JP7794832B2 - 動力学的に機敏な整地機における誤り検出及び誤り回復のための入力整形 - Google Patents

動力学的に機敏な整地機における誤り検出及び誤り回復のための入力整形

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Publication number
JP7794832B2
JP7794832B2 JP2023537228A JP2023537228A JP7794832B2 JP 7794832 B2 JP7794832 B2 JP 7794832B2 JP 2023537228 A JP2023537228 A JP 2023537228A JP 2023537228 A JP2023537228 A JP 2023537228A JP 7794832 B2 JP7794832 B2 JP 7794832B2
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Japan
Prior art keywords
terrain
vehicle
blade
determining
profile
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JP2023537228A
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English (en)
Japanese (ja)
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JP2024500130A (ja
JP2024500130A5 (https=
Inventor
シャハブ カランタル，
ディミトロ ポプラブスキ，
Original Assignee
トプコン ポジショニング システムズ， インク．
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Publication of JP2024500130A publication Critical patent/JP2024500130A/ja
Publication of JP2024500130A5 publication Critical patent/JP2024500130A5/ja
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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)

Landscapes

  • 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)
JP2023537228A 2020-12-17 2021-10-08 動力学的に機敏な整地機における誤り検出及び誤り回復のための入力整形 Active JP7794832B2 (ja)

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 (3)

Publication Number Publication Date
JP2024500130A JP2024500130A (ja) 2024-01-04
JP2024500130A5 JP2024500130A5 (https=) 2024-10-16
JP7794832B2 true JP7794832B2 (ja) 2026-01-06

Family

ID=78622129

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023537228A Active JP7794832B2 (ja) 2020-12-17 2021-10-08 動力学的に機敏な整地機における誤り検出及び誤り回復のための入力整形

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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* Cited by examiner, † Cited by third party
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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

Citations (3)

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WO2016208276A1 (ja) 2015-06-23 2016-12-29 株式会社小松製作所 施工管理システム及び施工管理方法
JP2018112051A (ja) 2017-12-05 2018-07-19 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
WO2019239646A1 (ja) 2018-06-12 2019-12-19 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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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
US9796571B2 (en) * 2015-08-06 2017-10-24 Cnh Industrial America Llc Work vehicle with improved implement position control and self-leveling functionality
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
US11532184B2 (en) * 2016-12-23 2022-12-20 Caterpillar Sarl Monitoring the operation of a work machine
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
US10521703B2 (en) * 2017-06-21 2019-12-31 Caterpillar Inc. System and method for controlling machine pose using sensor fusion
US10995472B2 (en) 2018-01-30 2021-05-04 Caterpillar Trimble Control Technologies Llc Grading mode integration
ES2914630T3 (es) 2018-11-08 2022-06-14 Intsite Ltd Sistema y método para la operación autónoma de maquinaria pesada
US11891782B2 (en) * 2020-04-30 2024-02-06 Deere & Company Ground engaging tool control system and method
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Publication number Priority date Publication date Assignee Title
WO2016208276A1 (ja) 2015-06-23 2016-12-29 株式会社小松製作所 施工管理システム及び施工管理方法
JP2018112051A (ja) 2017-12-05 2018-07-19 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
WO2019239646A1 (ja) 2018-06-12 2019-12-19 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

Also Published As

Publication number Publication date
EP4263955A1 (en) 2023-10-25
JP2024500130A (ja) 2024-01-04
CN116635597B (zh) 2024-10-11
US20220195693A1 (en) 2022-06-23
WO2022133363A1 (en) 2022-06-23
US11898321B2 (en) 2024-02-13
CN116635597A (zh) 2023-08-22

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