公开(公告)号：US6167336A

公开(公告)日：2000-12-26

申请号：US80604

申请日：1998-05-18

Applicant: Sanjiv Singh ,  Howard Cannon

Inventor： Sanjiv Singh ,  Howard Cannon

IPC: E02F3/43 ,  E02F3/84 ,  E02F9/20 ,  G06F19/00 ,  E02F3/34

CPC classification number: E02F9/2045 ,  E02F3/434 ,  E02F3/842

Abstract: In one embodiment of the present invention, a planning apparatus and method for earthmoving operations with a front-end loader, such as loading a bucket with material and unloading the material in a receptacle, is disclosed including multi-level processing for planning the operation. One of the processing levels is a coarse-level planner that uses geometry of the site and heuristics specified by expert operators to find an optimal area from which to remove material. The next level involves searching the area for an exact starting location. This is accomplished by choosing among candidate excavations for the site with the optimum performance criteria including maximum amount of material protruding from the pile, minimum side loading of the bucket, and minimum distance from the loading receptacle. Other performance criteria that are evaluated for the candidate excavation include whether the front-end loader is capable of making the turns required by a candidate trajectory, and whether obstacles are in the path of the trajectory.

Abstract translation: 在本发明的一个实施例中，公开了一种用于使用前端装载机进行挖掘操作的规划装置和方法，例如用料装载铲斗并将材料卸载在容器中，包括用于规划操作的多级处理。 处理级别之一是粗级计划器，它使用专家操作员指定的站点几何和启发式方法来找到从中删除材料的最佳区域。 下一个级别涉及搜索该区域的确切起始位置。 这是通过选择具有最佳性能标准的候选挖掘来实现的，包括从桩突出的最大材料量，铲斗的最小侧装载量以及与装载容器的最小距离。 评估候选挖掘的其他性能标准包括前端加载器是否能够进行候选轨迹所需的转弯，以及障碍物是否在轨迹的路径中。

公开(公告)号：US6085583A

公开(公告)日：2000-07-11

申请号：US317791

申请日：1999-05-24

Applicant: Howard Cannon ,  Sanjiv Singh

Inventor： Howard Cannon ,  Sanjiv Singh

IPC: E02F3/43 ,  E02F9/20 ,  G01F17/00 ,  G01F19/00

CPC classification number: E02F9/2041 ,  E02F3/435 ,  E02F3/437 ,  E02F9/2037 ,  E02F9/264 ,  G01F17/00

Abstract: A method is disclosed for monitoring a work implement of a digging machine positioned at an excavation site during an excavating work cycle, the work implement including a bucket for capturing material, the method comprising the steps of using a representation of the shape of the excavation site and estimating the volume of material captured by the bucket based on the actual trajectory of the bucket and the shape of the excavation site to determine when the bucket has reached a desired capacity.

Abstract translation: 公开了一种用于在挖掘工作循环期间监测位于挖掘位置的挖掘机的作业工具的方法，所述作业工具包括用于捕获材料的铲斗，所述方法包括以下步骤：使用所述挖掘位置的形状 并且基于铲斗的实际轨迹和挖掘部位的形状估计铲斗捕获的材料的体积，以确定铲斗何时达到期望的容量。

公开(公告)号：US6108949A

公开(公告)日：2000-08-29

申请号：US172307

申请日：1998-10-14

Applicant: Sanjiv Singh ,  Howard Cannon

Inventor： Sanjiv Singh ,  Howard Cannon

IPC: E02F3/43 ,  E02F9/20 ,  E02F3/04

CPC classification number: E02F9/2045 ,  E02F3/437 ,  E02F9/262

Abstract: In one embodiment of the present invention, a planning system and method for earthmoving operations such as digging a foundation or leveling a mound of soil is disclosed including three different levels of processing for planning the excavation. One of the processing levels is a coarse-level planner that uses geometry of the site and the goal configuration of the terrain to divide the excavation area into a grid-like pattern of smaller excavation regions and to determine the boundaries and sequence of excavation for each region. The next level is a refined planner wherein each excavation region is, in order of the excavation sequence provided by the coarse planner, searched for the optimum excavation that can be executed. This is accomplished by choosing candidate excavations that meet geometric constraints of the machine and that are approximately within the boundaries of the region being excavated. The refined planner evaluates the candidate excavations using a simulated model of a closed loop controller and by optimizing a cost function based on performance criteria such as volume of material excavated, energy expended, and time, to determine the optimal location and orientation of a bucket of an excavator to begin excavating the region. The third level of the excavation planner is a control scheme wherein the selected excavation is executed by a closed loop controller that controls execution of a commanded excavation trajectory by monitoring forces exerted on a bucket, stick, and boom on an excavating machine.

Abstract translation: 在本发明的一个实施例中，公开了一种挖掘作业的计划系统和方法，例如挖掘基础或平整土体的土墩，包括用于规划挖掘的三个不同级别的处理。 处理水平之一是一个粗略的规划者，它使用场地的几何和地形的目标配置将挖掘区域划分为更小的挖掘区域的网格状图案，并确定每个挖掘区域的边界和挖掘顺序 地区。 下一级是一个精细的计划者，其中每个挖掘区域按照粗略计划提供的挖掘顺序的顺序搜索可以执行的最佳挖掘。 这是通过选择满足机器的几何约束并且大约在被挖掘的区域的边界内的候选挖掘来实现的。 精炼计划员使用闭环控制器的模拟模型来评估候选挖掘，并且基于诸如挖掘的材料的体积，能量消耗和时间等性能标准来优化成本函数，以确定一桶的最佳位置和方向 挖掘机开始挖掘该地区。 挖掘计划的第三级是一种控制方案，其中所选择的挖掘由闭环控制器执行，所述闭环控制器通过监视施加在挖掘机上的铲斗，杆和起重臂上的力来控制指令的挖掘轨迹的执行。

公开(公告)号：US20050103555A1

公开(公告)日：2005-05-19

申请号：US11015547

申请日：2004-12-17

Applicant: Howard Cannon ,  Michael Cronin ,  Michael Hopkins ,  Igor Strashny

Inventor： Howard Cannon ,  Michael Cronin ,  Michael Hopkins ,  Igor Strashny

IPC: B60K26/00 ,  B60K23/00 ,  B60K17/00 ,  B60K20/00

CPC classification number: B60K26/00 ,  B60Y2200/41

Abstract: In the operation of work machines it has been a problem to control the work machine's velocity aspects such as velocity, acceleration, deceleration and jerk because of the plurality of operator interfaces required for such control. The present invention provides an operator interface system for a work machine in which a first pedal is displaceable from a neutral position, and a sensor is operatively coupled with the first pedal and is operable to output a displacement signal corresponding to a location of the first pedal. An electronic controller receives the displacement signal and provides a predetermined control to a velocity aspect of the work machine in response to the displacement signal.

Abstract translation: 在工作机械的操作中，由于这种控制所需的多个操作者界面，控制作业机械的速度方面如速度，加速度，减速度和冲击是一个问题。 本发明提供了一种用于工作机器的操作者界面系统，其中第一踏板可从中立位置移动，并且传感器可操作地与第一踏板耦合，并且可操作地输出对应于第一踏板的位置的位移信号 。 电子控制器接收位移信号，并响应于位移信号向作业机器的速度方向提供预定的控制。