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公开(公告)号：US20180142441A1
公开(公告)日：2018-05-24
申请号：US15360980
申请日：2016-11-23
申请人： Caterpillar Inc.
摘要： A machine includes a power generation system; a propulsion system; a work implement coupled to a body of the machine via a linkage that includes at least one actuator; a perception system configured to generate a signal that is indicative of a position of the machine relative to a material receptacle; and a controller operatively coupled to the perception system, the propulsion system, the power generation system, and the at least one actuator. The controller is configured to receive the signal from the perception system, determine a location of the work implement relative to the material receptacle based at least in part on the signal from the perception system, and actuate at least one of the propulsion system, the power generation system, and the at least one actuator based on the determined location of the work implement relative to the material receptacle.
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公开(公告)号：US09773175B2
公开(公告)日：2017-09-26
申请号：US14795138
申请日：2015-07-09
申请人： Caterpillar Inc.
发明人： Paul R. Friend , Paul E. Rybski
CPC分类号： G06K9/00791 , B60L9/00 , B60L2200/40 , B60L2250/10 , H02G11/00 , Y02T90/16
摘要： 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.
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公开(公告)号：US20170073935A1
公开(公告)日：2017-03-16
申请号：US14851847
申请日：2015-09-11
申请人： CATERPILLAR INC.
发明人： Paul Friend , Michael Brandt , Robert Hamann , Paul E. Rybski , Mark M. Smith
摘要： A system for evaluating a position of a target zone relative to a path of a material engaging work implement includes a rotatable implement system, an implement system pose sensor, and a target pose sensor. A controller determines a current pose of a portion of the implement system, determines a first pose of the target zone, determines a plurality of potential paths for moving the work implement to the first pose, and generates an alert command if a kinematic model and desired operating characteristics do not permit movement of the work implement to the first pose.
摘要翻译： 用于评估目标区域相对于材料接合工作工具的路径的位置的系统包括可旋转工具系统，工具系统姿态传感器和目标姿态传感器。 控制器确定工具系统的一部分的当前姿势，确定目标区域的第一姿势，确定用于将工作工具移动到第一姿态的多个潜在路径，并且如果运动学模型和期望的，则产生警报命令 操作特性不允许工作工具移动到第一姿势。
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公开(公告)号：US10570582B2
公开(公告)日：2020-02-25
申请号：US15360980
申请日：2016-11-23
申请人： Caterpillar Inc.
摘要： A machine includes a power generation system; a propulsion system; a work implement coupled to a body of the machine via a linkage that includes at least one actuator; a perception system configured to generate a signal that is indicative of a position of the machine relative to a material receptacle; and a controller operatively coupled to the perception system, the propulsion system, the power generation system, and the at least one actuator. The controller is configured to receive the signal from the perception system, determine a location of the work implement relative to the material receptacle based at least in part on the signal from the perception system, and actuate at least one of the propulsion system, the power generation system, and the at least one actuator based on the determined location of the work implement relative to the material receptacle.
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公开(公告)号：US20170073925A1
公开(公告)日：2017-03-16
申请号：US14851927
申请日：2015-09-11
申请人： Caterpillar Inc.
发明人： Paul Friend , Michael Brandt , Robert Hamann , Paul E. Rybski , Mark M. Smith
CPC分类号： E02F3/439 , E02F9/2041 , E02F9/205 , E02F9/2054 , E02F9/261
摘要： A system for controlling movement of a work implement of a machine between a dump location and a plurality of dig locations includes a rotatable implement system, and an implement system pose sensor. A controller is configured to store first dig signals from the implement system pose sensor indicative of a first dig location, store second dig signals from the implement system pose sensor indicative of a second dig location spaced from the first dig location and store a dump location. The controller is further configured to generate command signals to move the work implement from the first dig location to the dump location, generate command signals to dump a load of material carried by the work implement at the dump location, and generate command signals to move the work implement from the dump location to the second dig location.
摘要翻译： 用于控制倾倒位置和多个挖掘位置之间的机器的工作装置的移动的系统包括可旋转的工具系统和工具系统姿态传感器。 控制器被配置为存储来自指示第一挖掘位置的工具系统姿态传感器的第一挖掘信号，存储指示与第一挖掘位置间隔开的第二挖掘位置并存储转储位置的来自工具系统姿态传感器的第二挖掘信号。 所述控制器还被配置为产生命令信号，以将所述工作工具从所述第一挖掘位置移动到所述转储位置，产生指令信号，以转储所述卸载位置处由所述工作工具携带的材料的负载，并产生命令信号以移动 从转储位置到第二个挖掘位置的工作实施。
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6.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
申请人： Caterpillar Inc.
发明人： Paul R. Friend , Paul E. Rybski
CPC分类号： G06K9/00791 , B60L9/00 , B60L2200/40 , B60L2250/10 , H02G11/00 , Y02T90/16
摘要： 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.
摘要翻译： 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：US09454147B1
公开(公告)日：2016-09-27
申请号：US14851892
申请日：2015-09-11
申请人： Caterpillar Inc.
发明人： Paul Friend , Michael Brandt , Robert Hamann , Paul E. Rybski , Mark M. Smith
IPC分类号： G06F7/00 , G05B19/402
CPC分类号： E02F9/265 , E02F9/2045 , E02F9/262
摘要： A system for setting a dump height of a material engaging work implement above a dump body includes a rotatable implement system, an implement system pose sensor, and a bed height sensor. A controller determines an initial bed height, determines an initial dump height, generates a command based upon the pose of the work implement, and determines a subsequent dump height higher than the initial dump height. The controller is further configured to position the work implement at the subsequent dump height, determine a further subsequent dump height higher than the subsequent dump height, and position the work implement at the further subsequent dump height over the dump body.
摘要翻译： 一种用于设置卸料车体上方的材料接合工作工具的倾倒高度的系统包括可旋转工具系统，工具系统姿态传感器和床高传感器。 控制器确定初始床高度，确定初始转储高度，基于作业工具的姿态生成命令，并确定高于初始转储高度的后续转储高度。 控制器还被配置成将工作装置定位在随后的倾卸高度处，确定高于后续倾卸高度的另外的后续倾卸高度，并将工作装置定位在转储体上的后续转储高度。
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