Topcon Positioning Systems, Inc.

Alexey Andreevich Kosarev

Alexey Vladislavovich Zhdanov

Ivan Giovanni Di Federico

Stanislav Georgievich Saul

Anton Gennadievich Golovanov

Pavel Stanislavovich Yanchelik

Arseny Alexeevich Chugunkin

Anton Sergeevich Tumanov

Georgievich Saul Stanislav

An estimate of the relative attitude between an implement and a vehicle body is computed from a body angular velocity measurement received from at least one body gyro mounted on the vehicle body and from an implement angular velocity measurement received from at least one implement gyro mounted on the implement. A first system state vector estimate corresponding to a first time instant includes a representation of a first relative attitude estimate. An updated system state vector is computed based at least in part on the first system state vector estimate, the body angular velocity vector measurement, and the implement angular velocity vector measurement. A second system state vector estimate corresponding to a second time instant is predicted based at least in part on the updated system state vector and a time-dependent system model. The second system state vector estimate includes a representation of a second relative attitude estimate.

Estimation with gyros of the relative attitude between a vehicle body and an implement operably coupled to the vehicle body

On a dozer, a semi-automatic system automatically translates a joystick to control blade elevation and provides an indicator display to guide manual control of blade slope angle. A mechanical linkage operably couples the joystick to an electrical motor. A computational system receives measurements from measurement units mounted on the dozer; calculates estimated values of elevation and slope angle; compares the estimated values to reference values; and calculates error and control signals. Drivers generate a motor drive signal and a display drive signal. In response to the motor drive signal, the electrical motor translates the joystick to control elevation. In response to the display drive signal, the indicator display generates a graphical representation of the status of slope angle. When the operator needs to take manual control, a proximity sensor detects the presence of at least a portion of the operator's hand, wrist, or forearm and disengages automatic control of elevation.

Semi-automatic control of a joystick for dozer blade control

An implement having an implement acceleration is operably coupled to a vehicle body having a body acceleration. An attitude of the implement is estimated by receiving acceleration measurements from an accelerometer mounted on the vehicle body and an accelerometer mounted on the implement. A state vector estimate is calculated based at least in part on the body acceleration measurement and the implement acceleration measurement. The state vector estimate includes a representation of the attitude of the implement relative to the vehicle body. In addition to the accelerometer measurements, angular velocity measurements can be received from a gyro mounted on the vehicle body and a gyro mounted on the implement. The state vector estimate is then calculated based at least in part on the body acceleration measurement, the implement acceleration measurement, the body angular velocity measurement, and the implement angular velocity measurement.

Estimation of the relative attitude and position between a vehicle body and an implement operably coupled to the vehicle body

Dozers outfitted with manual or electric valves can be retrofitted with a control system for automatically controlling the elevation and orientation of the blade. No modification of the existing hydraulic drive system or existing hydraulic control system is needed. An arm is operably coupled to the existing joystick, whose translation controls the elevation and orientation of the blade. The arm is driven by an electrical motor assembly. Measurement units mounted on the dozer body or blade provide measurements corresponding to the elevation or orientation of the blade. A computational system receives the measurements, compares them to target reference values, and generates control signals. Drivers convert the control signals to electrical drive signals. In response to the electrical drive signals, the electrical motor assembly translates the arm, which, in turn, translates the joystick. If necessary, an operator can override the automatic control system by manually operating the joystick.

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Moscow, Russia

Alexey Andreevich Kosarev