Hexagon Technology Center Gmbh

Mikrofyn A/s

Claus Joergensen

Bo Pettersson

Lars Kjaergaard

Sten Kristensen

Machine control systems for controlling a land levelling or earthmoving process of a wheel loader relative to a working plane are disclosed. In some embodiments, the wheel loader may be equipped with a land levelling or earthmoving blade and may comprise tool positioning means for adjusting the position and orientation of the tool relative to the first body. In some embodiments, the machine control system comprises a machine control unit and an orientation detection system. In some embodiments, the orientation detection system may include orientation detection means which are designed to be attached to the blade and/or to the wheel loader for detecting a position and an orientation of the blade relative to a working plane. In some embodiments, the orientation detection means are adapted to generate orientation data according to the relative position and orientation of the blade and to transmit the orientation data to the machine control unit.

Machine control system for a wheel loader comprising a grading blade

Automatic height control of a dozer blade, the input from the slow absolute height sensor is combined with an input from a gyroscope that measures the instant rotation and recalculates it into a vertical height change using the length of the supporting arms. The combination obtains the accuracy of the absolute height information and an increased speed of measurement resulting in a compensated height estimate that is input to a hydraulic control system of the feedback type. This enables much more aggressive control even though the hydraulic system has an unknown linearity and delay associated with it. The gyroscopic sensor forms an IMU with one degree of freedom to compensate for drawbacks of the absolute height sensor with regard to delay, noise and update rate to obtain a frequent, time-correct height position with a reduced level of noise by means of a calculation based on both types of sensor output.

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Odense, Denmark

Claus Joergensen