Caterpillar Inc.

Everett Gene Brandt

Brian Daniel Rockwood

Robert J Price

Robert J McGee

Shoji Tozawa

George G Codina

Jeffrey Kent Berry

Brian Mintah

Thomas J Richards

Andrew Gordon Shull

Kevin Dwight King

Vijayakumar Janardhan

William C Evans

Stephen T Tady

W Charles Sahm

M Kathryn Christensen

Kurtis C Kelley

Paul Thomas Corcoran

Balamurugan Sundaram

Roger Dwight Watkins

Carey A Towe

David A Paul

Katherine C Glee

Morris A Swanson

Seppo Saario

The present disclosure is directed to a payload calculation system for use with a work implement having at least two linkage members. The payload calculation system may have at least one state sensor configured to measure a state of the at least two linkage members. The payload calculation system may also have a processing device in communication with the at least one state sensor. The processing device may account for changes in a center of gravity of each of the at least two linkage members. The processing device may also be configured to use the at least one state sensor to determine a mass of a payload moved by the work implement.

Payload system with center of gravity compensation

A paving system includes a machine having a plurality of ground-engaging elements and a frame. The machine may be a paving machine having a receiver configured to receive electronic data indicative of a non-uniformity in a substrate within a region to be paved with a mat of paving material. The paving system further includes an electronic control unit configured to control compactor interaction with the mat of material according to a mat smoothness criterion, including controlling compactor interaction with the mat of material in response to data, such as screed control data, indicative of the non-uniformity in the substrate.

Paving system and method for controlling compactor interaction with paving material mat

The present disclosure is directed to a payload calculation system for use with a work implement. The payload calculation system may have a state sensor configured to measure a state of the work implement. The payload calculation system may further have a processing device configured to calculate a mass of a payload moved by the work implement. The processing device may be configured to use the measured state to compensate the calculation of the mass for centrifugal, inertial, and frictional forces of the work implement caused by the work implement rotating about a vertical pivot.

Payload system that compensates for rotational forces

A machine control system may include a machine mounted stereo imaging apparatus configured to provide a 3-D model indicative of a terrain feature. The machine control system may also include a control module configured to process the 3-D model, and automatically perform an operation with a work tool based on the characteristics of the 3-D model.

Machine control system and method

A machine includes a component. The machine may also include a position-sensing system with a plurality of sensor elements that each generate a signal related to proximity of the sensor element to the component by generating the signal based at least in part on the magnetic permeability of the space adjacent the sensor element and a time-varying magnetic field generated by an electric circuit of the position-sensing system. The machine may also include one or more information-processing devices that determine a positional relationship between the component and the plurality of sensor elements based on a plurality of the signals generated by the sensor elements.

Machine with a position-sensing system

A method of increasing efficiency and avoiding or reducing potential stall conditions is accomplished by configuring a ripper of a track type tractor responsive to a net force vector acting on the ripper. The net force vector is indicative of the various forces and pressures acting on the ripper, and the values indicative of these forces can be sensed. For instance, the force and value indicative of the force magnitude can be sensed by monitoring driveline torque, whereas the force vector angle can be derived from ripper tilt and lift actuator pressures. The ripper is configured responsive to the force vector magnitude and direction either via a control algorithm, or by inputs generated by an operator.

Ripper operation using force vector and track type tractor using same

A method and apparatus for lifting a work implement attached to a work machine. The method and apparatus includes delivering a lift command to a hydraulic lift circuit, diverting a portion of the lift command to a hydraulic tilt circuit, and responsively tilting the work implement to a rack-back position in cooperation with lifting the work implement.

Method and apparatus for lifting a work implement attached to a work machine

An angular velocity control for a boom of a machine is disclosed and a method for controlling the angular velocity of a boom of a machine. The angular velocity control includes a calculator that detects input signals from an operator control lever, a boom angle sensor, a cylinder length sensor, a chassis cant sensor, and a chassis tilt sensor. Movement of the operator control lever allows an operator to pre-select a desired angular velocity. Based on the geometry of the boom to the machine the calculator calculates a boom gain associated with the current boom angle. The calculator then calculates a necessary cylinder velocity to achieve the desired angular velocity. The calculator sends a control signal to an electrohydraulic control module which in turn sends a signal to an electrohydraulic valve associated with a boom lift cylinder. The electrohydraulic valve alters the flow rate of hydraulic fluid into or out of the boom lift cylinder to produce a cylinder velocity that in turn produces the desired angular velocity of the boom.

Angular velocity control and associated method for a boom of a machine

A boom control apparatus and method are disclosed for controlling a boom of a machine. The boom control apparatus includes a boom angle sensor, a boom length sensor, a chassis pitch angle sensor, a chassis roll angle sensor, and a control lever. All of the sensors generate signals associated with the values of their measured parameters. Movement of the control lever along a first axis generates a first pivot velocity signal for a desired pivot velocity of the boom. Movement of the control lever along a second axis generates a first telescoping velocity signal for a desired telescoping velocity of the boom. An electrohydraulic control module detects the signals from the sensors and the control lever. The electrohydraulic control module generates a second pivot velocity signal or a second telescoping velocity signal. The second signals are directly proportional to the first signals and inversely proportional to the signals generated by the sensors. The electrohydraulic control module sends the second signals to an electrohydraulic valve associated either with a boom lift cylinder or a boom telescoping cylinder to effect the desired pivot or telescoping velocity. Thus, the present invention allows for more precise control of the end of a boom when the boom is either extended or elevated.

Boom extension and boom angle control for a machine

An apparatus and method for providing coordinated control of a work implement of a work machine. The implement includes a boom having a first end portion and a second end portion, with the first end portion pivotally connected to the frame and the second end portion pivotally connected to a load-engaging member. The apparatus includes a position sensor adapted for providing a position signal, and an input device adapted for delivering a desired velocity signal indicative of the desired velocity of the load-engaging member. The desired velocity includes a desired angular velocity and a desired linear velocity. The apparatus receives the position signal and the desired velocity signal, and determines an actual path of travel of the load-engaging member, and a desired path of travel of the load-engaging member. The apparatus further modifies the desired angular velocity and the desired linear velocity in response to a deviation between the actual and desired paths of travel.

Apparatus and method for providing coordinated control of a work implement

A method and apparatus for controlling inflation pressure of at least one pneumatic wheel on a machine is disclosed. This includes determining a ground speed or ground acceleration of the machine and determining a rotational velocity or rotational acceleration of a drivetrain for the machine as well as adjusting the inflation pressure in response to a relationship between the ground speed of the machine and the rotational velocity of the drivetrain for the machine or the ground acceleration of the machine and rotational acceleration of the drivetrain for the machine. The temperature of and weight load applied to pneumatic wheel can also be utilized in altering the inflation pressure of the pneumatic wheel. This data may be stored and inflation pressure of at least one pneumatic wheel may be controlled based on this previously stored data.

Method and apparatus for controlling the inflation pressure of pneumatic wheels

In one embodiment of the present invention, an apparatus and method for determining a path or series of paths at a work site for a mobile machine capable of operating autonomously or semi-autonomously is provided. The present invention determines a series of rows that are substantially parallel to the machine's heading. The width of the rows is based on the width of the path worked by one or more of the machine's work implements. The work site is bounded by three or more corner points and the perimeter of the work site is defined by boundary lines connecting the corner points. A first line substantially perpendicular to the machine's heading is calculated starting at an initial corner point and ending at a terminal point along the line having a distance approximately equal to the width of the path. A second line parallel to the machine's heading and passing through the terminal point is determined. The points of intersection of the second line with the boundary lines are calculated and stored as end points of a first path. Endpoints of successive paths are found in a similar manner by incrementing the distance along the parallel line by the width of the work path.

Method and apparatus for determining a path to be traversed by a mobile

In one embodiment of the present invention, a method for transitioning a mobile machine from a first path to a second path within a work area includes selecting from among one or more transition schemes, wherein the transitions schemes are composed of one or more interim paths between the first path and the second path. The desired transition scheme is chosen by evaluating one or more performance criteria including whether the interim paths overshoot the second path and whether the interim paths remain within a perimeter surrounding the work area. Additional performance criteria that may be evaluated include the number of interim paths the mobile machine must follow to transition from the end of the first path to the beginning of the second path, the number of heading changes required by the candidate transition scheme, and the amount of the first path and the second path that is traversed by the mobile machine as a result of the candidate transition scheme. A validity grade is determined based on the performance criteria, and the transition scheme having the optimum validity grade is selected. Determining the validity grade may also include using weighting factors on the performance criteria.

Method and apparatus for selecting a transition scheme for use in

Method and Apparatus are disclosed for dynamically determining the efficiency of blast design parameters at a mine site from measured machine loader characteristics whereby a microprocessor system receives signals indicative of power train and work implement linkage measurements and develops diggability ratio indices therefrom to ascertain the blast design efficiency.

Shot-rock diggability monitor

Most existing noise reduction enclosures used with engines and engine driven equipment have failed to meet the reduced noise emission requirements of today and of the future. A few of the present enclosures meet the reduced noise emission requirements of today and of the future but are extremely expensive to purchase and are large bulky structures. The subject enclosure (10) is reasonably priced and provides an enclosure which is effective in reducing the noise emitted therefrom. The enclosure (10) includes a housing (32) having a generally rectangular configuration and being divided into an engine portion (56) defining an engine compartment (57) and a duct portion (54). The outlet ducts (88) having a length greater than the inlet ducts (84). To further enhance the noise reduction of the enclosure (10) a plurality of dynastic hardware is attached to the housing (32).

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Brimfield, IL, United States of America

Everett Gene Brandt