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1. 发明授权

US5735352A Method for updating a site database using a triangular irregular network 失效
标题翻译：使用三角形不规则网络更新站点数据库的方法
公开(公告)号：US5735352A
公开(公告)日：1998-04-07
申请号：US768150
申请日：1996-12-17
申请人： Daniel E. Henderson , Craig L. Koehrsen , David A. Paul , William C. Sahm
发明人： Daniel E. Henderson , Craig L. Koehrsen , David A. Paul , William C. Sahm
IPC分类号： E02F3/84 , G05B19/18 , F21B21/06
CPC分类号： E02F3/847 , E02F3/842
摘要： The present invention provides a method for updating a site database. The site database models the elevation of a work site using a Triangular Irregular Network (TIN). The TIN is composed of a plurality of points. Each point has associated known X and Y coordinates and a known elevation and is associated with a set of other points in the network to form triangles. The work site is modified by a work machine. The method includes the steps of receiving a new set of points. The new set of points includes at least first and second points. The first and second points have associated X, Y, and Z coordinates. The method also includes the steps of comparing the new set of points with a previous set of points and updating the triangular irregular network with the new set of points if a minimum distance has been traversed by the work machine.
摘要翻译：本发明提供了一种用于更新站点数据库的方法。站点数据库使用三角不规则网络（TIN）对工作地点的高程进行建模。 TIN由多个点组成。每个点具有关联的已知X和Y坐标以及已知高程，并且与网络中的一组其他点相关联以形成三角形。工作地点由工作机器修改。该方法包括接收一组新的点的步骤。新的一组点至少包括第一和第二点。第一和第二点具有相关联的X，Y和Z坐标。该方法还包括以下步骤：如果工作机器已经移动了最小距离，则将新的一组点与先前的一组点进行比较，并用新的一组点更新三角形不规则网络。

2. 发明授权

US6047227A Method and apparatus for operating geography altering machinery relative to a work site 失效
标题翻译：用于操作地理相对于工作场所改变机器的方法和装置
公开(公告)号：US6047227A
公开(公告)日：2000-04-04
申请号：US752368
申请日：1996-11-19
申请人： Daniel E. Henderson , Craig L. Koehrsen
发明人： Daniel E. Henderson , Craig L. Koehrsen
IPC分类号： G01S19/48 , E02F9/20 , G06F7/70
CPC分类号： E02F9/2045
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。

3. 发明授权

US5801967A Method for determining the volume between previous and current site surfaces 失效
标题翻译：确定上一个和当前站点表面之间的体积的方法
公开(公告)号：US5801967A
公开(公告)日：1998-09-01
申请号：US626230
申请日：1996-03-29
申请人： Daniel E. Henderson , Karl W. Kleimenhagen , Craig L. Koehrsen , Kevin J. Lueschow , Kenneth L. Stratton
发明人： Daniel E. Henderson , Karl W. Kleimenhagen , Craig L. Koehrsen , Kevin J. Lueschow , Kenneth L. Stratton
IPC分类号： G01C5/00 , G01F17/00 , G01F22/00 , G01S19/19 , G01C21/00
CPC分类号： G01F17/00 , G01F22/00
摘要： A method for calculating a volume between previous and current site surfaces is provided. The site surfaces are represented by a series of surface elevations. The method includes the steps of determining previous surface elevations; traversing the site with a work machine and determining current surface elevations; and calculating a volume difference between the current surface and the previous surface as a function of the previous surface elevations and the current surface elevations.
摘要翻译：提供了一种用于计算前一个和当前站点表面之间的体积的方法。站点表面由一系列表面高程表示。该方法包括以下步骤：确定先前的表面高程; 用工作机器穿过现场并确定当前的表面高度; 以及根据先前的表面高程和当前的表面高程计算当前表面和先前表面之间的体积差。

4. 发明授权

US6114993A Method for determining and displaying the position of a truck during material removal 失效
标题翻译：在搬运过程中确定和显示货车位置的方法
公开(公告)号：US6114993A
公开(公告)日：2000-09-05
申请号：US35222
申请日：1998-03-05
申请人： Daniel E. Henderson , Craig L. Koehrsen
发明人： Daniel E. Henderson , Craig L. Koehrsen
IPC分类号： G06F17/30 , G01C21/00 , G01S19/14 , G01S19/35 , G01S19/44 , G01S19/46 , H04B7/185 , G01S5/02
CPC分类号： G01S19/14 , G01C21/00
摘要： In one aspect of the present invention, a method for determining and displaying a correlated position of a truck as it is being loaded by an earth moving machine is provided. The method includes the steps of receiving a loading event signal and then determining the correlated position of the truck in response to the loading event signal. The correlated position of the truck is then displayed relative to the land size.In an alternative embodiment, a method for determining and displaying productivity information regarding material excavated by an earth moving machine and loaded into a truck is provided. The method includes the steps of determining the bucket load material type of the material loaded in the bucket. Productivity information is then displayed at a remote location in response to the bucket load material type.
摘要翻译：在本发明的一个方面，提供了一种用于在由搬运机加载的情况下确定和显示卡车的相关位置的方法。该方法包括以下步骤：接收加载事件信号，然后响应于加载事件信号确定卡车的相关位置。然后相对于陆地尺寸显示卡车的相关位置。在替代实施例中，提供了一种用于确定和显示关于由土方机器挖掘并装载到卡车中的材料的生产率信息的方法。该方法包括确定装载在铲斗中的材料的铲斗负载材料类型的步骤。然后响应于铲斗负载材料类型，在远程位置显示生产率信息。

5. 发明授权

US5935192A System and method for representing parameters in a work site database 失效
标题翻译：用于表示工作站点数据库中的参数的系统和方法
公开(公告)号：US5935192A
公开(公告)日：1999-08-10
申请号：US761996
申请日：1996-12-12
申请人： Daniel E. Henderson , Karl W. Kleimenhagen , Craig L. Koehrsen , Satish M. Shetty
发明人： Daniel E. Henderson , Karl W. Kleimenhagen , Craig L. Koehrsen , Satish M. Shetty
IPC分类号： E02F1/00 , E02F3/84 , E02F9/20 , G06F165/00
CPC分类号： E02F9/2045 , E02F3/841
摘要： The present invention provides a site database structure for storing data for access by an application program being executed on a control system on a work machine. The work machine operates at a work site. The data representing a parameter of the work site. A data structure is stored in the memory. The data structure includes information resident in a database used by the application program. A plurality of data objects are associated with the data structure. Each data object represents a defined section of the work site and is represented by a set of predefined coordinates. At least one layer object is associated with each data object. Each layer object has a predefined number of cell objects. Each cell object has an associated value of the parameter.
摘要翻译：本发明提供一种站点数据库结构，用于存储由在作业机器上的控制系统上执行的应用程序进行访问的数据。工作机器在工作场所运行。数据表示工作现场的参数。数据结构存储在存储器中。数据结构包括驻留在应用程序使用的数据库中的信息。多个数据对象与数据结构相关联。每个数据对象表示工作站点的定义部分，并由一组预定义的坐标表示。至少一个层对象与每个数据对象相关联。每个层对象都有预定数量的单元对象。每个单元格对象都具有参数的关联值。

6. 发明授权

US5850341A Method and apparatus for monitoring material removal using mobile machinery 失效
标题翻译：使用移动机械监测材料去除的方法和装置
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
IPC分类号： E02F9/20 , G01C21/00 , G01S5/14 , G01S19/19 , E21B21/06
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。

7. 发明授权

US5404661A Method and apparatus for determining the location of a work implement 失效
标题翻译：用于确定工作工具的位置的方法和装置
公开(公告)号：US5404661A
公开(公告)日：1995-04-11
申请号：US240348
申请日：1994-05-10
申请人： William C. Sahm , Adam J. Gudat , Daniel E. Henderson
发明人： William C. Sahm , Adam J. Gudat , Daniel E. Henderson
IPC分类号： E02F3/42 , E02F3/43 , E21B21/06
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。

8. 发明授权

US5815826A Method for determining the productivity of an earth moving machines 失效
标题翻译：确定土方机械生产率的方法
公开(公告)号：US5815826A
公开(公告)日：1998-09-29
申请号：US623076
申请日：1996-03-28
申请人： Daniel E. Henderson , Charlene L. Oliver , David A. Paul
发明人： Daniel E. Henderson , Charlene L. Oliver , David A. Paul
IPC分类号： E02F3/85 , E02F3/43 , E02F3/84 , E02F9/20 , G01C21/00
CPC分类号： E02F3/431 , E02F3/84 , E02F9/2025 , Y10S37/907
摘要： A method for automatically determining the productivity of an earthmoving machine in real time using an onboard computer. The earthmoving machine operates in cycles having a first portion and a second portion. The earthmoving machine moves in a first direction during the first portion and in a second direction during the second portion. The method includes the steps of detecting the starts of each cycle for a series of cycles, determining a machine parameter corresponding to each cycle, calculating a cycle parameter as a function of the machine parameter, and calculating at least one measure of productivity as a function of the cycle parameter.
摘要翻译：一种使用车载计算机实时自动确定移土机的生产率的方法。移土机以具有第一部分和第二部分的周期运行。移土机在第一部分期间沿第一方向移动，而在第二部分期间沿第二方向移动。该方法包括以下步骤：检测一系列循环的每个循环的启动，确定与每个循环对应的机器参数，根据机器参数计算循环参数，以及计算作为功能的生产力的至少一个量度的循环参数。

9. 发明授权

US5944764A Method for monitoring the work cycle of earth moving machinery during material removal 失效
标题翻译：在搬运机械过程中监测土方机械的工作周期的方法
公开(公告)号：US5944764A
公开(公告)日：1999-08-31
申请号：US881015
申请日：1997-06-23
申请人： Daniel E. Henderson , Gregory R. Harrod
发明人： Daniel E. Henderson , Gregory R. Harrod
IPC分类号： E02F3/84 , E02F9/20 , G01C21/00
CPC分类号： E02F9/2045 , E02F3/842
摘要： The invention is a method for monitoring a work cycle of a earth moving machine on a land site. The method includes the steps of determining a direction of motion of the earth moving machine as being either a forward or a reverse direction of motion, determining a change in the direction of motion to an opposite direction of motion, determining a location of the earth moving machine on the land site where the change in direction of motion occurs, determining a condition of the land site at the location, and determining a work cycle of the earth moving machine in response to the condition.
摘要翻译：本发明是用于监测陆地上土方机械的工作循环的方法。该方法包括以下步骤：确定地球运动机器的运动方向为正向或反向运动方向，确定运动方向向相反运动方向的变化，确定地球运动的位置发生运动方向变化的地面上的机器，确定位置处的土地位置的状况，以及响应于该状况确定土方机器的工作周期。

10. 发明授权

US5897603A Method for determining the relationship between the heading of a machine and the course of machine travel 失效
标题翻译：用于确定机器标题与机器行程过程之间的关系的方法
公开(公告)号：US5897603A
公开(公告)日：1999-04-27
申请号：US880597
申请日：1997-06-23
申请人： Daniel E. Henderson
发明人： Daniel E. Henderson
IPC分类号： E02F3/84 , G05D1/02 , G06F165/00
CPC分类号： E02F3/841 , G05D1/0278 , G05D1/024 , G05D1/0255 , G05D2201/0202
摘要： A method for determining the relationship between the heading of a machine and the course of machine travel is provided. The method includes the steps of determining a previous and current course of machine travel, and a current and filtered heading. An indicator is used to represent the relationship between the heading of the machine and the course of machine travel. The previous and current course of machine travel are compared and the indicator is responsively updated. The current and filtered heading are compared and the indicator is again responsively updated, and then the filtered heading is updated.
摘要翻译：提供了一种用于确定机器的方向与机器行程之间的关系的方法。该方法包括以下步骤：确定机器行程的先前和当前过程，以及当前和过滤的航向。一个指示器用于表示机器的标题与机器行程的关系。比较上一次和当前机床行程，并对指标进行更新。比较当前和过滤的标题，并再次响应更新指示符，然后更新过滤的标题。

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