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1. 发明公开

EP0776485A1 APPARATUS AND METHOD FOR DETERMINING THE POSITION OF A WORK IMPLEMENT 失效
标题翻译：装置和设备的一种工具的确定位置
公开(公告)号：EP0776485A1
公开(公告)日：1997-06-04
申请号：EP96914758.0
申请日：1996-05-23
申请人： CATERPILLAR INC.
发明人： HENDERSON, Daniel, E.
IPC分类号： G01C15 , G01S5 , G01S19
CPC分类号： G01S19/45 , E02F3/847 , G01S19/44 , G01S19/53
摘要： An apparatus (10) and method for determining the position of a work implement (12) movably connected to a machine (16) utilizes first and second electromagnetic radiation receiving devices (18, 20) connected to the work implement (12) at predetermined spaced locations. A processor (24) determines the first and second current coordinate positions of the first and second receiving devices (18, 20) in a site coordinate system based on position signals from the first and second receiving devices (18, 20). The processor transforms the first and second receiving points (R, L) from a local coordinate system related to the machine (16) to the site coordinate system using a plane (98) passing through the first and second current coordinate positions and a mid-point (C) located along a substantially straight line (99) passing between first and second previously defined coordinate positions of the first and second receiving devices (18, 20). The processor (51) corrects the position of the first and second receiving points (R, L) in the site coordinate system based on sensed changes in the pitch of the implement (12).

2. 发明授权

EP0776485B1 APPARATUS AND METHOD FOR DETERMINING THE POSITION OF A WORK IMPLEMENT 失效
标题翻译：装置和设备的一种工具的确定位置
公开(公告)号：EP0776485B1
公开(公告)日：2000-09-27
申请号：EP96914758.6
申请日：1996-05-23
申请人： CATERPILLAR INC.
发明人： HENDERSON, Daniel, E.
IPC分类号： G01S5/14 , E02F3/84
CPC分类号： G01S19/45 , E02F3/847 , G01S19/44 , G01S19/53

3. 发明授权

EP0682786B1 METHOD AND APPARATUS FOR OPERATING GEOGRAPHY-ALTERING MACHINERY RELATIVE TO A WORK SITE 失效
标题翻译：用于控制机器的方法和装置来改变建筑工地的拓扑结构
公开(公告)号：EP0682786B1
公开(公告)日：2002-05-22
申请号：EP95901247.7
申请日：1994-11-18
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E. , HARROD, Gregory, R. , KLEIMENHAGEN, Karl, W.
IPC分类号： G05D1/02
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 (104) of the desired site geography, and a second digital three-dimensional model (106) of the actual site geography are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the machine (10) relative to the site (12). A dynamic database (400) receives the machine position information, determines the difference between the first and second site models (104, 106) and generates representational signals of that difference for directing the operation of the machine (10) 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 (104, 106) used to generate an operator display (108) which is updated in real time. Alternately, the signals representing the difference between the first and second site models (104, 106) can be supplied to automatic machine controls (128) for autonomous or semi-autonomous operation of the machine (10).

4. 发明公开

EP0833990A1 SLOPE OF CUT CONTROL SYSTEM 失效
标题翻译：切割控制系统的斜坡
公开(公告)号：EP0833990A1
公开(公告)日：1998-04-08
申请号：EP96920310.0
申请日：1996-05-20
申请人： CATERPILLAR INC.
发明人： HENDERSON, Daniel, E.
IPC分类号： E02F3 , G01C15 , G01S19 , G05D1
CPC分类号： E02F3/847 , E02F3/842 , G05D1/0236 , G05D1/0278 , G05D1/028 , G05D2201/0202
摘要： A system and method (10) for automatically controlling the position of a work implement (12) movably connected to a work machine (16) and maintaining the work implement (12) at a preselected slope of cut relative to a geographic surface is provided. The system (10) has first and second receiving devices (18, 20) mounted on the work implement (12) for receiving position signals from a plurality of remote locations. A processor (24) determines the actual slope of cut of the work implement (12) based on the received position signals. An implement controller (122) delivers an implement control signal in response to a difference between the actual and a preselected desired slope of cut of the work implement (12). An implement control system (124) elevationally changes the slope of cut of the work implement (12) at an automatic mode of operation of the system (10). The system (10) is particularly suited for use on a geographic surface altering work machine (16).
摘要翻译：提供了用于自动控制可移动地连接到作业机械（16）的作业工具（12）的位置并且将作业工具（12）保持在相对于地理表面的预选的切割斜坡的系统和方法（10）。系统（10）具有安装在工作装置（12）上用于接收来自多个远程位置的位置信号的第一和第二接收装置（18,20）。处理器（24）基于接收到的位置信号来确定工作装置（12）的切割的实际斜率。工具控制器（122）响应于工作工具（12）的实际切割预期切割斜率和预定选定切割斜率之间的差异来传送工具控制信号。工具控制系统（124）在系统（10）的自动操作模式下在高度上改变工作工具（12）的切割斜率。系统（10）特别适用于地理表面改变工作机器（16）。

5. 发明授权

EP0756653B1 METHOD AND APPARATUS FOR MONITORING AND COORDINATION OF MULTIPLE GEOGRAPHY-ALTERING MACHINES ON A WORK SITE 失效
标题翻译：监测和几种土壤的协调方法和装置EDITED机在工地上
公开(公告)号：EP0756653B1
公开(公告)日：1998-01-07
申请号：EP95915644.9
申请日：1995-04-12
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E.
IPC分类号： E01C19/00 , E02F3/84
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 (40, 50, 60) and method (100, 101, 102, 104, 106, 108, 108a, 109, 110) for directing the operations of multiple geography-altering machines (14) on a common work site (12) relative to one another. Position information from several machines (14) is shared to generate a common, dynamically-updated site database (66) showing the machines' relative positions and site progress in real time. The common site database (66) is used to direct the operation of one machine (14) with respect to another machine or machines (14), for example by generating an operator display (22) of the site (12) showing relative machine position and total machine work on the site (12). The operator can accordingly adjust the machine's operation to avoid interference with other machines (14) or unnecessary overlap of work on the site (12). The information can also be used to coordinate the operations of several machines (14) in complementary fashion. Machine position information can be broadcast from the machines (14) to the site database (66) to create a common, dynamically-updated database (66) which is then shared with one or more of the machines (14). In a particular embodiment each machine (14) is provided with its own dynamically-updated database (66) and operator display (22), and machine position information is shared on a continuous, real-time basis between the machines (14) so that they effectively share a common site database (66).

6. 发明公开

EP0733231A1 METHOD AND APPARATUS FOR OPERATING COMPACTING MACHINERY RELATIVE TO A WORK SITE 失效
标题翻译：方法和设备工作区域相关的经营性压缩单元
公开(公告)号：EP0733231A1
公开(公告)日：1996-09-25
申请号：EP95901150.0
申请日：1994-11-04
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E.
IPC分类号： E01C19 , E02F3 , G01S5 , G01S13 , G01S15 , G01S17 , G01S19 , G05B1 , G05D1
CPC分类号： G05D1/0044 , E01C19/004 , E02F9/2045 , E02F9/26 , G05D2201/0202
摘要： A method and apparatus for operating compacting machinery such as landfill, earth or asphalt compactors relative to a work site to compact the site material toward a desired degree of compaction. A first model (420) representing the desired degree of compaction of the site (12) and a second model (430) representing the actual degree of compaction of the site (12) are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the compacting portions of the machine (10) relative to the site (12). A dynamic database (124) receives the machine positon information, determines the difference between the degree of compaction of the first and second site models (420, 430) and generates representational signals of that difference for directing the operation of the machine (10) to bring the actual degree of compaction of the site (12) into conformity with the desired degree of compaction. In one embodiment, the signals representing the machine position and the difference between the first and second site models (420, 430) are used to generate an operator display (22) which is updated in real time as the machine (10) operates over the site (12). Alternately, the signals representing the difference between the first and second site models (420, 430) can be supplied to automatic machine controls for automatic or semi-automatic operation of the machine (10).

7. 发明授权

EP0833990B1 SLOPE OF CUT CONTROL SYSTEM 失效
标题翻译：切割控制系统的斜坡
公开(公告)号：EP0833990B1
公开(公告)日：2000-02-23
申请号：EP96920310.8
申请日：1996-05-20
申请人： CATERPILLAR INC.
发明人： HENDERSON, Daniel, E.
IPC分类号： E02F3/84
CPC分类号： E02F3/847 , E02F3/842 , G05D1/0236 , G05D1/0278 , G05D1/028 , G05D2201/0202

8. 发明授权

EP0733231B1 METHOD AND APPARATUS FOR OPERATING COMPACTING MACHINERY RELATIVE TO A WORK SITE 失效
标题翻译：方法和设备工作区域相关的经营性压缩单元
公开(公告)号：EP0733231B1
公开(公告)日：1999-01-13
申请号：EP95901150.3
申请日：1994-11-04
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E.
IPC分类号： G05D1/02 , E01C1/00
CPC分类号： G05D1/0044 , E01C19/004 , E02F9/2045 , E02F9/26 , G05D2201/0202
摘要： A method and apparatus for operating compacting machinery such as landfill, earth or asphalt compactors relative to a work site to compact the site material toward a desired degree of compaction. A first model (420) representing the desired degree of compaction of the site (12) and a second model (430) representing the actual degree of compaction of the site (12) are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the compacting portions of the machine (10) relative to the site (12). A dynamic database (124) receives the machine positon information, determines the difference between the degree of compaction of the first and second site models (420, 430) and generates representational signals of that difference for directing the operation of the machine (10) to bring the actual degree of compaction of the site (12) into conformity with the desired degree of compaction. In one embodiment, the signals representing the machine position and the difference between the first and second site models (420, 430) are used to generate an operator display (22) which is updated in real time as the machine (10) operates over the site (12). Alternately, the signals representing the difference between the first and second site models (420, 430) can be supplied to automatic machine controls for automatic or semi-automatic operation of the machine (10).

9. 发明公开

EP0756653A1 METHOD AND APPARATUS FOR MONITORING AND COORDINATION OF MULTIPLE GEOGRAPHY-ALTERING MACHINES ON A WORK SITE 失效
标题翻译：监测和几种土壤的协调方法和装置EDITED机在工地上
公开(公告)号：EP0756653A1
公开(公告)日：1997-02-05
申请号：EP95915644.0
申请日：1995-04-12
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E.
IPC分类号： E01C19 , E02F3 , E02F9 , G01S5 , G01S19 , G05D1 , G08G1
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 (40, 50, 60) and method (100, 101, 102, 104, 106, 108, 108a, 109, 110) for directing the operations of multiple geography-altering machines (14) on a common work site (12) relative to one another. Position information from several machines (14) is shared to generate a common, dynamically-updated site database (66) showing the machines' relative positions and site progress in real time. The common site database (66) is used to direct the operation of one machine (14) with respect to another machine or machines (14), for example by generating an operator display (22) of the site (12) showing relative machine position and total machine work on the site (12). The operator can accordingly adjust the machine's operation to avoid interference with other machines (14) or unnecessary overlap of work on the site (12). The information can also be used to coordinate the operations of several machines (14) in complementary fashion. Machine position information can be broadcast from the machines (14) to the site database (66) to create a common, dynamically-updated database (66) which is then shared with one or more of the machines (14). In a particular embodiment each machine (14) is provided with its own dynamically-updated database (66) and operator display (22), and machine position information is shared on a continuous, real-time basis between the machines (14) so that they effectively share a common site database (66).

10. 发明公开

EP0682786A1 METHOD AND APPARATUS FOR OPERATING GEOGRAPHY-ALTERING MACHINERY RELATIVE TO A WORK SITE 失效
标题翻译：用于控制机器来改变一个站点的拓扑结构的方法和设备。
公开(公告)号：EP0682786A1
公开(公告)日：1995-11-22
申请号：EP95901247.0
申请日：1994-11-18
申请人： CATERPILLAR INC.
发明人： GUDAT, Adam, J. , HENDERSON, Daniel, E. , HARROD, Gregory, R. , KLEIMENHAGEN, Karl, W.
IPC分类号： A01B79 , E01C19 , E02F9 , G01C7 , G01C15 , G01S19 , G05D1
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 (104) of the desired site geography, and a second digital three-dimensional model (106) of the actual site geography are stored in a digital data storage facility (126). The machine (10) is equipped with a position receiver to determine in three-dimensional space the location of the machine (10) relative to the site (12). A dynamic database (400) receives the machine position information, determines the difference between the first and second site models (104, 106) and generates representational signals of that difference for directing the operation of the machine (10) 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 (104, 106) used to generate an operator display (108) which is updated in real time. Alternately, the signals representing the difference between the first and second site models (104, 106) can be supplied to automatic machine controls (128) for autonomous or semi-autonomous operation of the machine (10).

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