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公开(公告)号：US10384882B2
公开(公告)日：2019-08-20
申请号：US15387057
申请日：2016-12-21
Applicant: Caterpillar Inc.
Inventor： Paul Friend , Kenneth L. Stratton
Abstract: A material management system and method manages and tracks the progress of excavated material transferred through an excavation site by a conveyer system operating in cooperation with an in-pit crusher and conveyer (IPCC). The material management system distinguishes the material dispensed into the IPCC into identified material batches. To track the identified material batches, the material management system records data regarding the conveyer speed and the conveyer distance associated with the IPCC, as well as possible other data regarding the identified material batches. The material management system processes this to track the indentified material batches along the conveyer route.
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公开(公告)号：US09487931B2
公开(公告)日：2016-11-08
申请号：US14485088
申请日：2014-09-12
Applicant: Caterpillar Inc.
Inventor： David C. Atkinson , Kenneth L. Stratton
CPC classification number: E02F9/2045 , E02F3/432 , E02F3/434 , E02F9/2054 , E02F9/262 , E02F9/265 , G01S13/42 , G01S13/931 , G01S15/42 , G01S15/88 , G01S15/931 , G01S17/00 , G01S17/42 , G01S17/88 , G01S17/936 , G07C5/0841
Abstract: An excavation system is disclosed as having a locating device configured to generate a position signal indicative of a position of an excavation machine, a sensor configured to generate a load signal indicative of a work tool status, and a controller. The controller may be configured to determine a location of a haul truck, to determine when the work tool is filled with at least a threshold amount of material from a pile at the worksite, and to determine the position of the excavation machine. The controller may further be configured, based on operating limitations of the excavation machine, to determine a pivot point between the location of the haul truck and the position of the excavation machine; to plan a travel path for the excavation machine to the haul truck through the pivot point; and to direct an operator of the excavation machine to follow the travel path.
Abstract translation: 挖掘系统被公开为具有定位装置，其被配置为产生指示挖掘机的位置的位置信号，被配置为产生指示作业工具状态的载荷信号的传感器以及控制器。 控制器可以被配置为确定运输卡车的位置，以确定工作工具何时填充来自工地的桩中的至少一定量的材料，并且确定挖掘机的位置。 控制器还可以基于挖掘机的操作限制来构造，以确定运输车辆的位置与挖掘机的位置之间的枢转点; 通过枢轴点规划挖掘机到牵引车的行驶路径; 并引导挖掘机的操作者跟随行进路径。
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13.发明申请METHOD AND SYSTEM FOR MAPPING TERRAIN AND OPERATING AUTONOMOUS MACHINES USING MACHINE PARAMETERS 审中-公开使用机器参数映射和操作自动机器的方法和系统公开(公告)号：US20160282878A1
公开(公告)日：2016-09-29
申请号：US15181302
申请日：2016-06-13
Applicant: Caterpillar Inc.
Inventor： Kenneth L. Stratton , Jeffrey Edward Jensen
CPC classification number: G05D1/0274 , B60P1/04 , E02F9/2045 , E02F9/205 , E02F9/2054 , E02F9/262 , G05B11/01 , G05D1/0088 , G05D1/0219 , G09B25/06 , G09B25/08
Abstract: A system for mapping terrain using at least a first machine and a second machine traveling along the terrain includes a controller for each of the respective first and second machines. Each respective machine includes a plurality of sensors in electrical communication with the controller of each respective machine. The controller is configured to receive, from the plurality of sensors located on each respective machine a plurality of machine parameters indicative of sensed operations of the respective machine as the respective machine travels along the terrain. The controller is further configured to determine, based on the received machine parameters for the respective machine, a geometry and a grade of a plurality of paths on the terrain along which the respective machine travels.
Abstract translation: 用于使用至少第一机器和沿着地形行进的第二机器映射地形的系统包括用于相应的第一和第二机器中的每一个的控制器。 每个相应的机器包括与每个相应机器的控制器电连通的多个传感器。 控制器被配置为当相应机器沿着地形行进时，从位于每个相应机器上的多个传感器接收指示相应机器的感测操作的多个机器参数。 控制器还被配置为基于相应机器的接收到的机器参数来确定在相应机器行进的地形上的多个路径的几何形状和等级。
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公开(公告)号：US09322148B2
公开(公告)日：2016-04-26
申请号：US14305469
申请日：2014-06-16
Applicant: Caterpillar Inc. , Carnegie-Mellon University
Inventor： Kenneth L. Stratton , Louis Bojarski , Peter Rander , Randon Warner , Jason Ziglar
CPC classification number: E02F9/261 , E02F9/205 , G05B15/02 , G05D1/00 , G05D1/0274 , G05D2201/0202 , G06F17/30241 , G06F17/30345
Abstract: A mapping system includes a pose sensor, a mapping sensor, a database defining a work surface, and a controller. The controller is configured to receive pose signals and determine the position and the orientation of the machine and receive mapping signals and determine a plurality of raw data points. The controller further determines a plurality of machine points defining a position of a portion of the machine and filters the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points. The database may be updated with the plurality of filtered data points.
Abstract translation: 映射系统包括姿态传感器，映射传感器，定义工作表面的数据库和控制器。 控制器被配置为接收姿态信号并确定机器的位置和方位并且接收映射信号并确定多个原始数据点。 控制器还确定定义机器的一部分的位置的多个机器点，并且基于多个机器点对多个原始数据点进行过滤以定义多个经过滤的数据点。 数据库可以用多个经过滤的数据点来更新。
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公开(公告)号：US09014924B2
公开(公告)日：2015-04-21
申请号：US13722322
申请日：2012-12-20
Applicant: Caterpillar Inc.
Inventor： Thandava K. Edara , Michael Taylor , Timothy Felty , Mo Wei , Kenneth L. Stratton , Troy K. Becicka
CPC classification number: G01N33/00 , E02F9/2045 , E02F9/205 , E02F9/2054 , E02F9/262 , G05D1/0274 , G05D1/0278 , G05D2201/0202
Abstract: A system for determining material characteristics of a material of a work surface includes a position sensor and a controller. The controller stores a first estimate of the material characteristics and utilizes a planning system to determine an expected profile. The expected profile is based at least in part upon the first estimate of the material characteristics. The controller determines an actual profile of the work surface, compares the expected profile to the actual profile, and determines a second estimate of the material characteristics based at least in part upon the difference between the expected profile and the actual profile.
Abstract translation: 用于确定工件表面材料的材料特性的系统包括位置传感器和控制器。 控制器存储材料特性的第一估计，并利用规划系统来确定期望的轮廓。 预期轮廓至少部分地基于材料特性的第一估计。 控制器确定工作表面的实际轮廓，将预期轮廓与实际轮廓进行比较，并且至少部分地基于预期轮廓和实际轮廓之间的差异来确定材料特性的第二估计。
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Patent Agency Ranking
公开(公告)号：US20150032292A1
公开(公告)日：2015-01-29
申请号：US13953064
申请日：2013-07-29
Applicant: Caterpillar Inc.
Inventor： Kenneth L. Stratton
IPC: B60S1/62
CPC classification number: B60S1/62 , B60S1/0848 , B60S1/56
Abstract: A control system for a vehicle sensor cleaning system is provided. The control system includes: a microcontroller configured to: receive inputs including at least one input from any one of the following sources: sensors, other controllers, and an operator; determine whether a signal to actuate a cleaning system for a sensor should be generated; analyze whether the signal should be delayed; sending an actuating signal to a sensor cleaning system if the controller determines that predetermined cleaning criteria are met and delays sending the actuating signal if the controller determines delay criteria are met. A method of controlling a sensor washing system may also be provided. The method includes: inputting signals from at least two sensors into a controller; weighing the inputted signals, wherein one of the signals is associated with a location of the vehicle on which the sensor washing system is located; determining whether to send a signal to actuate a sensor cleaner depending upon the weighing of the inputted signals; and sending a signal to the sensor cleaner to clean a sensor.
Abstract translation: 提供了一种用于车辆传感器清洁系统的控制系统。 控制系统包括：微控制器，被配置为：接收包括来自以下来源中的任何一个的至少一个输入的输入：传感器，其他控制器和操作者; 确定是否应产生用于致动用于传感器的清洁系统的信号; 分析信号是否应该延迟; 如果控制器确定满足预定的清洁标准，则将致动信号发送到传感器清洁系统，并且如果控制器确定延迟标准，则延迟发送致动信号。 还可以提供一种控制传感器清洗系统的方法。 该方法包括：将至少两个传感器的信号输入到控制器中; 对所输入的信号进行称重，其中所述信号之一与所述传感器清洗系统所在的车辆的位置相关联; 确定是否发送信号以根据输入信号的称重来致动传感器清洁器; 并向传感器清洁器发送信号以清洁传感器。
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公开(公告)号：US20140236424A1
公开(公告)日：2014-08-21
申请号：US14263043
申请日：2014-04-28
Applicant: Caterpillar Inc.
Inventor： Kenneth L. Stratton , Mark M. Sheehan
IPC: B60R1/00
CPC classification number: B60R1/00 , B60R2300/80
Abstract: A system for a machine operating on a worksite is provided. The system includes an image capturing device configured to provide an image feed associated with a fluid dispensing arrangement of the machine. The system includes a position detection module configured to generate a position signal indicative of a current position of the machine on the worksite. A controller is communicably coupled to the image capturing device and the position detection module. The controller is configured to receive the image feed and the position signal. The controller is configured to detect a discharge of a fluid from the machine based on the image feed. Further, the controller is configured to determine an area of the worksite in which the fluid is discharged based on the detection and the position signal.
Abstract translation: 提供了在工地上操作的机器的系统。 该系统包括被配置为提供与机器的流体分配装置相关联的图像进给的图像捕获装置。 该系统包括位置检测模块，该模块被配置为产生指示在工地上机器的当前位置的位置信号。 控制器可通信地耦合到图像捕获装置和位置检测模块。 控制器被配置为接收图像馈送和位置信号。 控制器被配置为基于图像馈送来检测来自机器的流体的排出。 此外，控制器被配置为基于检测和位置信号确定流体被排出的工地的面积。
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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：US20130099017A1
公开(公告)日：2013-04-25
申请号：US13708395
申请日：2012-12-07
Applicant: Caterpillar Inc.
Inventor： Adam J. Gudat , James D. Humphrey , Peter W. Anderton , David C. Orr , Kenneth L. Stratton , Craig I. Koehrsen , Claude W. Keefer , Michael D. Braunstein
IPC: B05B13/00
Abstract: A mobile fluid delivery machine has a communication device configured to receive fluid delivery mission instructions that identify a sequence of path segments on a site and corresponding fluid delivery allocation information for the path segments, and a location device determining the location of the mobile fluid delivery machine. It also has a fluid delivery system including a display device and at least one processor that is configured to identify the fluid delivery allocation information for the path segment that corresponds to the location of the mobile machine on the site, and to determine, based on the fluid delivery allocation information for the path segment that corresponds to the location of the mobile machine on the site, a fluid delivery rate for the path segment. The processor is also configured to cause the display device to display an indication of the determined fluid delivery rate for the path segment.
Abstract translation: 移动流体输送机具有通信装置，该通信装置被配置为接收识别站点上的路段的序列的流体输送任务指令，以及路径段的相应的流体输送分配信息，以及确定移动流体输送机的位置的位置装置 。 它还具有包括显示装置和至少一个处理器的流体递送系统，该至少一个处理器被配置为识别与站点上的移动机器的位置对应的路径段的流体输送分配信息，并且基于 对应于站点上的移动机器的位置的路径段的流体输送分配信息，路径段的流体输送速率。 处理器还被配置为使得显示设备显示针对路径段的确定的流体传送速率的指示。
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公开(公告)号：US10480157B2
公开(公告)日：2019-11-19
申请号：US15258620
申请日：2016-09-07
Applicant: Caterpillar Inc.
Inventor： Paul Friend , Kenneth L. Stratton
Abstract: A system for controlling operation of a first material engaging work implement includes a first machine, a second machine, and a controller. The controller is configured to store a kinematic model and characteristics of the implement system, determine a second machine operation zone, with the second machine operation zone being defined by a material movement plan of the second machine, and determine a current pose of the first machine. The controller is further configured to determine a first machine operation zone based upon the pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, with the first machine operation zone being spaced from the second machine operation zone, and generate a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position.
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