Caterpillar Inc.

Gregory R Harrod

Adam J Gudat

Daniel E Henderson

William C Sahm

Karl W Kleimenhagen

Craig L Koehrsen

Satish M Shetty

Stephen Colburn

Ronald J Siroky

Ron J Siroky

Ken R Setterlund

Charles L Schaidle

Doug S Gordon

Richard J Fournier

A self-calibrating Global Positioning System (GPS) reference station and method for operating the reference station. The reference station includes a station frame, a GPS receiver and a controller mounted on the station frame. The controller upon power up, determines if the reference station has been moved and determines a new reference position of the reference station if the reference station has been moved. The GPS receiver is then placed into a reference station mode.

Self-calibrating GPS reference station and method

The present invention is adapted to provide a method for identifying a machine dump occurrence of an earthmoving machine. The method includes determining an initial elevation of a point on the machine. The elevation of the point is then monitored to determine when a dumping threshold is exceeded. The ground speed is also monitored to determine if the machine 102 is moving at a speed indicative of dumping. When the machine speed is below a dumping speed, and the receiver 116 has exceeded a dumping threshold the machine 102 may be determined to have dumped its load.

Method for detecting truck dump occurrences

In one aspect of the present invention, an apparatus for determining the location of rows of seedlings planted during agricultural production is provided. The apparatus senses the position of a planting machine 102 during a planting operation. The apparatus transforms the planting machine position to seedling row locations and creates a database of the locations. In another aspect of the present invention, a method for determining the location of row of seedlings planted during agricultural production is provided. The method includes the steps of planting seedlings using a planting machine, sensing the position the planting machine and transforming the machine position to seedling row locations.

Method and apparatus for determining the location of seedlings during

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.

Apparatus and method for determining the position of a work implement

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.

Method for monitoring the work cycle of earth moving machinery during

A method and system to determine the relationship between a laser plane and an external coordinate system using a mobile machine with a work implement is provided. The laser plane is intersected at three points by a laser receiver installed on a mast attached to the work implement. A position determining antenna located a known distance on the mast from the laser receiver is used to determine external coordinates at the position determining antenna point. An equation for the laser plane in external coordinate terms is determined based on the three external position coordinates and the known distance between the external coordinate system plane and the laser plane.

Method and system for determining the relationship between a laser plane

The invention is a method for monitoring a work cycle of a mobile machine on a land site. The mobile machine has a bucket and a body that is adapted to rotate about a fixed point of reference. The method includes the steps of determining an angular velocity of the body, determining the body is stopped based on the angular velocity, determining a duration of time the body is stopped, and determining the work cycle in response to the duration of time the body is stopped.

Method for monitoring the work cycle of mobile machinery during material

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.

Method and apparatus for monitoring material removal using mobile

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.

Method and apparatus for operating geography-altering machinery relative

A system and method for providing navigation signals between first and second earthmoving or construction machines is provided. The system determines the positions of the first and second machines. The system determines a desired location of the second machine relative to the first machine based on an optimum path. This desired location is transmitted from the first machine to the second machine.

Growing community of inventors

Peoria, IL, United States of America

Gregory R Harrod