Caterpillar Inc.

Bradley P Krone

Joseph Leo Faivre

Michael William Bridenbaugh

Tony Ross Metzger

Brad Robert Van De Veer

Steven R Krause

Steven D Ott

Shastri Ram

Katherine Miller

Steve Ott

Matthew E Bengry

Joe Faivre

A controller may identify a reference heading for a mobile machine. The controller may receive, from a remote control device for the mobile machine, a command to actuate an implement of the mobile machine. The controller may cause actuation of the implement based on the command with respect to the reference heading for the mobile machine regardless of an actual heading of the mobile machine.

Remote control of an implement of a machine

A controller may receive a command indicating a target roll angle, of an implement of the machine, relative to a chassis of the machine. The controller may detect a change in a roll angle of the chassis of the machine. The controller may filter the change to pass a low frequency change and remove a high frequency change. The controller may cause the target roll angle to be adjusted based on the low frequency change.

Selectively adjusting a position of an implement of a machine based on changes to a roll angle of a chassis of the machine

A device may receive machine data indicating a pose of one or more components of a machine. The machine data may be generated based on first data from one or more first sensor devices associated with the machine. The device may generate validation data to validate the machine data. The validation data may be generated based on second data from a second set of sensor devices. The device may perform a comparison of the machine data and the validation data and determine, based the comparison, whether the machine data is validated or not validated. The device may selectively control an operation of the machine based on the machine data. Based on determining that the machine data is validated, the operation may be controlled based on the machine data. The operation may be controlled without the machine data based on determining that the machine data is not validated.

Controlling machine operation based on validation of machine data

A method for steering correction in a mobile machine having at least one ground-engaging device including one or more tracks or one or more wheels includes detecting a steering request with an electronic control unit, the steering request being generated by an input device configured to control steering of the mobile machine. The method also includes determining that the steering request is a request to propel the mobile machine in a straight path and determining, during travel of the machine, an amount of deviation of the mobile machine from the straight path. The method further includes generating an adjusted steering command based on the amount of deviation from the straight path.

Systems and methods for machine steering

One or more devices may receive target position data indicating a target position of an implement of the machine, the target position being determined based on operator control data indicating a position of an operator control associated with the machine. The one or more devices may determine a current position of the implement. The one or more devices may determine a command that causes the implement to move from the current position to the target position, wherein the command is determined based on the target position and the current position. The one or more devices may provide the command to cause the implement to move from the current position to the target position.

Controlling an implement based on determining a target position of the implement

An enhanced visibility system for a work machine includes an image capture device, a sensor, one or more control circuits, and a display. The image capture device is configured to obtain image data of an area surrounding the work machine. The sensor is configured to obtain data regarding physical properties of the area surrounding the work machine. The control circuits are configured to receive the image data and the data regarding the physical properties, and augment the image data with the data regarding the physical properties to generate augmented image data. The display is configured to display the augmented image data to provide an enhanced view of the area surrounding the work machine.

Enhanced visibility system for work machines

A method of controlling movement of a machine may include receiving, from a plurality of IMU modules mounted on a corresponding plurality of components of the machine, a plurality of signals indicative of orientation measurements and motion measurements for the components of the machine on which the plurality of IMU modules are mounted. The IMU modules include a corresponding number of state estimators, and form a mesh network communicatively coupled to a communication bus. The method may also include fusing the signals, determining estimates of output orientation data and output motion data for the components of the machine based on the fused signals, determining a real time value for at least one of position, velocity, or acceleration of the components of the machine based on a kinematic evaluation, and applying the determined real time value in an implementation of a controlled operational movement of the components of the machine.

Controlling movement of a machine using sensor fusion

In one aspect, a method for shared access of a machine for operator training, the machine including a traction device and an implement, includes receiving an authorization from an access device to share access to the machine, and entering a shared control state based on at least the authorization received from the access device. The method also includes receiving commands from a remote operation device during the shared control state and operating at least one of the traction device or the implement of the machine based on at least the commands from the remote operation device while an operator is present in the machine.

Remote training system and method

A control system for a machine may include a chassis an implement attached to the chassis, a first sensor, a second sensor, and a controller in communication with the first and second sensors. The first sensor may be configured to generate a first signal indicative of an angle of the implement with respect to the chassis. The second sensor may be configured to generate a second signal indicative of an angle of the chassis with respect to gravity. The controller may be configured to determine an implement mainfall angle based on the first signal and the second signal; process the second signal using a low pass filter to determine a filtered chassis pitch angle; determine a target mainfall angle based on the first signal and the filtered chassis pitch angle; and generate a command signal based the target mainfall angle and the implement mainfall angle.

Systems and methods for controlling a machine implement

A machine having a ground-engaging work tool is disclosed includes a traction device configured to move the machine on a ground surface, a control system configured to determine a slip experienced by the machine as the machine moves on the ground surface, and a display device. The display device may be configured to pictorially display (a) the determined slip, and (b) one or more target ranges of slip, wherein the machine efficiency when slip has a value within a target range may be higher compared to the efficiency when slip is outside the target range.

Performance monitor for a machine

A controller uses a Kalman filter to develop an estimated position of an implement based on a previous implement position, an implement pitch, an implement pitch rate and an estimated implement linkage velocity. The controller moves the implement to a desired position based on the estimated position of the implement.

Sensor fusion for implement position estimation and control

A system and method are provided for assisting a machine operator in controlling a work tool of the machine. In an embodiment, the work tool is set at a first height and the machine is travelling at a first machine speed, resulting in a first work tool or machine load. Based on these factors, a first work tool control mode or second work tool control mode is chosen. In the first work tool control mode, the work tool is manually controlled within a load limit and a work tool height limit, whereas in the second work tool control mode, the work tool load is controlled toward the first work tool load. Based on operator inputs and machine state, as well as other factors such as ground surface, the machine may switch between control modes, or out of automatic work tool control entirely.

Growing community of inventors

Dunlap, IL, United States of America

Bradley P Krone