Caterpillar Inc.

Caterpillar Trimble Control Technologies LLC

William C Sahm

Craig L Koehrsen

Daniel E Henderson

Gregory R Harrod

Adam J Gudat

Karl W Kleimenhagen

Daniel L Mikrut

Satish M Shetty

David A Paul

Ronald J Siroky

Ron J Siroky

Ken R Setterlund

Charles L Schaidle

Doug S Gordon

Richard J Fournier

Systems and methods for sharing terrain data among one or more machines include a communications system associated with the one or more machines in electronic communication with each other and to a communications system associated with a remote location. The terrain data may be determined from information received from satellite positioning systems. New information comprising alterations to a worksite by one or more machines may be stored as a snippet. Collected snippets may be combined to form a data block which is sent to one or more identified machines. A bitmap, corresponding to each snippet, is sent to the one or more identified machines in order to locate the new information in the data block. Using the new information, the one or more identified machines may update a composite model of the worksite located at each of the one or more identified machines.

System and method for sharing terrain data among multiple machines

A display system and method for a work machine is provided. A terrain map indicative of a current surface configuration for a geographic location is displayed. The display of the terrain map includes a plurality of elevation segments. Each of the plurality of elevation segments has an actual surface elevation value for a discrete area of the geographic location. A position of a ground engaging tool operatively connected to the work machine is monitored. A current elevation of the ground engaging tool is identified. The display of the elevation segment corresponding to the location of the ground engaging tool is updated when the current elevation of the ground engaging tool indicates a change in the actual surface elevation value for the elevation segment corresponding to the location of the ground engaging tool.

Work machine display system

A system and method for determining a position of a work tool of a work machine is provided. A desired surface configuration for a geographic location is identified. A mode of operation for the work machine is selected from one of a first mode and a second mode depending on surface configurations. The position of a work tool mounted on the work machine is sensed and the rotational angle of a swing assembly mounting the work tool is sensed. The location of the work tool is determined relative to the surface configuration based on the sensed position of the work tool when the work machine is operating in the first mode. The location of the work tool is determined relative to the desired surface configuration based on the sensed position of the work tool and the sensed rotational angle of the swing assembly when operating in the second mode.

Positioning system for an excavating work machine

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

A method and apparatus for determining at least one of the pitch and slope of an implement on an earthmoving machine. The apparatus includes a mast connected to an upper corner of the implement, a first set of laser detectors connected to the mast, a second set of laser detectors connected to the mast, a third set of laser detectors connected to the mast, and a computer adapted to receive signals from the first, second, and third sets of laser detectors and responsively determine the angle of pitch and the angle of slope of the implement.

Method and apparatus for determining the attitude of an implement

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

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

The present invention provides a method for updating a site database. The site database models the elevation of a work site using a Triangular Irregular Network (TIN). The TIN is composed of a plurality of points. Each point has associated known X and Y coordinates and a known elevation and is associated with a set of other points in the network to form triangles. The work site is modified by a work machine. The method includes the steps of receiving a new set of points. The new set of points includes at least first and second points. The first and second points have associated X, Y, and Z coordinates. The method also includes the steps of comparing the new set of points with a previous set of points and updating the triangular irregular network with the new set of points if a minimum distance has been traversed by the work machine.

Method for updating a site database using a triangular irregular network

Ventilation apparatus for an enclosure

An apparatus for determining the location of a work implement at a work site is provided. The apparatus includes an undercarriage, a car body rotatably connected to the undercarriage, a boom connected to the car body, a stick connected to the boom, a work implement connected to the stick, and a positioning system including a receiver connected to the stick and a processor for determining the location of the receiver in three dimensional space at a plurality of points as the car body is rotated and for determining the location and orientation of the work implement.

Method and apparatus for determining the location of a work implement

A control system and method automatically controls a work implement of an excavating machine to perform a complete excavation work cycle. In performing the work cycle, the control system automatically extends the work implement down into the trench, completes a dig stroke, captures the excavated material, swings the work implement to dump, dumps the load, returns the work implement to the trench, and repeats the work cycle until a trench is excavated according to operator programmed specifications. The control system monitors the position of the work implement and the forces exerted on the work implement and controllably actuates the work implement according to predetermined position and force setpoints.

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Peoria, IL, United States of America

William C Sahm