CA2514027A1 - Dynamic stabilization and control of an earthmoving machine - Google Patents
Dynamic stabilization and control of an earthmoving machine Download PDFInfo
- 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
Links
- 230000006641 stabilisation Effects 0.000 title 1
- 238000011105 stabilization Methods 0.000 title 1
- 230000005484 gravity Effects 0.000 abstract 1
- 230000010355 oscillation Effects 0.000 abstract 1
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.
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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US9746329B2 (en) * | 2006-11-08 | 2017-08-29 | Caterpillar Trimble Control Technologies Llc | Systems and methods for augmenting an inertial navigation system |
US8145391B2 (en) * | 2007-09-12 | 2012-03-27 | Topcon Positioning Systems, Inc. | Automatic blade control system with integrated global navigation satellite system and inertial sensors |
US8135518B2 (en) | 2007-09-28 | 2012-03-13 | Caterpillar Inc. | Linkage control system with position estimator backup |
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US8392065B2 (en) * | 2008-09-11 | 2013-03-05 | Deere & Company | Leader-follower semi-autonomous vehicle with operator on side |
US9188980B2 (en) * | 2008-09-11 | 2015-11-17 | Deere & Company | Vehicle with high integrity perception system |
US8195342B2 (en) * | 2008-09-11 | 2012-06-05 | Deere & Company | Distributed knowledge base for vehicular localization and work-site management |
US8224500B2 (en) | 2008-09-11 | 2012-07-17 | Deere & Company | Distributed knowledge base program for vehicular localization and work-site management |
US9235214B2 (en) * | 2008-09-11 | 2016-01-12 | Deere & Company | Distributed knowledge base method for vehicular localization and work-site management |
US8989972B2 (en) | 2008-09-11 | 2015-03-24 | Deere & Company | Leader-follower fully-autonomous vehicle with operator on side |
US20100063652A1 (en) * | 2008-09-11 | 2010-03-11 | Noel Wayne Anderson | Garment for Use Near Autonomous Machines |
US9026315B2 (en) | 2010-10-13 | 2015-05-05 | Deere & Company | Apparatus for machine coordination which maintains line-of-site contact |
US8195358B2 (en) * | 2008-09-11 | 2012-06-05 | Deere & Company | Multi-vehicle high integrity perception |
US8229618B2 (en) * | 2008-09-11 | 2012-07-24 | Deere & Company | Leader-follower fully autonomous vehicle with operator on side |
US8478493B2 (en) * | 2008-09-11 | 2013-07-02 | Deere & Company | High integrity perception program |
US8818567B2 (en) * | 2008-09-11 | 2014-08-26 | Deere & Company | High integrity perception for machine localization and safeguarding |
JP5227139B2 (en) * | 2008-11-12 | 2013-07-03 | 株式会社トプコン | Construction machinery |
FR2939901B1 (en) * | 2008-12-17 | 2011-02-18 | Sagem Defense Securite | KALMAN SEGREGES FILTER HYBRIDIZATION DEVICE |
US8473166B2 (en) * | 2009-05-19 | 2013-06-25 | Topcon Positioning Systems, Inc. | Semiautomatic control of earthmoving machine based on attitude measurement |
US8406963B2 (en) | 2009-08-18 | 2013-03-26 | Caterpillar Inc. | Implement control system for a machine |
AU2011223336B2 (en) * | 2010-03-05 | 2015-11-26 | Leica Geosystems Technology A/S | An apparatus and a method for height control for a dozer blade |
US8634991B2 (en) | 2010-07-01 | 2014-01-21 | Caterpillar Trimble Control Technologies Llc | Grade control for an earthmoving system at higher machine speeds |
US8738242B2 (en) * | 2011-03-16 | 2014-05-27 | Topcon Positioning Systems, Inc. | Automatic blade slope control system |
US8731784B2 (en) * | 2011-09-30 | 2014-05-20 | Komatsu Ltd. | Blade control system and construction machine |
US8463512B2 (en) * | 2011-09-30 | 2013-06-11 | Komatsu Ltd. | Construction machine |
US8589013B2 (en) | 2011-10-25 | 2013-11-19 | Jaybridge Robotics, Inc. | Method and system for dynamically positioning a vehicle relative to another vehicle in motion |
US9347205B2 (en) * | 2012-02-10 | 2016-05-24 | Topcon Positioning Systems, Inc. | Estimation of the relative attitude and position between a vehicle body and an implement operably coupled to the vehicle body |
US9188436B2 (en) | 2012-06-06 | 2015-11-17 | John C. Miller | Gradient measuring apparatus and system |
US9043098B2 (en) * | 2012-10-05 | 2015-05-26 | Komatsu Ltd. | Display system of excavating machine and excavating machine |
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US9957692B2 (en) * | 2013-03-15 | 2018-05-01 | Hexagon Technology Center Gmbh | System and method for heavy equipment navigation and working edge positioning using an image acquisition device that provides distance information |
US9188986B2 (en) | 2013-10-01 | 2015-11-17 | Jaybridge Robotics, Inc. | Computer-implemented method and system for dynamically positioning a vehicle relative to another vehicle in motion for on-the-fly offloading operations |
US9587969B2 (en) | 2014-03-31 | 2017-03-07 | Topcon Positioning Systems, Inc. | Automatic identification of sensors |
US9580104B2 (en) | 2014-08-19 | 2017-02-28 | Caterpillar Trimble Control Technologies Llc | Terrain-based machine comprising implement state estimator |
US9222237B1 (en) * | 2014-08-19 | 2015-12-29 | Caterpillar Trimble Control Technologies Llc | Earthmoving machine comprising weighted state estimator |
US9428885B2 (en) * | 2014-09-15 | 2016-08-30 | Trimble Navigation Limited | Guidance system for earthmoving machinery |
US10274318B1 (en) * | 2014-09-30 | 2019-04-30 | Amazon Technologies, Inc. | Nine-axis quaternion sensor fusion using modified kalman filter |
US9328479B1 (en) | 2015-02-05 | 2016-05-03 | Deere & Company | Grade control system and method for a work vehicle |
US9551130B2 (en) | 2015-02-05 | 2017-01-24 | Deere & Company | Blade stabilization system and method for a work vehicle |
US9624643B2 (en) | 2015-02-05 | 2017-04-18 | Deere & Company | Blade tilt system and method for a work vehicle |
DE102015224154A1 (en) | 2015-12-03 | 2017-06-08 | Robert Bosch Gmbh | Tractor with dozer blade and altitude control |
JP6932647B2 (en) * | 2015-12-28 | 2021-09-08 | 住友建機株式会社 | Excavator and excavator controller |
US10521703B2 (en) * | 2017-06-21 | 2019-12-31 | Caterpillar Inc. | System and method for controlling machine pose using sensor fusion |
JP7169068B2 (en) * | 2017-06-26 | 2022-11-10 | 株式会社小松製作所 | excavator |
CN107237310A (en) * | 2017-07-17 | 2017-10-10 | 山东四维卓识信息技术有限公司 | A kind of dynamic compaction machinery construction navigation system and the dynamic compaction machinery using the construction navigation system |
JP6912687B2 (en) | 2019-03-26 | 2021-08-04 | 日立建機株式会社 | Hydraulic excavator |
CN112384660B (en) | 2019-03-29 | 2022-08-16 | 日立建机株式会社 | Working machine |
US11697917B2 (en) | 2019-07-26 | 2023-07-11 | Deere & Company | Anticipatory modification of machine settings based on predicted operational state transition |
KR102520923B1 (en) | 2021-05-21 | 2023-04-11 | 현대두산인프라코어(주) | Method for state estimation of construction machinary |
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JP2003064725A (en) * | 2001-08-28 | 2003-03-05 | Maeda Corp | Unmanned mechanical earth work system |
JP3816806B2 (en) | 2002-01-21 | 2006-08-30 | 株式会社トプコン | Construction machine control system |
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US7121355B2 (en) * | 2004-09-21 | 2006-10-17 | Cnh America Llc | Bulldozer autograding system |
-
2004
- 2004-08-23 US US10/924,018 patent/US7317977B2/en active Active
-
2005
- 2005-07-26 ES ES05016225T patent/ES2420655T3/en active Active
- 2005-07-26 EP EP05016225.4A patent/EP1630636B1/en active Active
- 2005-07-29 CA CA002514027A patent/CA2514027C/en active Active
- 2005-08-22 JP JP2005239697A patent/JP2006057448A/en active Pending
-
2009
- 2009-07-28 JP JP2009175077A patent/JP5356141B2/en active Active
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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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EEER | Examination request |