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公开(公告)号：US09651381B2
公开(公告)日：2017-05-16
申请号：US14152447
申请日：2014-01-10
Applicant: Caterpillar Inc.
Inventor： Jean-Jacques Clar , Troy Kenneth Becicka , Michael Allen Taylor , Robert Jason McGee
IPC: G01C21/20
CPC classification number: G01C21/20 , G05D2201/0202
Abstract: A terrain mapping system is disclosed for a machine having at least one traction device. The system may have a sensor associated with the machine and configured to generate a signal indicative of a position of the machine. The system may also have at least one controller in communication with the sensor. The at least one controller may be configured to receive the signal from the sensor, and divide an area between the at least one traction device and a work surface into a plurality of virtual tracking features based on the signal and known geometry of the machine. The at least one controller may also be configured to track movement of the plurality of virtual tracking features, and update an electronic terrain map of a worksite based on the movement of the plurality of virtual tracking features.
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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
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。
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公开(公告)号：US09014925B2
公开(公告)日：2015-04-21
申请号：US13840581
申请日：2013-03-15
Applicant: Caterpillar Inc.
Inventor： Jean-Jacques Clar , Seth J. Redenbo , Brian G. Funke
CPC classification number: E02F5/32 , E02F9/2045 , E02F9/205 , E02F9/262
Abstract: A system for determining a ripping path includes a position sensing system, a work implement, and a controller. The controller is configured to determine a plurality of positions of the machine as the machine moves along an operating path and the work implement moves a volume of material and sense the material characteristics of at each of the plurality of positions along the operating path. The controller is further configured to determine the ripping path based upon the material characteristics sensed at the plurality of positions and store the ripping path.
Abstract translation: 用于确定翻录路径的系统包括位置感测系统，作业工具和控制器。 控制器被配置为当机器沿着操作路径移动时确定机器的多个位置，并且工作工具移动一定体积的材料并感测沿着操作路径的多个位置中的每个位置处的材料特性。 控制器还被配置为基于在多个位置处感测到的材料特性来确定撕裂路径并存储撕开路径。
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公开(公告)号：US09783955B1
公开(公告)日：2017-10-10
申请号：US15347232
申请日：2016-11-09
Applicant: Caterpillar Inc.
Inventor： Jean-Jacques Clar , Michael Taylor , Troy K. Becicka , Ross McAree , Kyle Edwards , Peter Beasley
CPC classification number: E02F3/841 , E02F1/00 , E02F3/04 , E02F3/7604 , E02F3/7609 , E02F9/2041 , E02F9/2045 , E02F9/205 , E02F9/262 , G05D1/0219 , G05D2201/0202
Abstract: A system for moving material from a first work area to a second work area includes a change in terrain sensor, a machine position sensor, and a controller. The controller performs first material moving operations including tip head operations until the void at the second work area is filled to a predetermined extent. The controller performs second material moving operation including backstacking operations until a predetermined amount of material has been moved from the first work area.
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公开(公告)号：US20140336881A1
公开(公告)日：2014-11-13
申请号：US13891865
申请日：2013-05-10
Applicant: CATERPILLAR INC.
Inventor： Jean-Jacques Clar , Daniel Stanek , Lance Cowper , Troy K. Becicka , Brian G. Funke , Thandava K. Edara , Kyle Edwards
IPC: E02F9/20
CPC classification number: E02F9/2045 , A01B69/00 , E02F3/7604 , E02F3/842 , E02F5/32 , E02F9/2029
Abstract: A system for re-orienting a machine during a ripping operation includes a position sensing system, a ripper, and a controller. The system stores a ripping path, determines the position of the machine, and compares the position of the machine to the ripping path. A drawbar pull of the machine is determined, compared to a maximum steering drawbar pull, and the ripper is raised if the machine is positioned greater than a predetermined distance from the ripping path and the drawbar pull exceeds the maximum steering drawbar pull. The machine is re-oriented and the ripper lowered relative to the work surface.
Abstract translation: 在翻录操作期间重新定向机器的系统包括位置感测系统，松土机和控制器。 系统存储撕裂路径，确定机器的位置，并将机器的位置与撕开路径进行比较。 与最大转向牵引杆牵引相比，确定机器的牵引杆拉力，并且如果机器定位在距离撕裂路径大于预定距离并且牵引杆拉力超过最大转向牵引杆拉力的情况下，则提升机。 机器重新定向，并且松土机相对于工作表面降低。
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Patent Agency Ranking
公开(公告)号：US20140180444A1
公开(公告)日：2014-06-26
申请号：US13722445
申请日：2012-12-20
Applicant: CATERPILLAR INC.
Inventor： Thandava K. Edara , Michael Taylor , Timothy Felty , Mo Wei , Kenneth L. Stratton , Jean-Jacques Clar
IPC: G05B11/01
CPC classification number: E02F3/841 , E02F9/2045 , G05D1/00 , G05D1/0088 , G05D1/0278 , G05D2201/0202
Abstract: A system for modifying a path of operation of a machine includes a position sensor and a controller. The controller stores the path of operation, receives a plurality of position signals as the work implement moves material along the path of operation, and determines the position of the work surface. The controller further determines an amount of material moved based at least in part upon the position of the work surface and modifies parameters used to determine a subsequent path of operation if the amount of material moved exceeds a predetermined amount.
Abstract translation: 用于修改机器的操作路径的系统包括位置传感器和控制器。 控制器存储操作路径，当工作工具沿着操作路径移动材料时接收多个位置信号，并且确定工作表面的位置。 控制器进一步确定至少部分地基于工作表面的位置移动的材料的量，并且如果移动的材料量超过预定量，则修改用于确定后续操作路径的参数。
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公开(公告)号：US11801616B2
公开(公告)日：2023-10-31
申请号：US16951724
申请日：2020-11-18
Applicant: Caterpillar Inc.
Inventor： Daniel Martinez , Daniel Peter Sergison , Zhijun Cai , Jean-Jacques Clar , Eric Alan Reiners , Benjamin John Hodel , Benjamin L. Naasz
CPC classification number: B28B17/0081 , B01F35/00 , B28C7/024 , B28C7/026 , B33Y30/00 , B33Y50/02 , B33Y70/00 , B28B1/001 , E04B1/161 , E04B2103/02
Abstract: An inference system for monitoring a cementitious mixture for three-dimensional printing is provided. The inference system includes an ambient condition sensor, a temperature sensor, a moisture sensor and an image capturing device. The inference system also includes a controller coupled to the ambient condition sensor, the temperature sensor, the moisture sensor, and the image capturing device. The controller receives sensed ambient conditions, a temperature signal, and a moisture content signal. The controller receives an image feed of a portion of a cementitious mixture. The controller also receives signals indicative of a motor speed and a motor torque associated with a mixing container. The controller builds a model and determines a material suitability of the cementitious mixture using the model based on the received ambient conditions, the temperature signal, the moisture content signal, the image feed, the motor speed, and the motor torque and determines one or more corrective actions.
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公开(公告)号：US20210069932A1
公开(公告)日：2021-03-11
申请号：US16951724
申请日：2020-11-18
Applicant: Caterpillar Inc.
Inventor： Daniel Martinez , Daniel Peter Sergison , Zhijun Cai , Jean-Jacques Clar , Eric Alan Reiners , Benjamin John Hodel , Benjamin L. Naasz
Abstract: An inference system for monitoring a cementitious mixture for three-dimensional printing is provided. The inference system includes an ambient condition sensor, a temperature sensor, a moisture sensor and an image capturing device. The inference system also includes a controller coupled to the ambient condition sensor, the temperature sensor, the moisture sensor, and the image capturing device. The controller receives sensed ambient conditions, a temperature signal, and a moisture content signal. The controller receives an image feed of a portion of a cementitious mixture. The controller also receives signals indicative of a motor speed and a motor torque associated with a mixing container. The controller builds a model and determines a material suitability of the cementitious mixture using the model based on the received ambient conditions, the temperature signal, the moisture content signal, the image feed, the motor speed, and the motor torque and determines one or more corrective actions.
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公开(公告)号：US09560692B2
公开(公告)日：2017-01-31
申请号：US14153614
申请日：2014-01-13
Applicant: CATERPILLAR INC.
Inventor： Robert Jason McGee , Jean-Jacques Clar , Craig L. Koehrsen , Brian Gerard Funke , Brett Andrew Eisenmenger , Deepa Jeyamani , Kent James Chesko , Clarence Matthew Glover , Shahul Hameed Mohammed
CPC classification number: H04W88/00 , E02F9/20 , E02F9/205 , G05D1/0038 , G05D1/0061 , G05D2201/0202
Abstract: A system for controlling a machine may include a remote control (RC) input device configured to remotely initiate a RC enabled mode on the machine. The RC input device may subsequently establish a communication link with the machine when no other RC input device currently has a communication link with the machine. The RC input device may transition the machine to a RC reserved mode in which the machine is reserved for control by the RC input device, and transition a mode of control for the machine to a RC active mode from the RC reserved mode. The RC input device may selectively control the machine when in the RC active mode. The RC input device may also transition the mode of control for the machine to an autonomous mode from the RC active mode.
Abstract translation: 用于控制机器的系统可以包括被配置为在机器上远程启动RC启用模式的远程控制（RC）输入设备。 当没有其他RC输入设备当前与机器具有通信链路时，RC输入设备随后可以与机器建立通信链路。 RC输入设备可以将机器转换到RC保留模式，其中机器保留用于RC输入设备的控制，并且从RC保留模式将机器的控制模式转换为RC活动模式。 在RC活动模式下，RC输入装置可以选择性地控制机器。 RC输入装置还可以将RC机器的控制模式从RC活动模式转变为自主模式。
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公开(公告)号：US09469967B2
公开(公告)日：2016-10-18
申请号：US14484710
申请日：2014-09-12
Applicant: Caterpillar Inc.
Inventor： Thandava K. Edara , Michael Taylor , Troy K. Becicka , Jean-Jacques Clar , Kyle Edwards , Mo Wei
IPC: E02F9/20
CPC classification number: E02F9/2029 , E01C19/004 , E02F9/2041 , E02F9/2045 , E02F9/262
Abstract: A system for automated control of a machine includes a position sensor and a controller. The controller is configured to determine a position of a work surface along a first slot and along a second slot. The work surface along the first slot and the second slot define at least a portion of a berm. The controller is further configured to determine a physical characteristic of the first slot and the second slot and generate a berm reduction command if the physical characteristic of the first slot and the second slot is less than the characteristic threshold of the first slot and the second slot.
Abstract translation: 一种用于机器自动控制的系统包括位置传感器和控制器。 控制器被配置成确定工件表面沿着第一槽并沿着第二槽的位置。 沿着第一槽和第二槽的工作表面限定了护堤的至少一部分。 如果第一时隙和第二时隙的物理特性小于第一时隙和第二时隙的特征阈值，则控制器还被配置为确定第一时隙和第二时隙的物理特性，并产生条纹减少命令 。
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