Caterpillar Inc.

Robert Boschgmbh

Karl W Kleimenhagen

Craig L Koehrsen

Adam J Gudat

Carl A Kemner

Joel L Peterson

Walter J Bradbury

Larry E Schmidt

Darrell E Stafford

Louis J Weinbeck

Christos T Kyrtsos

William L Whittaker

Dana A Christensen

Lonnie J Devier

Norman K Lay

Sanjiv J Singh

Dong Hun Shin

Daniel E Henderson

Richard G Clow

Prithvi N Rao

Jay H West

Gary K Shaffer

Wenfan Shi

James W Sennott

Baoxin Wu

Kenneth Lee Stratton

Gregory R Harrod

Scott William Jacobs

William James Tate

Kevin Jay Lueschow

Roger Dwight Watkins

William C Sahm

Satish M Shetty

Stephen R Olson

Eric F Lee

Howard J Chizeck

Ronald J Siroky

Ron J Siroky

Ken R Setterlund

Charles L Schaidle

Doug S Gordon

Dexter Grant Travis

Richard J Fournier

Gangadhar Jayaraman

A method enables a radio receiver to distinguish sensor probes supplying data to the receiver over a long period of time. The method includes each probe generating a random number sent to the receiver to identify the probe. Each probe and the receiver also uses a pseudo-random process to identify a time of transmission for each probe. The pseudo-random process helps keep the transmission times for the probes separate in the presence of oscillator drift. If a transmission collision occurs, the receiver ignores all probes in the collision and waits until the pseudo-random process separates the probe transmissions.

System and method for multiple access sensor networks

Automatic vehicle speed retarding control through actuation of wheel

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.

Apparatus and method for autonomous vehicle navigation using absolute

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.

System and method for representing parameters in a work site database

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.

Apparatus and method for determining and displaying the position of a

The present invention is directed toward estimating certain operating parameters of an earth moving machine. Advantageously, the present invention utilizes a Kalman filter to estimate the pitch, pitch rate and ground speed of the earth moving machine as a function of the sensed pitch and ground speed signals. By estimating the pitch and ground speed, the present invention overcomes the prior problems of sensing signal noise and bias. The present invention overcomes these problems by combining pitch, pitch rate and ground speed, and determining an estimate of pitch and ground speed by using a sensor measurement model, machine process model and Kalman filter update equations.

Method and apparatus for determining pitch and ground speed of an earth

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 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).

System and a method for enabling a vehicle to track a preset path

A method for determining the heading of a machine with respect to the course of the machine is provided. The method includes the steps of determining an initial course of the earthmoving; determining an initial heading of the machine and responsively setting a direction status; and determining the current course of the earthmoving machine. The method further includes the steps of comparing the initial and current courses and responsively updating the direction status.

Method for determining the course of a machine

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.

Method for determining the volume between previous and current site

A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.

System and method for enabling an autonomous vehicle to track a desired

A system for generating a path allows a vehicle to traverse a predetermined route. The system stores route data for the predetermined route. The route data identifies a series of contiguous path segments that form the predetermined route. The route data also identifies a series of nodes located at the beginning and the end of the predetermined route and between adjacent path segments. Each path segment represents a series of postures along the predetermined route. Each posture identifies a position, a heading, and a curvature for the vehicle at a particular point along the predetermined route. The system stores the path segments and nodes as compressed path data. In one embodiment, the compressed path data is a function that is continuous in posture, i.e., continuous in position, heading and curvature. The system retrieves the compressed path data and generates a series of postures from the retrieved compressed path data to allow the vehicle to traverse the predetermined route.

System and method for generating paths in an autonomous vehicle

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.

Apparatus and method for surface based vehicle control system

A system and method for controlling an autonomously navigated vehicle uses a vehicle manager to control vehicle subsystems and to respond to commands from either a vehicle navigation system or a remote control panel. The vehicle manager controls vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem. The speed control subsystem controls the speed of the vehicle in response to a speed command from the vehicle manager. The steering control subsystem controls the steering angle of the vehicle in response to a steering command from the vehicle manager. The auxiliary control subsystem controls auxiliary functions of the vehicle in response to an auxiliary command from the vehicle manager. The monitor subsystem monitors the status of each of the other subsystems and provides the status to the vehicle manager.

System and method for controlling an autonomously navigated vehicle

System and method for operating an autonomous navigation system

Growing community of inventors

Peoria, IL, United States of America

Karl W Kleimenhagen