Trimble Navigation Limited

Caterpillar Trimble Control Technologies LLC

Spectra Precision, Inc.

Trimble Inc.

Richard Piekutowski

Gary Lynn Cain

Jeroen Snoeck

Mark Edward Nichols

Adam J Gudat

Kent W Kahle

James Thomas Zalusky

Kyle Davis

Vincent Lasher

Robert Marvin Beekman

Hamish John Carpenter

In accordance with one embodiment of the present disclosure, a material moving machine comprises a pilot hydraulic switching system. The pilot hydraulic switching system comprises a control unit, a first directional valve, and a second directional valve. The control unit is configured to operate the first and second directional valves to shift a variable position actuator valve between a static state, a retract state, and an extend state. The actuator valve comprises a first and second control element. In the retract and extend states, the first and second directional valves control fluid flow to the variable position actuator valve with a positive net pressure on either the first or second control elements and a negative net pressure on the other control element to move the material moving implement. In the static state, the first and second directional valves control fluid flow equally on the first and second control elements.

Material moving machines and pilot hydraulic switching systems for use therein

Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correct a drift of the position information that may be caused by inherent characteristics of the INS.

Systems and methods for augmenting an inertial navigation system

In a method of milling asphalt, a relative elevation of an unmilled asphalt pavement surface adjacent to an area to be milled is sensed with respect to a milling machine body and rotatable milling drum of the milling machine. An elevation of a bottom surface of the rotatable milling drum is determined using a computer processor. Based on a map, stored in a computer memory, of a design surface specifying a design elevation of a milled surface over the area to be milled, the elevation of the milling machine body and the rotatable milling drum are automatically adjusted such that the rotatable milling drum mills the asphalt surface to the design elevation over the area to be milled.

Method of milling asphalt

A method of milling asphalt is disclosed. The result of a survey of the unmilled asphalt pavement surface adjacent to the area to be milled is received. The result of the survey is stored in a computer memory. A map of the design surface specifying the design elevation of the milled surface over the area to be milled is stored in the computer memory. The relative elevation of the unmilled asphalt pavement surface adjacent to the area to be milled with respect to the machine body and rotatable milling drum of an asphalt milling machine is sensed. The elevation of the bottom surface of the rotatable milling drum is determined using a computer processor. The elevation of the milling machine body and the rotatable milling drum is automatically adjusted such that the milling drum mills the asphalt surface to the design elevation over the area to be milled.

An asphalt milling machine control is provided for an asphalt milling machine of the type which mills an asphalt pavement surface over which the machine travels. The machine has a milling machine body, and a rotatable milling drum mounted on the lower portion of the milling machine body, the bottom surface of the milling drum contacting the asphalt pavement surface to mill the surface to a design elevation. The machine further includes a plurality of machine body supports which are adjusted to raise or lower the height of the milling machine body and the rotatable milling drum with respect to the asphalt pavement surface. This defines the elevation of the surface that results from milling with the drum. The control includes a floating plate, mounted to the side of the milling machine and the rotatable milling drum, or a pair of floating plates mounted to either side of the machine, for sliding over the surface adjacent to the area to be milled. The floating plates have associated sensors and are vertically movable with respect to the machine body and the rotatable milling drum. The control includes a GNSS receiver on the machine body for determining the two dimensional coordinates of the floating plate or plates. The control includes a memory which stores a map of the unmilled asphalt pavement surface, and data defining a desired design surface. The control includes a sensor for detecting the relative vertical position of the floating plate with respect to the machine body and an inclinometer. Finally, the control includes a processor, responsive to the GNSS receiver, the inclinometer, and the sensors. Cross checking of various measurements may be made to determine error conditions.

Asphalt milling machine control and method

A control for an excavator of the type having a plurality of hydraulic cylinders for moving excavator components such that digging is accomplished at a worksite with an excavator bucket or other excavator implement, includes a plurality of hydraulic control valves, each of which is associated with a respective one of the hydraulic cylinders for controlling the application of hydraulic fluid pressure to the respective one of the hydraulic cylinders, and a plurality of manually actuated joystick valves for supplying hydraulic fluid pressure to the respective hydraulic control valves to control the movement of the hydraulic cylinders. The control includes a sensor arrangement for sensing the position of one or more excavator components.

Method and system for controlling an excavator

A system for determining the elevation of a part of an implement, with the implement being attached to the ends of a pair of lift arms of a loader machine, includes a laser transmitter providing a reference beam of laser light. The beam may be a thin beam that is swept in a reference plane, or it may be a pair of fan shaped beams that are continuously rotated. A first beam detector is mounted on one of the pair of lift arms of the loader machine for detecting said reference beam and providing a first output. A second beam detector is mounted on the same lift arm and is spaced along the lift arm from the first beam detector for detecting the reference beam and providing a second output. A control circuit, responsive to the first beam detector and to the second beam detector, determines the elevation of the part of the implement based on the first and second outputs, and provides a projected implement elevation.

Loader elevation control system

An operator controllable machine is retrofitted to be operator controlled or to be automatically controlled. An electrical joystick output is provided by a manually actuated joystick control, including a joystick, to a machine control in the manually controlled machine. An interface is added between the joystick control and the machine control to permit an external source, such as a GPS receiver or a laser receiver, to apply an electrical automatic control output to the machine control, as well. The interface includes a number of optical isolation circuits and a microprocessor. The isolated microprocessor output is supplied to the machine control, which produces valve control signals to control the hydraulic valves of the machine. The application of hydraulic fluid to the hydraulic cylinders of the machine is then controlled by either the joystick control output or the automatic control output. In an intermediate range of joystick movement, the hydraulic cylinders of the machine are controlled by both outputs, resulting in a smooth transition between manual and automatic operation.

Interface for retrofitting a manually controlled machine for automatic control

A method of monitoring the location, and the orientation of a machine element, and apparatus for monitoring and controlling the operation of the machine include a robotic total station and a plurality of targets in known positions relative to the machine element. The total station, located at a known location near the machine element, repeatedly, successively determines the location of each target. Acquisition and re-acquisition of the targets is aided by stored data regarding the prior locations and movements of the targets. Further, active targets may be used to facilitate re-acquisition. The operation of the machine is controlled based upon the location and orientation of the machine element.

Method and apparatus for machine element control

An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. An hydraulic actuator has an hydraulic cylinder pivotally connected to the dipper stick, and a piston rod pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing to a pulley system, and an extensible belt cable extending from the sheath through the pulley system to an end of the piston rod, provides an electrical output related to the extension of the belt cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder. A clip or a release mechanism secures the extensible belt cable to the piston rod. By this arrangement, extension or contraction of the hydraulic actuator causes the output of the transducer to vary, thus providing an electrical output related to the relative angular orientation of the excavator bucket with respect to the dipper stick.

Arrangement for determining the relative angular orientation between a first machine element and a second machine element

An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. A hydraulic actuator has a hydraulic cylinder pivotally connected to the dipper stick, and a piston rod pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing to a pulley system, and an extensible belt cable extending from the sheath through the pulley system to an end of the piston rod, provides an electrical output related to the extension of the belt cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder. A clip secures the extensible belt cable to the piston rod. By this arrangement, extension or contraction of the hydraulic actuator causes the output of the transducer to vary, thus providing an electrical output related to the relative angular orientation of the excavator bucket with respect to the dipper stick.

An arrangement is provided for determining the relative angular orientation between an excavator bucket and the dipper stick of an excavator. The excavator bucket is mounted on a bucket linkage that is pivotally secured to the end of the dipper stick. An hydraulic actuator has an hydraulic cylinder pivotally connected to the dipper stick, and a piston pivotally connected to the bucket linkage. Extension or contraction of the hydraulic actuator causes the excavator bucket to be pivoted by the bucket linkage with respect to the dipper stick. A cable extension linear position transducer having a transducer casing, a sheath extending from the casing, and an extensible cable extending from the sheath, provides an electrical output related to the extension of the cable from the sheath. A transducer mounting secures the casing of the cable extension linear position transducer in fixed relationship to the hydraulic cylinder. A clip secures the extensible cable to the piston. By this arrangement, extension or contraction of the hydraulic actuator causes the output of the transducer to vary, thus providing an electrical output related to the relative angular orientation of the excavator bucket with respect to the dipper stick.

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Huber Heights, OH, United States of America

Richard Piekutowski