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公开(公告)号：US20240263421A1
公开(公告)日：2024-08-08
申请号：US18165621
申请日：2023-02-07
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Jeffrey K. BERRY , Adam M. NACKERS
Abstract: A control system for a machine includes a machine body, a linkage assembly, an implement coupled to the machine body via the linkage assembly, an operation console remote from the machine, and a controller in communication with the operation console. The controller is configured to receive one or more signals from the operation console in order to operate the machine in a remote control mode and define a dig region and a dump region. The controller is also configured to operate the machine in an autonomous mode to dig material from the dig region and dump the material to the dump region.
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公开(公告)号：US20220381007A1
公开(公告)日：2022-12-01
申请号：US17303310
申请日：2021-05-26
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Matthew James BESCHORNER
Abstract: A machine may include an implement; one or more sensor devices; and a controller. The controller may be configured to receive, from the one or more sensor devices, data regarding a ground surface on which the machine is to perform a digging operation; transmit the data to one or more remote computing devices to cause the one or more remote computing devices to generate digging information based on the data; and receive the digging information from the one or more remote computing devices. The digging information may include information identifying a sequence of digging locations in an area of the ground surface and information identifying corresponding dumping locations. Based on the digging information, the controller may be configured to cause the machine to navigate to a digging location of the digging locations, and cause the implement to initiate the digging operation at the digging location.
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Patent Agency Ranking
公开(公告)号：US20240384501A1
公开(公告)日：2024-11-21
申请号：US18319371
申请日：2023-05-17
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Adam M. NACKERS , Justin Lee STEINLAGE , Mo WEI
IPC: E02F3/43
Abstract: A control system for a machine includes a machine body, a linkage assembly, a bucket coupled to the machine body via the linkage assembly, a user interface remote from the machine body, and a controller in communication with the user interface. The controller is configured to receive one or more signals defining a dump region. The dump region includes a front-most end point and a rear-most end point. The controller is also configured to receive one or more signals defining a dump order or dump specification and initiate an autonomous digging and dumping procedure.
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4.发明申请公开(公告)号：US20240384499A1
公开(公告)日：2024-11-21
申请号：US18319363
申请日：2023-05-17
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Adam M. NACKERS , Justin Lee STEINLAGE
Abstract: A control system for a machine includes a machine body, a linkage assembly, an implement coupled to the machine body via the linkage assembly, one or more perception systems on the machine, and a controller in communication with the one or more perception systems. The controller is configured to receive one or more signals defining a dig region, define one or more dump regions based at least on the dig region and information from the one or more perception systems, and identify a position of a haul truck relative to the defined one or more dump regions.
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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：US20220382251A1
公开(公告)日：2022-12-01
申请号：US17303308
申请日：2021-05-26
Applicant: Caterpillar Inc.
Inventor： Benjamin J. HODEL , Matthew James BESCHORNER
IPC: G05B19/4155 , G08C17/02
Abstract: A controller may receive, from one or more sensor devices of the work machine, sensor data of an environment that includes a ground surface on which the work machine is located. The controller may determine whether a wireless connection is viable. The controller may selectively transmit the sensor data to one or more remote computing devices for processing or processing the sensor data locally by the work machine based on whether the wireless connection is viable. When the wireless connection is viable, the sensor data is transmitted to the one or more remote computing devices to cause the one or more remote computing devices to process the sensor data to provide first processed data. When the wireless connection is not viable, the sensor data is processed locally by the work machine to generate second processed data.
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公开(公告)号：US20160333902A1
公开(公告)日：2016-11-17
申请号：US14709757
申请日：2015-05-12
Applicant: CATERPILLAR INC.
Inventor： Benjamin J. HODEL
CPC classification number: F15B15/2838 , F15B15/2876 , F15B19/002 , F15B19/007 , F15B2211/6326 , G01F1/00
Abstract: A system for measuring hydraulic cylinder displacement may include a sensor configured to generate a signal indicative of a hydraulic fluid flow velocity into or out of the hydraulic cylinder. The system may further include a hydraulic fluid flow model configured to scale the hydraulic fluid flow velocity to a predicted rate of change of cylinder displacement for the hydraulic cylinder. The system may also include a Kalman filter configured to integrate the predicted rate of change of cylinder displacement during a predict phase in order to determine a series of predicted cylinder displacement values over time during operation of the hydraulic cylinder, periodically receive values of cylinder displacement measured optically during operation of the cylinder, periodically update the predicted cylinder displacement values using the optically measured cylinder displacement values during an update phase, fuse the optically measured cylinder displacement values with the predicted cylinder displacement values over time, and output an estimated time series of cylinder displacement values based on the fused values during operation of the hydraulic cylinder.
Abstract translation: 用于测量液压缸位移的系统可以包括被配置为产生指示进入或离开液压缸的液压流体流速的信号的传感器。 该系统还可以包括液压流体流动模型，该模型被配置为将液压流体流速缩放到用于液压缸的预测的气缸位移变化速率。 该系统还可以包括卡尔曼滤波器，该卡尔曼滤波器被配置为在预测阶段期间将预测的气缸位移变化率积分，以便在液压缸运行期间随时间确定一系列预测的气缸位移值，周期性地接收测量的气缸位移值 在气缸运行期间，光学地在更新阶段期间使用光学测量的气缸位移值周期性地更新预测的气缸位移值，将光学测量的气缸位移值与预测的气缸位移值随时间保持在一起，并输出估计的气缸的时间序列 基于液压缸操作期间的熔断值的位移值。
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