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    EXCAVATOR IMPLEMENT TEETH GRADING OFFSET DETERMINATION
    2.
    发明申请
    EXCAVATOR IMPLEMENT TEETH GRADING OFFSET DETERMINATION 审中-公开

    公开(公告)号：WO2019125701A1

    公开(公告)日：2019-06-27

    申请号：PCT/US2018/062455

    申请日：2018-11-26

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

    Inventor： DAVIS, Kyle

    IPC: E02F3/43 ,  E02F9/26

    Abstract: An excavator (100) comprises a machine chassis (102), boom (108), stick (110), and implement (114). The boom, stick, and implement collectively define a variable implement angle Theta Bucket (t) indicative of a current position of the implement relative to horizontal as a function of time t. The implement comprises teeth extending at a tooth height h from an internal leading edge J_l to an external leading edge J_E. The teeth are spaced along J_l and define an active raking ratio r. Controllers are programmed to execute an implement teeth grading offset determination process that comprises determining a variable implement offset angle Theta Delta (t) at least partially based on a difference between an original target design angle Theta Tgt (t) and the variable implement angle Theta Bucket (t), determining an implement offset 10 based on h, r, and Theta Delta (t), and determining a new target design elevation Elv_(Tgt,New) (t) based on IO and an original target design elevation Elv_(Tgt,Orig) (t).

    DETERMINING YAW AND CENTER-OF-ROTATION OF A ROTATING PLATFORM USING A SINGLE POSITION SENSOR
    3.
    发明申请
    DETERMINING YAW AND CENTER-OF-ROTATION OF A ROTATING PLATFORM USING A SINGLE POSITION SENSOR 审中-公开

    公开(公告)号：WO2019027656A1

    公开(公告)日：2019-02-07

    申请号：PCT/US2018/041983

    申请日：2018-07-13

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

    Inventor： ALAM, Nima

    IPC: G05D1/08 ,  A01B69/00 ,  G01S19/41

    Abstract: Yaw and center-of-rotation of a platform are determined using a single Global Navigation Satellite System (GNSS) device and an inertial measurement unit (IMU). A measurement center of the GNSS device is disposed on the platform away from the center-of-rotation and arranged in a known spatial relationship with the center-of- rotation. The platform is rotated about the center-of-rotation between a first orientation and a second orientation (602). The IMU is used to determine a change in pitch, roll, and yaw of the platform between the first orientation and the second orientation (604). The GNSS device is used to determine a change in position of the measurement center of the GNSS device between the first orientation and the second orientation (606). The yaw of the platform is determined at the second orientation and the position of the center-of-rotation of the platform is determined in a global coordinate frame (608).

    EXCAVATING IMPLEMENT HEADING CONTROL
    4.
    发明申请
    EXCAVATING IMPLEMENT HEADING CONTROL 审中-公开
    开展执行头部控制

    公开(公告)号：WO2018022499A1

    公开(公告)日：2018-02-01

    申请号：PCT/US2017/043495

    申请日：2017-07-24

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

    Inventor： PADILLA, Christopher A.

    IPC: E02F3/28 ,  E02F3/43

    Abstract: An excavator includes a chassis, an implement, control architecture, and an assembly to swing with, or relative to, the chassis and including a boom, stick to curl relative to the boom, and coupling between the implement and stick. The implement rotates about an axis R such that a leading edge LE defines a heading Î. The control architecture comprises sensors, actuators, and controllers to utilize sensor signals to generate a LE position relative to a reference based on reference data and map information, utilize sensor implement edge signals and the excavator position relative to the reference and map information to generate a nearest implement edge (NIE) signal indicative of a LE NIE position relative to the reference, and utilize the actuators for divertive implement rotation about R to adjust Î to account for divertive rotation away from an actual or projected overlap of the NIE and reference.

    Abstract translation: 一种挖掘机包括底盘，工具，控制结构和与底盘一起摆动或相对于底盘摆动的组件，并且包括悬臂，相对于悬臂卷曲，以及在 执行和坚持。 该工具围绕轴线R旋转，使得前缘LE定义了航向。控制架构包括传感器，致动器和控制器，以利用传感器信号来产生相对于基于参考的LE位置 在参考数据和地图信息上，利用传感器工具边缘信号和相对于参考和地图信息的挖掘机位置来生成指示相对于参考的LE NIE位置的最近工具边缘（NIE）信号，并且利用致动器用于转向 执行关于R的旋转以调整Icirc;以考虑偏离NIE和参考的实际或计划重叠的旋转旋转。

    THREE DIMENSIONAL SCANNING ARRANGEMENT INCLUDING DYNAMIC UPDATING
    5.
    发明申请
    THREE DIMENSIONAL SCANNING ARRANGEMENT INCLUDING DYNAMIC UPDATING 审中-公开
    三维扫描装置，包括动态更新

    公开(公告)号：WO2010022113A1

    公开(公告)日：2010-02-25

    申请号：PCT/US2009/054245

    申请日：2009-08-19

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC ,  CLARK, Cameron, Bruce ,  VINEY, Ian, Timothy

    Inventor： CLARK, Cameron, Bruce ,  VINEY, Ian, Timothy

    IPC: E02F9/26 ,  G01B11/03

    CPC classification number: E02F9/26 ,  G01B11/03 ,  G01B11/245 ,  G01B11/2518

    Abstract: A three dimensional machine scanning arrangement for a machine (16) traveling over a worksite includes a pair of scanners (12, 14) that are mounted on the machine. Each scanner measures distances to a number of points on the ground at the worksite. One of the scanner faces rearward and the other of the scanner faces forward. A control is responsive to the pair of scanner. The control determines the contour of the worksite. A display, mounted on the machine,' is responsive to the control for displaying the contour of the worksite.

    Abstract translation: 用于在工地上行进的机器（16）的三维机器扫描装置包括安装在机器上的一对扫描仪（12,14）。 每个扫描仪测量到工地上地面上多个点的距离。 其中一个扫描仪面朝后，扫描仪的另一个面向前。 控制器响应于扫描仪对。 控制确定工地的轮廓。 安装在机器上的显示器响应于用于显示工地轮廓的控制。

    SYSTEM AND METHOD FOR PRESENTING TOPOGRAPHICAL DATA FOR AN EARTHMOVING OPERATION
    6.
    发明申请
    SYSTEM AND METHOD FOR PRESENTING TOPOGRAPHICAL DATA FOR AN EARTHMOVING OPERATION 审中-公开
    用于提供地震数据的系统和方法进行地震作业

    公开(公告)号：WO2009126313A1

    公开(公告)日：2009-10-15

    申请号：PCT/US2009/002257

    申请日：2009-04-09

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC ,  NICHOLS, Mark, Edward

    Inventor： NICHOLS, Mark, Edward

    IPC: G01S5/14

    CPC classification number: G01S19/40 ,  G06T19/00

    Abstract: System and method for presenting a visual image of a work site for an earthmoving machine. In one embodiment, target design data for the work site may be received. A spatial location and orientation for an earthmoving machine operating in relation to the work site may also be received. A visual image of at least a portion of the work site may be received from an imaging device mounted to the earthmoving machine. A visual image of the portion of the work site may be displayed with a subset of the design data overlaying the visual image, wherein the subset of the design data relates to the portion of the work site.

    Abstract translation: 用于呈现土方机械的工地的视觉图像的系统和方法。 在一个实施例中，可以接收工作现场的目标设计数据。 还可以接收相对于工作现场操作的移土机的空间位置和方位。 可以从安装到移土机的成像装置接收工作现场的至少一部分的视觉图像。 工作现场部分的视觉图像可以与覆盖视觉图像的设计数据的子集一起显示，其中设计数据的子集与工作现场的一部分相关。

    METHOD FOR PLANNING THE PATH OF A CONTOUR-SHAPING MACHINE
    7.
    发明申请
    METHOD FOR PLANNING THE PATH OF A CONTOUR-SHAPING MACHINE 审中-公开
    用于规划轮廓形成机的路径的方法

    公开(公告)号：WO2008118027A2

    公开(公告)日：2008-10-02

    申请号：PCT/NZ2008/000068

    申请日：2008-03-28

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC ,  WYN-HARRIS, Jeremy

    Inventor： WYN-HARRIS, Jeremy

    CPC classification number: E02F9/2045 ,  E02F3/841 ,  E02F3/844 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0202

    Abstract: A method of contour shaping by a machine equipped with a cutting implement, including the steps of: Providing a desired topographical plan; measuring the real time position of at least one of the machine and the cutting implement; generating instructions for at least one actuator to move the cutting implement; sending the instructions to the or each actuator; characterised in that the method includes the intermediate steps of: plotting a transitional path from the real time position of the machine or the cutting implement to a point on the desired topographical plan; and using the transitional path and the real time position of the machine or the cutting implement to generate the instructions for the at least one actuator.

    Abstract translation: 一种配备有切割工具的机器的轮廓整形方法，包括以下步骤：提供所需的地形图; 测量机器和切割工具中的至少一个的实时位置; 产生用于至少一个致动器的指令以移动切割工具; 将指令发送到或每个致动器; 其特征在于，该方法包括以下中间步骤：绘制从机器或切割工具的实时位置到期望的地形图上的点的过渡路径; 以及使用机器或切割工具的过渡路径和实时位置来生成用于至少一个致动器的指令。

    MACHINE LIMB LENGTH AND ANGLE OFFSET DETERMINATION USING A LASER DISTANCE METER
    10.
    发明申请
    MACHINE LIMB LENGTH AND ANGLE OFFSET DETERMINATION USING A LASER DISTANCE METER 审中-公开

    公开(公告)号：WO2018102160A1

    公开(公告)日：2018-06-07

    申请号：PCT/US2017/062231

    申请日：2017-11-17

    Applicant: CATERPILLAR TRIMBLE CONTROL TECHNOLOGIES LLC

    Inventor： HOWELL, Mark Nicholas ,  FREI, Samuel Joseph

    IPC: E02F3/43 ,  E02F9/26

    Abstract: A framework comprises a laser distance meter (LDM), reflector, and construction machine comprising a chassis, linkage assembly (LA), boom and stick sensors, implement, and control architecture. The LA comprises a boom and stick defining LA positions. The LDM is configured to generate a D LDM and θ INC between the LDM and the reflector at a node, and the control architecture comprises actuator(s) and a controller programmed to execute at successive LA positions an iterative process (comprises generating θ B , generating θ S , and calculating a height H and a distance D between the node and the LDM based on D LMD and θ IMC , build a set of H, D measurements and a corresponding set of θ B , θ S for n LA positions, and execute a linear least squares optimization process based on the H, D set and corresponding set of θ B , θ S to determine and operate the machine using L B , L S , θ B Bias , and θ S Bias .

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