公开(公告)号：US20140214236A1

公开(公告)日：2014-07-31

申请号：US13752277

申请日：2013-01-28

Applicant: CATERPILLAR INC.

Inventor： Ananth P. KINI ,  Joshua C. STRUBLE ,  Andrew J. VITALE ,  Craig L. KOEHRSEN ,  Bryan J. EVERETT ,  Mark H. C. BANHAM ,  Dean G. POVEY ,  Matthew A. HOLMES

IPC: G05D1/00

CPC classification number: G05D1/0297 ,  E02F9/2033 ,  E02F9/2045 ,  E02F9/205 ,  E02F9/2054 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A control system is disclosed for use with a machine at a worksite. The control system may have an offboard controller. The offboard controller may be configured to receive information regarding a berm at the worksite, determine starting and ending points spaced apart along an edge of the berm based on the information, and determine a maximum orthogonal distance from a virtual line extending between the starting and ending points to the edge of the berm. The offboard controller may be further configured to selectively validate the starting and ending points based on the maximum orthogonal distance, and to designate a center of the virtual line between validated starting and ending points as a dump target.

Abstract translation: 公开了一种在工地上与机器一起使用的控制系统。 控制系统可以具有外部控制器。 外部控制器可以被配置为接收关于工地上的护堤的信息，基于信息来确定沿着护堤的边缘间隔开的起点和终点，并且确定从开始和结束之间延伸的虚拟线的最大正交距离 指向护堤的边缘。 另外，外部控制器还可以被配置为基于最大正交距离来选择性地验证起点和终点，并将验证的起始点和终点之间的虚拟线的中心指定为转储目标。

公开(公告)号：US20140180547A1

公开(公告)日：2014-06-26

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

IPC: G05D1/02

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。

公开(公告)号：US20140176709A1

公开(公告)日：2014-06-26

申请号：US13725271

申请日：2012-12-21

Applicant: CATERPILLAR, INC.

Inventor： Seth Redenbo ,  Brian Funke ,  Daniel Dunn

IPC: H04N7/18

CPC classification number: H04N7/18 ,  E02F3/844 ,  E02F9/205 ,  E02F9/262 ,  E02F9/265 ,  G05D1/0038 ,  G05D2201/0202

Abstract: A method and system for remote monitoring of an earthmoving machine provide machine video with overlaid graphical indicators via a video display at an operator center. In an embodiment, video data and machine data encompassing machine operational parameters are captured at the machine. The video data and the machine data are transmitted to the operator center and graphical indicators are generated at the operator center, with each graphical indicator corresponding to a separate machine operational parameter. The machine video data is then displayed on a display screen at the operator center with the graphical indicators overlaid on the displayed video in multiple separate region of the display screen.

Abstract translation: 用于远程监控土方机的方法和系统通过操作员中心的视频显示器向机器视频提供叠加的图形指示器。 在一个实施例中，在机器处捕获包含机器操作参数的视频数据和机器数据。 视频数据和机器数据被发送到操作员中心，并且在操作员中心处生成图形指示符，每个图形指示符对应于单独的机器操作参数。 然后，机器视频数据在操作员中心的显示屏幕上显示，图形指示符覆盖在显示屏幕的多个分开的区域中的显示的视频上。

公开(公告)号：US08639393B2

公开(公告)日：2014-01-28

申请号：US13198334

申请日：2011-08-04

Applicant: Michael A. Taylor ,  Jean-Jacques Clar ,  Thandava K. Edara ,  Timothy J. Felty ,  Troy K. Becicka

Inventor： Michael A. Taylor ,  Jean-Jacques Clar ,  Thandava K. Edara ,  Timothy J. Felty ,  Troy K. Becicka

IPC: G05D1/00 ,  G06F7/00

CPC classification number: G05D1/0274 ,  E02F9/2045 ,  E02F9/262 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A control system is disclosed for a mobile excavation machine operating at a worksite. The control system may have a locating device configured to generate a first signal indicative of a position of the mobile excavation machine, and a position sensor configured to generate a second signal indicative of a position of a work tool. The control system may also have an offboard planner configured to receive a first input indicative of a characteristic of an intended work area, a second input indicative of a characteristic of the mobile excavation machine, and a third input indicative of a desired change in the intended work area. The offboard planner may also be configured to generate an excavation plan based on the first, second, and third inputs. The control system may further have a controller configured to autonomously control the mobile excavation machine based on the first and second signals and based on the excavation plan.

Abstract translation: 公开了一种用于在现场操作的移动式挖掘机的控制系统。 控制系统可以具有定位装置，其被配置为产生指示移动式挖掘机的位置的第一信号，以及位置传感器，其配置成产生指示作业工具的位置的第二信号。 控制系统还可以具有被配置为接收指示预期工作区域的特性的第一输入的第二输入，指示移动式挖掘机的特性的第二输入，以及指示期望的变化的第三输入 工作区域。 离线计划器还可以被配置为基于第一，第二和第三输入产生挖掘计划。 控制系统还可以具有控制器，该控制器被配置为基于第一和第二信号自动地控制移动挖掘机，并且基于挖掘计划。

公开(公告)号：US20130238182A1

公开(公告)日：2013-09-12

申请号：US13634260

申请日：2011-11-29

Applicant: Kenta Osagawa ,  Tomonori Ozaki ,  Koji Takeda ,  Takashi Hiranaka

Inventor： Kenta Osagawa ,  Tomonori Ozaki ,  Koji Takeda ,  Takashi Hiranaka

IPC: G05D1/02

CPC classification number: G05D1/021 ,  E21C47/00 ,  G05D1/0223 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: Topographical data for a work location is created and information on a new travel route is generated. Next, a work location including the new travel route is constructed on the basis of the created topographical data. Then, the information on the new travel route generated is provided to the vehicle, the vehicle is made to travel along said new travel route in accordance with temporary travel control data, and actual topographical data for the new travel route is acquired. Next, the aforementioned temporary travel control data is corrected on the basis of the acquired actual topographical data for the new travel route. After that, the unmanned vehicle is made to travel in accordance with the corrected travel control data.

Abstract translation: 创建工作地点的地形数据，并生成关于新的旅行路线的信息。 接下来，基于创建的地形数据构建包括新的行驶路线的工作位置。 然后，将生成的新行驶路线的信息提供给车辆，使车辆根据临时行驶控制数据沿着所述新行驶路线行驶，并获取新行驶路线的实际地形数据。 接下来，基于获取的用于新行驶路线的实际地形数据来校正上述临时旅行控制数据。 之后，根据校正的行驶控制数据使无人驾驶车辆行驶。

公开(公告)号：US08421797B2

公开(公告)日：2013-04-16

申请号：US12625628

申请日：2009-11-25

Applicant: Toru Kido ,  Yorihide Takehara ,  Masataka Ito ,  Maki Sugimoto ,  Fumitoshi Matsuno

Inventor： Toru Kido ,  Yorihide Takehara ,  Masataka Ito ,  Maki Sugimoto ,  Fumitoshi Matsuno

IPC: G06T15/00

CPC classification number: G06T15/20 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0202 ,  H04N7/185

Abstract: A remote control system and a remote control apparatus allow a human operator to remotely control a mobile body easily even if the system uses a low-speed communications link. The remote control system includes a remote control apparatus, in which a CPU selects old information based on both old information and the latest mobile body information from a mobile body, and determines a virtual view point V. The CPU generates a three-dimensional environmental image K and the virtual view point V based on the selected old information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding a mobile body model M, in a global coordinate system GC. The CPU calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor.

Abstract translation: 远程控制系统和远程控制装置允许人类操作者即使系统使用低速通信链路也能够容易地远程控制移动体。 遥控系统包括远程控制装置，其中CPU根据来自移动体的旧信息和最新移动体信息选择旧信息，并且确定虚拟视点V. CPU产生三维环境图像 K和基于所选择的旧信息的虚拟视点V，并且还基于关于移动体模型M的最新移动体信息和数据，生成移动体模型M，参考点B和剪切中心点 全局坐标系GC。 CPU基于虚拟视点V与参考点B之间的距离d来计算视角，将三维环境图像K和移动体模型M从虚拟视点V向剪辑状态的透视投影 中心点以获得投影图像，基于视角从投影图像制作剪辑，从而形成合成图像，并将合成图像转换为预定尺寸的显示图像。 产生的显示图像显示在显示器上。

公开(公告)号：US08332106B2

公开(公告)日：2012-12-11

申请号：US12603293

申请日：2009-10-21

Applicant: Fu Pei Yuet ,  Jean-Jacques Clar ,  Martin Politick

Inventor： Fu Pei Yuet ,  Jean-Jacques Clar ,  Martin Politick

IPC: G06F19/00

CPC classification number: H02G11/02 ,  B65H75/425 ,  B65H75/4484 ,  B65H75/4486 ,  E02F9/2045 ,  E02F9/2095 ,  E02F9/262 ,  E21B7/02 ,  G05D1/0214 ,  G05D1/0272 ,  G05D2201/0202

Abstract: A tether tracking system for a mobile machine is disclosed. The tether tracking system may have a spool located on the mobile machine to selectively dispense and reel in a tether extending from the mobile machine to a stationary source as the mobile machine travels about a worksite. The tether tracking system may also have at least one sensor associated with the spool to generate a first signal indicative of a spool parameter, a locating system associated with the mobile machine to generate a second signal indicative of a location of the mobile machine, and a controller in communication with the at least one sensor and the locating system. The controller may be configured to determine a tether avoidance zone based on the first and second signals.

Abstract translation: 公开了一种用于移动机器的系绳跟踪系统。 系绳跟踪系统可以具有位于移动机器上的线轴，以便随着移动机器在工地上行进，选择性地分配和卷入从移动机器延伸到固定源的系绳。 系绳跟踪系统还可以具有至少一个与线轴关联的传感器以产生指示线轴参数的第一信号，与移动机相关联的定位系统以产生指示移动机器的位置的第二信号，以及 控制器与所述至少一个传感器和所述定位系统通信。 控制器可以被配置为基于第一和第二信号来确定系绳避免区域。

公开(公告)号：US08315789B2

公开(公告)日：2012-11-20

申请号：US12532329

申请日：2008-01-16

Applicant: Matthew Dunbabin ,  Peter Corke ,  Graeme Winstanley ,  Kane Usher

Inventor： Matthew Dunbabin ,  Peter Corke ,  Graeme Winstanley ,  Kane Usher

IPC: G08G1/16

CPC classification number: G05D1/0274 ,  E02F9/2033 ,  E02F9/2045 ,  E02F9/262 ,  E02F9/265 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/0202

Abstract: This invention concerns the control of rotating excavation machinery, for instance to avoid collisions with obstacles. In a first aspect the invention is a control system for autonomous path planning in excavation machinery, comprising: A map generation subsystem to receive data from an array of disparate and complementary sensors to generate a 3-Dimensional digital terrain and obstacle map referenced to a coordinate frame related to the machine's geometry, during normal operation of the machine. An obstacle detection subsystem to find and identify obstacles in the digital terrain and obstacle map, and then to refine the map by identifying exclusion zones that are within reach of the machine during operation. A collision detection subsystem that uses knowledge of the machine's position and movements, as well as the digital terrain and obstacle map, to identify and predict possible collisions with itself or other obstacles, and then uses a forward motion planner to predict collisions in a planned path. And, a path planning subsystem that uses information from the other subsystems to vary planned paths to avoid obstacles and collisions. In other aspects the invention is excavation machinery including the control system; a method for control of excavation machinery; and firmware and software versions of the control system.

Abstract translation: 本发明涉及旋转挖掘机械的控制，例如避免与障碍物碰撞。 在第一方面，本发明是用于挖掘机械中的自主路径规划的控制系统，包括：地图生成子系统，用于从不同和互补的传感器的阵列接收数据，以生成参考坐标的三维数字地形和障碍物图 在机器的正常运行期间与机器几何相关的框架。 障碍物检测子系统，用于查找和识别数字地形和障碍物图中的障碍物，然后通过识别在操作期间机器可触及范围内的排除区域来优化地图。 使用机器的位置和运动知识以及数字地形和障碍物图的碰撞检测子系统来识别和预测与其自身或其他障碍物的可能碰撞，然后使用向前运动计划器来预测计划路径中的碰撞 。 而且，使用来自其他子系统的信息来改变计划路径以避免障碍物和冲突的路径规划子系统。 在其他方面，本发明是包括控制系统在内的挖掘机械; 挖掘机械的控制方法; 以及控制系统的固件和软件版本。

公开(公告)号：US20120136524A1

公开(公告)日：2012-05-31

申请号：US13198428

申请日：2011-08-04

Applicant: Bryan J. EVERETT ,  Andrew J. Vitale ,  Craig L. Koehrsen ,  James D. Humphrey

Inventor： Bryan J. EVERETT ,  Andrew J. Vitale ,  Craig L. Koehrsen ,  James D. Humphrey

IPC: G05D1/00

CPC classification number: G05D1/0291 ,  E02F9/2045 ,  E02F9/2054 ,  G05D1/0274 ,  G05D2201/0202

Abstract: A control system is disclosed for use with a mobile loading machine operating at a first location and a plurality of mobile haul machines configured to move material received at the first location to a second location. The control system may have a plurality of control modules, each associated with one of the mobile loading machine and the plurality of mobile haul machines, and a worksite controller. The worksite controller may be configured to make a determination that a position of the mobile loading machine has changed, and to generate a new travel path for the plurality of mobile haul machines based on the determination. The worksite controller may also be configured to selectively communicate the new travel path to each of the plurality of control modules. The new travel path between the first and second locations may be automatically determined in accordance with at least one user-selected goal.

Abstract translation: 公开了一种与在第一位置操作的移动装载机一起使用的控制系统，以及被配置为将在第一位置处接收的材料移动到第二位置的多个移动牵引机。 控制系统可以具有多个控制模块，每个控制模块与移动装载机和多个移动牵引机之一以及工地控制器相关联。 工地控制器可以被配置为基于该确定来确定移动装载机的位置已经改变，并且为多个移动牵引机生成新的行进路径。 工地控制器还可以被配置为选择性地将新的行进路径传送到多个控制模块中的每一个。 可以根据至少一个用户选择的目标来自动确定第一和第二位置之间的新行进路径。

公开(公告)号：US20120136523A1

公开(公告)日：2012-05-31

申请号：US13198380

申请日：2011-08-04

Applicant: Bryan J. EVERETT ,  Craig L. Koehrsen ,  Eric A. Moughler ,  Mark H. Banham

Inventor： Bryan J. EVERETT ,  Craig L. Koehrsen ,  Eric A. Moughler ,  Mark H. Banham

IPC: G05D1/00

CPC classification number: G05D1/0291 ,  E02F9/2045 ,  E02F9/2054 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

Abstract: A control system for use at a dump location having a plurality of dump sites is disclosed. The control system may have a control module associated with a mobile machine and a worksite controller. The worksite controller may be configured to receive a signal from the control module indicative of the mobile machine crossing a boundary at a dump location, and assign a travel route for the mobile machine based on the signal. The travel route may include a travel segment on a common entrance row, a first single-use path from the common entrance row to a particular one of the plurality of dump sites, a second single-use path from the particular one of the plurality of dump sites to a common exit row, and a travel segment on the common exit row. The worksite controller may be further configured to communicate the travel route to the control module as the mobile machine moves toward the dump location.

Abstract translation: 公开了一种在具有多个转储位置的倾卸位置使用的控制系统。 控制系统可以具有与移动机器和工地控制器相关联的控制模块。 工地控制器可以被配置为从控制模块接收指示移动机器在转储位置处跨越边界的信号，并且基于该信号为移动机器分配行驶路线。 旅行路线可以包括在公共入口行上的旅行段，从公共入口行到多个倾倒站点中的特定一个的第一单次使用路径，从多个 将站点转储到公共出口行，以及公共出口行上的行程段。 工作场所控制器可以被进一步配置成当移动机器向倾倒位置移动时将行驶路线传达到控制模块。