths are found in a similar manner by incrementing the distance along the parallel line by the width of the work path.
摘要翻译：在本发明的一个实施例中，提供了一种用于确定能够自主或半自主地运行的移动机器的工作现场路径或路径系列的装置和方法。本发明确定基本上平行于机器的航向的一系列行。行的宽度基于由一个或多个机器的工作工具工作的路径的宽度。工作场所由三个或更多角点限定，工作现场的周长由连接角点的边界线定义。从初始角点开始计算基本上垂直于机器航向的第一行，并且沿着具有近似等于路径宽度的距离的终点终止。确定与机器标题平行并通过终点的第二条线。计算第二行与边界线的交点，并将其存储为第一路径的端点。通过将沿平行线的距离增加工作路径的宽度，以相似的方式发现连续路径的端点。

3. 发明授权

US06374153B1 Apparatus and method for providing coordinated control of a work implement 失效
标题翻译：提供工作工具的协调控制的装置和方法
公开(公告)号：US06374153B1
公开(公告)日：2002-04-16
申请号：US09282986
申请日：1999-03-31
申请人： Everett G. Brandt , Brian D. Rockwood
发明人： Everett G. Brandt , Brian D. Rockwood
IPC分类号： G06F1900
CPC分类号： B66F9/0655 , B66F9/24 , E02F3/431 , E02F9/24
摘要： An apparatus and method for providing coordinated control of a work implement of a work machine. The implement includes a boom having a first end portion and a second end portion, with the first end portion pivotally connected to the frame and the second end portion pivotally connected to a load-engaging member. The apparatus includes a position sensor adapted for providing a position signal, and an input device adapted for delivering a desired velocity signal indicative of the desired velocity of the load-engaging member. The desired velocity includes a desired angular velocity and a desired linear velocity. The apparatus receives the position signal and the desired velocity signal, and determines an actual path of travel of the load-engaging member, and a desired path of travel of the load-engaging member. The apparatus further modifies the desired angular velocity and the desired linear velocity in response to a deviation between the actual and desired paths of travel.
摘要翻译：一种用于提供工作机械的工作机构的协调控制的装置和方法。该工具包括具有第一端部和第二端部的臂，其中第一端部可枢转地连接到框架，而第二端部枢转地连接到负载接合构件。该装置包括适于提供位置信号的位置传感器和适于输送指示负载接合构件的期望速度的期望速度信号的输入装置。期望的速度包括期望的角速度和期望的线速度。该装置接收位置信号和期望的速度信号，并且确定负载接合构件的实际行进路径和负载接合构件的期望的行进路径。该装置还响应于实际和期望的行进路径之间的偏差进一步修改期望的角速度和期望的线速度。

4. 发明授权

US06473679B1 Angular velocity control and associated method for a boom of a machine 失效
标题翻译：角速度控制及机器吊杆的相关方法
公开(公告)号：US06473679B1
公开(公告)日：2002-10-29
申请号：US09459160
申请日：1999-12-10
申请人： Stephen T. Tady , Brian D. Rockwood , Everett G. Brandt
发明人： Stephen T. Tady , Brian D. Rockwood , Everett G. Brandt
IPC分类号： G06F700
CPC分类号： B66F9/0755 , B66F9/0655 , B66F9/24
摘要： An angular velocity control for a boom of a machine is disclosed and a method for controlling the angular velocity of a boom of a machine. The angular velocity control includes a calculator that detects input signals from an operator control lever, a boom angle sensor, a cylinder length sensor, a chassis cant sensor, and a chassis tilt sensor. Movement of the operator control lever allows an operator to pre-select a desired angular velocity. Based on the geometry of the boom to the machine the calculator calculates a boom gain associated with the current boom angle. The calculator then calculates a necessary cylinder velocity to achieve the desired angular velocity. The calculator sends a control signal to an electrohydraulic control module which in turn sends a signal to an electrohydraulic valve associated with a boom lift cylinder. The electrohydraulic valve alters the flow rate of hydraulic fluid into or out of the boom lift cylinder to produce a cylinder velocity that in turn produces the desired angular velocity of the boom.
摘要翻译：公开了一种用于机器的起重臂的角速度控制，以及用于控制机器的起重臂的角速度的方法。角速度控制包括计算器，其检测来自操作员控制杆的输入信号，起重臂角度传感器，气缸长度传感器，底盘倾斜传感器和底盘倾斜传感器。操作者控制杆的移动允许操作者预先选择所需的角速度。根据起重臂到机器的几何形状，计算器计算与当前起重臂角度相关的起重臂增益。然后，计算器计算必要的气缸速度以获得所需的角速度。计算器将控制信号发送到电动液压控制模块，该电液控制模块又将信号发送到与动臂提升缸相连的电动液压阀。电液阀改变液压流体进入或离开起重臂提升缸的流量，以产生气缸速度，该气缸速度又产生起重臂所需的角速度。

5. 发明授权

US06434437B1 Boom extension and boom angle control for a machine 失效
标题翻译：机器延伸臂和吊臂角度控制
公开(公告)号：US06434437B1
公开(公告)日：2002-08-13
申请号：US09453243
申请日：1999-12-02
申请人： Everett G. Brandt , Brian D. Rockwood , Stephen T. Tady
发明人： Everett G. Brandt , Brian D. Rockwood , Stephen T. Tady
IPC分类号： B66F924
CPC分类号： B66C13/18 , B66F9/0655 , B66F9/20
摘要： A boom control apparatus and method are disclosed for controlling a boom of a machine. The boom control apparatus includes a boom angle sensor, a boom length sensor, a chassis pitch angle sensor, a chassis roll angle sensor, and a control lever. All of the sensors generate signals associated with the values of their measured parameters. Movement of the control lever along a first axis generates a first pivot velocity signal for a desired pivot velocity of the boom. Movement of the control lever along a second axis generates a first telescoping velocity signal for a desired telescoping velocity of the boom. An electrohydraulic control module detects the signals from the sensors and the control lever. The electrohydraulic control module generates a second pivot velocity signal or a second telescoping velocity signal. The second signals are directly proportional to the first signals and inversely proportional to the signals generated by the sensors. The electrohydraulic control module sends the second signals to an electrohydraulic valve associated either with a boom lift cylinder or a boom telescoping cylinder to effect the desired pivot or telescoping velocity. Thus, the present invention allows for more precise control of the end of a boom when the boom is either extended or elevated.
摘要翻译：公开了一种用于控制机器的起重臂的起重臂控制装置和方法。动臂控制装置包括起重臂角度传感器，动臂长度传感器，底盘俯仰角传感器，底盘侧倾角传感器和控制杆。所有传感器产生与其测量参数值相关的信号。控制杆沿着第一轴的移动产生用于悬臂的期望枢转速度的第一枢转速度信号。控制杆沿着第二轴线的移动产生第一伸缩速度信号，用于所需起重臂的伸缩速度。电液控制模块检测来自传感器和控制杆的信号。电液控制模块产生第二枢转速度信号或第二伸缩速度信号。第二个信号与第一个信号成正比，与传感器产生的信号成反比。电动液压控制模块将第二信号发送到与动臂提升缸或吊臂伸缩缸相关联的电液阀，以实现期望的枢轴或伸缩速度。因此，当悬臂伸长或升高时，本发明允许更为精确地控制起重臂的端部。

6. 发明授权

US06282891B1 Method and system for controlling fluid flow in an electrohydraulic system having multiple hydraulic circuits 有权
标题翻译：用于控制具有多个液压回路的电动液压系统中的流体流动的方法和系统
公开(公告)号：US06282891B1
公开(公告)日：2001-09-04
申请号：US09421185
申请日：1999-10-19
申请人： Brian D. Rockwood
发明人： Brian D. Rockwood
IPC分类号： F16D3102
CPC分类号： F15B11/163 , F15B21/087 , F15B2211/3057 , F15B2211/327 , F15B2211/6336 , F15B2211/6654 , F15B2211/7142 , F15B2211/78
摘要： A method and system for controlling fluid flow from a hydraulic fluid supply via a single hydraulic pump in an electrohydraulic system having multiple hydraulic cylinders connected to the hydraulic pump and corresponding work implements includes input devices for generating input signals representative of a desired amount of movement of at least two of the work implements. A controller, coupled to the input devices and the cylinders, determines a scaling factor for each of the hydraulic circuits associated with each of the cylinders for compensating the hydraulic circuit for receiving less than maximum fluid flow from the pump. The controller also determines a desired percentage of fluid flow to each of the hydraulic circuits based on the desired amount of movement of the work implements and the corresponding scaling factors and controls the fluid flow from the fluid supply to each of the hydraulic circuits based on the desired percentages of fluid flow to allow for maximum fluid flow to each of the hydraulic circuits.
摘要翻译：一种用于在具有连接到液压泵的多个液压缸和相应的工作装置的电动液压系统中经由单个液压泵控制来自液压流体供应的流体流动的方法和系统包括用于产生代表所需量的运动的输入信号的输入装置至少有两个工具。耦合到输入装置和气缸的控制器确定与每个气缸相关联的每个液压回路的比例因子，用于补偿液压回路以接收来自泵的最小流体流量。控制器还基于工作装置的期望的运动量和相应的缩放因子来确定流向每个液压回路的流体流量的百分比，并且基于该液压回路控制从流体供应到每个液压回路的流体流量流体流量的所需百分比，以允许最大流体流向每个液压回路。

7. 发明授权

US06374147B1 Apparatus and method for providing coordinated control of a work implement 有权
标题翻译：提供工作工具的协调控制的装置和方法
公开(公告)号：US06374147B1
公开(公告)日：2002-04-16
申请号：US09282111
申请日：1999-03-31
申请人： Brian D. Rockwood
发明人： Brian D. Rockwood
IPC分类号： G05B1132
CPC分类号： B66F9/0655 , E02F3/432
摘要： An apparatus and method for providing coordinated control of a work implement of a work machine. The implement includes a boom having a first end portion and a second end portion, with the first end portion pivotally connected to the frame and the second end portion pivotally connected to a load-engaging member. The apparatus includes a boom position sensor adapted for providing a boom position signal, and an input device adapted for delivering a desired boom velocity signal indicative of the desired velocity of the boom. The desired velocity of the boom includes a desired angular velocity and a desired linear velocity. The apparatus receives the boom position signal and the desired boom velocity signal, and determines an actual velocity of the boom as a function of the boom position signal. The apparatus also compares the actual velocity of the boom and the desired velocity of the boom, and modifies the desired angular velocity and the desired linear velocity in response to a difference between the desired and actual velocities of the boom.
摘要翻译：一种用于提供工作机械的工作机构的协调控制的装置和方法。该工具包括具有第一端部和第二端部的臂，其中第一端部可枢转地连接到框架，而第二端部枢转地连接到负载接合构件。该装置包括适于提供起重臂位置信号的起重臂位置传感器和适于传送指示悬臂的期望速度的所需起重臂速度信号的输入装置。悬臂的期望速度包括期望的角速度和期望的线速度。该装置接收起重臂位置信号和所需的起重臂速度信号，并且根据起重臂位置信号确定起重臂的实际速度。该装置还将起重臂的实际速度和悬臂的期望速度进行比较，并响应于悬臂的期望速度和实际速度之间的差异来修改期望的角速度和期望的线速度。

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