Caterpillar Inc.

Karl Arthur Kirsch

Philip Carl Wallstedt

John James Krone

Tetsuya Yoshino

Keith Edward Lawrence

Ethan Tevis

Michael C Gentle

Zhijun Cai

Conrad G Grembowicz

Jeffrey Stephen Alig

Kevin Anthony Davis

Bradley K Bomer

Yuya Kanenawa

Nick William Biggs

Jeffrey Graham Fletcher

Matthew D Johnson

Sagar Chowdhury

Magomed Gabibulayev

Eric John Schultz

Manish Sharma

A method of automatically turning an autonomous mining truck (AMT), including front wheels and rear wheels, around in an operating area, including retrieving boundary data associated with the operating area, determining a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes a number of legs necessary to follow the first path through the turn maneuver, completing a first leg of the turn maneuver, determining a second path to follow and number of legs necessary to execute the turn maneuver based on an inability to execute the first path, and executing the second path to complete the turn maneuver.

Automatic steering of vehicle

A control system for preventing vehicle collisions may include a vehicle location determination module, a terrain determination module, a terrain surface coefficient of friction estimation module, and a sensing system configured to generate signals indicative of vehicle speed, vehicle pose, vehicle size, vehicle weight, vehicle tire type, vehicle load, vehicle gear ratio, weather characteristics, and road conditions for a vehicle operating at a job site. A manned vehicle trajectory determination module may receive location information and plot a first travel path for a manned vehicle based at least in part on a location, heading, and speed of the manned vehicle and a desired destination for the manned vehicle. An autonomous vehicle trajectory determination module may receive location information, terrain information, and terrain surface coefficient of friction information, plot a second travel path for an autonomous vehicle, and determine projected slide trajectories for the autonomous vehicle at successive positions along the second travel path where the autonomous vehicle is predicted to lose traction based at least in part on signals received from the sensing system.

System and method for avoiding contact between autonomous and manned vehicles caused by loss of traction

In a motor grader, a total drawbar position may be determined based on signals from various sensors on a drawbar-circle-moldboard (DCM) assembly. The sensors can include rotational sensors for one or both lift arm angles, and one or both yoke primary angles in combination with sensors detecting lengths of the lift cylinders. The sensor information may be used to calculate roll, pitch and yaw angles of the drawbar relative to a frame of the motor grader.

Drawbar position determination with rotational sensors

A process for developing machine classification systems includes using human experts to associate expected operations with various machine states including drawbar pull, tool position, tool commands, gear, and ground speed, among others, to create a classification system that can be used in a particular machine. The classification system operates in real time to infer operations such as dig, dump, travel, and push from machine state inputs and logs the operations for use in operational analysis and maintenance of the machine.

Machine operation classifier

A hydraulic system for a machine is provided including a first cylinder, a pump and an operator input device for entering a commanded rate of flow of hydraulic fluid to the first cylinder. A control valve operatively is connected between the pump and the first cylinder. A sensor is configured and arranged to provide signals relating to a first operating characteristic of the machine. A controller is in communication with the operator input device, the control valve and the sensor. The controller is configured to determine a skill level of an operator of the machine based on a comparison of the first operating characteristic of the machine and a first threshold and to direct the control valve to provide hydraulic fluid to the first cylinder at an adjusted hydraulic fluid flow rate if the skill level of the operator is below a predetermined level.

Hydraulic system with operator skill level compensation

In order to avoid cavitation in a boom cylinder head end at the beginning of a dig cycle, fluid from an alternate source is supplied to the head end before or in addition to fluid supplied by the main boom-up hydraulic circuit. In one embodiment, an electronic hydraulic valve, related sensors, and control system determines the beginning of a dig operation and uses fluid at an intermediate pressure to rapidly provide fluid to a boom head end cylinder to prevent voiding or cavitation before fluid under high pressure from the main pump can be brought to the cylinder. An on/off fluid switch is activated early in a dig operation to address low pressure at the boom cylinder head end and provide an alternate path for fluid into the cylinder in reaction to the boom being lifted by a motion of the stick and bucket in contact with the work surface.

Reducing dig force in hydraulic implements

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Chillicothe, IL, United States of America

Karl Arthur Kirsch