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1.发明授权
公开(公告)号：US5850341A
公开(公告)日：1998-12-15
申请号：US241305
申请日：1994-06-30
申请人： Richard J. Fournier , Doug S. Gordon , Adam J. Gudat , Gregory R. Harrod , Daniel E. Henderson , Karl W. Kleimenhagen , William C. Sahm , Charles L. Schaidle , Ken R. Setterlund , Ron J. Siroky
发明人： Richard J. Fournier , Doug S. Gordon , Adam J. Gudat , Gregory R. Harrod , Daniel E. Henderson , Karl W. Kleimenhagen , William C. Sahm , Charles L. Schaidle , Ken R. Setterlund , Ron J. Siroky
CPC分类号： E02F9/205 , E02F9/2045 , G01C21/00
摘要： A method and apparatus for monitoring in real time the removal of material from a land site such as a mine by a mobile machine. A digitized three-dimensional model of the site is stored in a digital data storage and retrieval facility. The site model includes a model of the material to be removed subdivided into regions of differentiating characteristics, for example ore grade or type. The machine is provided with means for generating digital signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site. Loading signals are generated corresponding to the removal of material from the site by the machine, and an instantaneous loading position for the mobile machine relative to the site is recorded in response to the loading signal. The invention preferably includes a payload measurement system which measures each discrete load of material removed. The characteristics of the site material at the recorded loading position are correlated to the material removed from the site. In a preferred form a dynamic site database is used to update the site as material is removed and direct the machinery in altering the site to a desired state.
摘要翻译： 一种用于通过移动机器实时地监测诸如矿井的陆地地点的材料的方法和装置。 该站点的数字化三维模型存储在数字数据存储和检索设施中。 场地模型包括将要移除的材料的模型细分为区分特征区域，例如矿石级或类型。 该机器具有用于产生数字信号的装置，该数字信号在机器的至少一部分穿过该位置时实时表示三维空间中的瞬时位置。 相应于由机器从现场移除材料产生加载信号，并且响应于加载信号记录移动机器相对于现场的瞬时加载位置。 本发明优选地包括测量除去的材料的每个离散载荷的有效载荷测量系统。 记录装载位置的场地材料的特征与从现场移除的材料相关。 在优选形式中，动态站点数据库用于在材料被移除时更新站点，并将机器改变为所需状态。
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公开(公告)号：US5404661A
公开(公告)日：1995-04-11
申请号：US240348
申请日：1994-05-10
CPC分类号： E02F3/427 , E02F3/435 , Y10S37/905
摘要： An apparatus for determining the location of a work implement at a work site is provided. The apparatus includes an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, a work implement connected to the stick, and a positioning system including a receiver connected to the stick and a processor for determining the location of the receiver in three dimensional space at a plurality of points as the car body is rotated and for determining the location and orientation of the work implement.
摘要翻译： 提供了一种用于在工作现场确定工作工具的位置的装置。 该装置包括底架，可旋转地连接到底架的车体，连接到车体的吊杆，连接到起重臂的杆，连接到杆的作业工具以及包括连接到杆的接收器的定位系统，以及 处理器，用于在车身旋转时在多个点处确定接收器在三维空间中的位置，并确定作业工具的位置和方位。
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公开(公告)号：US6140959A
公开(公告)日：2000-10-31
申请号：US615349
申请日：1996-03-13
CPC分类号： G01S19/07
摘要： A self-calibrating Global Positioning System (GPS) reference station and method for operating the reference station. The reference station includes a station frame, a GPS receiver and a controller mounted on the station frame. The controller upon power up, determines if the reference station has been moved and determines a new reference position of the reference station if the reference station has been moved. The GPS receiver is then placed into a reference station mode.
摘要翻译： 自动校准全球定位系统（GPS）参考站和操作参考站的方法。 参考站包括车站框架，GPS接收机和安装在车站框架上的控制器。 如果参考站已被移动，上电时控制器确定参考站是否已被移动并确定参考站的新参考位置。 然后将GPS接收机置于参考站模式。
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4.发明授权Method and apparatus for real-time monitoring and coordination of multiple geography altering machines on a work site 失效用于在工地上实时监测和协调多个地理变化机器的方法和装置
公开(公告)号：US5646844A
公开(公告)日：1997-07-08
申请号：US439539
申请日：1995-05-11
申请人： Adam J. Gudat , Daniel E. Henderson
发明人： Adam J. Gudat , Daniel E. Henderson
IPC分类号： E01C19/22 , E01C19/00 , E02F3/84 , E02F9/20 , G01S5/14 , G01S19/04 , G01S19/14 , G01S19/44 , G01S19/48 , G05D1/02 , G08G1/13 , E02D7/26
CPC分类号： G05D1/0278 , E01C19/004 , E02F3/842 , G01S19/04 , G01S19/14 , G01S19/44 , G05D1/0274 , G05D1/0297 , G05D2201/0202
摘要： An apparatus and method for directing the operations of multiple geography-altering machines on a common work site relative to one another. Position information from several machines is shared to generate a common, dynamically-updated site database showing the machines' relative positions and site progress in real time. The common site database is used to direct the operation of one machine with respect to another machine or machines, for example by generating an operator display of the site showing relative machine position and total machine work on the site. The operator can accordingly adjust the machine's operation to avoid interference with other machines or unnecessary overlap of work on the site. The information can also be used to coordinate the operations of several machines in complementary fashion. Machine position information can be broadcast from the machines to the site database to create a common, dynamically-updated database which is then shared with one or more of the machines. In a particular embodiment each machine is provided with its own dynamically-updated database and operator display, and machine position information is shared on a continuous, real-time basis between the machines so that they effectively share a common site database.
摘要翻译： 一种用于将多个改变地理位置的机器的操作相对于彼此引导到公共工作现场的装置和方法。 共享来自多台机器的位置信息，以生成一个通用的，动态更新的站点数据库，实时显示机器的相对位置和站点进度。 公共站点数据库用于指导一台机器相对于另一机器或机器的操作，例如通过在站点上生成显示相对机器位置和总机器工作的站点的操作员显示。 操作者可以相应地调整机器的操作，以避免与其他机器的干扰或现场工作不必要的重叠。 该信息还可以用于以互补的方式协调几台机器的操作。 机器位置信息可以从机器广播到站点数据库，以创建一个通用的，动态更新的数据库，然后与一个或多个机器共享。 在特定实施例中，每个机器具有其自己的动态更新的数据库和操作者显示，并且机器位置信息在机器之间以连续的实时基础共享，使得它们有效地共享公共站点数据库。
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5.发明授权Method and apparatus for determining the location and orientation of a work machine 失效用于确定作业机器的位置和取向的方法和装置
公开(公告)号：US5438771A
公开(公告)日：1995-08-08
申请号：US241118
申请日：1994-05-10
CPC分类号： E02F9/2045 , E02F3/435
摘要： An apparatus is provided for determining the location of a digging implement at a work site. The apparatus includes an undercarriage, a car body rotatably connected to the undercarriage, a receiver connected to the car body, a positioning system for determining the location of the receiver in three dimensional space, the positioning system determining the location of the receiver at a plurality of points along an arc, and a processor for determining the location and orientation of the car body in response to the location of the plurality of points.
摘要翻译： 提供了用于确定挖掘工具在工作现场的位置的装置。 该装置包括底架，可旋转地连接到起落架的车体，连接到车身的接收器，用于确定接收器在三维空间中的位置的定位系统，所述定位系统确定接收器在多个位置处的位置 以及用于响应于所述多个点的位置来确定所述车体的位置和取向的处理器。
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6.发明授权Method and apparatus for operating geography-altering machinery relative to a work site 失效用于相对于工作现场操作改变地理位置的机器的方法和装置
公开(公告)号：US5526002A
公开(公告)日：1996-06-11
申请号：US527992
申请日：1995-09-13
IPC分类号： A01B79/00 , E01C19/00 , E02F9/20 , G01C7/04 , G01C15/00 , G01S19/48 , G05D1/02 , G01S3/02 , G01S5/02 , G06F7/70 , H04B7/185
CPC分类号： E02F9/2045 , A01B79/005 , E01C19/004 , G05D1/0236 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D1/0278 , G05D2201/0202
摘要： A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.
摘要翻译： 用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。 所需位置地理学的第一数字三维模型和实际站点地理学的第二数字三维模型被存储在数字数据存储设施中。 该机器配备有位置接收器，用于在三维空间中确定机器相对于现场的位置。 动态数据库接收机器位置信息，确定第一和第二站点模型之间的差异，并产生该差异的表示信号，用于指导机器的操作，以使实际站点地理位置与期望的站点地理位置一致。 在一个实施例中，表示机器位置的信号和用于生成实时更新的操作者显示器的第一和第二站点模型之间的差异。 或者，表示第一和第二站点模型之间的差异的信号可以被提供给机器的自动或半自主操作的自动机器控制。
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7.发明授权Method and apparatus for operating geography-altering machinery relative to a work site 失效用于相对于工作现场操作改变地理位置的机器的方法和装置
公开(公告)号：US5631658A
公开(公告)日：1997-05-20
申请号：US607542
申请日：1996-02-27
IPC分类号： A01B79/00 , E01C19/00 , E02F9/20 , G01C7/04 , G01C15/00 , G01S19/48 , G05D1/02 , G06F19/00 , G01S3/02 , G01S5/02
CPC分类号： E02F9/2045 , A01B79/005 , E01C19/004 , G05D1/0278 , G05D1/0236 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D2201/0202
摘要： A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.
摘要翻译： 用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。 所需位置地理学的第一数字三维模型和实际站点地理学的第二数字三维模型被存储在数字数据存储设施中。 该机器配备有位置接收器，用于在三维空间中确定机器相对于现场的位置。 动态数据库接收机器位置信息，确定第一和第二站点模型之间的差异，并产生该差异的表示信号，用于指导机器的操作，以使实际站点地理位置与期望的站点地理位置一致。 在一个实施例中，表示机器位置的信号和用于生成实时更新的操作者显示器的第一和第二站点模型之间的差异。 或者，表示第一和第二站点模型之间的差异的信号可以被提供给机器的自动或半自主操作的自动机器控制。
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公开(公告)号：US20090202109A1
公开(公告)日：2009-08-13
申请号：US12068929
申请日：2008-02-13
CPC分类号： G01C15/00 , E02F9/261 , G06T17/05 , G09B29/003 , G09B29/12
摘要： A terrain mapping system is disclosed. The system has at least one sensor configured to gather a plurality of current points defining a current surface of a site and a database containing a plurality of previously-gathered points defining a previous surface of the site. The system also has a controller in communication with the at least one sensor. The controller is configured to compare a height of at least one of the plurality of the current points to a height of a corresponding at least one of the plurality of previously-gathered points and to determine if an update to the database is warranted based on the comparison. The controller is further configured to update the database if it is determined that an update is warranted.
摘要翻译： 公开了一种地形测绘系统。 该系统具有至少一个传感器，其被配置为收集限定站点的当前表面的多个当前点和包含定义站点的先前表面的多个先前聚集点的数据库。 该系统还具有与至少一个传感器通信的控制器。 控制器被配置为将多个当前点中的至少一个的高度与多个先前收集的点中的对应的至少一个的高度进行比较，并且基于该数据库的更新来确定对数据库的更新是否有保证 比较。 如果确定需要进行更新，则控制器还被配置为更新数据库。
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9.发明授权Implement control system for locating a surface interface and removing a layer of material 失效实施用于定位表面界面的控制系统，并移除一层材料
公开(公告)号：US5647439A
公开(公告)日：1997-07-15
申请号：US572136
申请日：1995-12-14
CPC分类号： E01H5/00 , E01C19/004
摘要： An apparatus coupled to a work machine for assisting the work machine in removing a first layer of material from a second layer of material is provided. The work machine includes a work implement with a cutting portion. The work implement is elevationally movably connected to the work machine. The cutting portion extends in a direction transverse the longitudinal axis of the work machine. An electromagnetic unit, connected to the work machine, delivers electromagnetic radiation towards the surface, receives a reflection of the delivered electromagnetic radiation, and delivers a responsive first signal. The electromagnetic radiation penetrates the first layer of material and reflects off of the second layer of material. A controller receives the first signal, determines the distance between the electromagnetic unit and the second layer of material and responsively produces a distance signal. An implement controller receives the distance signal and responsively actuates the work implement relative to the frame.
摘要翻译： 提供一种耦合到作业机器的装置，用于辅助作业机器从第二层材料中去除第一层材料。 作业机械包括具有切割部分的作业工具。 工作机具可升降地连接到作业机。 切割部分在横向于作业机器的纵向轴线的方向上延伸。 连接到作业机器的电磁单元向该表面传递电磁辐射，接收所传送的电磁辐射的反射，并传送响应的第一信号。 电磁辐射穿透第一层材料并反射出第二层材料。 控制器接收第一信号，确定电磁单元与第二层材料之间的距离，并响应地产生距离信号。 工具控制器接收距离信号并相对于框架响应地致动工作工具。
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公开(公告)号：US5390125A
公开(公告)日：1995-02-14
申请号：US19540
申请日：1993-02-18
申请人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
发明人： James W. Sennott , Christos T. Kyrtsos , Adam J. Gudat , Dana A. Christensen , Douglas W. Friedrich , Darrell E. Stafford
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G01S19/47 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/20 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202 , Y02T10/84
摘要： Systems and methods allow for the accurate determination of the terrestrial position of an autonomous vehicle in real time. A first position estimate of the vehicle 102 is derived from satellites of a global positioning system and/or a pseudolite(s). The pseudolite(s) may be used exclusively when the satellites are not in the view of the vehicle. A second position estimate is derived from an inertial reference unit and/or a vehicle odometer. The first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position. Accordingly, accurate autonomous navigation of the vehicle can be effectuated using the third position estimate.
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