EP1246973B1 - Mobile arbeitsmaschine mit vorrichtung zur lageregelung von arbeitseinrichtungen und verfahren zur lageregelung - Google Patents
Mobile arbeitsmaschine mit vorrichtung zur lageregelung von arbeitseinrichtungen und verfahren zur lageregelung Download PDFInfo
- Publication number
- EP1246973B1 EP1246973B1 EP00991646A EP00991646A EP1246973B1 EP 1246973 B1 EP1246973 B1 EP 1246973B1 EP 00991646 A EP00991646 A EP 00991646A EP 00991646 A EP00991646 A EP 00991646A EP 1246973 B1 EP1246973 B1 EP 1246973B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- angle
- mechanical equipment
- mobile mechanical
- plane
- gravitational force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
- E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
-
- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
- E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
Definitions
- the invention relates to a mobile machine with a device for position control Work equipment of the mobile work machine and a Position control method for mobile work equipment Working machine.
- DE 197 52 439 A1 describes a micromechanical device Tilt sensor, especially for motor vehicles, as such known, which has a support plate, the inclination is determined to the horizontal. Furthermore, there are at least two pressure sensor units integrated on the carrier plate Determination of one on the carrier plate at the respective Dots applied pressure provided. A ground plate is with the carrier plate over the pressure sensor units connected. From those produced by the pressure sensor units An evaluation unit determines the inclination of the data Carrier plate to the horizontal. The mass plate exercises here after tilting the device into which the tilt sensor built-in, a different force on the respective pressure sensor unit. To measure the Tilt angle must be at least two pressure sensors be provided. These are described in DE 197 52 439 A1 Piezoresistive pressure transducers.
- the Device for position control includes a measuring device Position sensors for measuring an angle, which between one by the location of the work facility certain plane and the direction of gravitational force is formed, an angle encoder for specifying an angle, which between one by the location of the work facility certain plane and the direction of gravitational force is formed, and a control device for controlling the Angle between the plane of the work equipment and the Direction of gravity so that the measured angle with is brought into line with the predetermined angle.
- a device for level control in a harbor crane is known from DE 39 38 766 A1.
- Control valve with one in its position by gravity fixed pendulum as an actuator in mechanical control connection is known from DE 39 38 766 A1.
- DE 39 38 766 A1 uses this measure Loading and unloading crane, which is particularly suitable for loading and unloading Unloading of ships is appropriate, so oriented that Raising and lowering the crane boom is a find located on it Discharge device in a fixed position relative remains for the rest of the construction.
- a disadvantage of the known from DE 39 38 766 A1 Level control is particularly one-dimensional Execution.
- the device preferably for The device is sufficient for ships, for mobile Working machines such as B. earthmoving machines, which preferably on construction sites and therefore on uneven Moving underground is a one-dimensional position correction however not sufficient.
- the object of the present invention is therefore a mobile work machine with a contraption for position control of work equipment of the mobile work machine and a method for position control for Work equipment of the mobile work machine to create, making the work facilities both in in several directions as well as on the traffic surface reliable according to the position of the machine can be adjusted without being in uneven terrain Charge loss occurs.
- the invention is based on the knowledge that the Alignment of a mobile work facility Work machine not alone or immobile when shooting material, but especially when Transport of the picked up material to the site Avoiding charge loss is important. Accordingly, a device designed for this purpose is suitable for alignment with respect to Gravitational force defined plane and in a allow a satisfactorily short time.
- the Mobile work machine according to the invention with the Device or the corresponding The method provides an arrangement which Position correction with respect to gravitational force and possibly allows inverse acceleration force vertical plane.
- the arrangement is simple to manufacture and easy to use commercially available sensors.
- the arrangement is both for execution in one Suitable for spatial direction as well as in two spatial directions.
- Position correction in the longitudinal and transverse directions advantageous. at In a particularly preferred embodiment, the through the normal runtime induced natural vibrations and their multiples eliminated.
- the predetermined angle is particularly preferred in this way set that by the location of the work facility defined plane perpendicular to the resultant Gravitational force and inverse acceleration force stands.
- the circuit comprises a first sensor 1, which measures a first angle in a first spatial direction, hereinafter referred to as x. This first angle is referred to below as ⁇ x .
- a second sensor 2 accordingly measures a second angle in a second spatial direction y. The second angle is referred to below as ⁇ y.
- the measured angles ⁇ X and ⁇ Y are obtained via a first comparator 3 and a second comparator 4 with an angle ⁇ x 'for the spatial direction x and ⁇ y ' for the spatial direction y, which angle can be determined by an angle transmitter 5 and which can be 90 °, for example , compared.
- the comparators 3 and 4 form a comparison device 6.
- the angle transmitter 5 can either provide a fixed predetermined angle or an angle ⁇ x 'or ⁇ y ' which can be adjusted manually using a manual control transmitter 5a.
- the signal in the x-direction passes through a first bandstopper 7 after the first comparator 3, the signal in the y-direction after the second comparator 4 passes through a second bandstopper 8.
- the bandstopper 7 and 8 have the purpose that ⁇ in the system due to the control run Eliminate the natural vibration f R and, if necessary, their multiples 2 f R , 3 f R , ..., so that the dynamic behavior of the system remains controllable and no resonances occur.
- the signal After passing through the bandstop 7, the signal is in the x direction amplified by a first amplifier 9 so as to to be able to control a first electromagnet 10.
- the first electromagnet 10 is used to actuate a first Control valve 11 required, which in turn a first hydraulic control element 12 for position correction in the controls first spatial direction x. Accordingly it will Signal in the y direction after passing through the bandstop 8 a second amplifier 13 amplified by a second Electromagnet 14 and thus a second control valve 15 head for.
- the second control valve 15 actuates a second one hydraulic actuator 16. This will Work facility in the second spatial direction y aligned.
- the position control is carried out until the comparators 3 and 4 determine no difference between the measured angle ⁇ x or ⁇ Y and the preset angle a x 'or a y '.
- the differences ⁇ x '- ⁇ x and ⁇ y ' - ⁇ y become almost zero in terms of amount or are at least below a value that can still be tolerated for an angular deviation ⁇ , for example ⁇ 3 °.
- Fig. 2 shows a second embodiment of a Device for position control for Work equipment of the mobile work machine according to the invention.
- Components that have already been described in Fig. 1 are the same Reference numerals and are not in the following described again. While in Fig. 1 it is a Embodiment is in analog technology, that is in Fig. 2 illustrated embodiment in digital technology executed.
- the device shown in Fig. 2 differs of the device shown in Fig. 1 mainly by using a digital control unit 34, which both the function of the band locks? and 8 as well that of the comparison device 6 takes over.
- the comparison device 6 is accordingly constructed as follows:
- the angle ⁇ x output by the sensor 1 is preamplified by a first preamplifier 30 and then by a first analog-digital converter 32 from an analog measured angle value to a digital one which can be processed by a digital control unit 34 Value converted -
- the angle ⁇ y is amplified by a second pre-amplifier 31 and converted into a digital value by a second analog-digital converter 33.
- the predetermined angle ⁇ x 'or ⁇ y ' is determined by the angle transmitter 5 by a third analog -Digital converter 35 also implemented and supplied to the digital control unit 34, which can be designed as a microprocessor.
- the digital control unit 34 is besides comparing the Angle values are also responsible for filtering the signals.
- the filter unit as a digital filter with Bandstop characteristic executed.
- the Band-stop characteristic corresponds to that in FIG. 1 illustrated embodiment, for example, that in Fig. 3A and 3B illustrated second order diqital band-stop filter and is supported by an appropriate program in the Control unit 34 provided.
- the digital control unit 34 has a memory 36 which, for. B. the Possibility offers, the measured and compared data to save and for later external processing to provide.
- the balanced signals from sensors 1 and 2 are shown by a first digital-to-analog converter 37 and a second Digital-to-analog converter 38 to analog signals reconverted.
- the analog signals are through Amplifiers 9 and 13 amplified and the electromagnet 10 and 14 fed.
- the pump 18 and the tank 17 are analogous to the first Exemplary embodiment hydraulic actuators 12 and 16 driven. These then ensure the correct position of the Work facility 41.
- FIG. 3A shows a digital filter which, by means of various delay elements for delaying the sampling values (denoted by z -1 in FIG. 3A) and coefficient elements a 0 , a 1 and a 2 for changing the amplitude of the sampling values, has a bandstop filter with that in FIG. 3B shown resonance frequency f R generated.
- a further digital filter can be provided to filter out the double resonance frequency 2f R.
- FIG. 4A illustrates the prior art.
- the excavator bucket 41 In the lower position of the excavator bucket 41 (left in Image), the excavator bucket 41 is aligned so that a imaginary level 42, which through the overhead opening of the Excavator bucket 41 is placed, always parallel to Surface of the earth.
- Common machines 40 have thereby a lifting mechanism for the work device 41 on which is designed so that the excavator bucket 41 so The level 42 is raised through the opening the excavator bucket 41 is always set remains parallel to the ground.
- a different reference plane 42 ' is proposed for the alignment of the excavator bucket 41.
- an imaginary plane 42 ′ is also defined on the working device 41 of the working machine 40 shown in FIG. 4B through the opening of the excavator bucket 41 located at the top. This is now no longer necessarily parallel to the ground, but always approximately perpendicular to the direction of the gravitational force, marked with the vector g in FIG. 4B. This can be achieved both in the lower and in the upper position of the excavator bucket 41.
- the one-dimensional correction of the Location of the excavator bucket 41 can easily in two directions perpendicular to one another, for example lengthways and transverse to the direction of movement.
- FIG. 5 shows a schematic excavator bucket 41 for this purpose shown in perspective.
- Excavator bucket 41 both transverse to the direction of travel and in Direction of travel can be swung up and down. So at Driving forward on uneven terrain be avoided to the side from the excavator bucket 41.
- FIG. 6 schematically shows a working machine 40 according to the invention when driving through uneven terrain, the position of the working device 41 also being regulated here by its relative position with respect to the gravitational force g .
- the position of the working device 41 also being regulated here by its relative position with respect to the gravitational force g .
- it makes sense to assume a limit value for the angle deviation ⁇ for the angle ⁇ between the plane 42 defined by the excavator bucket 41 and the direction of the gravitational force g , from which point the position control can be omitted.
- a reasonable middle ground is found between an uninterrupted position correction, which requires a lot of energy and can be unfavorable due to the control delay, and charge loss due to a lack of position correction.
- the described filter suppresses resonance peaks that can occur when the control excitation caused by the uneven ground coincides with the resonance frequency f R of the system.
- the plane 42 defined by the orientation of the excavator bucket 41 is oriented perpendicular to the direction of the gravitational force g
- the excavator bucket 41 is shown enlarged in FIG. 7. It is assumed that the mobile work machine 40 is subject to a deceleration due to a braking operation. The decelerating acceleration force b therefore acts on the excavator bucket 41.
- an inverse acceleration force b ' acts in relation to the reference system of the excavator bucket 41 due to the inertia force b' in the inverse direction of the acceleration force b decelerating the excavator bucket 41, ie the acceleration force b ' acting on the bulk material in the reference system of the excavator bucket 41 however, the same amount as the acceleration force b acting on the excavator bucket 41 in the deceleration direction is rotated by 180 °.
- the resultant r from the gravitational force g and the inverse acceleration force b ' therefore acts on the bulk material located in the excavator bucket 41. It is therefore advantageous to regulate the plane 42 by the position control according to the invention so that the plane 42 is perpendicular to the resultant r .
- a further measuring device 29 is provided for measuring the acceleration or deceleration of the mobile working machine 40. The acceleration and deceleration can also be measured separately in the dimensions x and y. While in the embodiment shown in FIG.
- the measuring device 29 for measuring the acceleration is directly connected to the angle transmitter 5 and the angle ⁇ x ′ given by the angle transmitter 5, in the x direction and the angle ⁇ given in the y direction y , overridden, the measuring device 29 for measuring the acceleration in the exemplary embodiment shown in FIG. 2 is connected in digital technology to the control unit 34 via an analog-digital converter 28, which performs a computational correction of the predetermined angles ⁇ x 'and ⁇ y ' depending on the measured acceleration.
- This training ensures that Position control of the excavator bucket or generally Working device 41 is carried out so that bulk goods also a stronger acceleration or deceleration of the mobile Work machine 40 is not lost.
- the invention is not shown on the Embodiments limited, but can also using any work machines different sensors or filter devices be applied.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Description
- Fig. 1
- in einem ersten Schaltbild ein erstes Ausführungsbeispiel der Vorrichtung der erfindungsgemäßen Arbeitsmaschine zur Regelung und Ansteuerung von hydraulischen Stellelementen zur Lageregelung beweglicher Arbeitseinrichtungen der mobilen Arbeitsmaschine;
- Fig. 2
- in einem zweiten Schaltbild ein zweites Ausführungsbeispiel der Vorrichtung der erfindungsgemäßen Arbeitmaschine;
- Fig. 3A-3B
- den prinzipiellen Aufbau einer als Bandsperre 2. Ordnung ausgelegten digitalen Filtereinheit sowie den zugehörigen Amplitudengang;
- Fig. 4A-4B
- in einer vereinfachten Darstellung die Bewegung einer mobilen Arbeitsmaschine im Gelände gemäß dem Stand der Technik sowie einer erfindungsgemäßen mobilen Arbeitsmaschine bei Bewegung im Gelände;
- Fig. 5
- in einer perspektivischen Darstellung ein Beispiel für eine Arbeitseinrichtung einer mobilen Arbeitsmaschine mit den möglichen Schwenkrichtungen;
- Fig. 6
- eine schematische erfindungsgemäße mobile Arbeitsmaschine mit der Vorrichtung zur Lageregelung in unebenem Gelände; und
- Fig. 7
- eine Skizze bezüglich einer die Beschleunigung berücksichtigenden Laderegelung.
Claims (10)
- Mobile Arbeitsmaschine (40) mit einer Vorrichtung zur Lageregelung von Arbeitseinrichtungen (41) der mobilen Arbeitsmaschine (40), mit einer Meßeinrichtung (1, 2) zur Messung eines Winkels (α), welcher zwischen einer durch die Lage der Arbeitseinrichtung (41) bestimmten Ebene (42) und der Richtung der Gravitatiönskraft (g) gebildet ist, einem Winkelgeber (5) zur Vorgabe eines Winkels (α'), welcher zwischen einer durch die Lage der Arbeitseinrichtung (41) bestimmten Ebene (42) und der Richtung der Gravitationskraft (g) gebildet ist, und einer Regeleinrichtung (3, 4, 6 - 16, 6, 34, 36, 9 - 16) zum Regeln des Winkels (α) zwischen der Ebene (42) der Arbeitseinrichtung (41) und der Richtung der Gravitationskraft (g), so daß der gemessene Winkel (α) mit dem vorgegebenen Winkel (α') in Übereinstimmung gebracht wird,
dadurch gekennzeichnet, daß eine weitere Meßeinrichtung (29) zur Messung der Beschleunigung und/oder Verzögerung der mobilen Arbeitsmaschine (40) vorgesehen ist und
daß der vorgegebene Winkel (α') so eingestellt wird, daß sich die durch die Lage der Arbeitseinrichtung (41) bestimmte Ebene (42) senkrecht zu der Resultierenden (r) aus der Gravitationskraft (g) und der gemessenen inversen Beschleunigungskraft (b') erstreckt. - Mobile Arbeitsmaschine nach Anspruch 1,
dadurch gekennzeichnet, daß die Regeleinrichtung (3, 4, 6 - 16; 6, 34, 36, 9 - 16) eine Vergleichseinrichtung (6) zum Vergleichen des gemessenen Winkels (α) mit dem vorgegebenen Winkel (α') und zumindest ein von der Vergleichseinrichtung (6) angesteuertes elektromagnetisches Steuerventil (11, 15), welches auf ein hydraulisches Stellelement (12, 16) einwirkt, aufweist. - Mobile Arbeitsmaschine nach Anspruch 2,
dadurch gekennzeichnet, daß die Vergleichseinrichtung (6) als Komparator (3, 4) ausgeführt ist. - Mobile Arbeitsmaschine nach Anspruch 2,
dadurch gekennzeichnet, daß die Vergleichseinrichtung (6) als digitale Steuereinheit (34, 36) ausgeführt ist. - Mobile Arbeitsmaschine nach einem der Ansprüche 1 bis 4,
dadurch gekennzeichnet, daß die Regeleinrichtung (3, 4, 6 - 16; 6, 34, 36, 9 - 16) eine Filtereinheit (7, 8; 34, 36) umfaßt, welche eine durch die Regellaufzeit (τ) hervorgerufene Eigenschwingung (fR) eliminiert. - Mobile Arbeitsmaschine nach Anspruch 5,
dadurch gekennzeichnet, daß die Filtereinheit (7, 8; 34, 36) als Bandsperre (7, 8) für die Eigenschwingung (fR) und/oder deren Vielfache ausgeführt ist. - Mobile Arbeitsmaschine nach Anspruch 6,
dadurch gekennzeichnet, daß die Filtereinheit (7, 8; 34, 36) als digitales Filter (34, 36) mit Bandsperrencharakteristik ausgeführt ist. - Mobile Arbeitsmaschine nach einem der Ansprüche 1 bis 7,
dadurch gekennzeichnet, daß die Vorrichtung zur Lageregelung für Arbeitseinrichtungen (41) der mobilen Arbeitsmaschine (40) eine Neigungskompensation längs und quer zur Bewegungsrichtung der Arbeitsmaschine (40) ausführt, wobei ein erstes Stellelement (12) zur Lagekorrektur in einer ersten Raumrichtung (x) und ein zweites Stellelement (16) zur Lagekorrektur in einer zweiten Raumrichtung (y) angesteuert werden. - Mobile Arbeitsmaschine nach Anspruch 8,
dadurch gekennzeichnet, daß eine Meßeinrichtung. (1) zur Messung des Winkels (αx) in der ersten Raumrichtung (x) und eine zweite Meßeinrichtung (2) zur Messung des Winkels (αy,) in der zweiten Raumrichtung (y) vorgesehen sind. - Verfahren zur Lageregelung von Arbeitseinrichtungen (41) mobiler . Arbeitsmaschinen (40) mit folgenden Verfahrensschritten:Messen eines Winkels (α), welcher zwischen einer durch die Lage der Arbeitseinrichtung (41) bestimmten Ebene (42) und der Richtung der Gravitationskraft (g) gebildet ist,Vorgeben eines Winkels (α'), welcher zwischen einer durch die Lage der Arbeitseinrichtung (41) bestimmten Ebene (42) und der Richtung der Gravitationskraft (g) gebildet ist, undRegeln des Winkels (α) zwischen der Ebene (42) der Arbeitseinrichtung (41) und der Richtung der Gravitationskraft (g), so daß der gemessene Winkel (α) mit dem vorgegebenen Winkel (α') in Übereinstimmung gebracht wird,
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10000771 | 2000-01-11 | ||
DE10000771A DE10000771C2 (de) | 2000-01-11 | 2000-01-11 | Vorrichtung und Verfahren zur Lageregelung für Arbeitseinrichtungen mobiler Arbeitsmaschinen |
PCT/EP2000/013310 WO2001051717A1 (de) | 2000-01-11 | 2000-12-28 | Vorrichtung und verfahren zur lageregelung für arbeitseinrichtungen mobiler arbeitsmaschinen |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1246973A1 EP1246973A1 (de) | 2002-10-09 |
EP1246973B1 true EP1246973B1 (de) | 2003-10-08 |
Family
ID=7627142
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00991646A Expired - Lifetime EP1246973B1 (de) | 2000-01-11 | 2000-12-28 | Mobile arbeitsmaschine mit vorrichtung zur lageregelung von arbeitseinrichtungen und verfahren zur lageregelung |
Country Status (4)
Country | Link |
---|---|
US (1) | US6968241B2 (de) |
EP (1) | EP1246973B1 (de) |
DE (2) | DE10000771C2 (de) |
WO (1) | WO2001051717A1 (de) |
Families Citing this family (19)
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US7222444B2 (en) * | 2004-10-21 | 2007-05-29 | Deere & Company | Coordinated linkage system for a work vehicle |
US7403826B2 (en) * | 2004-12-01 | 2008-07-22 | Canadian Space Agency | Method and system for torque/force control of hydraulic actuators |
DE102005024676A1 (de) * | 2004-12-21 | 2006-07-06 | Bosch Rexroth Aktiengesellschaft | System zur Lageerfassung und -regelung für Arbeitsarme mobiler Arbeitsmaschinen |
EP1896665A1 (de) * | 2005-06-22 | 2008-03-12 | Volvo Construction Equipment Holding Sweden AB | System und verfahren zur steuerung der neigung eines lasttragenden geräts einer beweglichen arbeitsmaschine und bewegliche arbeitsmaschine |
EP1954888A1 (de) * | 2005-11-10 | 2008-08-13 | Volvo Construction Equipment AB | Lader |
US7734398B2 (en) * | 2006-07-31 | 2010-06-08 | Caterpillar Inc. | System for automated excavation contour control |
US8200398B2 (en) * | 2007-02-21 | 2012-06-12 | Deere & Company | Automated control of boom and attachment for work vehicle |
US7748147B2 (en) * | 2007-04-30 | 2010-07-06 | Deere & Company | Automated control of boom or attachment for work vehicle to a present position |
US7752779B2 (en) * | 2007-04-30 | 2010-07-13 | Deere & Company | Automated control of boom or attachment for work vehicle to a preset position |
DE102007045846A1 (de) * | 2007-09-26 | 2009-04-02 | Deere & Company, Moline | Landwirtschaftliche Maschine und Verfahren zur Positionsbestimmung |
US7949449B2 (en) * | 2007-12-19 | 2011-05-24 | Caterpillar Inc. | Constant work tool angle control |
JP2009197425A (ja) * | 2008-02-20 | 2009-09-03 | Komatsu Ltd | 建設機械 |
JP5037561B2 (ja) * | 2009-05-13 | 2012-09-26 | 株式会社小松製作所 | 作業車両 |
US9464410B2 (en) | 2011-05-19 | 2016-10-11 | Deere & Company | Collaborative vehicle control using both human operator and automated controller input |
US8862340B2 (en) | 2012-12-20 | 2014-10-14 | Caterpillar Forest Products, Inc. | Linkage end effecter tracking mechanism for slopes |
GB2523155A (en) * | 2014-02-14 | 2015-08-19 | Bje Designs Ltd | A load handling apparatus for a forklift |
US10962360B2 (en) * | 2018-06-11 | 2021-03-30 | Deere & Company | Smartphone calibration of a grade control system for a work machine |
WO2022245953A1 (en) * | 2021-05-18 | 2022-11-24 | Clark Equipment Company | Modulating operator input for work element actuator operation |
US11873020B2 (en) * | 2021-11-12 | 2024-01-16 | Rehrig Pacific Company | Delivery systems for ramps or stairs |
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2000
- 2000-01-11 DE DE10000771A patent/DE10000771C2/de not_active Expired - Fee Related
- 2000-12-28 EP EP00991646A patent/EP1246973B1/de not_active Expired - Lifetime
- 2000-12-28 US US10/130,728 patent/US6968241B2/en not_active Expired - Fee Related
- 2000-12-28 WO PCT/EP2000/013310 patent/WO2001051717A1/de active IP Right Grant
- 2000-12-28 DE DE50004035T patent/DE50004035D1/de not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
DE10000771A1 (de) | 2001-07-26 |
US6968241B2 (en) | 2005-11-22 |
DE10000771C2 (de) | 2003-06-12 |
US20020173900A1 (en) | 2002-11-21 |
WO2001051717A1 (de) | 2001-07-19 |
EP1246973A1 (de) | 2002-10-09 |
DE50004035D1 (de) | 2003-11-13 |
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