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公开(公告)号：US09803477B2
公开(公告)日：2017-10-31
申请号：US14506989
申请日：2014-10-06
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend
CPC classification number: E21C35/00 , E21C25/00 , E21C27/02 , E21C27/24 , E21C29/02 , E21C35/24 , G01B11/18 , G01D5/35316
Abstract: A system for determining the position and orientation of a cutter module relative to a frame of a highwall miner is provided. The cutter module is attached to the highwall miner by a string of push beams and moveable relative to the highwall miner. A reel is rotatably mounted to the highwall miner frame and configured to feed out a hose chain that supplies fluid to the cutter module. A fiber optic shape sensing system is associated with the cutter module is configured to receive strain information from the fiber bundle and compute the location of at least one position of the fiber bundle that is associated with the cutter module relative to the reference frame.
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公开(公告)号：US09803337B2
公开(公告)日：2017-10-31
申请号：US15044133
申请日：2016-02-16
Applicant: Caterpillar Inc.
Inventor： James D. Humphrey , James W. Ryan , Paul R. Friend
CPC classification number: E02F9/2045 , B02C25/00 , E02F3/308 , E02F3/46 , E02F7/06 , E02F9/2037 , E02F9/262 , E02F9/265
Abstract: A control system implemented for in-pit crushing and conveying (IPCC) operations employing a shovel machine and a crusher machine is provided. The shovel machine includes an implement configured to excavate a material from a worksite and load the material into a hopper of the crusher machine. The control system includes a position determination module, an excavation determination module, and a path determination module. The path determination module is configured to determine one or more travel paths, with a plurality of loading positions, for the shovel machine and the crusher machine. The plurality of loading positions is based at least in part on the relative position of the shovel machine and the crusher machine and a plurality of excavation positions, such that at each of the plurality of loading positions, the implement traverses an arc passing above the hopper.
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公开(公告)号：US20170233984A1
公开(公告)日：2017-08-17
申请号：US15044133
申请日：2016-02-16
Applicant: Caterpillar Inc.
Inventor： James D. Humphrey , James W. Ryan , Paul R. Friend
CPC classification number: E02F9/2045 , B02C25/00 , E02F3/308 , E02F3/46 , E02F7/06 , E02F9/2037 , E02F9/262 , E02F9/265
Abstract: A control system implemented for in-pit crushing and conveying (IPCC) operations employing a shovel machine and a crusher machine is provided. The shovel machine includes an implement configured to excavate a material from a worksite and load the material into a hopper of the crusher machine. The control system includes a position determination module, an excavation determination module, and a path determination module. The path determination module is configured to determine one or more travel paths, with a plurality of loading positions, for the shovel machine and the crusher machine. The plurality of loading positions is based at least in part on the relative position of the shovel machine and the crusher machine and a plurality of excavation positions, such that at each of the plurality of loading positions, the implement traverses an arc passing above the hopper.
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公开(公告)号：US20160116633A1
公开(公告)日：2016-04-28
申请号：US14520803
申请日：2014-10-22
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Kenneth L. Stratton
CPC classification number: G01H9/004 , G02B6/02076 , G02B6/022 , G02B6/447
Abstract: A system for locating an underground utility having a conduit is disclosed. The system includes a fiber optic cable coupled to the conduit. The fiber optic cable includes at least one core and a plurality of strain sensors distributed along a length of the at least one core. A processing device is disposed in selective communication with the fiber optic cable. The processing device is configured to receive signals from the plurality of strain sensors. A service station is communicably coupled to the processing device. The service station is configured to determine a shape of the fiber optic cable. Further, the service station is configured to determine a position of the conduit relative to a predefined reference frame fixed with the service station based on the shape of the fiber optic cable.
Abstract translation: 公开了一种用于定位具有导管的地下公用设施的系统。 该系统包括耦合到导管的光纤电缆。 光纤电缆包括沿至少一个芯的长度分布的至少一个芯和多个应变传感器。 处理装置设置成与光纤电缆选择性地通信。 处理装置被配置为从多个应变传感器接收信号。 服务站可通信地耦合到处理设备。 服务站被配置为确定光纤电缆的形状。 此外，服务站被配置为基于光纤电缆的形状来确定导管相对于与服务站固定的预定参考框架的位置。
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公开(公告)号：US20160097408A1
公开(公告)日：2016-04-07
申请号：US14506939
申请日：2014-10-06
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Kenneth L. Stratton
CPC classification number: G01B11/18 , F15B15/2876 , G01B11/14 , G02B6/04
Abstract: A system for determining the stroke of a hydraulic cylinder is provided. The hydraulic cylinder includes a barrel with a rod that slidably extends therefrom. A fiber optic shape sensing system is positioned to determine the stroke of the rod relative to the barrel. An interrogation module is fixed to a reference frame. A fiber bundle is joined to the interrogation module at a proximal end and a fiber termination at a distal end, which is joined to the connecting end of the rod. A signal conditioning module connected to the interrogation module is configured to compute the location of at least one position of the fiber bundle relative to the reference frame; and provide an output indicative of the stroke of the connecting end relative to the barrel.
Abstract translation: 提供一种用于确定液压缸的行程的系统。 液压缸包括具有从其可滑动地延伸的杆的杆。 定位光纤形状感测系统以确定杆相对于枪管的行程。 询问模块固定在参考框架上。 纤维束在近端处连接到询问模块，并且在远端处连接到纤维终端，该终端连接到杆的连接端。 连接到询问模块的信号调理模块被配置为计算纤维束相对于参考框架的至少一个位置的位置; 并且提供指示连接端相对于筒的行程的输出。
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Patent Agency Ranking
公开(公告)号：US08924096B2
公开(公告)日：2014-12-30
申请号：US13665472
申请日：2012-10-31
Applicant: Caterpillar Inc.
Inventor： Drew Alan Fehr , Paul R. Friend
IPC: G06F7/70
Abstract: A system and method of controlling an earth moving implement of a machine is disclosed. The method may include receiving a pitch rate of the machine in a body reference frame and determining a roll of the machine. The method may further include determining a turning rate of the machine and calculating a pitch rate of the machine in a gravity reference frame based on the pitch rate of the machine in the body reference frame, the roll of the machine, and the turning rate of the machine. The method may further include controlling the earth moving implement based on the pitch rate of the machine in the gravity reference frame.
Abstract translation: 公开了一种控制机器的移土工具的系统和方法。 该方法可以包括在身体参考框架中接收机器的俯仰速率并确定机器的滚动。 该方法可以进一步包括确定机器的转弯速度并且基于机体在机身参考框架中的俯仰速率，机器的滚动速度以及机器的转速来计算重力参考系中机器的俯仰速率 机器。 该方法还可以包括基于重力参考系中机器的俯仰速率来控制土方机器。
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公开(公告)号：US09593942B2
公开(公告)日：2017-03-14
申请号：US14506939
申请日：2014-10-06
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Kenneth L. Stratton
CPC classification number: G01B11/18 , F15B15/2876 , G01B11/14 , G02B6/04
Abstract: A system for determining the stroke of a hydraulic cylinder is provided. The hydraulic cylinder includes a barrel with a rod that slidably extends therefrom. A fiber optic shape sensing system is positioned to determine the stroke of the rod relative to the barrel. An interrogation module is fixed to a reference frame. A fiber bundle is joined to the interrogation module at a proximal end and a fiber termination at a distal end, which is joined to the connecting end of the rod. A signal conditioning module connected to the interrogation module is configured to compute the location of at least one position of the fiber bundle relative to the reference frame; and provide an output indicative of the stroke of the connecting end relative to the barrel.
Abstract translation: 提供一种用于确定液压缸的行程的系统。 液压缸包括具有从其可滑动地延伸的杆的杆。 定位光纤形状感测系统以确定杆相对于枪管的行程。 询问模块固定在参考框架上。 纤维束在近端处连接到询问模块，并且在远端处连接到纤维终端，该终端连接到杆的连接端。 连接到询问模块的信号调理模块被配置为计算纤维束相对于参考框架的至少一个位置的位置; 并且提供指示连接端相对于筒的行程的输出。
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8.发明申请公开(公告)号：US20170011266A1
公开(公告)日：2017-01-12
申请号：US14795138
申请日：2015-07-09
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Paul E. Rybski
CPC classification number: G06K9/00791 , B60L9/00 , B60L2200/40 , B60L2250/10 , H02G11/00 , Y02T90/16
Abstract: A system for tracking a position of a cable attached between a power source and a machine in a worksite is disclosed. The cable is further coupled to a guiding device located in the worksite between the power source and the machine. The system includes a perception module disposed on the machine to detect a location of the guiding device. The system further includes a controller disposed to be in communication with the perception module. The controller determines the location of the guiding device with respect to a location of the machine and determines a distance between the guiding device and the machine. The controller further compares the distance with a first threshold distance and a second threshold distance and generates a warning if the distance is greater than the first threshold distance or smaller than the second threshold distance.
Abstract translation: 公开了一种用于跟踪在工厂中的电源和机器之间连接的电缆的位置的系统。 电缆还耦合到位于电源和机器之间的工作现场的引导装置。 该系统包括设置在机器上以感测引导装置的位置的感知模块。 该系统还包括设置成与感知模块通信的控制器。 控制器确定引导装置相对于机器位置的位置，并确定引导装置与机器之间的距离。 控制器还将距离与第一阈值距离和第二阈值距离进行比较，并且如果距离大于第一阈值距离或小于第二阈值距离，则产生警告。
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公开(公告)号：US20170010363A1
公开(公告)日：2017-01-12
申请号：US14795350
申请日：2015-07-09
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend
IPC: G01S19/47
CPC classification number: E02F9/205 , E02F9/2054 , E02F9/268 , G01S19/14 , G01S19/426 , G01S19/43 , G01S19/49
Abstract: A positioning system for a machine is disclosed. The positioning system includes a satellite positioning unit to generate signals indicative of a location of the machine in a worksite and an inertial measurement unit (IMU) to generate signals indicative of a position of the machine. A controller is communicated with the satellite positioning unit and the IMU. The controller determines a first error value associated with a location of the machine based on signals received from the satellite positioning unit. The controller further determines a second error value associated with a location and a position of the machine based on signals received from the satellite positioning unit and signals received from the IMU, respectively. Further, a location of the machine is determined based on signals received from the satellite positioning unit and the IMU if the first error value is less than the second error value.
Abstract translation: 公开了一种用于机器的定位系统。 定位系统包括卫星定位单元，用于产生指示机器在工地中的位置的信号和惯性测量单元（IMU），以产生指示机器位置的信号。 控制器与卫星定位单元和IMU通信。 控制器基于从卫星定位单元接收的信号来确定与机器的位置相关联的第一误差值。 控制器还基于从卫星定位单元接收的信号和从IMU接收到的信号，进一步确定与机器的位置和位置相关联的第二误差值。 此外，如果第一误差值小于第二误差值，则基于从卫星定位单元和IMU接收的信号来确定机器的位置。
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公开(公告)号：US09341683B2
公开(公告)日：2016-05-17
申请号：US14499613
申请日：2014-09-29
Applicant: Caterpillar Inc.
Inventor： Paul R. Friend , Frank A. Willis
IPC: G01C17/38 , G01R33/025 , G01C21/16 , G01R33/02 , G01C21/00
CPC classification number: G01R33/025 , G01C17/38 , G01C21/005 , G01C21/16 , G01C21/165 , G01C25/005 , G01R33/0035 , G01R33/02
Abstract: A method of determining a heading of a machine having an implement is provided. The method includes determining a first heading data of the machine using an inertial sensor. The method includes determining a second heading data of the machine using a magnetometer. The method includes determining a position of the implement in a stationary state. The method also includes calculating a corrected second heading data based on a predefined relation between the position of the implement in the stationary state and the second heading data. The method further includes determining the heading of the machine based on the first heading data and the corrected second heading data.
Abstract translation: 提供了一种确定具有工具的机器的方向的方法。 该方法包括使用惯性传感器确定机器的第一标题数据。 该方法包括使用磁力计确定机器的第二标题数据。 该方法包括确定工具处于静止状态的位置。 该方法还包括基于处于静止状态的器具的位置与第二标题数据之间的预定关系来计算校正的第二标题数据。 该方法还包括基于第一标题数据和经校正的第二标题数据来确定机器的标题。
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