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：US20240011244A1

公开(公告)日：2024-01-11

申请号：US17810695

申请日：2022-07-05

Applicant: Caterpillar Inc.

Inventor： Mo WEI ,  Jun ZUO ,  Jacob C. MALEY ,  Manoj POTHUGUNTI

IPC: E02F9/20 ,  B60W30/09 ,  E02F9/26 ,  E02F9/24

CPC classification number: E02F9/2033 ,  B60W30/09 ,  E02F9/26 ,  E02F9/24 ,  B60W2300/17 ,  B60W2554/802 ,  B60W2520/10 ,  B60W2520/06 ,  B60W50/14

Abstract: A collision avoidance system and method for a mobile machine includes determining a boundary zone and providing a notification and/or control command to prevent a collision with another object. A first safety zone associated with a first and second portion of the mobile machine is determined. A second safety zone associated with the second portion of the mobile machine is determined. A boundary zone is determined as a function of a combination of the first and second safety zone. A notification and/or a control command is provided based on a relationship of an object to the boundary zone.

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.

公开(公告)号：US20250116093A1

公开(公告)日：2025-04-10

申请号：US18481279

申请日：2023-10-05

Applicant: Caterpillar Inc.

Inventor： Mo WEI

IPC: E02F9/22 ,  E02F9/26

Abstract: A system for identifying an improper implement on a machine includes a machine configured for performing one or more tasks, the machine including: a movable link configured to change a position of an implement installed on the machine; a hydraulic system for moving the link, the hydraulic system including a hydraulic valve and a hydraulic pump; and a pressure sensor configured to detect a pressure of hydraulic fluid for the hydraulic system and output a signal according to the detected pressure. The system further includes a controller configured to receive the signal from the pressure sensor, determine that the implement is improper due to being oversized, overweight, undersized or underweight, based on the signal from the pressure sensor, and generate a notification in response to determining that the implement is improper.

公开(公告)号：US20240185719A1

公开(公告)日：2024-06-06

申请号：US18060789

申请日：2022-12-01

Applicant: Caterpillar Inc.

Inventor： Mo WEI ,  Jun ZUO

IPC: G08G1/16

CPC classification number: G08G1/165

Abstract: A collision detection system including a proximity sensor, positioning sensor, and controller. The controller includes a memory storing instructions, and a model of the machine that includes dimension information of the machine, location information of the proximity sensor, and pose information of movable portions of the machine. A processor is connected to the proximity sensor, positioning sensor, and memory, and is configured to update pose information of the model based on the pose of the movable portions determined using the positioning sensor. The processor may receive a detection of the object from the proximity sensor. The processor may determine an expected detection result of the proximity sensor using the model, and based on the location information of the proximity sensor and the updated pose information. The processor may compare the detection with the expected detection result to determine whether the detection results from the movable portion or a foreign object.