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公开(公告)号：US20210332559A1
公开(公告)日：2021-10-28
申请号：US16858367
申请日：2020-04-24
Applicant: Caterpillar Inc.
Inventor： Rustin Glenn METZGER , Adam Martin NACKERS , Joshua Aaron FOSSUM , Christopher M. RUEMELIN , Corey Lee GORMAN
Abstract: 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.
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Patent Agency Ranking
公开(公告)号：US20230043231A1
公开(公告)日：2023-02-09
申请号：US17444405
申请日：2021-08-04
Applicant: Caterpillar Inc.
Inventor： Adam Martin NACKERS , Rustin Glenn METZGER , Chris Rustu CESUR , Steven D. SPENCER
Abstract: A hydraulic system may include a first actuator to control a first linkage member, a second actuator to control a second linkage member, a first primary hydraulic circuit and a first secondary hydraulic circuit that include the first actuator, a second primary hydraulic circuit and a second secondary hydraulic circuit that include the second actuator, a first pump to cause fluid to flow through the first primary hydraulic circuit and the second secondary hydraulic circuit, a second pump to cause fluid to flow through the second primary hydraulic circuit and the first secondary hydraulic circuit, and a controller. The controller may be configured to determine that an operator assistance mode is enabled, and cause closing of a first valve that controls fluid flow through the first secondary hydraulic circuit and a second valve that controls fluid flow through the second secondary hydraulic circuit.
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公开(公告)号：US20210332555A1
公开(公告)日：2021-10-28
申请号：US16860585
申请日：2020-04-28
Applicant: CATERPILLAR INC.
Inventor： Rustin Glenn METZGER , Adam Martin NACKERS , Joshua Aaron FOSSUM , Christopher M. RUEMELIN , Corey Lee GORMAN
Abstract: 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.
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公开(公告)号：US20240328125A1
公开(公告)日：2024-10-03
申请号：US18126865
申请日：2023-03-27
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Adam Martin NACKERS , Justin Lee STEINLAGE , Mo WEI , Benjamin FLOYD
CPC classification number: E02F9/262 , E02F9/2029 , E02F9/2041 , E02F9/205 , E02F9/265
Abstract: Autonomous systems enable a machine, such as an excavator, to dig in a specified area with little to no human intervention. However, conventional autonomous systems require costly exteroceptive systems to monitor the terrain surface during the autonomous dig operation. Accordingly, embodiments are disclosed for estimating a terrain surface using only proprioceptive sensors, such as the linkage sensors on the work implement of an excavator. The terrain surface may be estimated by fitting a surface to one or more touchpoints collected using the work implement. The estimated terrain surface may be updated during a dig operation using a model of material flow and/or by collecting additional touchpoints. Embodiments enable a remote operator to visualize this terrain surface in a camera view by projecting the estimated terrain surface onto an image plane with a representation that depicts one or more terrain parameters.
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公开(公告)号：US20210301500A1
公开(公告)日：2021-09-30
申请号：US17301867
申请日：2021-04-16
Applicant: Caterpillar Inc.
Inventor： Rustin Glenn METZGER , Corey Lee GORMAN , Adam Martin NACKERS
Abstract: 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.
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公开(公告)号：US20180372498A1
公开(公告)日：2018-12-27
申请号：US15629122
申请日：2017-06-21
Applicant: CATERPILLAR INC.
Inventor： Adam Martin NACKERS , Russell Aaron SCHLOSS , Roberto MARTINEZ , Corey Lee GORMAN
CPC classification number: G01C21/165 , G06K9/6292 , G06K9/6293
Abstract: A method of determining the real time state of a machine includes receiving, with at least one processor, from each of a plurality of Inertial Measurement Units (IMU's) mounted on different components of the machine, a time series of signals indicative of acceleration and angular rate of motion measurements for each of the components of the machine on which one or more of the plurality of IMU's are mounted. For each one of the IMU's on a separate component of the machine, the signals received from the IMU are fused with a separate Kalman filter module by combining an acceleration measurement and an angular rate of motion measurement from the IMU to estimate an output joint angle for the component of the machine on which the IMU is mounted. Estimated and measured values of the output joint angle for the component in successive timesteps are combined, a kinematic equation is solved to determine a real time value for at least one of position, velocity, and acceleration of the machine component at successive timesteps, and the determined real time value is applied in an implementation of a controlled operational movement of the machine component.
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