公开(公告)号：US09481977B1

公开(公告)日：2016-11-01

申请号：US14808569

申请日：2015-07-24

Applicant: Caterpillar Inc.

Inventor： Jean-Jacques Clar ,  Daniel Stanek ,  Kyle Edwards ,  Michael Taylor ,  Robert J. McGee

IPC: E02F9/20 ,  E02F3/84 ,  G05D1/00

CPC classification number: E02F3/841 ,  E02F9/2045 ,  E02F9/205 ,  G05D1/0088 ,  G05D1/0274 ,  G05D2201/0202

Abstract: A system for controlling a machine during an autonomous material moving operation includes a terrain sensing system, a position sensing system, and a ground engaging work implement. A controller is configured to determine the topography of the work surface, generate a first target profile, generate signals to autonomously operate the machine along a work surface, receive a plurality of signals associated with a plurality of necessary input conditions, and generate a pause command based upon an absence of one of the plurality of necessary input conditions to define a pause condition. The controller may determine the position of the machine, determine an estimate of an amount of material being moved, generate a second target profile, and generate signals to re-start autonomous operation of the machine based upon the second target profile after elimination of the pause condition.

Abstract translation: 在自主材料移动操作期间用于控制机器的系统包括地形感测系统，位置感测系统和地面接合工作装置。 控制器被配置为确定工作表面的形貌，生成第一目标轮廓，产生沿工作表面自主操作机器的信号，接收与多个必要输入条件相关联的多个信号，并产生暂停指令 基于不存在多个必要输入条件之一来定义暂停条件。 控制器可以确定机器的位置，确定正在移动的材料的量的估计，产生第二目标简档，并且在消除暂停之后基于第二目标简档生成信号以重新启动机器的自主操作 条件。