公开(公告)号：US09575491B1

公开(公告)日：2017-02-21

申请号：US14844336

申请日：2015-09-03

Applicant: Caterpillar Underground Mining Pty. Ltd.

Inventor： Anthony K N Nelson ,  Joshua G. Bynon

IPC: G01C23/00 ,  G05D1/00 ,  G05D1/02 ,  E02F9/20

CPC classification number: E02F9/205 ,  E02F9/2054 ,  E02F9/262 ,  G05D1/0027 ,  G05D2201/021

Abstract: A system for automated operation of a plurality of machines deployed on an underground worksite is provided. The system includes a monitoring module provided on-board each of the plurality of machines. The system also includes an area isolation control module associated with the underground worksite. The system further includes a machine control module coupled to the monitoring module and the area isolation control module.

Abstract translation: 提供了一种用于自动操作部署在地下工地上的多台机器的系统。 该系统包括在多个机器中的每个机器上提供的监视模块。 该系统还包括与地下工地相关联的区域隔离控制模块。 该系统还包括耦合到监视模块和区域隔离控制模块的机器控制模块。

公开(公告)号：US20160355184A1

公开(公告)日：2016-12-08

申请号：US14729311

申请日：2015-06-03

Applicant: Caterpillar Inc.

Inventor： Eric J. Ruth

IPC: B60W30/16 ,  B60W10/18 ,  G05D1/02 ,  B60W10/04

CPC classification number: B60W30/162 ,  B60W10/04 ,  B60W10/18 ,  B60W30/09 ,  B60W30/165 ,  B60W30/18154 ,  B60W2050/0077 ,  B60W2050/0078 ,  B60W2050/0079 ,  B60W2050/008 ,  B60W2550/302 ,  B60W2550/306 ,  B60W2550/308 ,  B60W2710/06 ,  B60W2710/18 ,  B60W2720/10 ,  G05D1/0295 ,  G05D2201/021 ,  G07C5/00 ,  G08G1/0112 ,  G08G1/052 ,  G08G1/096725 ,  G08G1/09675 ,  G08G1/096791 ,  G08G1/22

Abstract: A method for monitoring and controlling a plurality of mining trucks, while the mining trucks operate on a worksite, is disclosed. The plurality of mining trucks includes, at least, a first truck and a second truck. The method includes monitoring a first speed of the first truck and determining a second speed of the second truck based on, at least, the first speed. The method further includes modulating the second speed based on changes to the first speed and controlling propulsion of the second truck based on the second speed.

Abstract translation: 公开了一种用于在矿山卡车在工地上操作的情况下监视和控制多个采矿卡车的方法。 多个采矿卡车至少包括第一卡车和第二卡车。 该方法包括：至少基于第一速度监视第一卡车的第一速度并确定第二卡车的第二速度。 该方法还包括基于第一速度的变化来调制第二速度并且基于第二速度来控制第二车辆的推进。

公开(公告)号：US20160349753A1

公开(公告)日：2016-12-01

申请号：US15106902

申请日：2013-12-27

Applicant: Komatsu Ltd.

Inventor： Masanori Tojima ,  Mitsuhiro Ryuman

IPC: G05D1/02 ,  G01S19/48 ,  G01S13/06

CPC classification number: G05D1/027 ,  G01S13/06 ,  G01S19/48 ,  G05D1/0261 ,  G05D2201/021

Abstract: A managing method of a mining machine includes: detecting a position of a landmark; and extending a first distance when a position of the landmark obtained in advance is present within a range of a second distance in a travel direction of the mining machine from a position, as a reference, where the mining machine reaches when the mining machine travels the first distance after the mining machine starts traveling by the dead reckoning navigation, when the mining machine travels in an unmanned state in a mine in which a plurality of the landmarks is located, the mining machine travels based on a detected self position and uses the dead reckoning navigation while correcting a current position of the mining machine based on a position of the landmark obtained in advance and a detected position of the landmark when the self position cannot be detected.

Abstract translation: 采矿机的管理方法包括：检测地标的位置; 并且当采矿机行进方向上的第二距离的距离存在于采矿机行进方向上的第二距离范围内时，第一距离延伸第一距离。 采矿机开始航行推算之后的第一距离，当采矿机以无人驾驶的状态行进在多个地标所在的矿山时，采矿机基于检测到的自身位置行进，并使用死亡 基于预先获得的地标的位置和当无法检测到自身位置时的地标的检测位置来校正采矿机的当前位置的推算导航。

公开(公告)号：US09441971B2

公开(公告)日：2016-09-13

申请号：US14659470

申请日：2015-03-16

Applicant: Modular Mining Systems, Inc.

Inventor： William Casson ,  Lucas Van Latum ,  Michael Lewis

IPC: G01C21/00 ,  G05D1/02 ,  G01C21/20 ,  G01C21/28 ,  G08G1/00

CPC classification number: G08G1/164 ,  B60W2550/14 ,  G01C21/00 ,  G01C21/20 ,  G01C21/28 ,  G05B2219/45004 ,  G05D1/0217 ,  G05D1/0287 ,  G05D2201/021 ,  G08G1/0968 ,  G08G1/20 ,  G08G1/205

Abstract: A system and method for navigating a vehicle through a mining environment to a target destination is presented. The system and method may be utilized to avoid contention in the mining environment. A route through the mining environment to the target destination for the vehicle is identified and a first speed profile for at least a portion of the route is determined. A potential contention condition associated with the route is identified and the potential contention condition along the route is used to determine a second speed profile for at least a portion of the route. An optimized speed profile is determined using the first speed profile and the second speed profile, and at least a portion of the optimized speed profile is communicated to the vehicle.

公开(公告)号：US20160223350A1

公开(公告)日：2016-08-04

申请号：US15094225

申请日：2016-04-08

Applicant: Modular Mining Systems, Inc.

Inventor： Michael W. Lewis ,  Lucas Van Latum ,  Andree Röttig ,  William Casson

IPC: G01C21/34 ,  G07C5/08 ,  G01S19/12

CPC classification number: G01C21/3407 ,  G01C21/3461 ,  G01S19/14 ,  G01S19/48 ,  G05D1/0278 ,  G05D2201/021 ,  G07C5/0816 ,  G07C5/0841 ,  G08G1/0962 ,  G08G1/096716 ,  G08G1/096725 ,  G08G1/096741 ,  G08G1/096775

Abstract: A system and method for driver guidance are presented. A position sensor is mounted to a vehicle. The position sensor is configured to identify a position of the vehicle and a heading of the vehicle. A device is configured to generate a plurality of outputs. A controller is connected to the position sensor and the display device. The controller is configured to access, via a wireless communications network, a database to identify a target loading location for the vehicle, determine a location and a heading of the target loading location for the vehicle, and modify at least one of the plurality of outputs of the display device based upon at least one of the location and the heading of the target loading location.

Abstract translation: 介绍了驾驶员指导的系统和方法。 位置传感器安装在车辆上。 位置传感器被配置为识别车辆的位置和车辆的航向。 设备被配置为生成多个输出。 控制器连接到位置传感器和显示装置。 控制器被配置为经由无线通信网络访问数据库以识别车辆的目标加载位置，确定车辆的目标加载位置的位置和航向，并修改多个输出中的至少一个 基于目标装载位置的位置和标题中的至少一个来显示显示装置。

公开(公告)号：US20160170411A1

公开(公告)日：2016-06-16

申请号：US14571728

申请日：2014-12-16

Applicant: Caterpillar Inc.

Inventor： Mo Wei ,  Michael Taylor ,  Thandava Edara

IPC: G05D1/00 ,  E02F9/26 ,  G01C21/00

CPC classification number: E02F9/261 ,  E02F9/205 ,  E02F9/2054 ,  G05D1/0214 ,  G05D2201/021

Abstract: Automated excavating uses automated dozers and other earthmoving equipment to move material at a worksite. When such equipment is required to avoid a temporary obstruction, traverse between work slots, or traverse between work areas, a controller uses information from real-time sensors and contour maps to determine a new route to the destination. The controller also determines in real time whether the proposed route will keep the equipment on terrain with slopes that do not exceed a slope limit set for the mobile excavation machine. If not, the controller re-routes the machine to a new path over terrain with acceptable slopes.

Abstract translation: 自动挖掘使用自动推土机和其他土方工程设备在工地移动材料。 当需要这样的设备以避免临时阻塞，工作间隙之间穿过或在工作区域之间穿过时，控制器使用来自实时传感器和轮廓图的信息来确定到目的地的新路线。 控制器还实时确定建议的路线是否将设备保持在不超过为移动式挖掘机设定的坡度限制的坡度的地形上。 如果没有，控制器将机器重新路由到具有可接受斜率的地形上的新路径。

公开(公告)号：US09142063B2

公开(公告)日：2015-09-22

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: G07C5/00 ,  G01S1/24 ,  G01S13/86 ,  G05D1/02 ,  G08G1/16 ,  G01S13/93 ,  G07C5/08

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：US20150112537A1

公开(公告)日：2015-04-23

申请号：US14519397

申请日：2014-10-21

Applicant: HITACHI CONSTRUCTION MACHINERY CO., LTD.

Inventor： Yukihiro KAWAMATA ,  Hiroto MORIZANE ,  Tomoyuki HAMADA ,  Hidefumi ISHIMOTO

IPC: G01C21/34

CPC classification number: G01C21/34 ,  B60P1/283 ,  G01C21/3407 ,  G05D1/0061 ,  G05D1/0274 ,  G05D2201/021

Abstract: Provided is a navigation system for autonomous dump trucks capable of preventing a dump truck from autonomously traveling on a carrying passage differing from the actual carrying passage even when the carrying passages for the dump truck have been altered. The navigation system is based on map data created by digitizing a map of roads on which the dump truck can travel. A control unit executes switching control between an autonomous mode to be selected when the autonomous traveling of the dump truck should be performed and a maneuver mode to be selected when the dump truck should travel according to an operator, based on version information of the map data used by the dump truck for the autonomous traveling and version information of master map data created by digitizing a map of the latest roads on which the dump truck can travel, managed by a control center.

Abstract translation: 提供一种自动倾卸车的导航系统，其能够防止自卸车在与实际的运送通道不同的承载通道上自主行进，即使在自卸车的承载通道被改变时也是如此。 导航系统基于通过数字化自卸卡车可以行驶的道路地图创建的地图数据。 控制单元根据地图数据的版本信息，在自卸车应自动行驶时，根据操作人员进行行驶的自动驾驶模式和执行自动驾驶的自动驾驶模式之间进行切换控制 由自卸车使用的自动旅行和通过数字化自卸车可以在其上行驶的最新道路的地图，由控制中心管理的主地图数据的版本信息。

公开(公告)号：US08694193B2

公开(公告)日：2014-04-08

申请号：US13379914

申请日：2010-06-22

Applicant: Hannu Mäkelä ,  Antti Lehtinen ,  Jarkko Ruokojärvi ,  Jouni Sievilä

Inventor： Hannu Mäkelä ,  Antti Lehtinen ,  Jarkko Ruokojärvi ,  Jouni Sievilä

IPC: G05D1/00 ,  G01C21/32

CPC classification number: G01C21/32 ,  E21F13/025 ,  G05D1/0274 ,  G05D2201/021

Abstract: The present invention relates to a method of determining routes for arranging automatic control of a mobile mining machine. A return route is determined computer-aidedly for the mining machine on the basis of data concerning a route taught by driving by executing, by a data processing device configured for generating return routes, at least the following steps: determining a route identifier for the return route, determining as route points of the return route at least some of the route points of the drive route in a reverse order, wherein when determining route point data of the return route on the basis of the route point data of the drive route, deleting additional control data associated with one or more route points of the drive route, and storing the data determining the return route to be used for automatically controlling the mining machine.

Abstract translation: 本发明涉及一种确定用于布置移动式采矿机的自动控制的路线的方法。 基于关于通过驾驶教导的路线的数据，通过由配置用于生成返回路线的数据处理装置执行至少以下步骤，对计算机进行计算机确定返回路线：确定返回的路线标识符 路线，以相反的顺序确定作为返回路线的至少一部分路线点的路线点，其中，当基于所述驱动路线的路线点数据确定返回路线的路线点数据时，删除 与驱动路线的一个或多个路线点相关联的附加控制数据，以及存储确定用于自动控制采矿机的返回路线的数据。

公开(公告)号：US08612084B2

公开(公告)日：2013-12-17

申请号：US13496481

申请日：2010-09-15

Applicant: Ross Hennessy ,  Florian Oppolzer ,  Xiuyi Fan ,  Surya P. N. Singh ,  Hugh Durrant-Whyte

Inventor： Ross Hennessy ,  Florian Oppolzer ,  Xiuyi Fan ,  Surya P. N. Singh ,  Hugh Durrant-Whyte

IPC: G01C22/00

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

Abstract: An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighboring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.

Abstract translation: 描述了用于跟踪或滑行转向车辆的自主导航系统。 该系统包括路径规划器（54），路径规划器（54）计算指定跟随路径的一系列航路点位置和车辆位置传感器（82）。 轨道控制器（60）包括航路点控制器（62），其基于来自车辆位置传感器的车辆位置信息和多个相邻航路点的位置来计算车辆速度和偏航率设定点;以及速率控制器（64），其生成 来自速度和偏航率设定值的左右轨道速度设定值。 车辆控制界面根据左和右轨道速度设定点来致动车辆控制。