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公开(公告)号：US20050080559A1
公开(公告)日：2005-04-14
申请号：US10503096
申请日：2003-09-29
申请人： Hideto Ishibashi , Kazuo Fujishima
发明人： Hideto Ishibashi , Kazuo Fujishima
CPC分类号： E02F9/2045 , G01S19/14 , G01S19/23 , G01S19/47 , G01S19/54
摘要： The invention is intended to provide a position measuring system for a working machine, which can accurately measure the position of a monitoring point and can ensure high working efficiency even when measurement accuracy of a machine-equipped GPS has changed. A panel computer (45) computes the position of the monitoring point, which is set on an operating mechanism, in a three-dimensional space based on values measured by GPS receivers (43, 44) and angle sensors (21, 22, 23). When measurement accuracy of at least one of at least two GPS receivers lowers, the panel computer (45) corrects the computation for the position of the monitoring point based on a yaw angle measured by a gyroscope (25) for measuring the yaw angle of a machine body.
摘要翻译： 本发明旨在提供一种用于工作机的位置测量系统，其可以精确地测量监控点的位置，并且即使在机器配备的GPS的测量精度已经改变的情况下也能够确保高的工作效率。 面板计算机（45）基于由GPS接收器（43,44）和角度传感器（21,22,23）测量的值，在三维空间中计算设置在操作机构上的监视点的位置， 。 当至少两个GPS接收器中的至少一个GPS接收机的测量精度降低时，面板计算机（45）基于用于测量a的偏航角的陀螺仪（25）测量的偏航角来校正监视点的位置的计算 机身。
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公开(公告)号：US20040168358A1
公开(公告)日：2004-09-02
申请号：US10795624
申请日：2004-03-08
发明人： Greg Stump
IPC分类号： E02D007/26 , G01S013/88
CPC分类号： G01V11/00 , E02F5/06 , E02F5/145 , E02F9/2029 , E02F9/2045 , E02F9/26 , E02F9/262 , E21C39/00 , G01C15/00 , G01S5/30 , G01S13/876 , G01S13/885 , G01S19/14 , G01S19/41 , G01S19/48 , G01V3/12 , G01V3/17
摘要： Systems for locating an underground utility include means for generating detection data representative of an underground utility within a subsurface of the earth. Systems may also include means for generating geographic positioning data representative of a geographic position of the underground utility and means for storing the geographic positioning data and the detection data. Means are provided for associating the geographic positioning data with the detection data to generate location data representative of a location of the underground utility within the subsurface.
摘要翻译： 用于定位地下公用事业的系统包括用于产生代表地下地下地下效用的检测数据的装置。 系统还可以包括用于生成表示地下公用事业的地理位置的地理定位数据的装置和用于存储地理定位数据和检测数据的装置。 提供了用于将地理定位数据与检测数据相关联的装置，以产生表示地下公用设施在地下的位置的位置数据。
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公开(公告)号：US06643576B1
公开(公告)日：2003-11-04
申请号：US09993361
申请日：2001-11-15
申请人： Michael L. O Connor , Thomas Bell , Michael L. Eglington , Lars Leckie , Gregory M. Gutt , Kurt R. Zimmerman
发明人： Michael L. O Connor , Thomas Bell , Michael L. Eglington , Lars Leckie , Gregory M. Gutt , Kurt R. Zimmerman
IPC分类号： G06F700
CPC分类号： E02F9/205 , E02F9/2045 , G05D1/0212 , G05D1/0278 , G05D2201/0201 , G05D2201/0202 , G05D2201/021
摘要： A method for adjusting a desired trajectory of an automatically guided vehicle guidance system to match a physical constraint such as an obstacle or boundary. The method works around obstacles and boundaries as they occur, consistent with the original trajectory. The method is independent of the type of vehicle. The method may be used regardless of whether the vehicle is under automatic guidance, and the method has a low computational cost.
摘要翻译： 一种用于调整自动引导车辆引导系统的期望轨迹以匹配诸如障碍物或边界之类的物理约束的方法。 该方法围绕障碍物和边界发生，与原始轨迹一致。 该方法独立于车辆的类型。 可以使用该方法，而不管车辆是否处于自动引导下，并且该方法具有低的计算成本。
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公开(公告)号：US20030036817A1
公开(公告)日：2003-02-20
申请号：US10216056
申请日：2002-08-09
IPC分类号： G06F019/00
CPC分类号： B25J9/1656 , E02F3/435 , E02F9/2045 , E02F9/205 , G05B2219/31241 , G05B2219/33192 , G05B2219/34279 , G05B2219/36169 , G05B2219/40099 , G05B2219/45012
摘要： A system to control a piece of construction equipment or other piece of heavy equipment at a remote location via a data network is disclosed in which a user provides movement instructions via a graphical user interface at a user PC to a programmable controller interfaced to the data network and the hydraulic movement systems of the heavy equipment. The graphical user interface includes a visual representation portion and a user control portion. A visual representation of the moveable elements of the heavy equipment is provided to the user via the graphical user interface, and the user inputs movement instructions via the user control portion of the graphical user interface.
摘要翻译： 公开了一种通过数据网络在远程位置控制一件施工设备或其他重型设备的系统，其中用户通过用户PC上的图形用户界面向连接到数据网络的可编程控制器提供移动指令 和重型设备的液压运动系统。 图形用户界面包括可视表示部分和用户控制部分。 通过图形用户界面向用户提供重型设备的可移动元件的视觉表示，并且用户经由图形用户界面的用户控制部分输入移动指令。
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公开(公告)号：US06223110B1
公开(公告)日：2001-04-24
申请号：US09172420
申请日：1998-10-14
申请人： Patrick Rowe , Jorgen Pedersen , Anthony Stentz
发明人： Patrick Rowe , Jorgen Pedersen , Anthony Stentz
IPC分类号： G06F770
CPC分类号： E02F9/2045 , E02F3/435
摘要： In accordance with the present invention, a modular architecture to organize and coordinate components that are needed to automate earthmoving tasks, and to coordinate the flow of data between the components is disclosed. The architecture includes three main subdivisions: a sensor pipeline, sensor data consumers, and motion planners and executors. The sensor pipeline receives raw sensor data from perceptual sensors such as a laser rangefinder or radar system, and converts the data into a form which is usable by the other system components. Sensor data can also be represented in the form of an elevation map of the surrounding terrain for other software components to use. Any number and types of sensor systems may be added to the software architecture depending on requirements and the capabilities of the system. The sensor data consumers use the sensor data as input to specific algorithms to produce information regarding the machine's environment for use by other system components. A motion planner receives information provided by the sensor data consumers, and delivers output commands go to controllers on the machine. The motion planner also computes and delivers commands to the sensor systems on the machine. Additional planners may be added at this level to coordinate other system behaviors and actions.
摘要翻译： 根据本发明，公开了一种用于组织和协调自动执行挖掘任务所需的组件和协调组件之间的数据流的模块化架构。 该架构包括三个主要细分：传感器管道，传感器数据消费者，运动规划者和执行者。 传感器管道从诸如激光测距仪或雷达系统的感知传感器接收原始传感器数据，并将数据转换成可由其他系统组件使用的形式。 传感器数据也可以以其他软件组件使用的周围地形的高程图的形式表示。 可以根据系统的要求和能力将任何数量和类型的传感器系统添加到软件体系结构中。 传感器数据消费者使用传感器数据作为特定算法的输入，以产生关于机器环境的信息，供其他系统组件使用。 运动计划器接收由传感器数据使用者提供的信息，并将输出命令传送到机器上的控制器。 运动计划器还可以计算并将命令传递给机器上的传感器系统。 可以在此级别添加其他计划者来协调其他系统的行为和行为。
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公开(公告)号：US6122598A
公开(公告)日：2000-09-19
申请号：US65064
申请日：1998-04-27
CPC分类号： E02F9/205 , E02F3/308 , E02F3/435 , E02F9/2029 , E02F9/2045 , E02F9/26
摘要： This invention relates to a measuring and display system for loads applied upon digging blasted earth, which can contribute to accurate blasting. An operating direction of a bucket of an excavator is detected by pressure switches 15,16, while a pressure P.sub.B in a bottom compartment 6S.sub.B of a bucket cylinder is detected by a pressure sensor 17. A processor 23 computes a digging position based on signals from a boom angle sensor 18, an arm angle sensor 19, GPS 20 and a magnetic direction sensor 21, integrates pressures P.sub.B during an ON period of the pressure switch 15, and transmits the thus-integrated pressure together with the digging position to a computer 30. The computer 30 displays a map of a lot under blasting and blasting positions on a display, and on the map, also displays the thus-transmitted digging position by a mark X and the integrated pressure by a numeral. With reference to this integrated pressure, a determination is made as to whether the blasting was proper or improper. The results of this determination are used for the next blasting.
摘要翻译： PCT No.PCT / JP97 / 02968 Sec。 371日期：1998年5月27日 102（e）日期1998年4月27日PCT 1997年8月26日PCT公布。 第WO98 / 09026号公报。 日期：1998年3月5日本发明涉及一种用于挖掘爆破土的载荷测量和显示系统，可有助于精确的爆破。 挖掘机的铲斗的操作方向由压力开关15,16检测，而铲斗缸的底部隔间6SB中的压力PB由压力传感器17检测。处理器23基于来自 悬臂角度传感器18，臂角传感器19，GPS 20和磁方向传感器21在压力开关15的接通时段期间积分压力PB，并将这样一体化的压力与挖掘位置一起传递到计算机30 计算机30在显示器上显示爆破和爆破位置下的批次的地图，并且在地图上还通过标记X和积分压力以数字显示如此传送的挖掘位置。 关于这种一体化的压力，确定爆破是否适当或不正确。 该测定的结果用于下一次爆破。
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57.发明授权Method and apparatus for determining a path to be traversed by a mobile machine 失效用于确定由移动机器穿过的路径的方法和装置
公开(公告)号：US6088644A
公开(公告)日：2000-07-11
申请号：US133000
申请日：1998-08-12
CPC分类号： E02F9/2045 , E01C19/004 , E02F3/842 , E02F3/847 , G05D1/0278 , G05D1/0236 , G05D1/0257 , G05D1/027 , G05D2201/0202 , G05D2201/0208
摘要： In one embodiment of the present invention, an apparatus and method for determining a path or series of paths at a work site for a mobile machine capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's heading. The width of the rows is based on the width of the path worked by one or more of the machine's work implements. The work site is bounded by three or more corner points and the perimeter of the work site is defined by boundary lines connecting the corner points. A first line substantially perpendicular to the machine's heading is calculated starting at an initial corner point and ending at a terminal point along the line having a distance approximately equal to the width of the path. A second line parallel to the machine's heading and passing through the terminal point is determined. The points of intersection of the second line with the boundary lines are calculated and stored as end points of a first path. Endpoints of successive paths are found in a similar manner by incrementing the distance along the parallel line by the width of the work path.
摘要翻译： 在本发明的一个实施例中，提供了一种用于确定能够自主或半自主地运行的移动机器的工作现场路径或路径系列的装置和方法。 本发明确定基本上平行于机器的航向的一系列行。 行的宽度基于由一个或多个机器的工作工具工作的路径的宽度。 工作场所由三个或更多角点限定，工作现场的周长由连接角点的边界线定义。 从初始角点开始计算基本上垂直于机器航向的第一行，并且沿着具有近似等于路径宽度的距离的终点终止。 确定与机器标题平行并通过终点的第二条线。 计算第二行与边界线的交点，并将其存储为第一路径的端点。 通过将沿平行线的距离增加工作路径的宽度，以相似的方式发现连续路径的端点。
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58.发明授权Method for monitoring the work cycle of earth moving machinery during material removal 失效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
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。
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公开(公告)号：US5918682A
公开(公告)日：1999-07-06
申请号：US909169
申请日：1997-08-11
申请人： Zhejun Fan , Thomas J. Kelly , Frank Lombardi
发明人： Zhejun Fan , Thomas J. Kelly , Frank Lombardi
CPC分类号： E02F9/2045 , E02F3/841 , E02F3/845
摘要： The present invention provides a method for selecting a steering method for an earthmoving machine having a blade and first and second tracks. One embodiment of the present invention includes selecting a steering method based on the position error of the machine. In another embodiment of the present invention the steering method is selected based on the elevation of the work implement, and the position error.
摘要翻译： 本发明提供了一种用于选择具有叶片和第一和第二轨道的土方机的转向方法的方法。 本发明的一个实施例包括基于机器的位置误差来选择转向方法。 在本发明的另一个实施例中，基于工作装置的高度和位置误差来选择转向方法。
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公开(公告)号：US5235511A
公开(公告)日：1993-08-10
申请号：US497982
申请日：1990-03-23
CPC分类号： E02F9/2045 , E02F3/847 , E02F5/14 , G01S15/88 , G01S7/52006 , G01S2007/52012
摘要： A method and apparatus for automatically controlling the depth of earth grading for utilization with a grader or paver is disclosed. The method includes determination of time taken for an acoustic pulse to travel from a transducer to a reference surface and back, with this value being used to calibrate a microprocessor-controlled distance-measuring device. As the grader moves over a surface to be graded, the distance to the reference surface is constantly detected by a repeated emission and detection of such acoustic pulses. The timing of the echoed pulses is converted to addresses in a look-up table which contains control words symbolizing commands to be given to hydraulic rams carried by the grader. By implementing these commands, the depth of the blade relative to the reference surface is constantly updated, compensating for variations with the height of the reference surface. A thermistor is provided to automatically compensate for temperature variations as the grading takes place. Displays are provided for the operator of the vehicle to show what type of adjustments are being made to the blade, and whether the height of the reference surface is outside the range of sensitivity of the follower. The follower is automatically calibrated for a given blade depth by repeated incrementation of a delay time variable until a zero adjustment command is generated for the blade control.
摘要翻译： 公开了一种用于自动控制用于平地机或摊铺机利用的地面分级深度的方法和装置。 该方法包括确定声学脉冲从换能器行进到参考表面和背部的时间，该值用于校准微处理器控制的距离测量装置。 当平地机在待分级的表面上移动时，通过重复发射和检测这种声学脉冲来不断地检测到参考表面的距离。 回波脉冲的定时被转换成查找表中的地址，该查找表中包含指示给分级机承载的液压柱头的命令的控制字。 通过实施这些命令，刀片相对于参考表面的深度不断更新，补偿参考表面高度的变化。 提供热敏电阻以自动补偿随着分级发生的温度变化。 为车辆的操作者提供显示器，以示出对刀片进行什么类型的调整，以及参考表面的高度是否在跟随器的灵敏度范围之外。 通过重复增加延迟时间变量，对于给定的叶片深度，自动校准跟随器，直到为叶片控制产生零调整命令。
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