Caterpillar Trimble Control Technologies LLC

Nathan Ennis

Christopher A Padilla

Jason Hill

Patrick Pecchio

Colin Daniell

Geoffrey Mills

Christopher Corwin

Shawn Zeller

Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

Tracking rotation with a swing sensor

Techniques for position-based cross slope control of a construction machine are disclosed. A site design that includes a set of target cross slopes for a construction site is obtained, with each of the set of target cross slopes associated with a 2D location within the construction site. Sensor data is captured using at least one sensor mounted to the construction machine. A geospatial position and a direction of travel of the construction machine are determined based on the sensor data. A target cross slope for the construction machine is generated by querying the site design using the geospatial position and the direction of travel.

Position-based cross slope control of construction machine

Systems and methods for providing grade control on a motor grader without the use of masts attached to the blade. Embodiments include a body angle sensor configured to detect movement of a construction machine's body, a front 3D positioning device configured to detect a geospatial position of the construction machine's body within a world space, a drawbar angle sensor configured to detect movement of the construction machine's drawbar, and a blade angle sensor configured to detect movement of the construction machine's blade. Two positions on the blade may be calculated first within a machine space and subsequently within the world space. Movement of at least one articulating connection may be caused based on the blade positions within the world space.

Motor grader 3D grade control

Systems and methods for providing grade control on a motor grader without the use of masts attached to the blade. Embodiments include a body angle sensor configured to detect movement of a construction machine's body, a front GNSS receiver configured to detect a geospatial position of the construction machine's body within a world space, a drawbar angle sensor configured to detect movement of the construction machine's drawbar, and a blade angle sensor configured to detect movement of the construction machine's blade. Two positions on the blade may be calculated first within a machine space and subsequently within the world space. Movement of at least one articulating connection may be caused based on the blade positions within the world space.

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Peoria, IL, United States of America

Nathan Ennis