CA2514027A1 - Dynamic stabilization and control of an earthmoving machine - Google Patents

Dynamic stabilization and control of an earthmoving machine Download PDF

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Publication number
CA2514027A1
CA2514027A1 CA002514027A CA2514027A CA2514027A1 CA 2514027 A1 CA2514027 A1 CA 2514027A1 CA 002514027 A CA002514027 A CA 002514027A CA 2514027 A CA2514027 A CA 2514027A CA 2514027 A1 CA2514027 A1 CA 2514027A1
Authority
CA
Canada
Prior art keywords
machine
earthmoving machine
earthmoving
bulldozer
control
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.)
Granted
Application number
CA002514027A
Other languages
French (fr)
Other versions
CA2514027C (en
Inventor
Ivan Matrosov
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Topcon Positioning Systems Inc
Original Assignee
Topcon Positioning Systems Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Topcon Positioning Systems Inc filed Critical Topcon Positioning Systems Inc
Publication of CA2514027A1 publication Critical patent/CA2514027A1/en
Application granted granted Critical
Publication of CA2514027C publication Critical patent/CA2514027C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2045—Guiding machines along a predetermined path
    • 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
    • E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Abstract

An earthmoving machine including a control system is disclosed. The machine comprises first and second satellite navigation antennas mounted in a longitudinal direction on the earthmoving machine. A third satellite navigation antenna is mounted on a pole attached to an operational element of the earthmoving machine. In one embodiment, the earthmoving machine is a bulldozer and the operational element is a blade of the bulldozer. The machine further comprises a gravity reference sensor and a plurality of gyroscopes mounted on the machine. A computer processor generates control signals based on sensor data received from the various components. The disclosed system and method allows for dynamically stable operation of the earthmoving machine at relatively fast speeds without the development of unwanted oscillations.
CA002514027A 2004-08-23 2005-07-29 Dynamic stabilization and control of an earthmoving machine Active CA2514027C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/924,018 US7317977B2 (en) 2004-08-23 2004-08-23 Dynamic stabilization and control of an earthmoving machine
US10/924,018 2004-08-23

Publications (2)

Publication Number Publication Date
CA2514027A1 true CA2514027A1 (en) 2006-02-23
CA2514027C CA2514027C (en) 2009-04-14

Family

ID=35427973

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002514027A Active CA2514027C (en) 2004-08-23 2005-07-29 Dynamic stabilization and control of an earthmoving machine

Country Status (5)

Country Link
US (1) US7317977B2 (en)
EP (1) EP1630636B1 (en)
JP (2) JP2006057448A (en)
CA (1) CA2514027C (en)
ES (1) ES2420655T3 (en)

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Also Published As

Publication number Publication date
CA2514027C (en) 2009-04-14
EP1630636A2 (en) 2006-03-01
EP1630636B1 (en) 2013-04-10
JP5356141B2 (en) 2013-12-04
ES2420655T3 (en) 2013-08-26
US7317977B2 (en) 2008-01-08
US20060041361A1 (en) 2006-02-23
EP1630636A3 (en) 2006-12-20
JP2006057448A (en) 2006-03-02
JP2009243262A (en) 2009-10-22

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