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1. 发明申请

US20210237797A1 Steering System 有权
公开(公告)号：US20210237797A1
公开(公告)日：2021-08-05
申请号：US16779895
申请日：2020-02-03
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre
IPC分类号： B62D11/02 , B62D15/02 , E02F3/84 , E02F3/76 , E02F9/02
摘要： A system and method for steering a machine. The system may comprise a controller configured to receive a steering command and determine a target angular turn rate for the body and a target turn direction for the body. The controller may be further configured to determine a steering mode based on a transmission output torque, the steering mode including Traction-steering, Assisted-steering or Implement-steering. When the steering mode is Assisted-steering, the controller is configured to steer the machine in the target turn direction and at the target angular turn rate by (a) moving an implement from a first position to a second position and (b) diverting or removing power from a first ground engaging traction member. When the steering mode is Implement-steering, the controller is configured to move the implement from a first position to a second position to steer the machine in the target turn direction and at the target angular turn rate without diverting or removing power from the first ground engaging traction member.

2. 发明申请

US20210314528A1 ENHANCED VISIBILITY SYSTEM FOR WORK MACHINES 有权
公开(公告)号：US20210314528A1
公开(公告)日：2021-10-07
申请号：US16842164
申请日：2020-04-07
申请人： Caterpillar Inc.
发明人： Bradley P. Krone , Joseph L. Faivre , Michael W. Bridenbaugh , Brad R. Van De Veer , Shastri Ram
IPC分类号： H04N7/18 , G06T11/00 , B60R1/00 , E02F9/26 , B64D47/08 , B64C39/02
摘要： An enhanced visibility system for a work machine includes an image capture device, a sensor, one or more control circuits, and a display. The image capture device is configured to obtain image data of an area surrounding the work machine. The sensor is configured to obtain data regarding physical properties of the area surrounding the work machine. The control circuits are configured to receive the image data and the data regarding the physical properties, and augment the image data with the data regarding the physical properties to generate augmented image data. The display is configured to display the augmented image data to provide an enhanced view of the area surrounding the work machine.

3. 发明授权

US10066370B2 Sensor fusion for implement position estimation and control 有权
公开(公告)号：US10066370B2
公开(公告)日：2018-09-04
申请号：US14886992
申请日：2015-10-19
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Bradley P. Krone , Steven R. Krause
IPC分类号： E02F9/26 , E02F3/84 , E02F9/20
摘要： A controller uses a Kalman filter to develop an estimated position of an implement based on a previous implement position, an implement pitch, an implement pitch rate and an estimated implement linkage velocity. The controller moves the implement to a desired position based on the estimated position of the implement.

4. 发明申请

US20170107700A1 Sensor Fusion for Implement Position Estimation and Control 审中-公开
公开(公告)号：US20170107700A1
公开(公告)日：2017-04-20
申请号：US14886992
申请日：2015-10-19
申请人： CATERPILLAR INC.
发明人： Joseph L. Faivre , Bradley P. Krone , Steven R. Krause
IPC分类号： E02F9/26
CPC分类号： E02F9/265 , E02F3/845 , E02F3/847 , E02F9/2029
摘要： A controller uses a Kalman filter to develop an estimated position of an implement based on a previous implement position, an implement pitch, an implement pitch rate and an estimated implement linkage velocity. The controller moves the implement to a desired position based on the estimated position of the implement.

5. 发明申请

US20160305087A1 OPERATOR ASSIST ALGORITHM FOR AN EARTH MOVING MACHINE 有权
公开(公告)号：US20160305087A1
公开(公告)日：2016-10-20
申请号：US15196092
申请日：2016-06-29
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Bradley Krone
IPC分类号： E02F3/84 , E02F9/26 , E02F9/20
CPC分类号： E02F3/844 , B62D6/002 , B62D11/183 , B62D12/00 , E02F3/43 , E02F3/432 , E02F3/434 , E02F3/436 , E02F3/437 , E02F3/7609 , E02F3/7663 , E02F9/2004 , E02F9/2012 , E02F9/2029 , E02F9/2041 , E02F9/225 , E02F9/265
摘要： A system and method are provided for assisting a machine operator in controlling a work tool of the machine. In an embodiment, the work tool is set at a first height and the machine is travelling at a first machine speed, resulting in a first work tool or machine load. Based on these factors, a first work tool control mode or second work tool control mode is chosen. In the first work tool control mode, the work tool is manually controlled within a load limit and a work tool height limit, whereas in the second work tool control mode, the work tool load is controlled toward the first work tool load. Based on operator inputs and machine state, as well as other factors such as ground surface, the machine may switch between control modes, or out of automatic work tool control entirely.

6. 发明授权

US09896820B2 Operator assist algorithm for an earth moving machine 有权
公开(公告)号：US09896820B2
公开(公告)日：2018-02-20
申请号：US15196092
申请日：2016-06-29
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Bradley Krone
IPC分类号： E02F3/84 , B62D6/00 , E02F9/26 , E02F9/20 , E02F9/22 , B62D11/18 , E02F3/43 , B62D12/00 , E02F3/76
CPC分类号： E02F3/844 , B62D6/002 , B62D11/183 , B62D12/00 , E02F3/43 , E02F3/432 , E02F3/434 , E02F3/436 , E02F3/437 , E02F3/7609 , E02F3/7663 , E02F9/2004 , E02F9/2012 , E02F9/2029 , E02F9/2041 , E02F9/225 , E02F9/265
摘要： A system and method are provided for assisting a machine operator in controlling a work tool of the machine. In an embodiment, the work tool is set at a first height and the machine is travelling at a first machine speed, resulting in a first work tool or machine load. Based on these factors, a first work tool control mode or second work tool control mode is chosen. In the first work tool control mode, the work tool is manually controlled within a load limit and a work tool height limit, whereas in the second work tool control mode, the work tool load is controlled toward the first work tool load. Based on operator inputs and machine state, as well as other factors such as ground surface, the machine may switch between control modes, or out of automatic work tool control entirely.

7. 发明授权

US09388551B2 Shift logic for ground ripping machine 有权
标题翻译：地面剥皮机的换档逻辑
公开(公告)号：US09388551B2
公开(公告)日：2016-07-12
申请号：US14190363
申请日：2014-02-26
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Matthew A. Johnson , Nathaniel S. Doy
IPC分类号： E02F5/32 , E02F9/20 , E02F3/76
CPC分类号： E02F9/2079 , E02F3/7604 , E02F5/32 , E02F9/2066
摘要： A control system for a machine equipped with a ripping tool. The control system includes a first operator input for generating a ripping control signal that initiates an auto-ripping mode. A second operator input is provided for generating a speed select signal for changing the transmission output speed of the machine to a selected transmission output speed. The system further includes a controller with a memory. The controller is linked to the first and second operator inputs. The controller is programmed to receive a ripping control signal from the first operator input and to activate the auto-ripping mode or auto-ripping mode and deactivate the auto-shift mode. The controller is also programmed to receive a speed select signal from the second operator input and to deactivate the auto-ripping mode and adjust the power source to the selected transmission output speed.
摘要翻译：一种配有切割工具的机器的控制系统。控制系统包括用于产生启动自动翻录模式的翻录控制信号的第一操作者输入。提供第二操作者输入用于产生用于将机器的变速器输出速度改变到所选择的变速器输出速度的速度选择信号。该系统还包括具有存储器的控制器。控制器连接到第一和第二操作员输入。控制器被编程为接收来自第一操作者输入的翻录控制信号，并且激活自动翻录模式或自动翻录模式并且停用自动移位模式。控制器还被编程为从第二操作者输入接收速度选择信号，并且禁用自动翻录模式并将电源调整到所选择的传输输出速度。

8. 发明申请

US20150240452A1 SHIFT LOGIC FOR GROUND RIPPING MACHINE 有权
标题翻译：地面剥皮机的移位逻辑
公开(公告)号：US20150240452A1
公开(公告)日：2015-08-27
申请号：US14190363
申请日：2014-02-26
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Matthew A. Johnson , Nathaniel S. Doy
IPC分类号： E02F9/20
CPC分类号： E02F9/2079 , E02F3/7604 , E02F5/32 , E02F9/2066
摘要： A control system for a machine equipped with a ripping tool. The control system includes a first operator input for generating a ripping control signal that initiates an auto-ripping mode. A second operator input is provided for generating a speed select signal for changing the transmission output speed of the machine to a selected transmission output speed. The system further includes a controller with a memory. The controller is linked to the first and second operator inputs. The controller is programmed to receive a ripping control signal from the first operator input and to activate the auto-ripping mode or auto-ripping mode and deactivate the auto-shift mode. The controller is also programmed to receive a speed select signal from the second operator input and to deactivate the auto-ripping mode and adjust the power source to the selected transmission output speed.
摘要翻译：一种配有切割工具的机器的控制系统。控制系统包括用于产生启动自动翻录模式的翻录控制信号的第一操作者输入。提供第二操作者输入用于产生用于将机器的变速器输出速度改变到所选择的变速器输出速度的速度选择信号。该系统还包括具有存储器的控制器。控制器连接到第一和第二操作员输入。控制器被编程为接收来自第一操作者输入的翻录控制信号，并激活自动翻录模式或自动翻录模式，并停用自动移位模式。控制器还被编程为从第二操作者输入接收速度选择信号，并且禁用自动翻录模式并将电源调整到所选择的传输输出速度。

9. 发明申请

US20150204901A1 SYSTEM AND METHOD FOR DETERMINING GROUND SPEED OF MACHINE 审中-公开
标题翻译：用于确定机器接地速度的系统和方法
公开(公告)号：US20150204901A1
公开(公告)日：2015-07-23
申请号：US14157681
申请日：2014-01-17
申请人： Caterpillar Inc.
发明人： Joseph L. Faivre , Bradley P. Krone
IPC分类号： G01P21/00 , G01C21/16 , G01S19/25
CPC分类号： G01C21/165 , G01S5/0263 , G01S19/25 , G01S19/49
摘要： A method for determining ground speed of a machine includes receiving an inertial navigation data at a first time and calculating a lateral acceleration of the machine at the first time using a first Kalman filter. A time delayed measurement of the ground speed information is received at a second time, wherein the time delayed measurement is delayed by predetermined time interval with respect to the measurement of the inertial navigation data. A ground speed of the machine is calculated at second time based on the time delayed measurement of the ground speed information and the inertial navigation data using a second Kalman filter, wherein the inertial navigation data is provided at the second time. Thereafter the ground speed is then determined based on a change in ground speed of the machine over the predetermined time interval and the calculated ground speed associated with the machine at the second time.
摘要翻译：一种用于确定机器的地面速度的方法包括：在第一时间接收惯性导航数据，并使用第一卡尔曼滤波器在第一时间计算机器的横向加速度。在第二时间接收地面速度信息的时间延迟测量，其中时间延迟测量相对于惯性导航数据的测量被延迟预定的时间间隔。基于使用第二卡尔曼滤波器的地面速度信息和惯性导航数据的时间延迟测量，在第二时间计算机器的地面速度，其中在第二时间提供惯性导航数据。然后，基于在预定时间间隔内机器的地面速度的变化以及在第二时间与机器相关联的计算的地面速度来确定地面速度。

10. 发明授权

US11595618B2 Enhanced visibility system for work machines 有权
公开(公告)号：US11595618B2
公开(公告)日：2023-02-28
申请号：US16842164
申请日：2020-04-07
申请人： Caterpillar Inc.
发明人： Bradley P. Krone , Joseph L. Faivre , Michael W. Bridenbaugh , Brad R. Van De Veer , Shastri Ram
IPC分类号： H04N7/18 , G06T11/00 , B60R1/00 , E02F9/26 , B64D47/08 , B64C39/02 , G05D1/02 , E02F3/76
摘要： An enhanced visibility system for a work machine includes an image capture device, a sensor, one or more control circuits, and a display. The image capture device is configured to obtain image data of an area surrounding the work machine. The sensor is configured to obtain data regarding physical properties of the area surrounding the work machine. The control circuits are configured to receive the image data and the data regarding the physical properties, and augment the image data with the data regarding the physical properties to generate augmented image data. The display is configured to display the augmented image data to provide an enhanced view of the area surrounding the work machine.

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