Abstract: An automatic control system for a work machine includes a positioning system, a site model, and a controller. The work machine operates at a work site containing material to be operated on by the work machine. The positioning system determines a relative location of the work machine within the work site and produces a machine position signal. The site model contains data related to a condition of the material. The controller is coupled to the site model, receives the machine position signal and determines a current condition of the material as a function of the position signal and the site model, and controls the work machine as a function of the current condition of the material.

Abstract: 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.

Abstract: In one aspect of the present invention, a method for determining and displaying a correlated position of a truck as it is being loaded by an earth moving machine is provided. The method includes the steps of receiving a loading event signal and then determining the correlated position of the truck in response to the loading event signal. The correlated position of the truck is then displayed relative to the land size.In an alternative embodiment, a method for determining and displaying productivity information regarding material excavated by an earth moving machine and loaded into a truck is provided. The method includes the steps of determining the bucket load material type of the material loaded in the bucket. Productivity information is then displayed at a remote location in response to the bucket load material type.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: A method for determining the relationship between the heading of a machine and the course of machine travel is provided. The method includes the steps of determining a previous and current course of machine travel, and a current and filtered heading. An indicator is used to represent the relationship between the heading of the machine and the course of machine travel. The previous and current course of machine travel are compared and the indicator is responsively updated. The current and filtered heading are compared and the indicator is again responsively updated, and then the filtered heading is updated.

Abstract: 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.

Abstract: 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.

Abstract: A method for automatically determining the productivity of an earthmoving machine in real time using an onboard computer. The earthmoving machine operates in cycles having a first portion and a second portion. The earthmoving machine moves in a first direction during the first portion and in a second direction during the second portion. The method includes the steps of detecting the starts of each cycle for a series of cycles, determining a machine parameter corresponding to each cycle, calculating a cycle parameter as a function of the machine parameter, and calculating at least one measure of productivity as a function of the cycle parameter.

Abstract: 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.

Abstract: 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.

Abstract: A system and method for automatically controlling the position of a work implement movably connected to a work machine and maintaining the work implement at a preselected slope of cut relative to a geographic surface is provided. The system has first and second receiving devices mounted on the work implement for receiving position signals from a plurality of remote locations. A processor determines the actual slope of cut of the work implement based on the received position signals. An implement controller delivers an implement control signal in response to a difference between the actual and a preselected desired slope of cut of the work implement. An implement control system elevationally changes the slope of cut of the work implement at an automatic mode of operation of the system. The system is particularly suited for use on a geographic surface altering work machine.

Abstract: 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.

Abstract: An apparatus and method for directing the operations of multiple geography-altering machines on a common work site relative to one another. Position information from several machines is shared to generate a common, dynamically-updated site database showing the machines' relative positions and site progress in real time. The common site database is used to direct the operation of one machine with respect to another machine or machines, for example by generating an operator display of the site showing relative machine position and total machine work on the site. The operator can accordingly adjust the machine's operation to avoid interference with other machines or unnecessary overlap of work on the site. The information can also be used to coordinate the operations of several machines in complementary fashion. Machine position information can be broadcast from the machines to the site database to create a common, dynamically-updated database which is then shared with one or more of the machines.

Abstract: 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.

Abstract: An apparatus and method for determining the position of a work implement movably connected to a machine utilizes first and second electromagnetic radiation receiving devices connected to the work implement at predetermined spaced locations. A processor determines the first and second current coordinate positions of the first and second receiving devices in a site coordinate system based on position signals from the first and second receiving devices. The processor transforms the first and second points from a local coordinate system related to the machine to the site coordinate system using a plane passing through the first and second current coordinate positions and a mid-point located along a substantially straight line passing between first and second previously defined coordinate positions of the first and second receiving devices. The processor corrects the position of the first and second points in the site coordinate system based on sensed changes in the pitch of the implement.

Abstract: 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.

Abstract: An electrohydraulic control device for a drive train of a machine is disclosed. The drive train includes an engine, a transmission, and a torque converter having a rotating housing. The torque converter is drivingly connected between the engine and the transmission. The torque converter also includes an impeller element. An impeller clutch connects the impeller element to the rotating housing. An impeller clutch electrohydraulic valve produces fluid flow to the impeller clutch to controllably engage and disengage the impeller clutch. A torque converter speed sensor senses the output speed of the torque converter and responsively produces a torque converter speed signal.

Abstract: A method and apparatus for operating compacting machinery such as landfill, earth or asphalt compactors relative to a work site to compact the site material toward a desired degree of compaction. A first model representing the desired degree of compaction of the site and a second model representing the actual degree of compaction of the site 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 compacting portions of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the degree of compaction of the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual degree of compaction of the site into conformity with the desired degree of compaction.