CN116635597B - 调节车辆的机具的高度的方法、介质、控制器、车辆 - Google Patents

调节车辆的机具的高度的方法、介质、控制器、车辆 Download PDF

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Publication number
CN116635597B
CN116635597B CN202180076493.5A CN202180076493A CN116635597B CN 116635597 B CN116635597 B CN 116635597B CN 202180076493 A CN202180076493 A CN 202180076493A CN 116635597 B CN116635597 B CN 116635597B
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China
Prior art keywords
terrain
vehicle
implement
determined
estimated
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CN202180076493.5A
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English (en)
Chinese (zh)
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CN116635597A (zh
Inventor
谢哈布·卡兰塔尔
德米特罗·波普拉夫斯基
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Topcon Positioning Systems Inc
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Topcon Positioning Systems Inc
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
CN202180076493.5A 2020-12-17 2021-10-08 调节车辆的机具的高度的方法、介质、控制器、车辆 Active CN116635597B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US17/125,967 US11898321B2 (en) 2020-12-17 2020-12-17 Input shaping for error detection and recovery in dynamically agile grading machines
US17/125,967 2020-12-17
PCT/US2021/071792 WO2022133363A1 (en) 2020-12-17 2021-10-08 Input shaping for error detection and recovery in dynamically agile grading machines

Publications (2)

Publication Number Publication Date
CN116635597A CN116635597A (zh) 2023-08-22
CN116635597B true CN116635597B (zh) 2024-10-11

Family

ID=78622129

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180076493.5A Active CN116635597B (zh) 2020-12-17 2021-10-08 调节车辆的机具的高度的方法、介质、控制器、车辆

Country Status (5)

Country Link
US (1) US11898321B2 (https=)
EP (1) EP4263955A1 (https=)
JP (1) JP7794832B2 (https=)
CN (1) CN116635597B (https=)
WO (1) WO2022133363A1 (https=)

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JP2022184017A (ja) * 2021-05-31 2022-12-13 株式会社小松製作所 作業機械、及び作業機械を制御するための方法
US11834813B2 (en) * 2021-07-09 2023-12-05 Topcon Positioning Systems, Inc. IMU based system for vertical axis joint angle estimation for swing boom excavators
CN117378353B (zh) * 2022-07-04 2026-02-27 长安大学 一种用于刀具高度自适应调整的地形感知装置和调控方法
US12291840B2 (en) * 2023-01-25 2025-05-06 Deere &Company System and method of automated setting of elevation reference for continuous grade control
US12503836B2 (en) 2023-08-08 2025-12-23 AIM Intelligent Machines, Inc. Bulldozer planning and control
US20250084613A1 (en) * 2023-09-08 2025-03-13 AIM Intelligent Machines, Inc. Methods and systems for controlling earth-moving vehicle operated by artificial intelligence

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CN106436791A (zh) * 2015-08-06 2017-02-22 凯斯纽荷兰(中国)管理有限公司 具有改进的器具位置控制和自找平功能的作业车辆
CN109101032A (zh) * 2017-06-21 2018-12-28 卡特彼勒公司 用于利用传感器融合来控制机器姿态的系统和方法

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JP2004286724A (ja) * 2003-01-27 2004-10-14 Denso Corp 車両挙動検出装置、車載処理システム、検出情報較正装置及び車載処理装置
US6904979B1 (en) * 2003-09-16 2005-06-14 Sekely Industries, Inc. Towable earth working apparatus having adjustable wheel height
US20130103247A1 (en) 2010-06-23 2013-04-25 Doosan Infracore Co., Ltd. Apparatus and Method for Controlling Work Trajectory of Construction Equipment
US8770612B2 (en) * 2012-04-19 2014-07-08 Cnh Industrial America Llc Automatic tractor hitch system for trailing implements
US20140019015A1 (en) 2012-07-16 2014-01-16 Flanders Electric Motor Service, Inc. Payload management system
US9458600B2 (en) * 2013-05-15 2016-10-04 Deere & Company Method for controlling an implement associated with a vehicle
WO2015199570A1 (en) * 2014-06-23 2015-12-30 Llc "Topcon Positioning Systems" Estimation with gyros of the relative attitude between a vehicle body and an implement operably coupled to the vehicle body
US11783248B2 (en) * 2015-06-23 2023-10-10 Komatsu Ltd. United states construction management system and method
US10494789B2 (en) * 2016-01-06 2019-12-03 Cnh Industrial America Llc System and method for autonomous steering control of work vehicles
US10066367B1 (en) * 2016-06-20 2018-09-04 Robo Industries, Inc. System for determining autonomous adjustments to an implement position and angle
JP2018021345A (ja) 2016-08-02 2018-02-08 株式会社小松製作所 作業車両の制御システム、制御方法、及び作業車両
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WO2018179383A1 (ja) * 2017-03-31 2018-10-04 株式会社小松製作所 作業車両の制御システム、及び作業機の軌跡設定方法
JP6553702B2 (ja) * 2017-12-05 2019-07-31 株式会社小松製作所 作業機械の制御システム、作業機械、作業機械の制御方法及びナビゲーションコントローラ
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JP7094785B2 (ja) * 2018-06-12 2022-07-04 株式会社小松製作所 作業車両の制御システム、方法、及び作業車両
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CN109101032A (zh) * 2017-06-21 2018-12-28 卡特彼勒公司 用于利用传感器融合来控制机器姿态的系统和方法

Also Published As

Publication number Publication date
EP4263955A1 (en) 2023-10-25
JP2024500130A (ja) 2024-01-04
US20220195693A1 (en) 2022-06-23
WO2022133363A1 (en) 2022-06-23
US11898321B2 (en) 2024-02-13
JP7794832B2 (ja) 2026-01-06
CN116635597A (zh) 2023-08-22

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