公开(公告)号：WO1995016228A1

公开(公告)日：1995-06-15

申请号：PCT/US1994013143

申请日：1994-11-18

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  GUDAT, Adam, J. ,  HENDERSON, Daniel, E. ,  HARROD, Gregory, R. ,  KLEIMENHAGEN, Karl, W.

IPC: G05D01/02

CPC classification number: E02F9/2045 ,  A01B79/005 ,  E01C19/004 ,  G05D1/0236 ,  G05D1/0255 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model (104) of the desired site geography, and a second digital three-dimensional model (106) of the actual site geography are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the machine (10) relative to the site (12). A dynamic database (400) receives the machine position information, determines the difference between the first and second site models (104, 106) and generates representational signals of that difference for directing the operation of the machine (10) to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models (104, 106) used to generate an operator display (108) which is updated in real time. Alternately, the signals representing the difference between the first and second site models (104, 106) can be supplied to automatic machine controls (128) for autonomous or semi-autonomous operation of the machine (10).

Abstract translation: 用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。 将所需位置地理学的第一数字三维模型（104）和实际站点地理学的第二数字三维模型（106）存储在数字数据存储设施（126）中。 机器（10）配备有位置接收器，用于在三维空间中确定机器（10）相对于场地（12）的位置。 动态数据库（400）接收机器位置信息，确定第一和第二站点模型（104,106）之间的差异，并产生该差异的表示信号，以指示机器（10）的操作使实际位置地理 符合所需的地点地理位置。 在一个实施例中，表示机器位置的信号和用于生成实时更新的操作员显示（108）的第一和第二站点模型（104,106）之间的差异。 或者，表示第一和第二场地模型（104,106）之间的差异的信号可被提供给机器（10）的自动或半自主操作的自动机器控制（128）。

公开(公告)号：WO1995028524A1

公开(公告)日：1995-10-26

申请号：PCT/US1995004432

申请日：1995-04-12

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  GUDAT, Adam, J. ,  HENDERSON, Daniel, E.

IPC: E01C19/00

CPC classification number: G05D1/0278 ,  E01C19/004 ,  E02F3/842 ,  G01S19/04 ,  G01S19/14 ,  G01S19/44 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0202

Abstract: An apparatus (40, 50, 60) and method (100, 101, 102, 104, 106, 108, 108a, 109, 110) for directing the operations of multiple geography-altering machines (14) on a common work site (12) relative to one another. Position information from several machines (14) is shared to generate a common, dynamically-updated site database (66) showing the machines' relative positions and site progress in real time. The common site database (66) is used to direct the operation of one machine (14) with respect to another machine or machines (14), for example by generating an operator display (22) of the site (12) showing relative machine position and total machine work on the site (12). The operator can accordingly adjust the machine's operation to avoid interference with other machines (14) or unnecessary overlap of work on the site (12). The information can also be used to coordinate the operations of several machines (14) in complementary fashion. Machine position information can be broadcast from the machines (14) to the site database (66) to create a common, dynamically-updated database (66) which is then shared with one or more of the machines (14). In a particular embodiment each machine (14) is provided with its own dynamically-updated database (66) and operator display (22), and machine position information is shared on a continuous, real-time basis between the machines (14) so that they effectively share a common site database (66).

Abstract translation: 一种用于将多个改变地理位置的机器（14）的操作引导到公共工作现场（12）上的装置（40,50,60）和方法（100,101,102,104,106,108,108a，109,110） ）相对于彼此。 共享多个机器（14）的位置信息，以生成一个通用的，动态更新的站点数据库（66），实时显示机器的相对位置和站点进度。 公用站点数据库（66）用于指导一个机器（14）相对于另一个机器（14）的操作，例如通过生成显示相对机器位置的站点（12）的操作者显示器（22） 和整机工作（12）。 操作员可以相应地调整机器的操作，以避免干扰其他机器（14）或现场工作不必要的重叠（12）。 该信息还可以用于以互补的方式协调几台机器（14）的操作。 机器位置信息可以从机器（14）广播到站点数据库（66），以创建共同的，动态更新的数据库（66），该数据库然后与一个或多个机器（14）共享。 在特定实施例中，每个机器（14）具有其自己的动态更新的数据库（66）和操作者显示（22），并且机器位置信息在机器（14）之间以连续的实时基础共享，使得 他们有效地共享一个公共站点数据库（66）。

公开(公告)号：WO1995016227A1

公开(公告)日：1995-06-15

申请号：PCT/US1994012733

申请日：1994-11-04

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  GUDAT, Adam, J. ,  HENDERSON, Daniel, E.

IPC: G05D01/02

CPC classification number: G05D1/0044 ,  E01C19/004 ,  E02F9/2045 ,  E02F9/26 ,  G05D2201/0202

Abstract: A method and apparatus for operating compacting machinery such as landfill, earth or asphalt compactors relative to a work site to compact the site material toward a desired degree of compaction. A first model (420) representing the desired degree of compaction of the site (12) and a second model (430) representing the actual degree of compaction of the site (12) are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the compacting portions of the machine (10) relative to the site (12). A dynamic database (124) receives the machine positon information, determines the difference between the degree of compaction of the first and second site models (420, 430) and generates representational signals of that difference for directing the operation of the machine (10) to bring the actual degree of compaction of the site (12) into conformity with the desired degree of compaction. In one embodiment, the signals representing the machine position and the difference between the first and second site models (420, 430) are used to generate an operator display (22) which is updated in real time as the machine (10) operates over the site (12). Alternately, the signals representing the difference between the first and second site models (420, 430) can be supplied to automatic machine controls for automatic or semi-automatic operation of the machine (10).

Abstract translation: 一种用于操作压实机械的方法和装置，例如相对于工地的填埋场，泥土或沥青压实机，以将现场材料压缩至期望的压实程度。 表示站点（12）的期望压实程度的第一模型（420）和表示站点（12）的实际压缩程度的第二模型（430）被存储在数字数据存储设施（126）中。 机器（10）配备有位置接收器，用于在三维空间中确定机器（10）相对于位置（12）的压实部分的位置。 动态数据库（124）接收机器位置信息，确定第一和第二站点模型（420,430）的压实程度之间的差异，并产生用于将机器（10）的操作引导到 使现场（12）的实际压实程度符合所需的压实程度。 在一个实施例中，表示机器位置的信号和第一和第二站点模型（420,430）之间的差异被用于产生操作者显示器（22），该操作员显示器（22）随着机器（10）在 场地（12）。 或者，表示第一和第二站点模型（420,430）之间的差异的信号可被提供给机器（10）的自动或半自动操作的自动机器控制。

公开(公告)号：WO1995030880A1

公开(公告)日：1995-11-16

申请号：PCT/US1995005048

申请日：1995-04-18

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  FOURNIER, Richard, J. ,  GORDON, Douglas, S. ,  GUDAT, Adam, J. ,  HARROD, Gregory, R. ,  HENDERSON, Daniel, E. ,  KLEIMENHAGEN, Karl, W. ,  SAHM, William, C. ,  SCHAIDLE, Charles, L. ,  SETTERLUND, Ken, R. ,  SIROKY, Ron, J.

IPC: G01C21/00

CPC classification number: E02F9/205 ,  E02F9/2045 ,  G01C21/00

Abstract: A method (100-106 and 108-110) and apparatus (40, 50, 60) for monitoring in real time the removal of material from a land site (12) by a mobile machine (20). A digitized three dimensional model (104, 106) includes a model of the material to be removed and its characteristics. The instantaneous machine positon signal is generated by means (50) located in the machine (20). Loading signals are generated by the machine (20) and loading position is recorded in response to the loading signal. The invention includes a payload measurement system (65, 123) which measures each discrete load. The characteristics of the site material at the recorded loading position are correlated to the material removed from the site. A dynamic site database (66) is used to update the site (12) as material is removed and direct the machinery to a desired state.

Abstract translation: 一种方法（100-106和108-110）以及用于通过移动机器（20）实时监测来自陆地场所（12）的材料的装置（40,50,60）。 数字化三维模型（104,106）包括要移除的材料的模型及其特征。 瞬时机器位置信号由位于机器（20）中的装置（50）产生。 加载信号由机器（20）生成，并且响应于加载信号记录加载位置。 本发明包括测量每个离散负载的有效载荷测量系统（65,123）。 记录装载位置的场地材料的特征与从现场移除的材料相关。 动态站点数据库（66）用于更新站点（12），因为材料被移除并将机器引导到期望的状态。

公开(公告)号：WO1995030817A1

公开(公告)日：1995-11-16

申请号：PCT/US1995005608

申请日：1995-04-27

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  GUDAT, Adam, J. ,  HENDERSON, Daniel, E. ,  SAHM, William, C.

IPC: E21B21/06

CPC classification number: E02F3/427 ,  E02F3/435 ,  Y10S37/905

Abstract: An apparatus (702, 704, 706, 708, 802, 804, 806, 904, 906, 908, 910, 912) for determining the location of a work implement (102) at a work site is provided. The appartus (702, 704, 706, 708, 802, 804, 806, 904, 906, 908, 910, 912) includes an undercarriage (116), a car body (106) rotatably connected to the undercarriage (116), a boom (104) connected to the car body (106), a stick (110) connected to the boom (104), a work implement (108) connected to the stick (110), and a positioning system (802, 804, 806) including a receiver (202) connected to the stick (110) and a processor (704, 810, 818, 824) for determining the location of the receiver (202) in three dimensional space at a plurality of points as the car body (106) is rotated and for determining the location and orientation of the work implement (108).

Abstract translation: 提供了一种用于在工作现场确定工作工具（102）的位置的装置（702,704,706,708,802,804,806,904,906,908,910,912,912）。 该配件（702,704,706,708,802,804,806,904,906,808,906,904,906,808,910,906,904,906,908,910,912,912,904,906,908,910,912,904,906,906,908,910,912,912,906,906,906,908,910,912,904,906,906,908,910,912,912,906,906,906,906,908,910,912,904,906,906,908,910,912,912,906,906,906,906,908,910,912,912,910,910,910,910,910,910,910,930,910,910,910,910,910,910,910,910,910,910,910,910,912） 连接到车体（106）的悬臂（104），连接到悬臂（104）的杆（110），连接到杆（110）的作业工具（108）和定位系统（802,804,806 ）包括连接到所述杆（110）的接收器（202）和用于在所述多个点处的所述三维空间中确定所述接收器（202）在所述车身上的位置的处理器（704,818,818,824） 106）旋转并用于确定作业工具（108）的位置和方位。

公开(公告)号：EP0776485B1

公开(公告)日：2000-09-27

申请号：EP96914758.6

申请日：1996-05-23

Applicant: CATERPILLAR INC.

Inventor： HENDERSON, Daniel, E.

IPC: G01S5/14 ,  E02F3/84

CPC classification number: G01S19/45 ,  E02F3/847 ,  G01S19/44 ,  G01S19/53

公开(公告)号：EP0776485A1

公开(公告)日：1997-06-04

申请号：EP96914758.0

申请日：1996-05-23

Applicant: CATERPILLAR INC.

Inventor： HENDERSON, Daniel, E.

IPC: G01C15 ,  G01S5 ,  G01S19

CPC classification number: G01S19/45 ,  E02F3/847 ,  G01S19/44 ,  G01S19/53

Abstract: An apparatus (10) and method for determining the position of a work implement (12) movably connected to a machine (16) utilizes first and second electromagnetic radiation receiving devices (18, 20) connected to the work implement (12) at predetermined spaced locations. A processor (24) determines the first and second current coordinate positions of the first and second receiving devices (18, 20) in a site coordinate system based on position signals from the first and second receiving devices (18, 20). The processor transforms the first and second receiving points (R, L) from a local coordinate system related to the machine (16) to the site coordinate system using a plane (98) passing through the first and second current coordinate positions and a mid-point (C) located along a substantially straight line (99) passing between first and second previously defined coordinate positions of the first and second receiving devices (18, 20). The processor (51) corrects the position of the first and second receiving points (R, L) in the site coordinate system based on sensed changes in the pitch of the implement (12).

公开(公告)号：WO1997001105A1

公开(公告)日：1997-01-09

申请号：PCT/US1996007504

申请日：1996-05-23

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  HENDERSON, Daniel, E.

IPC: G01S05/14

CPC classification number: G01S19/45 ,  E02F3/847 ,  G01S19/44 ,  G01S19/53

Abstract: An apparatus (10) and method for determining the position of a work implement (12) movably connected to a machine (16) utilizes first and second electromagnetic radiation receiving devices (18, 20) connected to the work implement (12) at predetermined spaced locations. A processor (24) determines the first and second current coordinate positions of the first and second receiving devices (18, 20) in a site coordinate system based on position signals from the first and second receiving devices (18, 20). The processor transforms the first and second receiving points (R, L) from a local coordinate system related to the machine (16) to the site coordinate system using a plane (98) passing through the first and second current coordinate positions and a mid-point (C) located along a substantially straight line (99) passing between first and second previously defined coordinate positions of the first and second receiving devices (18, 20). The processor (51) corrects the position of the first and second receiving points (R, L) in the site coordinate system based on sensed changes in the pitch of the implement (12).

Abstract translation: 用于确定可移动地连接到机器（16）的工作装置（12）的位置的装置（10）和方法利用以预定间隔连接到工作装置（12）的第一和第二电磁辐射接收装置（18,20） 位置。 处理器（24）基于来自第一和第二接收装置（18,20）的位置信号确定位置坐标系中的第一和第二接收装置（18,20）的第一和第二当前坐标位置。 处理器使用通过第一和第二当前坐标位置的平面（98）将第一和第二接收点（R，L）从与机器（16）相关的局部坐标系变换到位置坐标系， 点（C）沿着在第一和第二接收装置（18,20）的第一和第二预定义的坐标位置之间通过的基本上直的线（99）。 处理器（51）基于感测到的工具（12）的间距的变化来校正位置坐标系中的第一和第二接收点（R，L）的位置。

公开(公告)号：WO1997001005A1

公开(公告)日：1997-01-09

申请号：PCT/US1996007271

申请日：1996-05-20

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  HENDERSON, Daniel, E.

IPC: E02F03/84

CPC classification number: E02F3/847 ,  E02F3/842 ,  G05D1/0236 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0202

Abstract: A system and method (10) for automatically controlling the position of a work implement (12) movably connected to a work machine (16) and maintaining the work implement (12) at a preselected slope of cut relative to a geographic surface is provided. The system (10) has first and second receiving devices (18, 20) mounted on the work implement (12) for receiving position signals from a plurality of remote locations. A processor (24) determines the actual slope of cut of the work implement (12) based on the received position signals. An implement controller (122) delivers an implement control signal in response to a difference between the actual and a preselected desired slope of cut of the work implement (12). An implement control system (124) elevationally changes the slope of cut of the work implement (12) at an automatic mode of operation of the system (10). The system (10) is particularly suited for use on a geographic surface altering work machine (16).

Abstract translation: 提供了一种用于自动控制可移动地连接到作业机器（16）并且将作业工具（12）相对于地理表面保持在预先选择的切割斜率的工件（12）的位置的系统和方法（10）。 系统（10）具有安装在工作工具（12）上的第一和第二接收装置（18,20），用于从多个远程位置接收位置信号。 处理器（24）基于接收到的位置信号确定作业工具（12）的切割的实际斜率。 工具控制器（122）响应于工作工具（12）的切割的实际和预选的期望斜率之间的差异递送工具控制信号。 工具控制系统（124）在系统（10）的自动操作模式下，高度地改变作业工具（12）的切割斜率。 系统（10）特别适合于在地理表面改变作业机器（16）上使用。

公开(公告)号：WO1995030799A1

公开(公告)日：1995-11-16

申请号：PCT/US1995005607

申请日：1995-04-27

Applicant: CATERPILLAR INC.

Inventor： CATERPILLAR INC. ,  GUDAT, Adam, J. ,  HENDERSON, Daniel, E. ,  SAHM, William, C.

IPC: E02F05/10

CPC classification number: E02F9/2045 ,  E02F3/435

Abstract: An apparatus (702, 704, 706, 708, 802, 804, 806) is provided for determining the location of a digging implement (120) at a work site. The apparatus (702, 704, 706, 708, 802, 804, 806) includes an undercarriage (106), a car body (104) rotatably connected to the undercarriage (106), a receiver (125) connected to the car body (104), a positioning system (704, 805, 806) for determining the location of the receiver (125) in three dimensional space, the positioning system (704, 804, 806) determining the location of the receiver (125) at a plurality of points along an arc, and a processor (704, 818, 824) for determining the location and orientation of the car body (104) in response to the location of the plurality of points.

Abstract translation: 提供了一种用于确定挖掘工具（120）在工作现场的位置的装置（702,704,706,708,802,804,806）。 该装置（702,704,706,708,802,804,806）包括底架（106），可旋转地连接到起落架（106）的车体（104），连接到车体的接收器（125） 104），用于在三维空间中确定接收机（125）的位置的定位系统（704,805,806），所述定位系统（704,804,806）确定接收机（125）在多个位置处的位置 以及用于响应于所述多个点的位置来确定所述车体（104）的位置和取向的处理器（704,818,824）。