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公开(公告)号：US11585071B2
公开(公告)日：2023-02-21
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：US11041285B2
公开(公告)日：2021-06-22
申请号：US16682425
申请日：2019-11-13
Applicant: Caterpillar Inc.
Inventor： Terril James Johnson , David Eugene Cooper , Anthony Dean McNealy , Matthew Bunge , Andrew Sumners , Rustin Glenn Metzger , Corey Lee Gorman , Brad Robert Van De Veer
Abstract: 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.
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公开(公告)号：US11473271B2
公开(公告)日：2022-10-18
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：US11001989B1
公开(公告)日：2021-05-11
申请号：US16834810
申请日：2020-03-30
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：US20160115669A1
公开(公告)日：2016-04-28
申请号：US14520487
申请日：2014-10-22
Applicant: Caterpillar Inc.
Inventor： Corey Lee Gorman , Adam Martin Nackers , John J. Krone , Mahmoud M. Tobaa
CPC classification number: E02F3/435 , E02F3/32 , E02F3/425 , E02F3/437 , E02F9/2004 , E02F9/2012 , E02F9/2203 , E02F9/2228 , E02F9/2285
Abstract: 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
Abstract translation: 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
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Patent Agency Ranking
公开(公告)号：US20240308496A1
公开(公告)日：2024-09-19
申请号：US18182940
申请日：2023-03-13
Applicant: Caterpillar Inc.
Inventor： Corey Lee Gorman
CPC classification number: B60W20/13 , B60L50/10 , B60L50/61 , B60L58/13 , B60L2200/40 , B60L2240/549 , B60W2510/244 , B60W2530/18 , B60W2556/10 , B60W2710/244
Abstract: Systems and methods for managing a battery charge of a work machine are described herein. The battery charge is maintained using a source of power (or other source) while the work machine also uses the source of power to power the work machine and the systems associated with the work machine. In instances in which the source of power may be removed for use by the work machine, a modification request may be used to change the battery from primary mode of operation, where the battery charge is maintained at a lower level to maintain the life of the battery, to a secondary mode of operation where the battery is charged to a high charge. The higher charge can be used to accommodate work machine operations while the battery is removed from the source of power. The battery can thereafter be returned to the primary mode of operation.
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公开(公告)号：US10401176B2
公开(公告)日：2019-09-03
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
Abstract: 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.
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公开(公告)号：US09765499B2
公开(公告)日：2017-09-19
申请号：US14520487
申请日：2014-10-22
Applicant: Caterpillar Inc.
Inventor： Corey Lee Gorman , Adam Martin Nackers , John J. Krone , Mahmoud M. Tobaa
CPC classification number: E02F3/435 , E02F3/32 , E02F3/425 , E02F3/437 , E02F9/2004 , E02F9/2012 , E02F9/2203 , E02F9/2228 , E02F9/2285
Abstract: 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.
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公开(公告)号：US11560908B2
公开(公告)日：2023-01-24
申请号：US16410934
申请日：2019-05-13
Applicant: Caterpillar Inc.
IPC: F15B19/00 , G06N20/00 , E02F3/43 , G06N3/08 , E02F3/32 , E02F9/22 , F15B11/04 , F15B11/16 , F15B21/08
Abstract: 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.
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公开(公告)号：US11198987B2
公开(公告)日：2021-12-14
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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