公开(公告)号：US20080183356A1

公开(公告)日：2008-07-31

申请号：US11700191

申请日：2007-01-31

Applicant: Satish L. Kale ,  Richard G. Ingram

Inventor： Satish L. Kale ,  Richard G. Ingram

IPC: E02F9/20 ,  E02F3/84 ,  G06F19/00

CPC classification number: E02F9/2029 ,  G05D1/0236 ,  G05D1/0257 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0202

Abstract: A control system for a mobile excavation machine is disclosed. The control system may have a ground engaging work tool, a sensor, and a controller. The sensor may be configured to sense a parameter indicative of a current travel speed of the mobile excavation machine and generate a speed signal in response thereto. The controller may be in communication with the ground engaging work tool and the sensor, and configured to receive the signal. The controller may also be configured to determine an amount of material currently being moved by the work tool and calculate a current productivity value associated with removal of the material based on the speed signal and the determined amount of material currently being moved. The controller may be further configured to control the ground engaging work tool to vary the amount of material currently being moved in response to the current productivity value.

Abstract translation: 公开了一种移动式挖掘机的控制系统。 控制系统可以具有接地工作工具，传感器和控制器。 传感器可以被配置为感测指示移动挖掘机的当前行驶速度的参数，并响应于此产生速度信号。 控制器可以与地面接合工作工具和传感器通信，并且被配置为接收信号。 控制器还可以被配置为确定当前正被工作工具移动的材料的量，并且基于速度信号和所确定的当前正在移动的材料的数量来计算与去除材料相关联的当前生产率值。 控制器还可以被配置成控制地面接合作业工具以响应于当前的生产率值来改变当前正在移动的材料的量。

公开(公告)号：US20070150133A1

公开(公告)日：2007-06-28

申请号：US11636054

申请日：2006-12-08

Applicant: Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

Inventor： Tsugio Sudou ,  Masanori Tojima ,  Koji Takeda ,  Akiharu Nishijima ,  Masaki Mori ,  Tomonori Ozaki ,  Kazunori Kuromoto

IPC: G05D1/00

CPC classification number: G05D1/0272 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0202

Abstract: Leveling operation can be effectively performed at a discharge site without increasing a cost of vehicles, and a running course can be easily generated in a short time and at a low-cost. Based on each of measured position data of a survey line 20 of a discharge site 21, a normal line Lc normal to the survey line 20 is obtained, a target discharge position 26′ is positioned at a prescribed distance away from the survey line 20 in an inward direction of the discharge site 21 based on the normal line Lc, and then data of a running course 27 in which a reference approach direction 31 to approach the target discharge position 26′ is a direction normal to the survey line 20 are generated.

Abstract translation: 可以在排放场地有效地进行调平操作，而不增加车辆的成本，并且可以在短时间内以低成本容易地产生行驶过程。 基于排出部位21的测量线20的测量位置数据，获得垂直于测量线20的法线Lc，目标排出位置26'位于离测线20的规定距离处 产生基于法线Lc的排出位置21的向内方向，然后产生其中接近目标排出位置26'的基准进入方向31与检测线20垂直的方向的行进路线27的数据。

公开(公告)号：US07107132B2

公开(公告)日：2006-09-12

申请号：US10401266

申请日：2003-03-27

Applicant: Jason A. Dean

Inventor： Jason A. Dean

IPC: G05D1/00

CPC classification number: A01D34/008 ,  G05D1/0221 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S56/07

Abstract: A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth's magnetic field. The robotic apparatus is provided in two models, a master that can record directive and compass readings to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Abstract translation: 用于横穿选定区域的机器人装置，其自动地感测相对于地球磁场的取向。 机器人装置以两种型式提供，主机可以记录指令和罗盘读数，以提供记录在表示用于遍历感兴趣区域的指令的机器可读介质上的至少一个命令，以及缺少记录能力的从机。 主模式和从属模式都可以重放记录的命令，并将命令中的预期方向与自主操作期间感测到的实际方向进行比较。 如果观察到超过预定值的误差，则采取纠正措施。 机器人装置能够利用工具在一个或多个位置执行任务，例如切割，挖掘和挖掘。 在一个实施例中，机器人装置是割草机。

公开(公告)号：US20060047377A1

公开(公告)日：2006-03-02

申请号：US10924908

申请日：2004-08-25

Applicant: Alan Ferguson ,  Trent Meiss ,  Brian Jenkins ,  Steven O'Neal ,  Daniel Wood

Inventor： Alan Ferguson ,  Trent Meiss ,  Brian Jenkins ,  Steven O'Neal ,  Daniel Wood

IPC: G06F19/00

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

Abstract: Systems and methods are disclosed that enable one or more work machines to control operations of one or more remote work machines. In one embodiment, the systems and methods perform a process including determining a first type of first work machine performing first operations in a work environment and determining a second type of second work machine performing second operations in the work environment. Based on the first and second type of the first and second work machines, a selected second operation that the first work machine can control is determined. Subsequently, the first work machine may adjust the selected second operation while the first work machine performs the first operations.

Abstract translation: 公开了允许一个或多个作业机器控制一个或多个远程作业机器的操作的系统和方法。 在一个实施例中，系统和方法执行处理，包括确定在工作环境中执行第一操作的第一类型的第一工作机和确定在工作环境中执行第二操作的第二类型的第二工作机。 基于第一和第二类型的第一和第二作业机器，确定第一作业机器可以控制的选定的第二操作。 随后，第一作业机械可以在第一作业机器执行第一操作时调节所选择的第二操作。

公开(公告)号：US20040158355A1

公开(公告)日：2004-08-12

申请号：US10748207

申请日：2003-12-31

Inventor： Hans Robert Holmqvist ,  Hans Goran Seger

IPC: G06F019/00

CPC classification number: G05D1/0236 ,  E02F9/262 ,  E02F9/264 ,  G05D1/0274 ,  G05D1/0282 ,  G05D2201/0202 ,  G05D2201/0216

Abstract: Disclosed are intelligent systems and functions for autonomous load handling vehicles such as wheel-loaders operating within limited areas and industrial environments. The vehicle is provided with a laser-optic system for determining the vehicle's position in six degrees of freedom comprising x, y, z, heading, pitch and roll, in fixed to ground coordinates. This system is used for autonomous vehicle navigation and as reference for on board terrain mapping sensors and a dynamic terrain model. The admitted work area for autonomous vehicle operation is divided in loading, unloading and obstacle free zones, each with specific rules for the vehicle's behaviour concerning, mission planning, vehicle and implement movement and control, and obstacle detection and avoidance. The dynamic terrain model is employed for planning and analysing paths, for detecting and avoiding obstacles, and for providing data for optimizing vehicle paths and the movements of its implements in loading and unloading operations.

Abstract translation: 公开了用于自主负载处理车辆的智能系统和功能，例如在有限的区域和工业环境中操作的轮式装载机。 该车辆设置有激光光学系统，用于在固定到地面坐标中确定车辆在六自由度中的位置，包括x，y，z，航向，俯仰和滚动。 该系统用于自主车辆导航，并用作车载地形测绘传感器和动态地形模型的参考。 自主车辆运行入场工作区分为装卸，无障碍区，各车辆行为规范，任务规划，车辆实施运行控制，障碍物检测与避免。 动态地形模型用于规划和分析路径，用于检测和避免障碍，并提供用于优化车辆路径和其装载在装载和卸载操作中的移动的数据。

公开(公告)号：US20040133316A1

公开(公告)日：2004-07-08

申请号：US10603572

申请日：2003-06-25

Applicant: Dean Technologies, Inc.

Inventor： Jason A. Dean

IPC: G06F019/00

CPC classification number: A01D34/008 ,  G05D1/0221 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S56/07

Abstract: A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth's magnetic field or other nullenvironmentalnull signals. The robotic apparatus is provided in two models, a master that can record directive and compass or nullenvironmental signalnull readings to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Abstract translation: 用于横穿选定区域的机器人装置，其感测相对于地球磁场或其他“环境”信号的取向。 机器人装置以两种模式提供，主机可以记录指令和罗盘或“环境信号”读数，以提供记录在表示用于遍历感兴趣区域的指令的机器可读介质上的至少一个命令，以及从机 缺乏录音功能。 主模式和从属模式都可以重放记录的命令，并将命令中的预期方向与自主操作期间感测到的实际方向进行比较。 如果观察到超过预定值的误差，则采取纠正措施。 机器人装置能够利用工具在一个或多个位置执行任务，例如切割，挖掘和挖掘。 在一个实施例中，机器人装置是割草机。

公开(公告)号：US20040010343A1

公开(公告)日：2004-01-15

申请号：US10401266

申请日：2003-03-27

Inventor： Jason A. Dean

IPC: G06F019/00

CPC classification number: A01D34/008 ,  G05D1/0221 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0276 ,  G05D2201/0202 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y10S56/07

Abstract: A robotic apparatus for traversing a selected area autonomously that senses orientation relative to the Earth's magnetic field. The robotic apparatus is provided in two models, a master that can record directive and compass readings to provide at least one command recorded on a machine-readable medium representing an instruction for traversing an area of interest, and a slave that lacks the recording capability. Both master and slave models can replay recorded commands, and compare the expected orientation from the command with an actual orientation sensed during autonomous operation. If an error exceeding a predetermined value is observed, a corrective action is taken. The robotic apparatus is able to utilize a tool to perform a task at one or more locations, such as cutting, shoveling and digging. In one embodiment, the robotic apparatus is a lawn mower.

Abstract translation: 用于横穿选定区域的机器人装置，其自动地感测相对于地球磁场的取向。 机器人装置以两种型式提供，主机可以记录指令和罗盘读数，以提供记录在表示用于遍历感兴趣区域的指令的机器可读介质上的至少一个命令，以及缺少记录能力的从机。 主模式和从属模式都可以重放记录的命令，并将命令中的预期方向与自主操作期间感测到的实际方向进行比较。 如果观察到超过预定值的误差，则采取纠正措施。 机器人装置能够利用工具在一个或多个位置执行任务，例如切割，挖掘和挖掘。 在一个实施例中，机器人装置是割草机。

公开(公告)号：US20030195687A1

公开(公告)日：2003-10-16

申请号：US10120043

申请日：2002-04-10

Inventor： Claude W. Keefer

IPC: G06F019/00

CPC classification number: E02F9/205 ,  E02F3/842 ,  E02F9/2045 ,  E02F9/26 ,  G01S5/0252 ,  G01S19/50 ,  G05D1/0274 ,  G05D2201/0202

Abstract: A method and apparatus for updating a machine database. The database includes data representing the desired and actual terrain of a work site. Additional data represents portions of the work site which have been further worked. An indicator detects the machine's current work function and updates the data in the database based on the current work function.

Abstract translation: 一种用于更新机器数据库的方法和装置。 数据库包括表示工作现场所需和实际地形的数据。 附加数据表示已进一步工作的工作现场的部分。 指示器检测机器当前的工作功能，并根据当前的工作功能更新数据库中的数据。

公开(公告)号：US06173215B2

公开(公告)日：2001-01-09

申请号：US08994732

申请日：1997-12-19

Applicant: Jagannathan Sarangapani

Inventor： Jagannathan Sarangapani

IPC: G05B1904

CPC classification number: B60K31/0008 ,  B60W2550/10 ,  B60Y2200/14 ,  B60Y2200/145 ,  B60Y2200/41 ,  G01S13/04 ,  G05D1/024 ,  G05D2201/0202

Abstract: A method is disclosed for responding to the detection of an obstacle in the path of a mobile machine as the mobile machine traverses the path at a work site. The method includes the steps of scanning a field of interest, detecting the presence of an obstacle, and determining a set of parameters as a function of the mobile machine, the obstacle, and the work site. The method also includes the steps of determining a level of predictability of motion of the obstacle, defining ranges of a plurality of zones as a function of the level of predictability and the parameters, and initiating an action in response to the obstacle being in one of the zones.

Abstract translation: 公开了一种用于响应于移动机器在工作现场穿过路径时的移动机器的路径中的障碍物的检测的方法。 该方法包括扫描感兴趣的领域，检测障碍物的存在以及根据移动机器，障碍物和工作现场确定一组参数的步骤。 该方法还包括以下步骤：确定障碍物运动的可预测性水平，根据可预测性和参数水平确定多个区域的范围，以及响应于障碍物中的一个发起作用 区域。

公开(公告)号：US6134493A

公开(公告)日：2000-10-17

申请号：US117307

申请日：1998-07-20

Applicant: Kiyoshi Kaneko

Inventor： Kiyoshi Kaneko

IPC: G08G1/09 ,  B60W30/00 ,  G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0289 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0202

Abstract: The present invention is a method and an apparatus for preventing the entrance of an unmanned dump truck, so that an interference and a collision between the unmanned dump trucks and a working vehicle in the working area are prevented. In the method, an unmanned dump truck (3) enters the working area (91) only when another dump truck (3a) is not in the working area (91) and the working vehicle (92) in the working area (91) issues an entrance permission command. The apparatus includes entrance permission means (22), provided on the working vehicle (92), and computing means (11), for outputting a control command thus permitting the unmanned dump truck (3) to enter only when another dump truck (3a) is not in the working area (91) and an entrance permission command is inputted into the apparatus.

Abstract translation: PCT No.PCT / JP97 / 00063 Sec。 371日期1998年7月29日第 102（e）日期1998年7月20日PCT 1997年1月16日PCT PCT。 公开号WO97 / 26589 日期1997年7月24日本发明是一种防止无人驾驶自卸车进入的方法和装置，防止了无人自卸车与工作车辆在工作区域的干扰和碰撞。 在该方法中，仅当另一个自卸车（3a）不在工作区域（91）和工作区域（91）中的作业车辆（92）发出时，无人自卸车（3）进入工作区域（91） 一个入口许可命令。 该装置包括设置在作业车辆（92）上的入口允许装置（22）和计算装置（11），用于输出仅当另一个自卸车（3a）从而允许无人自卸车（3）进入时， 不在工作区域（91）中，并且入口允许命令被输入到设备中。