公开(公告)号：US08965641B2

公开(公告)日：2015-02-24

申请号：US13722179

申请日：2012-12-20

Applicant: Caterpillar Inc.

Inventor： David William Smith ,  Richard Kent Yates

IPC: G05D1/02 ,  G01C21/30 ,  G01S17/06 ,  G01S17/42 ,  G01S17/89 ,  G01S13/74 ,  G01S13/86 ,  G01S1/68 ,  G01S5/02 ,  G01S7/48 ,  G01S17/87

CPC classification number: G05D1/024 ,  G01C21/30 ,  G01S1/68 ,  G01S5/0257 ,  G01S5/0294 ,  G01S7/4808 ,  G01S13/74 ,  G01S13/865 ,  G01S17/06 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/021

Abstract: A positioning system and method for determining a position of a machine are disclosed. The system may have an optical sensing device configured to generate determined shape data associated with a portion of the worksite at the position of the machine. The system may have a first signal device configured to transmit a radio frequency signal and receive a response signal. The system may have a second signal configured to receive the transmitted radio frequency signal and transmit the response signal. The system may have a controller in communication with the optical sensing device and at least one of the first and second signal devices. The controller may be configured to determine an approximate position based on the radio frequency signal and the response signal, identify a reference shape data corresponding to the determined shape data, and determine the position based on the approximate position and the reference shape data.

Abstract translation: 公开了一种用于确定机器位置的定位系统和方法。 该系统可以具有光学感测装置，其被配置为在机器的位置处产生与工地的一部分相关联的确定的形状数据。 系统可以具有被配置为发送射频信号并且接收响应信号的第一信号装置。 系统可以具有被配置为接收所发送的射频信号并发送响应信号的第二信号。 该系统可以具有与光学感测装置以及第一和第二信号装置中的至少一个通信的控制器。 控制器可以被配置为基于射频信号和响应信号来确定近似位置，识别与所确定的形状数据相对应的参考形状数据，并且基于近似位置和参考形状数据来确定位置。

公开(公告)号：US08965622B2

公开(公告)日：2015-02-24

申请号：US13574656

申请日：2011-01-20

Applicant: Tomonori Ozaki ,  Koji Takeda

Inventor： Tomonori Ozaki ,  Koji Takeda

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0278 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/021

Abstract: In a vehicular driving system and a driving method thereof in which a vehicle is driven toward a loading point, a waiting point is set on a driving path. The vehicle drives from an entry point of a loading site to the waiting point along the driving path, and stands by at the waiting point until permission is given by a loader. When there is an order to change the loading point when the vehicle is at the waiting point or driving to the waiting point, a partial driving path is created, and the vehicle drives from the waiting point to the new loading point along the partial driving path. When there is no order to change the loading point when the vehicle is at the waiting point or driving to the waiting point, the vehicle drives from the waiting point to the original loading point along the driving path.

Abstract translation: 在车辆驱动系统及其驱动方法中，车辆朝着装载点被驱动，等待点被设定在行驶路径上。 车辆从装载地点的入口点沿着行驶路径行驶到等待点，并在等待点处等待，直到装载机给出许可。 当在车辆处于等待点或驾驶到等待点的命令中改变加载点时，产生部分驱动路径，并且车辆沿着部分驱动路径从等待点开始到新的装载点 。 当车辆处于等待点或驾驶到等待点没有命令改变装载点时，车辆沿着行驶路径从等待点向原始装载点行驶。

公开(公告)号：US20150051828A1

公开(公告)日：2015-02-19

申请号：US14523985

申请日：2014-10-27

Applicant: CATERPILLAR INC.

Inventor： David William Smith ,  Richard Kent Yates

IPC: G01C21/30 ,  G01S17/06

CPC classification number: G05D1/024 ,  G01C21/30 ,  G01S1/68 ,  G01S5/0257 ,  G01S5/0294 ,  G01S7/4808 ,  G01S13/74 ,  G01S13/865 ,  G01S17/06 ,  G01S17/42 ,  G01S17/87 ,  G01S17/89 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/021

Abstract: A positioning system and method for determining a position of a machine are disclosed. The system may have an optical sensing device configured to generate determined shape data associated with a portion of the worksite at the position of the machine. The system may have a first signal device configured to transmit a radio frequency signal and receive a response signal. The system may have a second signal configured to receive the transmitted radio frequency signal and transmit the response signal. The system may have a controller in communication with the optical sensing device and at least one of the first and second signal devices. The controller may be configured to determine an approximate position based on the radio frequency signal and the response signal, identify a reference shape data corresponding to the determined shape data, and determine the position based on the approximate position and the reference shape data.

Abstract translation: 公开了一种用于确定机器位置的定位系统和方法。 该系统可以具有光学感测装置，其被配置为在机器的位置处产生与工地的一部分相关联的确定的形状数据。 系统可以具有被配置为发送射频信号并且接收响应信号的第一信号装置。 系统可以具有被配置为接收所发送的射频信号并发送响应信号的第二信号。 该系统可以具有与光学感测装置以及第一和第二信号装置中的至少一个通信的控制器。 控制器可以被配置为基于射频信号和响应信号来确定近似位置，识别与所确定的形状数据相对应的参考形状数据，并且基于近似位置和参考形状数据来确定位置。

公开(公告)号：US20150032324A1

公开(公告)日：2015-01-29

申请号：US14379519

申请日：2013-02-19

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD

Inventor： Masanori Ichinose ,  Tomohiko Yasuda ,  Takayuki Sato ,  Wataru Tanaka

IPC: B60W30/14 ,  G05D1/02

CPC classification number: B60W30/143 ,  B60W2550/146 ,  B60W2720/10 ,  B60Y2200/142 ,  G05D1/021 ,  G05D1/024 ,  G05D1/0257 ,  G05D2201/021

Abstract: A mining vehicle is provided, which is capable of appropriately recognizing a condition of a traveling road in front of the vehicle, preventing an obstacle on a roadside from being erroneously detected by a distance detector, and controlling the speed of the vehicle in a stable manner even when the vehicle is approaching a curved portion of the road from a linear portion of the road.The mining vehicle that travels on a transport road of a mining site includes: a minimum roadside distance determining unit; a traveling status calculator configured to calculate traveling status of the vehicle and a turning radius of the vehicle; a roadside distance calculator configured to calculate a roadside distance between the vehicle and a roadside of the transport road; a roadside distance selector configured to select and output a minimum roadside distance if the vehicle is in a rectilinearly traveling state and select and output the roadside distance calculated with the roadside distance calculator if the vehicle is in a turning state; a detected distance limiter configured to disable a signal representing the distance, detected with the distance detector, between the vehicle and the object and the relative speed if the distance between the vehicle and the object is larger than a distance represented by a signal selected and output from the roadside distance selector; and a vehicle speed controller configured to control the speed of the vehicle on the basis of a signal output from the detected distance limiter.

Abstract translation: 提供一种采矿车辆，其能够适当地识别车辆前方的行驶道路的状况，防止路边障碍物被距离检测器错误地检测，并且以稳定的方式控制车辆的速度 即使当车辆从道路的直线部分接近道路的弯曲部分时。 在矿场的运输道路上行驶的采矿车辆包括：最小路边距离确定单元; 行驶状态计算器，被配置为计算车辆的行驶状态和车辆的转弯半径; 路边距离计算器，被配置为计算所述车辆与所述运送道路的路边之间的路边距离; 如果车辆处于直线行驶状态，则选择并输出最小路边距离的路边距离选择器，如果车辆处于转弯状态，则选择并输出与路边距离计算器计算出的路边距离; 检测到的距离限制器，其被配置为如果车辆和物体之间的距离大于由所选择和输出的信号所表示的距离，则禁用表示距离检测器检测到的车辆和物体之间的距离的信号以及相对速度 从路边距离选择器; 以及车速控制器，被配置为基于从检测到的距离限制器输出的信号来控制车辆的速度。

公开(公告)号：US20140257626A1

公开(公告)日：2014-09-11

申请号：US13787132

申请日：2013-03-06

Applicant: CATERPILLAR INC.

Inventor： Hong Liu ,  Brian G. Funke ,  Mathew Chacko

IPC: G06F11/32

CPC classification number: E02F9/2054 ,  B62D15/027 ,  B62D15/0295 ,  E02F9/265 ,  G05D2201/021

Abstract: A system for assisting in docking of a machine at a loading location is provided. The system includes a first controller and a second controller. The first controller is configured to generate a signal indicative of one or more loading locations associated with a loading machine. The second controller is communicably coupled to the first controller, a position detection module, a sensor and a display unit. Based on the signals received from the first controller, the position detection module and the sensor, the second controller compares the received signals and selects an exact loading location of the one or more loading locations. The second controller then determines when the current position of the machine crosses a predefined threshold distance and displays, on the display unit, a zoomed-in top view of the machine on the worksite and the exact loading location, based on the determination.

Abstract translation: 提供了一种在加载位置辅助机器对接的系统。 该系统包括第一控制器和第二控制器。 第一控制器被配置为产生指示与加载机相关联的一个或多个加载位置的信号。 第二控制器可通信地耦合到第一控制器，位置检测模块，传感器和显示单元。 基于从第一控制器，位置检测模块和传感器接收的信号，第二控制器比较接收到的信号并选择一个或多个装载位置的精确加载位置。 然后，第二控制器确定机器的当前位置何时跨越预定义的阈值距离，并且基于该确定，在显示单元上显示在工地上的机器的放大顶视图和精确加载位置。

公开(公告)号：US20140236477A1

公开(公告)日：2014-08-21

申请号：US13768471

申请日：2013-02-15

Applicant: CATERPILLAR INC.

Inventor： Qi Chen ,  Michael D. Braunstein ,  Satish Yadav ,  Eric Alan Reiners ,  Kenneth Lee Stratton

IPC: G06F17/00

CPC classification number: G07C5/008 ,  B60W2300/17 ,  G01S13/865 ,  G01S13/867 ,  G01S2013/9332 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/02 ,  G05D2201/0202 ,  G05D2201/021 ,  G07C5/085 ,  G08G1/16

Abstract: A positioning system and method for determining a position of a machine on a worksite are disclosed. The method may store a map of the worksite which includes one or more known objects in the worksite. The method may determine whether a locating device associated with the machine is accurately providing the position of the machine. The method may also include detecting one or more objects in the worksite. The method may further determine an unmatched object from among the detected objects that does not match the one or more known objects stored in the map. The method may also store the unmatched object in the map as a known object of the worksite.

Abstract translation: 公开了一种用于确定机器在工地上的位置的定位系统和方法。 该方法可以存储在工地中包括一个或多个已知对象的工地的地图。 该方法可以确定与机器相关联的定位装置是否准确地提供机器的位置。 该方法还可以包括检测工地中的一个或多个对象。 该方法还可以从检测到的对象中确定与映射中存储的一个或多个已知对象不匹配的不匹配对象。 该方法还可以将不匹配的对象存储在地图中作为工地的已知对象。

公开(公告)号：US08577530B2

公开(公告)日：2013-11-05

申请号：US13308804

申请日：2011-12-01

Applicant: Eric Ruth ,  Kenneth Stratton

Inventor： Eric Ruth ,  Kenneth Stratton

IPC: B60L9/00

CPC classification number: B62D1/02 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/021

Abstract: Operating a mining truck includes receiving data indicative of a prospective directional change in an on-trolley availability corridor, and outputting a control command to a steering mechanism of the mining truck responsive to the data. The mining truck is steered responsive to the control command from a first heading accordant with a first part of the corridor toward a second heading accordant with a succeeding part of the corridor. A related mining truck and steering system are disclosed.

Abstract translation: 操作采矿卡车包括接收指示无轨电车可用性走廊中的预期方向改变的数据，并且响应于该数据向控制装置的转向机构输出控制命令。 采矿卡车响应控制指令，从与走廊第一部分相符的第一个方向转向符合走廊后续部分的第二个方向。 公开了一种相关的采矿卡车和转向系统。

公开(公告)号：US20130261870A1

公开(公告)日：2013-10-03

申请号：US13438167

申请日：2012-04-03

Applicant: Bibhrajit Halder ,  Ruchi Bhatia

Inventor： Bibhrajit Halder ,  Ruchi Bhatia

IPC: G05D1/02

CPC classification number: G05D1/0274 ,  G05D1/0278 ,  G05D2201/021

Abstract: An autonomous machine control system includes a positioning unit measuring position and orientation, and a navigation unit storing a route plan including an intended travel path along a lane. The lane has a width defined by a left-hand boundary and a right-hand boundary. The navigation unit receives an uncertainty value associated with the position or orientation, and creates a virtual two-dimensional footprint based on an actual machine footprint and the uncertainty value. The navigation unit also simulates movement of the virtual footprint along the intended travel path, calculates a left-hand margin value defined by the virtual footprint and the left-hand boundary, and calculates a right-hand margin value defined by the virtual footprint and the right-hand boundary. The margin values are compared to a predetermined value, and speed or travel direction of the machine is controlled if either of the margin values is below the predetermined value.

Abstract translation: 自动机器控制系统包括测量位置和方向的定位单元和存储包括沿着车道的预期行进路径的路线图的导航单元。 车道具有由左边界和右边界定义的宽度。 导航单元接收与位置或方向相关联的不确定性值，并且基于实际的机器覆盖区域和不确定性值创建虚拟二维足迹。 导航单元还模拟虚拟足迹沿着预期行进路径的移动，计算由虚拟占地面积和左侧边界定义的左边距值，并计算由虚拟足迹定义的右边距值，并且 右边界 将余量值与预定值进行比较，并且如果任一裕度值低于预定值，则控制机器的速度或行进方向。

公开(公告)号：US08548668B2

公开(公告)日：2013-10-01

申请号：US13198457

申请日：2011-08-04

Applicant: Bryan J. Everett ,  Craig L. Koehrsen ,  Rodney R. Richards ,  Steven J. Cook

Inventor： Bryan J. Everett ,  Craig L. Koehrsen ,  Rodney R. Richards ,  Steven J. Cook

IPC: G05D1/00

CPC classification number: G05D1/0274 ,  E02F9/2045 ,  E02F9/265 ,  E21C47/00 ,  G05D2201/0202 ,  G05D2201/021

Abstract: A control system is disclosed for use with a machine having a work tool and operating at a work site. The control system may have a sensor associated with the work tool and configured to generate a signal indicative of a position of the work tool, an offboard worksite controller, and an onboard controller in communication with the sensor and the offboard worksite controller. The onboard controller may be configured to receive from an operator an input indicative of a current task being performed by the machine, and track movement of a portion of the work tool corresponding with the operator input. The onboard controller may also be configured to communicate the tracked movement to the offboard worksite controller.

Abstract translation: 公开了一种用于具有工作工具并在工作现场操作的机器的控制系统。 控制系统可以具有与工作工具相关联的传感器，并且被配置为产生指示工作工具的位置的信号，脱离工作场所控制器以及与传感器和舷外工地控制器通信的车载控制器。 车载控制器可以被配置为从操作者接收指示由机器执行的当前任务的输入，并且跟踪与操作者输入对应的工作工具的一部分的移动。 车载控制器还可以被配置为将跟踪的运动传递到非工作场所控制器。

公开(公告)号：US08548664B2

公开(公告)日：2013-10-01

申请号：US12942682

申请日：2010-11-09

Applicant: Takayuki Uchida ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

Inventor： Takayuki Uchida ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

IPC: G06F17/00 ,  G08G1/16 ,  G08G1/097

CPC classification number: G05D1/0297 ,  G05D2201/0205 ,  G05D2201/021

Abstract: In an autonomic traveling apparatus for a vehicle, vehicles usually travel an independent travel lane and when there are two approaching vehicles on the independent travel lane, they switch to pass-by lanes to pass by each other. To do this switching operation effectively, respective vehicles check and obtain road conditions around them while they are traveling and the obtained road conditions are transmitted to and collected by a travel administration center so that the road conditions at various points along the lanes can be obtained from the travel administration center. Accordingly, when the autonomic traveling trucks approaching each other and supposed to pass by each other, switch to the associated pass-by lanes, they change travel lanes avoiding the point of bad road condition on the basis of the road conditions sent from the travel administration center.

Abstract translation: 在车辆的自主运动装置中，车辆通常行驶独立的行车道，并且当在独立行车道上有两辆接近的车辆时，他们切换到经过的路段。 为了有效地进行这种切换操作，各车辆在行驶时检查并获得他们周围的道路状况，并且所获得的道路状况被传送到行政管理中心并由行驶管理中心收集，使得可以从道路的各个点获得沿着车道的各个点的道路状况 旅行管理中心。 因此，当自主运输卡车彼此靠近并相互通过时，切换到相关的通行道路，根据从行政管理部门发送的道路状况，改变行车道，避免出现恶劣道路状况 中央。