专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US5951613A Apparatus and method for determining the position of a work implement 失效
标题翻译：用于确定作业工具的位置的装置和方法
公开(公告)号：US5951613A
公开(公告)日：1999-09-14
申请号：US735853
申请日：1996-10-23
申请人： William C. Sahm , Gregory R. Harrod , Ronald J. Siroky , Craig L. Koehrsen , Satish M. Shetty
发明人： William C. Sahm , Gregory R. Harrod , Ronald J. Siroky , Craig L. Koehrsen , Satish M. Shetty
IPC分类号： E02F3/85 , G01C15/00 , G01S5/14 , G01S19/03 , G01S19/05 , G01S19/10 , G01S19/19 , G01S19/45 , G01S19/50 , G01S19/53 , G05B19/18 , G06F19/00
CPC分类号： E02F3/847 , G01S19/03 , G01S19/05 , G01S19/45 , G01S19/53 , G01S19/10 , G01S19/50 , Y10S37/907
摘要： An apparatus for determining a position of a work implement of a work machine in a site coordinate system. The position of the work implement is defined as the position in the site coordinate system of two fixed points located on the work implement. The apparatus includes first and second position sensors mounted on the work implement. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A cross slope sensor connected to the work implement senses a cross slope of the work implement and responsively produces a cross slope signal. A rotation sensor connected to the work implement senses a rotation of the work implement and responsively produces a rotation sensor. A controller, coupled to the first and second GPS receivers, the pitch sensor, the cross slope sensor and the rotation sensor, receives the first and second position, pitch, cross slope, and rotation signals, determines the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal if the first and second position signals are valid and determines the position of the work implement in the site coordinate system as a function if one of the first and second position signals and the pitch, cross slope and rotation signals if an other of the first and second position signals is not valid.
摘要翻译：一种用于确定位置坐标系中的作业机器的作业工具的位置的装置。工件的位置定义为位于工作台上的两个固定点的位置坐标系中的位置。该装置包括安装在工作工具上的第一和第二位置传感器。连接到工作装置的俯仰传感器感测到工作装置的音高并且响应地产生音调信号。连接到工作装置的十字斜面传感器感测工作装置的十字斜面，并且响应地产生交叉斜坡信号。连接到工作装置的旋转传感器感测工作装置的旋转并且响应地产生旋转传感器。耦合到第一和第二GPS接收器的控制器，俯仰传感器，十字斜面传感器和旋转传感器，接收第一和第二位置，俯仰，交叉斜坡和旋转信号，确定工作装置在如果第一和第二位置信号是有效的，则作为第一和第二位置信号和音调信号的函数的位置坐标系作为第一和第二位置之一确定作业位置坐标系中的作业功能如果第一和第二位置信号中的另一个无效，则信号和音调，交叉斜率和旋转信号。

2. 发明授权

US5925085A Apparatus and method for determining and displaying the position of a work implement 失效
标题翻译：用于确定和显示工作工具的位置的装置和方法
公开(公告)号：US5925085A
公开(公告)日：1999-07-20
申请号：US735861
申请日：1996-10-23
申请人： Karl W. Kleimenhagen , Craig L. Koehrsen , Ronald J. Siroky
发明人： Karl W. Kleimenhagen , Craig L. Koehrsen , Ronald J. Siroky
IPC分类号： E01C19/00 , E02F3/84 , E02F9/26 , G05D1/02 , G06F7/00
CPC分类号： E02F3/847 , E01C19/004 , E02F9/26 , G05D1/0274 , G05D1/0278 , G05D1/0236 , G05D1/0282 , G05D2201/0202
摘要： An apparatus and method for determining and displaying a position of a work implement of a work machine in a site coordinate system is provided. First and second position sensors mounted on the work implement determine the position of the first and second position sensors and produce first and second position signals, respectively. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A site database contains a digitized model of the work site defined by actual work site data. A controller is coupled to the first and second position sensors and the pitch sensor. The controller receives the first and second position and pitch signals, determines the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updates the actual work site data as a function of the position of the work implement. A display, coupled to the controller, displays the position of the work implement and the digitized model of the work site. The display includes a representation of a front view of the work implement and a representation of the surface of the work site. The representation of the work implement is displayed horizontally level relative to the display.
摘要翻译：本发明提供一种用于确定和显示位置坐标系中的作业机械的作业工具的位置的装置和方法。安装在工作装置上的第一和第二位置传感器确定第一和第二位置传感器的位置，分别产生第一和第二位置信号。连接到工作装置的俯仰传感器感测到工作装置的音高并且响应地产生音调信号。站点数据库包含由实际工作站点数据定义的工作站点的数字化模型。控制器耦合到第一和第二位置传感器和俯仰传感器。控制器接收第一和第二位置和音调信号，根据第一和第二位置信号和音调信号确定位置坐标系中的作业工具的位置，并且将实际工作地点数据作为工作工具的位置。耦合到控制器的显示器显示工作工具的位置和工作现场的数字化模型。显示器包括工作工具的前视图和工作表面的表示。工作实现的表示相对于显示器水平显示。

3. 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。

4. 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。

5. 发明授权

US08868302B2 System for autonomous path planning and machine control 有权
标题翻译：自主路径规划和机器控制系统
公开(公告)号：US08868302B2
公开(公告)日：2014-10-21
申请号：US13198428
申请日：2011-08-04
申请人： Bryan J. Everett , Andrew J. Vitale , Craig L. Koehrsen , James D. Humphrey
发明人： Bryan J. Everett , Andrew J. Vitale , Craig L. Koehrsen , James D. Humphrey
IPC分类号： G05D1/00 , E02F9/20 , G05D1/02
CPC分类号： G05D1/0291 , E02F9/2045 , E02F9/2054 , G05D1/0274 , G05D2201/0202
摘要： A control system is disclosed for use with a mobile loading machine operating at a first location and a plurality of mobile haul machines configured to move material received at the first location to a second location. The control system may have a plurality of control modules, each associated with one of the mobile loading machine and the plurality of mobile haul machines, and a worksite controller. The worksite controller may be configured to make a determination that a position of the mobile loading machine has changed, and to generate a new travel path for the plurality of mobile haul machines based on the determination. The worksite controller may also be configured to selectively communicate the new travel path to each of the plurality of control modules. The new travel path between the first and second locations may be automatically determined in accordance with at least one user-selected goal.
摘要翻译：公开了一种与在第一位置操作的移动装载机一起使用的控制系统，以及被配置为将在第一位置处接收的材料移动到第二位置的多个移动牵引机。控制系统可以具有多个控制模块，每个控制模块与移动装载机和多个移动牵引机之一以及工地控制器相关联。工地控制器可以被配置为基于该确定来确定移动装载机的位置已经改变，并且为多个移动运输机生成新的行进路径。工地控制器还可以被配置为选择性地将新的行进路径传送到多个控制模块中的每一个。可以根据至少一个用户选择的目标来自动确定第一和第二位置之间的新行进路径。

6. 发明授权

US08360343B2 Methods and systems for executing fluid delivery mission 有权
标题翻译：执行流体输送任务的方法和系统
公开(公告)号：US08360343B2
公开(公告)日：2013-01-29
申请号：US12772060
申请日：2010-04-30
申请人： Adam J. Gudat , James D. Humphrey , Peter W. Anderton , David C. Orr , Kenneth L. Stratton , Craig L. Koehrsen , Claude W. Keefer , Michael D. Braunstein
发明人： Adam J. Gudat , James D. Humphrey , Peter W. Anderton , David C. Orr , Kenneth L. Stratton , Craig L. Koehrsen , Claude W. Keefer , Michael D. Braunstein
IPC分类号： A01G25/09
CPC分类号： B05B13/00 , E01H3/02 , E21F5/02
摘要： A mobile fluid delivery machine for delivering fluid to a site has a tank storing fluid, and at least one spray head configured to spray the stored fluid onto the site. In addition, the machine has a communication device configured to receive fluid delivery mission instructions from a site computing system, the mission instructions identifying a sequence of path segments on the site and corresponding fluid delivery amounts allocated to the path segments, and a location device configured to determine the location of the machine on the site. Th machine may also have a fluid delivery system configured to determine whether the location of the fluid delivery machine corresponds to a path segment of the sequence, and when it is determined that the location of the machine corresponds to a path segment in the sequence, to identify the fluid delivery amount allocated to that path segment based on the mission instructions.
摘要翻译：用于将流体输送到现场的移动流体输送机具有容纳储存流体的罐，以及构造成将存储的流体喷射到现场上的至少一个喷头。另外，机器具有被配置为从站点计算系统接收流体传送任务指令的通信设备，所述任务指令标识站点上的一系列路径段以及分配给路径段的相应流体传送量，以及配置的位置设备确定机器在现场的位置。 Th机器还可以具有配置成确定流体输送机器的位置是否对应于序列的路径段的流体输送系统，并且当确定机器的位置对应于序列中的路径段时，基于任务指令识别分配给该路径段的流体输送量。

7. 发明授权

US5956250A Apparatus and method for autonomous vehicle navigation using absolute data 失效
标题翻译：使用绝对数据的自动车辆导航的装置和方法
公开(公告)号：US5956250A
公开(公告)日：1999-09-21
申请号：US431594
申请日：1995-05-01
申请人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system and method for controlling the navigation of surface based vehicle uses a route that is obtained by manually driving the vehicle over the route to collect data defining the absolute position of the vehicle at various positions along the route. The collected data is smoothed to provide a consistent route to be followed. The smoothed data is subsequently used to automatically guide the vehicle over the route.
摘要翻译：用于控制基于表面的车辆的导航的系统和方法使用通过在路线上手动驾驶车辆而获得的路线，以收集在沿着路线的各个位置处定义车辆的绝对位置的数据。收集的数据被平滑以提供要遵循的一致的路线。平滑的数据随后用于自动地引导车辆在路线上。

8. 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。

9. 发明授权

US5646843A Apparatus and method for surface based vehicle control system 失效
标题翻译：基于表面的车辆控制系统的装置和方法
公开(公告)号：US5646843A
公开(公告)日：1997-07-08
申请号：US432041
申请日：1995-05-01
申请人： Adam J. Gudat , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Adam J. Gudat , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06G7/70
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： An apparatus and method for controlling a surface-based vehicle provides three operational modes: a manual operation, a tele-operation, and an autonomous operation. In manual operation, an operator directly manipulates vehicle controls on the vehicle. In tele-operation, the operator controls the vehicle from a remote position. In autonomous operation, the vehicle controls itself based on its position and a predetermined path. The apparatus and method of the present invention provides an orderly transition between manual operation, tele-operation, and autonomous operation of the vehicle.
摘要翻译：用于控制基于表面的车辆的装置和方法提供三种操作模式：手动操作，远程操作和自主操作。在手动操作中，操作者直接操纵车辆上的车辆控制。在远程操作中，操作员从远程位置控制车辆。在自主操作中，车辆基于其位置和预定路径来控制自身。本发明的装置和方法提供了手动操作，远程操作和车辆的自主操作之间的有序转变。

10. 发明授权

US5640323A System and method for operating an autonomous navigation system 失效
标题翻译：用于操作自主导航系统的系统和方法
公开(公告)号：US5640323A
公开(公告)日：1997-06-17
申请号：US432562
申请日：1995-05-01
申请人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F17/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式