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

IPC: E02F3/43 ,  E02F9/26 ,  G08G1/04

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.

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

IPC: E02F9/26 ,  E02F9/20 ,  G05D1/00

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.

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.