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1. 发明授权

US10401176B2 System and method for determining machine state using sensor fusion 有权
公开(公告)号：US10401176B2
公开(公告)日：2019-09-03
申请号：US15629122
申请日：2017-06-21
申请人： CATERPILLAR INC.
发明人： Adam Martin Nackers , Russell Aaron Schloss , Roberto Martinez , Corey Lee Gorman
IPC分类号： G01C21/10 , G01C21/16 , G06K9/62
摘要： A method of determining the real time state of a machine includes receiving acceleration and angular rate of motion measurements from IMU's mounted on components of a machine. Fusing signals received from the IMU's with separate Kalman filter modules by combining an acceleration measurement and an angular rate of motion measurement from each IMU to estimate an output joint angle for the component on which the IMU is mounted. Estimated and measured values of the output joint angle for each component are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the component at successive timesteps, and the determined real time values are applied to control movement of each component.

2. 发明授权

US09765499B2 Boom assist management feature 有权
公开(公告)号：US09765499B2
公开(公告)日：2017-09-19
申请号：US14520487
申请日：2014-10-22
申请人： Caterpillar Inc.
发明人： Corey Lee Gorman , Adam Martin Nackers , John J. Krone , Mahmoud M. Tobaa
IPC分类号： E02F3/00 , E02F3/43 , E02F3/32 , E02F3/42 , E02F9/20 , E02F9/22
CPC分类号： E02F3/435 , E02F3/32 , E02F3/425 , E02F3/437 , E02F9/2004 , E02F9/2012 , E02F9/2203 , E02F9/2228 , E02F9/2285
摘要： A hydraulic control system is disclosed for an excavation machine including a tool linkage system. The hydraulic control system may have a first actuator configured to move a first link of the tool linkage system in response to input from an operator of the excavation machine, and a pressure sensor configured to generate a signal indicative of a pressure of the first actuator. The hydraulic control system may also have a second actuator configured to move a second link of the tool linkage system in response to input from the operator. In addition, the hydraulic control system may have a controller in communication with the pressure sensor, the first actuator, and the second actuator. The controller may be configured to automatically affect operation of the first actuator based on the pressure signal at times when movement of the second actuator is being requested by the operator and movement of the first actuator is being requested by the operator at a level less than a threshold.

3. 发明授权

US11585071B2 Hystat swing motion actuation, monitoring, and control system 有权
公开(公告)号：US11585071B2
公开(公告)日：2023-02-21
申请号：US16860585
申请日：2020-04-28
申请人： CATERPILLAR INC.
发明人： Rustin Glenn Metzger , Adam Martin Nackers , Joshua Aaron Fossum , Christopher M. Ruemelin , Corey Lee Gorman
IPC分类号： E02F9/22 , E02F9/12 , F15B15/06 , E02F3/32
摘要： A swing motion control system for an earth-moving machine may include a closed loop hydraulic circuit including a hydrostatic swing pump fluidly coupled to at least one hydraulic swing motor configured to control a swing mechanism of the earth-moving machine, a pressure control device configured to control the pressure of fluid supplied to the hydrostatic swing pump for control of the pressure output by the pump, and a controller. The controller may be configured to monitor and process signals received from sensors and operator input, wherein the signals received from the sensors are indicative of machine position and pose, and inertia mass of swing components and a payload being moved by the swing mechanism of the machine, and control at least one of an offset amount for desired pump displacement by the hydrostatic swing pump or an offset amount for pump output pressure from the hydrostatic swing pump based on at least one of an amount of slope on which the machine is operating or the inertia mass of the swing components and payload.

4. 发明授权

US11041285B2 Machine with a boom assembly 有权
公开(公告)号：US11041285B2
公开(公告)日：2021-06-22
申请号：US16682425
申请日：2019-11-13
申请人： Caterpillar Inc.
发明人： Terril James Johnson , David Eugene Cooper , Anthony Dean McNealy , Matthew Bunge , Andrew Sumners , Rustin Glenn Metzger , Corey Lee Gorman , Brad Robert Van De Veer
IPC分类号： E02F3/38 , E02F3/30 , E02F3/32 , E02F9/16 , E02F3/34 , E02F3/358
摘要： An excavator machine includes an undercarriage assembly including a drive assembly, and a carriage assembly rotatably coupled to the undercarriage assembly and including an operator cab positioned at a front of the carriage assembly. The excavator machine also includes a boom assembly. The boom assembly is coupled to the carriage assembly via two branches, and the branches are coupled to the carriage assembly on opposing sides of the operator cab.

5. 发明授权

US11473271B2 Electrical control of a hydraulic system 有权
公开(公告)号：US11473271B2
公开(公告)日：2022-10-18
申请号：US17301867
申请日：2021-04-16
申请人： Caterpillar Inc.
发明人： Rustin Glenn Metzger , Corey Lee Gorman , Adam Martin Nackers
IPC分类号： E02F9/22 , F15B13/02
摘要： A hydraulic system controller is disclosed. The hydraulic system controller may determine a maximum active circuit pressure of a set of active hydraulic circuits of the hydraulic system, wherein the hydraulic system includes a hydraulic pump to cause fluid to flow throughout the set of active hydraulic circuits; determine a circuit pressure of a hydraulic circuit of the hydraulic system; determine, based on a hydraulic flow command for the hydraulic circuit and the circuit pressure, a desired circuit delta-pressure for the hydraulic circuit; determine, based on the desired circuit delta-pressure and a pressure difference between the maximum active circuit pressure and the circuit pressure, a circuit valve setting for a circuit valve of the hydraulic circuit; and cause a control device to set a position of the circuit valve according to the circuit valve setting.

6. 发明授权

US11001989B1 Electrical control of a hydraulic system 有权
公开(公告)号：US11001989B1
公开(公告)日：2021-05-11
申请号：US16834810
申请日：2020-03-30
申请人： Caterpillar Inc.
发明人： Rustin Glenn Metzger , Corey Lee Gorman , Adam Martin Nackers
IPC分类号： E02F9/22 , F15B13/02
摘要： A hydraulic system controller is disclosed. The hydraulic system controller may determine a maximum active circuit pressure of a set of active hydraulic circuits of the hydraulic system, wherein the hydraulic system includes a hydraulic pump to cause fluid to flow throughout the set of active hydraulic circuits; determine a circuit pressure of a hydraulic circuit of the hydraulic system; determine, based on a hydraulic flow command for the hydraulic circuit and the circuit pressure, a desired circuit delta-pressure for the hydraulic circuit; determine, based on the desired circuit delta-pressure and a pressure difference between the maximum active circuit pressure and the circuit pressure, a circuit valve setting for a circuit valve of the hydraulic circuit; and cause a control device to set a position of the circuit valve according to the circuit valve setting.

7. 发明申请

US20160115669A1 Boom Assist Management Feature 有权
标题翻译：助力管理功能
公开(公告)号：US20160115669A1
公开(公告)日：2016-04-28
申请号：US14520487
申请日：2014-10-22
申请人： Caterpillar Inc.
发明人： Corey Lee Gorman , Adam Martin Nackers , John J. Krone , Mahmoud M. Tobaa
IPC分类号： E02F3/43 , E02F9/20 , E02F3/42 , E02F9/22 , E02F3/32
CPC分类号： E02F3/435 , E02F3/32 , E02F3/425 , E02F3/437 , E02F9/2004 , E02F9/2012 , E02F9/2203 , E02F9/2228 , E02F9/2285
摘要： A hydraulic control system is disclosed for an excavation machine including a tool linkage system. The hydraulic control system may have a first actuator configured to move a first link of the tool linkage system in response to input from an operator of the excavation machine, and a pressure sensor configured to generate a signal indicative of a pressure of the first actuator. The hydraulic control system may also have a second actuator configured to move a second link of the tool linkage system in response to input from the operator. In addition, the hydraulic control system may have a controller in communication with the pressure sensor, the first actuator, and the second actuator. The controller may be configured to automatically affect operation of the first actuator based on the pressure signal at times when movement of the second actuator is being requested by the operator and movement of the first actuator is being requested by the operator at a level less than a threshold
摘要翻译：公开了一种用于包括工具连杆系统的挖掘机的液压控制系统。液压控制系统可以具有第一致动器，其被配置为响应于来自挖掘机的操作者的输入而移动工具联动系统的第一连杆，以及被配置为产生指示第一致动器的压力的信号的压力传感器。液压控制系统还可以具有第二致动器，其构造成响应于来自操作者的输入而移动工具联动系统的第二连杆。此外，液压控制系统可以具有与压力传感器，第一致动器和第二致动器连通的控制器。控制器可以被配置为在操作者要求第二致动器的运动时基于压力信号来自动影响第一致动器的操作，并且操作者正在请求第一致动器的运动，其水平小于阈

8. 发明授权

US11560908B2 Control mapping for hydraulic machines 有权
公开(公告)号：US11560908B2
公开(公告)日：2023-01-24
申请号：US16410934
申请日：2019-05-13
申请人： Caterpillar Inc.
发明人： Benjamin John Hodel , Nicholas Anthony Payne , Russell Aaron Schloss , Corey Lee Gorman
IPC分类号： F15B19/00 , G06N20/00 , E02F3/43 , G06N3/08 , E02F3/32 , E02F9/22 , F15B11/04 , F15B11/16 , F15B21/08
摘要： A machine control system can store model weights determined via machine learning using a training dataset correlating preset hydraulic valve displacements to measured movement parameters of a machine component. The machine control system can receive an input command for the component and machine state data from machine sensors. A control mapping model can use the model weights to map a combination of the input command and the machine state data into a predicted displacement of the hydraulic valve that causes movement of the component in response to the input command.

9. 发明授权

US11198987B2 Hydraulic circuit for a swing system in a machine 有权
公开(公告)号：US11198987B2
公开(公告)日：2021-12-14
申请号：US16858367
申请日：2020-04-24
申请人： Caterpillar Inc.
发明人： Rustin Glenn Metzger , Adam Martin Nackers , Joshua Aaron Fossum , Christopher M. Ruemelin , Corey Lee Gorman
IPC分类号： E02F9/22 , F15B15/02 , E02F9/20
摘要： A hydraulic circuit is disclosed. The hydraulic circuit may include a hydrostatic pump to provide, at a flow rate, a fluid to a hydraulic motor, wherein the hydrostatic pump has a displacement, and wherein the hydraulic motor drives a swinging element; a swing circuit pressure sensor to sense a circuit pressure of the hydraulic circuit; a pilot pressure actuator to control, based on a supply pressure, the displacement of the hydrostatic pump; a pilot pressure override valve to control the supply pressure; and a controller configured to adjust, based on sensed signals and with the pilot pressure override valve, the supply pressure, wherein the sensed signals include: a circuit pressure signal based on the circuit pressure sensed by the swing circuit pressure sensor; and a sensed swing speed signal based on a swing speed of the swinging element sensed by one or more machine sensors.

10. 发明申请

US20160138618A1 HYDRAULIC REGENERATIVE AND RECOVERY PARASITIC MITIGATION SYSTEM 有权
标题翻译：液压再生和恢复平衡减速系统
公开(公告)号：US20160138618A1
公开(公告)日：2016-05-19
申请号：US14547672
申请日：2014-11-19
申请人： Caterpillar Inc.
发明人： Corey Lee Gorman , John J. Krone , Adam Martin Nackers
IPC分类号： F15B11/024 , F15B1/04 , E02F9/08 , E02F3/32 , E02F9/22 , F15B21/14 , F15B11/16
CPC分类号： E02F9/2225 , E02F3/32 , E02F9/0866 , E02F9/2217 , E02F9/2246 , E02F9/2285 , E02F9/2296 , F15B1/024 , F15B21/14 , F15B2211/212 , F15B2211/329 , F15B2211/353 , F15B2211/355 , F15B2211/6355 , F15B2211/67 , F15B2211/7058 , F15B2211/7135 , F15B2211/761
摘要： A hydraulic system is disclosed for use with a machine. The hydraulic system may have a pump configured to pressurize fluid, a first actuator configured to receive pressurized fluid from the pump, and an accumulator configured to receive fluid from the first actuator. The hydraulic system may also have a second actuator configured to receive pressurized fluid from the pump and the accumulator, and a pilot circuit configured to receive pressurized fluid from the pump and the accumulator. The hydraulic system may further have at least one valve movable to provide priority of fluid flow from the accumulator to the pilot circuit over the second actuator when a pressure of the accumulator is less than a low-pressure threshold.
摘要翻译：公开了一种用于机器的液压系统。液压系统可以具有构造成对流体加压的泵，构造成从泵接收加压流体的第一致动器和构造成从第一致动器接收流体的蓄能器。液压系统还可以具有构造成从泵和蓄能器接收加压流体的第二致动器，以及被配置为从泵和蓄能器接收加压流体的先导回路。当蓄能器的压力小于低压阈值时，液压系统还可以具有至少一个可移动的阀，以提供流体从第二致动器的蓄能器流向先导回路的优先级。

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