Caterpillar Inc.

Caterpillar Sarl

Caterpilalr Sarl

Corey Lee Gorman

Adam Martin Nackers

Rustin Glenn Metzger

Anthony Dean McNealy

John James Krone

Terril James Johnson

Brad Robert Van De Veer

Randall Todd Anderson

Christopher Michael Ruemelin

David Eugene Cooper

Joshua Aaron Fossum

Andrew Sumners

Matthew Bunge

Daniel Peter Sergison

Zhijun Cai

Benjamin J Hodel

Eric Alan Reiners

Justin Douglas Speichinger

Takeshi Tsuneyoshi

Kazumasa Matsumura

Shuji Kidoguchi

Jeremiah C Johnson

Kouji Kishida

Kentaro Nakayama

Shogo Tada

Russell Schloss

Mahmoud M Tobaa

Daniel J Martinez

Hideki Nakajima

Michihiro Izawa

Shinichi Nishiyama

Nicholas Payne

Marilyn E Worley

Roberto Martinez

Russell Aaron Schloss

Shinya Ohmura

Andy Fung

Yasumasa Hoshino

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.

Systems and methods for managing a battery charge

A machine control system controls operation of any one of a plurality of interchangeable power sources mounted on a machine. The machine includes an undercarriage supporting ground engagement members that propel the machine and an upper structure rotatably supported on the undercarriage. The upper structure includes a swing frame that supports an operator cab, an interchangeable power source, hydraulic components, and electrical components. A processor processes inputs, outputs and operating characteristics specific to each of the plurality of power sources, and standardizes the power output by each of the power sources to provide a normalized, consistent control and operation of systems of the machine regardless of which of the power sources is mounted on the machine.

Machine configuration and control system enabling interchangeable power sources

A machine is adapted for operation powered by any one of a plurality of interchangeable power sources. The machine may include an undercarriage configured for supporting ground engagement members that propel the machine and an upper structure rotatably supported on the undercarriage. The upper structure may include a swing frame, with the swing frame supporting an operator cab, any one of the plurality of interchangeable power sources, hydraulic components, electrical components, and a counterweight disposed at a first end of the swing frame. The counterweight may include a hollowed out portion facing toward the swing frame. The hollowed out portion of the counterweight may be centrally aligned with a center core portion of the swing frame configured for supporting any one of the plurality of interchangeable power sources, with the one power source being partially accommodated within the hollowed out portion of the counterweight.

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.

Hystat swing motion actuation, monitoring, and control system

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.

Control mapping for hydraulic machines

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.

Electrical control of a hydraulic system

A construction system includes an excavator having a hydraulically controlled linkage and a hydraulic robot. The hydraulic robot includes a plurality of arms extending from a base, each arm having a hydraulic motor. The hydraulic robot further includes a robot control system directing movement of the plurality of arms and an end effector platform movable by rotation of the arms.

Hydraulic delta robot control system

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.

Hydraulic circuit for a swing system in a machine

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.

Machine with a boom assembly

A track-type machine includes first and second ground-engaging track assemblies, each having a drive motor, and a propulsion system including an operator station with first and second joysticks, and a travel control system including input devices resident on the first and second joysticks. The input devices are adjustable to vary at least one of a speed or a direction of the drive motors in the track assemblies. Adjustment of the drive motor speed can be in proportion to an adjustment of the corresponding input device.

Track-type machine propulsion system having independent track controls integrated to joysticks

Machine with a boom assembly and connection member

A kinetic energy recovery system (KERS) for a machine having a swing motor and/or an actuator includes a hydraulic motor/pump that can output pressurized fluid for operating at least one of: the swing motor and the actuator. A first shaft of the hydraulic motor/pump can be rotated by fluid returning from at least one of: the swing motor and the actuator back to the hydraulic motor/pump. Further, the KERS also includes a flywheel that can selectively couple with the first shaft with the help of a first clutch. The flywheel stores drive power generated by the hydraulic motor/pump from the return flow of fluid when the first clutch couples the flywheel with the first shaft of the hydraulic motor/pump. A gearing arrangement is coupled to the flywheel and can selectively engage with a second shaft associated with a prime mover of the machine with the help of a second clutch.

Kinetic energy recovery system for a machine

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.

System and method for determining machine state using sensor fusion

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.

Boom assist management feature

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Peoria, IL, United States of America

Corey Lee Gorman