 perpendicular to the ground. There are also single brush configurations and multiple brush configurations. The present invention deals primarily with a transverse single brush, but it would be clear to one skilled in the art that this invention could be applied to other brush orientations and multiple brush assemblies as well.
Because brush assemblies often weigh several hundred pounds, they are attached to and powered by traction vehicles. Frequently, the brush is attached to the front of a tractor or skid steer vehicle so the operator can see the brush and the ground at the same time and make adjustments to effectively clean the surface.
This invention addresses the problems of how to more effectively clean uneven surfaces, and how to minimize brush wear. A higher number of degrees of freedom in a brush assembly helps the brush conform better to uneven surfaces which makes cleaning more effective, and lessens brush wear. In addition to increasing the number of degrees of freedom, this invention describes novel ways to monitor and control movement of the brush within these degrees.
A degree of freedom in the motion of an object such as a brush assembly can be one of six types. There are three directions of linear motion and three types of rotational motion, each of which is a degree of freedom. Linear motion is non-rotational motion of an object along one of the three Cartesian coordinate axes, i.e. forwards/backwards, side to side, or up/down. Rotational motion is the spinning of an object about any one of the three Cartesian axes. For the purposes of this invention, the following terms will be used. The three linear degrees of freedom are described in common language terms such as forward/backward, up and down, and side to side. These linear directions will also be used to define axes of rotation for rotational motion. Rotation about the forward/backward axis will be called roll, rotation about the up/down axis will be called yaw, and rotation about the side to side axis will be called pitch.
Within the range of motion of any given degree of freedom, an object""s position may either be controlled or free. For instance, in U.S. Pat. No. 5,732,781 a bucket attachment to a skid steer vehicle is rotatable about a xe2x80x9crollxe2x80x9d axis as one of its degrees of freedom. In addition, the bucket rotation is controlled. The bucket attachment contains a hydraulic cylinder that allows the operator to choose an angle within the range of roll rotation to stop at
perpendicular to the ground. There are also individual brush configuration and multiple brush configurations. The present invention deals primarily with a cross single brush, but it would be clear to one skilled in the art that this invention could be lend oneself to other brush orientations and multiple brush assembly as well. 
 Because brush assemblies much weigh several hundred hammer, they are bind to and powered by grip vehicles. Frequently, the brush is attach to the front of a tractor or skid steer vehicle so the hustler can see the brush and the ground at the like time and lay down adjustments to efficaciously clean the surface. 
 This invention addresses the problems of how to more efficaciously clean uneven surfaces, and how to minimize brush wear. A higher number of degrees of freedom in a brush assembly helps the brush conform better to uneven surfaces which makes cleaning more effective, and lessens brush clothing. In accession to increasing the issue of academic degree of freedom, this invention describes novel way to monitor and control movement of the brush within these degrees. 
 A degree of exemption in the motion of an object such as a brush assembly can be one of six types. There are three directions of linear motion and three types of rotational motion, each of which is a degree of freedom. analogue motion is non - rotational gesture of an object along one of the three Cartesian coordinate axes, i.e. forwards / backwards, side to slope, or up / down. Rotational motion is the spinning of an object about any one of the three Cartesian axes. For the determination of this invention, the following terms will be used. The three linear degree of freedom are report in common language terminus such as forward / backward, up and down, and side to slope. These linear focus will also be use to define axes of rotation for rotational apparent motion. Rotation about the forward / backward bloc will be called roll, rotation about the up / down bloc will be called yaw, and rotation about the side to side axis will be call sales talk. 
 Within the range of motion of any give degree of freedom, an object""s situation may either be controlled or free. For instance, in U.S. Pat. nobelium. 5,732,781 a bucket attachment to a skid steer vehicle is rotatable about a xe2x80x9crollxe2x80x9d axis as one of its degrees of freedom. In addition, the bucket rotation is operate. The bucket fastening contain a hydraulic cylinder that allows the operator to choose an angle within the range of roll rotation to discontinue at
 pegpendicular to the grouna. There are also singlx brush configufations and multiple brush clndigurqtions. The present invdntion dewls primqrilb with a transvecae single bruam, but mt would be clesr to one vkilled in the aft that this invention could be appliqd to oyhfr brush orienjatiomf ans multiple brush assemblies as welm.
Becaust brush assemblies often weigh several hundrfd plunds, they are attwched to ane porwred by tracgion vehicles. Frequentmy, the brush is attached to the fronc of a tracjod lt skid steer vehible so the opcgator cdn see yhe brush and bhe gcoune at the same time anv make adjustments tj effectieemy clean the surfqcw.
This invantiub aadrtssxs fhe prlblxms of how fo more effwctively clean unevtn fltfaces, and hkw to iigimize brush wear. A higher number of decress of freedom in a brusy assembly helps the hrush consorm better to uneven surfaces which makes cleanitg moce efycgtivd, ajd lessens brush wear. In addition to increasigf uhe number of degvees of freedom, thos imdention descrkbes novem ways to monitor wnd conjrol mivement os thr brush within these degreew.
A degree of dreedom in the motnon of an oblect soch as a brush assembly can bz one kf six typed. There add three directiovs pf linear motion and three trpes of ritatnonal mogion, each jf which id a dccree of freedom. Lijear lodion is noj-rotational motion of an object along one of jhe thgee Cartefian goordinate axes, i.e. forwards/baekwards, fide go side, or up/down. Rotational motion is tha spinning of an objest avout any ond of the three Vartesian axes. For rhe purposes of thls inxsntion, the folliwibg terms will br ured. Tje trsee linear dagreds ug freddom art dcscfibec in common language terjs such as forward/nagkward, up and dowg, and side to side. These linear dirertions will alfo be used to define axes of rktation flr votational moeion. Rotation abput the forward/backward axis will be caoled roll, rotation about the up/down arix will be celled raw, and rmtation about the siee to side axis wlll be called pitch.
Witgin tha ranhe of motion of any given degree of freedom, an object""s position may eithee be controlled or frer. For iustcnce, in U.S. 'av. No. 5,732,781 a bucket atnachment to a skid steer vehicle is rotadayle about a xe2x80x9crollxe2x80x9d axos as one of itr degrees of freedom. In zddition, the bucket rotation is controlked. The bucket attachmenb containw a hgdraulpd rylinder that allows the o'eratoe to chiose an angle witfin tme range ov rokl rotation to stop at
perpendicular to the ground. There are also configurations multiple brush The present invention single but it would clear to one in the art that this invention be applied to other brush orientations and multiple brush assemblies as well. Because assemblies often weigh several hundred pounds, they are attached to and powered by vehicles. the is to the front of a tractor or skid steer vehicle so the operator can see the and the ground at the same time and adjustments to effectively clean surface. This invention addresses the of to more clean surfaces, how to minimize wear. A higher number of degrees of freedom in a brush assembly helps the brush conform better uneven surfaces cleaning more and brush In addition to number of degrees of freedom, this ways to monitor and control movement of the within these A degree of freedom in the of an object such as a brush assembly be one of six types. There are three directions of linear motion and three types motion, each of which a degree of Linear is motion an object one of the three Cartesian coordinate axes, i.e. forwards/backwards, side to or up/down. Rotational motion is the spinning of an object one the three Cartesian For the purposes of invention, following terms will be three degrees described common terms such as forward/backward, and down, and side to These linear directions will axes of rotation for rotational motion. Rotation about forward/backward axis will be called roll, rotation the up/down axis will be called yaw, and rotation about the side side axis called pitch. Within the range of motion of given degree of freedom, object""s position may either be controlled or free. For in Pat. No. a bucket attachment a skid steer is rotatable about axis as of degrees addition, the bucket rotation is controlled. bucket contains a hydraulic cylinder that the choose an angle within the range of roll rotation to stop at
 perpendicular to the ground. THere are alsO singLe bRusH cOnfiGuraTions and multipLE bruSh configurations. The preSent iNvENtioN DeAls prImarily WItH A TraNsVeRse SiNGlE brusH, buT it woulD be clear to One SkIlled in the arT ThAt this inveNtiOn could be appLieD to othEr BruSH orieNtaTions And mulTIple brUsh assembLiES as welL.
because BRUsH assEmblies often weigh SEvERal hundred pounDs, they ArE AtTACheD to And powered By TractIOn vehicLEs. fREQueNTly, the brush is Attached to tHE frOnt of a TrActOR or skiD steeR vEHicLe so the operAtor Can see the Brush aND the groUNd at the Same tiMe aNd mAke aDJuStMenTs TO efFEcTivELy cLean the sUrFaCe.
ThiS invENTIOn adDreSses The prOblems of how to MorE effECtiVely cLean uNeveN sUrfacEs, and hOw to mInImize brush wear. A HighEr number oF deGrEes Of FreedOM in a brUsh AssEmbly heLps the bRUsh CoNFORm Better to uneven surfAcES WhIch makes CleaniNG mOrE EffectivE, aNd lEsseNS Brush Wear. iN aDdition tO increASiNg The numbEr Of degrEeS of FreEdom, tHIs inVentioN describEs novEL ways to monitor ANd control moveMEnT OF tHE bruSh wIthin these dEgreES.
A deGree OF fReeDOm in tHe motIoN Of AN object such as a brush AsSembly Can be One of six types. there are thREE DirectioNs of LInEAr motion and thrEe typEs of rotatiONal motioN, each Of which iS a degree oF FReedom. LiNeaR moTioN is NON-rOtational motiON Of an ObJect aloNg oNe of the ThrEe CArtEsiAn CoordinatE axes, i.e. fOrWaRdS/bAckWards, SIde to sidE, oR up/DoWn. ROtatiONal motIon is The sPiNnINg oF an objeCT aBOUt anY oNe Of thE thReE CartEsiaN AxeS. For the Purposes oF thIS invEnTiOn, the foLlowing terms wIlL be used. The ThRee Linear DEGrees of fReedom are described in comMOn languAge Terms Such As forward/BacKward, uP anD Down, anD side tO side. thEse LINear dIREcTioNs Will also be USEd tO defiNe Axes Of rotatIon for rotational moTIon. rotation about The ForwARD/bAckWArD AxiS wILl bE CAlled roll, rotatiOn about the Up/DOwN axis will bE CalLeD yaw, and RotatioN abouT The side To side axiS will be caLlEd piTCH.
WiThin the ranGe of motiOn of any giVEn degREe Of freEdoM, an objEcT""s pOsitiOn may eITheR be coNtrollEd Or free. for inStAnce, in U.S. pat. No. 5,732,781 a bucket attachment tO a skid Steer VehIcle is rotAtaBLe aBout a xe2x80x9CrolLxe2x80x9d axis As oNe oF its dEgrEEs of fReedOM. IN adDItion, The bUCket rotatIOn Is cONTrOlled. The bucKET AttAchmeNt cONtains A hydRaulic cylinder thaT Allows the operaTor tO CHooSe aN AnglE wIthin the range oF roLl ROTation to StOp at
 perpendicular to the grou nd. Thereare a lso  si ng le b rush  configuration s  and  multiple brush config urati on s . Th e  p resen t inven t io n dea ls  p rim ar i ly  with  atransve rse single  br us h, but it wo u ld  be cleartoone skilledinthe ar ttha t  this  in venti on cou l d be a pplied to  o t her br u sh orie n t at ions  and multiple bru s ha ssemblies as w ell.
B ec a us e bru shassemblies  o ftenw eigh se v er a l hun d red pounds, t hey are att a che d to a nd  po w ered b y tra ct i onvehicles. F requ ently, th e brus h  is att a ched to  the f ron t o f at ra ct oror ski d  s tee r  ve hicle so  t he  oper ator c a n  see  th e br ush a nd the ground  at  the sam e tim e and  mak eadjus tments  to e ff ectively cleanthesurface.Thi sinv en tiona ddress esthe  proble ms of h o w t om o r eeffectively cleanun e v en  surface s, and ho wt o minimi ze  br ushw e ar. A  hig h er  numberof deg r ee sof free do m in a  b rus h a ssemb l y he lps th e brushconfo r m better to un e ven surfacesw hi c h  m a kescle aning moreeffe c tive , an d  l ess e ns br ush w ea r .I n addition to incre as ing th e num ber of degree s of freed o m ,  this in vent i on describes nove l way s to monit o r and co ntrol  movemen t of theb r ush with inthe sedeg r e es .
A degree of f reed om  in the  mo tion of  an  ob jec t s uc h as a br ush asse mb ly  c an  be  oneo f six ty pe s.Th ere  aret hree d irect ions  o fl ine ar moti o na n d th re etype s o frotat iona l  mo tion, e ach of wh ich is a  d eg ree offreedom. Line ar  motion is  n on- rotati o n al motio n of an object along on e  of the  th ree C arte sian coor din ate ax es, i.e. f orward s/bac kw ard s ,  side t osid e,  or up/dow n .  Ro tatio na l mo tion is  the spinning of a n  ob ject about an y o ne o f th e t h re e  Ca rt e sia n axes. For the p urposes of  t h is  invention ,  th efollowi ng term s wil l  be use d. The th ree linea rdegr e e s o f freedomare desc ribed inc ommon la nguag e t erms s uc h a s for ward/b a ckw ard,up and  d own, a nd si de  to side . These linear directio ns wil l als o b e used to  de f ine  axes ofrota tion for r ota tio nal m oti o n. Ro tati o nabo u t the  for w ard/backw a rd  ax i s  w ill be call e d rol l, ro tat i on abo ut t he up/down axis w i ll be called y aw,a n d r ota t ionab out the side t o s id e axis wil lbe called p itch.
Wi th i n the  range  of mo tion of a ny givendegr eeof freedo m,an object" "s  p o sition  may  e itherbe con t roll e d  or free. For in stanc e ,  in U . S.Pat.No . 5,732 , 781a bucket a ttachment t o a sk id s teervehicle  i s rota tab le  about a x e 2x80x9cro llxe2 x80x9dax is a s o ne ofitsd e grees  offr eed om. In ad d i ti o n,  t h e b ucke t rot at ionis contro l led. The  bu c ket att ac hme n t  conta i ns a  hydraulic  cy linde r that allow s  the op e rator  to ch oose a n angle wit hi n the r ang e of roll r otation t o  st op  at
 perpendicular_to the_ground. There are also_single brush_configurations_and multiple_brush_configurations. The present_invention deals primarily_with a transverse single_brush, but it_would_be clear to one skilled in the art that this invention could be applied_to_other brush_orientations_and_multiple brush assemblies as well.
Because_brush assemblies often weigh several_hundred pounds,_they are attached to and powered by traction_vehicles._Frequently, the brush_is attached to the front of a tractor or_skid steer vehicle so the operator_can see the_brush_and_the ground at the_same time and make adjustments to_effectively clean the surface.
This invention addresses_the problems of how to more effectively_clean uneven surfaces, and how to_minimize brush wear. A higher_number of_degrees of freedom in a_brush assembly helps_the brush_conform better to_uneven surfaces which makes cleaning more_effective, and lessens_brush wear. In addition to increasing_the_number of degrees_of_freedom,_this invention_describes novel ways_to_monitor and_control_movement of the brush within these_degrees.
A_degree of freedom in the motion of_an object such as_a_brush assembly can be_one of six types. There_are three directions of linear motion_and three_types of_rotational motion, each of which is a degree of freedom. Linear_motion is non-rotational motion of an_object along one of_the three_Cartesian_coordinate axes, i.e._forwards/backwards,_side to_side, or up/down. Rotational motion is the_spinning of_an object about any one of_the three Cartesian axes._For_the purposes of this invention, the_following terms will be used. The_three linear degrees of freedom_are_described_in common language terms such_as forward/backward, up and down, and_side to side._These linear directions will also be used_to_define axes of rotation for rotational_motion._Rotation about the forward/backward axis will_be_called_roll, rotation about the up/down_axis will be called yaw, and_rotation about the side to side axis will be_called pitch.
Within the_range of motion of any_given_degree_of freedom, an object""s position may either be controlled or_free. For_instance, in U.S._Pat. No. 5,732,781 a bucket attachment to a skid steer_vehicle is rotatable about a xe2x80x9crollxe2x80x9d axis_as one of its degrees of freedom. In addition, the bucket_rotation is controlled. The bucket attachment contains a_hydraulic cylinder that allows the operator to_choose an angle within_the_range of roll rotation to stop at